EP1426499B1 - Method and apparatus for end stroke dampening in hydraulic actuators of mobile working machines - Google Patents

Method and apparatus for end stroke dampening in hydraulic actuators of mobile working machines Download PDF

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Publication number
EP1426499B1
EP1426499B1 EP03021744A EP03021744A EP1426499B1 EP 1426499 B1 EP1426499 B1 EP 1426499B1 EP 03021744 A EP03021744 A EP 03021744A EP 03021744 A EP03021744 A EP 03021744A EP 1426499 B1 EP1426499 B1 EP 1426499B1
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EP
European Patent Office
Prior art keywords
speed
hydraulic cylinder
detection device
time
hydraulic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP03021744A
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German (de)
French (fr)
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EP1426499A1 (en
Inventor
Frank Dipl.-Ing.Fh Helbling
Gerhard Dipl.-Ing.Fh Kossmann
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Liebherr France SAS
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Liebherr France SAS
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2214—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing the shock generated at the stroke end
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31588—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/715—Output members, e.g. hydraulic motors or cylinders or control therefor having braking means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/755—Control of acceleration or deceleration of the output member

Definitions

  • the present invention relates to a method and a device for damping movement of hydraulic cylinders of mobile machines, in particular hydraulic excavators, wherein by means of a position detection device reaching a Vorend ein the hydraulic cylinder is detected before reaching the end positions of the hydraulic cylinder whose movement speed is reduced and the hydraulic cylinder with only reduced speed in the respective end position is driven.
  • a flow control member for throttling the inlet and / or the drain of the hydraulic cylinder is provided, which is controlled by a control device upon reaching the Vorend ein correspondingly to throttle the flow rate, which flows into the hydraulic cylinder or from this.
  • the movement damping or end position deactivation of hydraulic cylinders ensures that the speed of the hydraulic cylinders is reduced shortly before reaching the mechanical end stop, in order to avoid excessive mechanical loading of the steel components due to inertia forces due to the abrupt deceleration and to increase the comfort during work.
  • movement damping hydraulic solutions have already been proposed as well as electrical shutdowns.
  • FIG. 7 A hydraulic solution is shown in FIG 7.
  • the drive of hydraulic cylinders of earthworking machines such as hydraulic excavators and the like is carried out regularly via a hydraulic pump 1 and a downstream directional control valve 4.
  • geometric changes 13 are mounted in the end region of the piston and rod when entering the modified geometry 12 of the cylinder housing cause a pressure accumulation of the returning fluid.
  • the speed of the cylinder is determined by the delivery rate of the hydraulic pump 1 in the inlet to the cylinder.
  • a damping effect arises only when the amount is reduced in the feed to the cylinder.
  • a reduction can only be achieved by either the controller R of the pump 1 or a switched into the hydraulic circuit pressure relief valve 7 responds.
  • the response of the pump controller or the pressure relief valve is achieved by the inlet pressure, which means that the dynamic pressure must increase on the discharge side corresponding to the transmission ratio of the hydraulic cylinder.
  • the pressure regulator of the pump or the pressure relief valve responds to between 300 and 350 bar pressure, so that a back pressure of 600 to 700 bar is required on the inlet side of the hydraulic cylinder.
  • the back pressure is achieved via a restriction at the annular gap and special throttle cross-sections, wherein the throttle effect at the annular gap is highly dependent on the manufacturing tolerances and the viscosity of the fluid. Due to these deviations from the geometry and fluid parameters, there is a high probability that either the back pressure will not be sufficient to activate the control elements or that the back pressure will rise so high that the strength of the cylinder housing is jeopardized.
  • a method and a device of the type mentioned are known from US 4,896,582. It is proposed, depending on a signal of the control lever, with which the movement of the respective hydraulic cylinder is controlled to delay the end position damping differently.
  • the said control lever signal must e.g. however, with varying loads, it is not necessarily the same as the actual hydraulic cylinder speed, so that the damping control may become inaccurate.
  • GB 1 382 057 shows a hydraulic cylinder in which the throttle speed is controlled independently of the output speed.
  • EP 0 879 969 A2 describes a method of controlling a hydraulic cylinder in which, depending on the time between passing two points, some control parameters, e.g. the length of a braking interval can be changed.
  • the present invention is therefore based on the object to provide an improved method and an improved device for damping movement of hydraulic cylinders of each type mentioned, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner.
  • the control device which controls the flow control member for throttling the inlet or outlet, comprises a delay device with the aid of which the start time of the throttling is changed as a function of the detected movement speed.
  • the speed detection device in this case comprises two successively arranged end signal generator, which are passed shortly before reaching the end position of the piston, and a time detection device which detects the time interval between the signals of the two end signal generator.
  • the signal of the time-detecting device which reproduces said time interval between the signals of the two end signals, forms the speed signal which the control device bases on the control of the flow control element.
  • the detected period of time, which lasts the passing of the two successively arranged Endsignalgeber is then compared in a comparison means of the control device with a predetermined period of time. If the difference is negative, i. the detected time is less than the predetermined time, the fixed, earliest possible start time of the damping is determined by the control device. If the difference is positive, i. the detected time is greater than the predetermined time, the amount of the difference of the delay of the beginning of attenuation is taken as the basis. In particular, the start time may be shifted back by the amount of the determined difference.
  • the flow control member is thus actuated sooner or later depending on the detected movement speed of the hydraulic cylinder, so that the movement damping or speed reduction of the hydraulic cylinder begins sooner or later.
  • the motion damping can in particular be adapted to the speed of movement, on the one hand the achievement of the mechanical End stop takes place, on the other hand reaching the end stop but only with the desired minimum speed.
  • the throttle velocity of the flow organ i. the rate at which the flow is shut down can be changed.
  • the throttle speed of the flow control member is predetermined independently of the detected movement speed of the hydraulic cylinder.
  • the adaptation of the motion damping is thus achieved solely by the fact that the initial time of throttling or the actuation time of the flow control member is shifted in dependence on the detected speed.
  • the throttle speed can be kept the same for each of the control organs here.
  • the beginning of damping is delayed with decreasing moving speed of the hydraulic cylinder, i. pushed backwards in time.
  • the adaptation of the start time of the damping to the movement speed can basically be done in various ways.
  • the control device is configured in such a way that a fixed starting time is always specified if the detected movement speed is greater than or equal to a predetermined limit speed, ie, the front end position detected by the piston position detection device with a limit speed or overrun at an even greater speed. In this case, the damping is initiated immediately.
  • the initial time becomes the damping is delayed by a certain period of time.
  • the period of time by which the start time of the damping or the time of actuation of the flow control member is shifted can be set variably by the control device.
  • the control means varies the amount of time the damping is shifted in proportion to the detected speed upon reaching the pre-end position.
  • the speed detection device or its end signal generator can basically be arranged at a different location and assigned to the hydraulic cylinder.
  • first and second markings may be provided on the piston rod of the hydraulic cylinder and / or a detection sensor coupled thereto, each corresponding to one of the two end positions and Vorend einen of the piston , Both markings can be detected by a correspondingly arranged end signal generator pair. Accordingly, only one detection device is provided for detecting both end positions or only one detection device for detecting the speed when both end positions are reached.
  • the detection devices may preferably be integrated in the hydraulic cylinder, in particular be arranged in the region of the collar of the hydraulic cylinder, through which the piston rod emerges.
  • a rotary rotary disk having two markings of the aforementioned type. The position of the markings can be detected by corresponding end signal generator.
  • the hydraulic cylinders 10 and 11 which may be, for example, the lifting cylinder of a hydraulic excavator, driven by a hydraulic drive having three hydraulic pumps 1, 2 and 3, which can be controlled via a regulator R respectively.
  • the three hydraulic pumps 1, 2 and 3 are connected via a respective directional control valve 4, 5 and 6 with the hydraulic cylinders 10 and 11, which are also connected in parallel.
  • the inlets and outlets of the hydraulic cylinders 10 and 11 can be separated from the respective pumps 1, 2 and 3 and shut off or brought into flow communication with the pump in a conventional manner, wherein the flow direction is reversible so that the hydraulic cylinders can be extended and retracted.
  • Upstream of the directional control valves 4, 5 and 6 are in the outgoing of the pumps 1, 2 and 3 pressure lines pressure relief valves 7, 8 and 9, can be drained via the hydraulic fluid in the tank 14. Also, the directional control valves 4, 5 and 6 are connected via corresponding lines to the tank 14 in order to guide in the closed position, the pumped by the pump fluid and in the corresponding switching position of the hydraulic cylinders returning fluid in the tank.
  • the directional control valves 4, 5 and 6 are controlled by an electronic control device 15 to control the movement of the hydraulic cylinders 10 and 11.
  • the movement of the hydraulic cylinders 10 and 11 is monitored on the one hand by a position detection device 17, which indicates the approach of the piston rod at its two end positions, in particular indicates the achievement of a preliminary end position.
  • a position detection device 17 which indicates the approach of the piston rod at its two end positions, in particular indicates the achievement of a preliminary end position.
  • the velocity of the piston rod of the hydraulic cylinders 10 and 11 is detected by means of a speed detection device 16 when they reach said pre-end position.
  • FIG. 3 shows a speed detection device 16 in the simplest form.
  • the speed detection takes place in each of the Vorend einen the piston of the hydraulic cylinder by means of two limit switches S 1 and S 2 or S 3 and S 4 .
  • the limit switches can be mechanical switches or inductive sensors.
  • the limit switches S 1 to S 4 are associated with a time detection device 19 in the control device 15, which determines the time span that lapses over the successively arranged limit switches S 1 and S 2 or S 3 and S 4 .
  • the time taken to overrun a limit switch pair is a measure of the piston speed when the pre-end position is reached.
  • FIG 4. A simplified solution of a speed detection device 16 is shown in FIG 4.
  • the limit switches S 1 and S 2 are not arranged directly on the hydraulic cylinder or not directly associated with the piston rod 18, but are attached to the fulcrum of appropriate equipment, the hydraulic cylinders 10 and 11 relative to each other to be moved.
  • the rotary detection disc 20 with a moving part such. B. be connected to the bucket with the bearing block of a hydraulic excavator or be formed by a part of the bearing block.
  • the limit switches in the form of inductive sensors S 1 and S 2 can with the counterpart, z. B. the stem of the hydraulic excavator connected.
  • the markers 21, 22 are mounted on the detection disc 20 so that they reach the limit switches S 1 and S 2 when the hydraulic cylinder reaches one of its Vorend einen.
  • FIG 5 A further preferred embodiment of a speed detection device 16 is shown in FIG 5.
  • the path of the piston via markings on the cylinder rod or piston rod 18 and corresponding limit switches or sensors S 1 and S 2 is detected over the entire path of the piston.
  • the sensors S 1 and S 2 are located in the unpressurized region of the piston rod bearing.
  • Such a relative measuring system is expediently provided with a reference zero, which is run over at least once each time the machine is started.
  • the way of the piston rod 18 is detected only in the region of the two end positions, which is quite sufficient for hydraulic cylinders, in which only the Movement damping according to the invention should take place.
  • the limit switches S 1 and S 2 are in turn integrated in the region of the piston rod bearing in the hydraulic cylinder and detect markings on the piston rod 18, which are provided in the end regions thereof. If the markers 21 or 22 reach the limit switches or end signal transmitters S 1 and S 2 , they emit a signal, so that the reaching of the preliminary end position of the piston is indicated in the previously described manner and, on the other hand, the velocity of the piston present or detected . can be determined.
  • the control device 15 shown in Figure 1 actuates the directional control valves 4, 5 and 6 when reaching the Vorendwolfen depending on the speed detected here as follows:
  • FIG. 2 shows, a movement of the hydraulic cylinders 10 and 11 is initiated by the control of the directional control valves 4, 5 and 6 at point P1.
  • the drive current is first increased to a 10% value such as 10, so that the start of movement of the hydraulic cylinder can be assumed in point 2.
  • the pressure build-up and the acceleration of the hydraulic cylinders 10 and 11 take place along the control ramp between the points P2 and P3.
  • the hydraulic cylinders reach their maximum speed at 90% drive current I 90 , which is reached at point P3 of the diagram of Figure 2. From there, the maximum current Imax goes to point P4, so that the hydraulic pistons drive at full speed.
  • the first end signal transmitter S 1 which is first in the direction of movement, is run over.
  • the hydraulic cylinder is still driven at full speed, the first end signal generator S 1 emits its signal.
  • a control piston of one of the directional control valves 4 or more control pistons several way valves 4 and 5 abruptly controlled, so that the corresponding drive current for these directional control valves abruptly from point P5 to point P6, ie falls to zero.
  • the control pistons follow the current according to their dynamic characteristic.
  • the remaining control pistons are further driven with initially full drive current Imax until the second end signal generator S 2 is run over and emits its corresponding signal.
  • the time detection device 19 of the control device 15 while the time t K is determined, which was needed to pass over both end signal generator S 1 and S 2 .
  • a comparison and subtraction device 23 in the control device 15 compares the detected value t K of the time span, which is a measure of the speed of the hydraulic cylinder, with a predetermined value t S. If the detected time t K is less than or equal to the value t S , the damping process takes place along the line between the points P7, P8, P9, P10, P11, P12. This means that the detected piston speed was greater than or equal to a limit speed. The damping process is initiated immediately.
  • the damping takes place with a time delay, along the line between the points P7 ', P8', P9 ', P10', P11 'and P12'.
  • the time offset t F is thereby selected by the control device 15 proportional to the time overflow of t S , ie proportional to the amount by which the detected time t K is greater than the predetermined time t S.
  • the drive current for the remaining directional control valves 6 to n ie for the directional control valves which were not retracted as soon as the first end signal generator S 1 has been traveled over, is reduced to the jump value I S.
  • the control piston of the directional control valves are suddenly brought into a position from which a braking effect on the discharge side of the hydraulic cylinders 10 and 11 takes place.
  • the braking then takes place along the damping ramp from the point P8 to the point P9 or from the point P8 'to the point P9'.
  • a piston continues along the damping ramp up to the points P11 and P11 ', where it is then switched off in each case, ie. the current is reduced to zero, as indicated by the points P12 and P12 '.
  • the remaining control piston of the one-way valve is driven along a control ramp from the point P9 to the point P10 or P9 'and P10', where it then reaches the outlet flow I A in point P10. With the discharge flow it is possible to reach the end position with full cylinder force.
  • the control is initiated at point P13 by releasing the manual control.
  • the current runs along the jump ramp from point P13 to point P14 and is then cut off along the line from point P14 to point P15.
  • n pumps can be used.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
  • Actuator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The end of stroke damping system may be used for a mobile digging machine with two hydraulic cylinders (10,11). It has a control circuit (15) connected to position (17) and velocity sensors (16) on cylinders and closes throttle valves near the end of the stroke of each piston (18). End switches may be connected to a timer (19) in the control circuit. Three hydraulic pumps (1-3) draw hydraulic fluid from a tank (14) and pass it through three control valves (4-6).

Description

Die vorliegende Erfindung betrifft ein Verfahren sowie eine Vorrichtung zur Bewegungsdämpfung von Hydraulikzylindern mobiler Arbeitsmaschinen, insbesondere Hydraulikbaggern, wobei mittels einer Stellungserfassungseinrichtung das Erreichen einer Vorendstellung des Hydraulikzylinders erfasst wird, vor dem Erreichen der Endlagen des Hydraulikzylinders dessen Bewegungsgeschwindigkeit reduziert und der Hydraulikzylinder mit nur reduzierter Geschwindigkeit in die jeweilige Endlage gefahren wird. Hierzu ist ein Strömungssteuerorgan zur Drosselung des Zulaufs und/oder des Ablaufs des Hydraulikzylinders vorgesehen, das von einer Steuereinrichtung bei Erreichen der Vorendstellung entsprechend angesteuert wird, um den Mengenstrom zu drosseln, der in den Hydraulikzylinder bzw. aus diesem strömt.The present invention relates to a method and a device for damping movement of hydraulic cylinders of mobile machines, in particular hydraulic excavators, wherein by means of a position detection device reaching a Vorendstellung the hydraulic cylinder is detected before reaching the end positions of the hydraulic cylinder whose movement speed is reduced and the hydraulic cylinder with only reduced speed in the respective end position is driven. For this purpose, a flow control member for throttling the inlet and / or the drain of the hydraulic cylinder is provided, which is controlled by a control device upon reaching the Vorendstellung correspondingly to throttle the flow rate, which flows into the hydraulic cylinder or from this.

Die Bewegungsdämpfung bzw. Endlagenabschaltung von Hydraulikzylindern sorgt dafür, dass die Geschwindigkeit der Hydraulikzylinder kurz vor Erreichen des mechanischen Endanschlags reduziert wird, um eine übermäßige mechanische Belastung der Stahlbauteile bedingt durch Massenkräfte durch die schlagartige Verzögerung zu vermeiden und den Komfort während der Arbeit zu erhöhen. Für eine solche Bewegungsdämpfung wurden bereits hydraulische Lösungen als auch elektrische Abschaltungen vorgeschlagen.The movement damping or end position deactivation of hydraulic cylinders ensures that the speed of the hydraulic cylinders is reduced shortly before reaching the mechanical end stop, in order to avoid excessive mechanical loading of the steel components due to inertia forces due to the abrupt deceleration and to increase the comfort during work. For such a movement damping hydraulic solutions have already been proposed as well as electrical shutdowns.

Eine hydraulische Lösung zeigt Figur 7. Wie darin gezeigt ist, erfolgt der Antrieb von Hydraulikzylindern von Erdbearbeitungsmaschinen wie Hydraulikbaggern und dergleichen regelmäßig über eine Hydraulikpumpe 1 und ein nachgeschaltetes Wegeventil 4. Im Hydraulikzylinder 10 sind im Endbereich von Kolben und Stange geometrische Veränderungen 13 angebracht, die beim Eintritt in die veränderte Geometrie 12 des Zylindergehäuses einen Druckstau des rücklaufenden Fluids bewirken.A hydraulic solution is shown in FIG 7. As shown therein, the drive of hydraulic cylinders of earthworking machines such as hydraulic excavators and the like is carried out regularly via a hydraulic pump 1 and a downstream directional control valve 4. In the hydraulic cylinder 10 geometric changes 13 are mounted in the end region of the piston and rod when entering the modified geometry 12 of the cylinder housing cause a pressure accumulation of the returning fluid.

Die Geschwindigkeit des Zylinders wird über die Fördermenge der Hydraulikpumpe 1 im Zulauf zum Zylinder bestimmt. Eine Dämpfungswirkung entsteht nur dann, wenn die Menge im Zulauf zum Zylinder reduziert wird. Eine Reduzierung kann hierbei nur dadurch erreicht werden, indem entweder der Regler R der Pumpe 1 oder ein in den Hydraulikkreis geschaltetes Überdruckventil 7 anspricht. Das Ansprechen des Pumpenreglers bzw. des Überdruckventils wird dabei durch den Zulaufdruck erreicht, was bedeutet, dass der Staudruck auf der Ablaufseite entsprechend des Übersetzungsverhältnisses des Hydraulikzylinders ansteigen muss. Das Ansprechen des Druckreglers der Pumpe bzw. des Überdruckventils erfolgt je nach Maschinengröße zwischen 300 und 350 Bar Druck, so dass auf der Zulaufseite des Hydraulikzylinders ein Staudruck von 600 bis 700 Bar erforderlich ist.The speed of the cylinder is determined by the delivery rate of the hydraulic pump 1 in the inlet to the cylinder. A damping effect arises only when the amount is reduced in the feed to the cylinder. A reduction can only be achieved by either the controller R of the pump 1 or a switched into the hydraulic circuit pressure relief valve 7 responds. The response of the pump controller or the pressure relief valve is achieved by the inlet pressure, which means that the dynamic pressure must increase on the discharge side corresponding to the transmission ratio of the hydraulic cylinder. Depending on the size of the machine, the pressure regulator of the pump or the pressure relief valve responds to between 300 and 350 bar pressure, so that a back pressure of 600 to 700 bar is required on the inlet side of the hydraulic cylinder.

Der Staudruck wird über eine Drosselung am Ringspalt und speziellen Drosselquerschnitten erreicht, wobei die Drosselwirkung am Ringspalt stark abhängig von den Fertigungstoleranzen und der Viskosität des Fluids ist. Aufgrund dieser Abweichungen von Geometrie- und Fluidkenngrößen ist die Wahrscheinlichkeit groß, dass entweder der Staudruck nicht ausreicht, um die Regelorgane zu aktivieren, oder dass der Staudruck so hoch ansteigt, dass die Festigkeit des Zylindergehäuses gefährdet wird.The back pressure is achieved via a restriction at the annular gap and special throttle cross-sections, wherein the throttle effect at the annular gap is highly dependent on the manufacturing tolerances and the viscosity of the fluid. Due to these deviations from the geometry and fluid parameters, there is a high probability that either the back pressure will not be sufficient to activate the control elements or that the back pressure will rise so high that the strength of the cylinder housing is jeopardized.

Aufgrund dieser Unzulänglichkeiten wurde bereits eine elektrische Abschaltung des Zu- und Ablaufs vorgeschlagen. Bei Systemen mit elektrohydraulischer Vorsteuerung bietet sich eine elektrische Abschaltung an, bei der ein Endschalter pro Bewegungsrichtung des Zylinders vorgesehen ist. Kurz vor Erreichen der Endlage des Zylinders wird ein entsprechender Endschalter überfahren, durch dessen Signal die Steuereinrichtung das entsprechende Wegeventil abschaltet. Es erfolgt hierdurch ein Bremsen der Bewegung in Abhängigkeit der Schaltgeschwindigkeit des Wegeventils.Because of these shortcomings, an electrical shutdown of the inlet and outlet has already been proposed. In systems with electro-hydraulic feedforward control offers an electrical shutdown, in which a limit switch is provided for each direction of movement of the cylinder. Shortly before reaching the final position of the Cylinder is passed over a corresponding limit switch, by the signal, the control device switches off the corresponding directional control valve. This results in a braking of the movement as a function of the switching speed of the directional control valve.

Bei dieser Lösung wird jedoch regelmäßig zu früh oder zu spät angehalten, was einerseits bedeutet, dass die Kinematik nicht vollständig ausgenützt wird oder doch der mechanische Endanschlag des Hydraulikzylinders mit zu hoher Geschwindigkeit erreicht wird. Bei unkontrolliertem Abschalten entstehen zudem Druckspitzen auf der Ablaufseite und Füllungsmangel auf der Zulaufseite, welche zur erhöhten Belastung der Leitungen und Hydraulikkomponenten führen.In this solution, however, is regularly stopped too early or too late, which means on the one hand that the kinematics is not fully utilized or yet the mechanical end stop of the hydraulic cylinder is reached at too high a speed. In the event of uncontrolled shutdown, there are also pressure spikes on the discharge side and lack of filling on the inlet side, which leads to increased stress on the lines and hydraulic components.

Ein Verfahren sowie eine Vorrichtung der eingangs genannten Art sind aus der US 4,896,582 bekannt. Darin wird vorgeschlagen, in Abhängigkeit eines Signals des Steuerhebels, mit dem die Bewegung des jeweiligen Hydraulikzylinders gesteuert wird, die Endlagendämpfung unterschiedlich zu verzögern. Das genannte Steuerhebelsignal muß z.B. bei variierenden Lasten jedoch nicht zwangsweise mit der tatsächlichen Hydraulikzylindergeschwindigkeit übereinstimmen, so daß die Dämpfungssteuerung ungenau werden kann. Weiterhin zeigt die GB 1 382 057 einen Hydraulikzylinder, bei dem die Drosselgeschwindigkeit unabhängig von der Ausgangsgeschwindigkeit gesteuert wird. Die EP 0 879 969 A2 beschreibt ein Verfahren zur Steuerung eines Hydraulikzylinders, bei dem in Abhängigkeit der Zeitdauer zwischen dem Überfahren zweier Punkte einige Steuerungsparameter wie z.B. die Länge eines Bremsintervalls verändert werden.A method and a device of the type mentioned are known from US 4,896,582. It is proposed, depending on a signal of the control lever, with which the movement of the respective hydraulic cylinder is controlled to delay the end position damping differently. The said control lever signal must e.g. however, with varying loads, it is not necessarily the same as the actual hydraulic cylinder speed, so that the damping control may become inaccurate. Furthermore, GB 1 382 057 shows a hydraulic cylinder in which the throttle speed is controlled independently of the output speed. EP 0 879 969 A2 describes a method of controlling a hydraulic cylinder in which, depending on the time between passing two points, some control parameters, e.g. the length of a braking interval can be changed.

Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, ein verbessertes Verfahren sowie eine verbesserte Vorrichtung zur Bewegungsdämpfung von Hydraulikzylindern der jeweils eingangs genannten Art zu schaffen, die Nachteile des Standes der Technik vermeiden und letzteren in vorteilhafter Weise weiterbilden. Vorzugsweise soll ein Auffahren auf den mechanischen Endanschlag mit zu hoher Geschwindigkeit sicher vermieden und dabei dennoch die Kinematik des Hydraulikzylinders vollständig ausgenutzt werden.The present invention is therefore based on the object to provide an improved method and an improved device for damping movement of hydraulic cylinders of each type mentioned, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner. Preferably, a drive on the mechanical stop at too high speed safely avoided while still fully exploiting the kinematics of the hydraulic cylinder.

Erfindungsgemäß wird diese Aufgabe durch ein Verfahren gemäß Patentanspruch 1 sowie eine Vorrichtung gemäß Patentanspruch 6 gelöst. Bevorzugte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.This object is achieved by a method according to claim 1 and a device according to claim 6. Preferred embodiments of the invention are the subject of the dependent claims.

Es ist also erfindungsgemäß eine Geschwindigkeitserfassungseinrichtung vorgesehen, die die Bewegungsgeschwindigkeit des Hydraulikzylinders vor Erreichen der jeweiligen Endlage erfasst. Die Steuereinrichtung, die das Strömungssteuerorgan zur Drosselung des Zulaufs bzw. Ablaufs ansteuert, umfasst eine Verzögerungseinrichtung, mit Hilfe derer der Anfangszeitpunkt der Drosselung in Abhängigkeit der erfassten Bewegungsgeschwindigkeit verändert wird. Die Geschwindigkeitserfassungseinrichtung umfaßt hierbei zwei hintereinander angeordnete Endsignalgeber, die kurz vor Erreichen der Endstellung des Kolbens überfahren werden, sowie eine Zeiterfassungseinrichtung, die die Zeitspanne zwischen den Signalen der beiden Endsignalgeber erfasst. Das Signal der Zeiterfassungseinrichtung, das die genannte Zeitspanne zwischen den Signalen der beiden Endsignale wiedergibt, bildet das Geschwindigkeitssignal, das die Steuereinrichtung der Ansteuerung des Strömungssteuerorgans zugrundelegt. Die erfasste Zeitspanne, die das Überfahren der beiden hintereinander angeordneten Endsignalgeber dauert, wird sodann in einer Vergleichseinrichtung der Steuereinrichtung mit einer vorgegebenen Zeitspanne verglichen. Ist die Differenz negativ, d.h. die erfasste Zeit kleiner als die vorgegebene Zeit, wird der feste, frühest mögliche Anfangszeitpunkt der Dämpfung von der Steuereinrichtung bestimmt. Ist die Differenz positiv, d.h. die erfasste Zeit größer als die vorgegebene Zeit, wird der Betrag der Differenz der Verzögerung des Dämpfungsbeginns zugrundegelegt. Insbesondere kann der Anfangszeitpunkt um den Betrag der bestimmten Differenz nach hinten verschoben werden.It is therefore provided according to the invention a speed detection device which detects the movement speed of the hydraulic cylinder before reaching the respective end position. The control device, which controls the flow control member for throttling the inlet or outlet, comprises a delay device with the aid of which the start time of the throttling is changed as a function of the detected movement speed. The speed detection device in this case comprises two successively arranged end signal generator, which are passed shortly before reaching the end position of the piston, and a time detection device which detects the time interval between the signals of the two end signal generator. The signal of the time-detecting device, which reproduces said time interval between the signals of the two end signals, forms the speed signal which the control device bases on the control of the flow control element. The detected period of time, which lasts the passing of the two successively arranged Endsignalgeber is then compared in a comparison means of the control device with a predetermined period of time. If the difference is negative, i. the detected time is less than the predetermined time, the fixed, earliest possible start time of the damping is determined by the control device. If the difference is positive, i. the detected time is greater than the predetermined time, the amount of the difference of the delay of the beginning of attenuation is taken as the basis. In particular, the start time may be shifted back by the amount of the determined difference.

Das Strömungssteuerorgan wird also je nach erfasster Bewegungsgeschwindigkeit des Hydraulikzylinders früher oder später betätigt, so dass die Bewegungsdämpfung bzw. Geschwindigkeitsreduzierung des Hydraulikzylinders früher oder später einsetzt. Dabei kann die Bewegungsdämpfung insbesondere derart an die Bewegungsgeschwindigkeit angepasst werden, dass einerseits das Erreichen des mechanischen Endanschlages erfolgt, andererseits das Erreichen des Endanschlages jedoch nur mit der gewünschten Minimalgeschwindigkeit erfolgt.The flow control member is thus actuated sooner or later depending on the detected movement speed of the hydraulic cylinder, so that the movement damping or speed reduction of the hydraulic cylinder begins sooner or later. In this case, the motion damping can in particular be adapted to the speed of movement, on the one hand the achievement of the mechanical End stop takes place, on the other hand reaching the end stop but only with the desired minimum speed.

Um die Bewegungsdämpfung an die erfasste Geschwindigkeit anzupassen, könnte grundsätzlich die Drosselgeschwindigkeit des Strömungsorgans, d.h. die Geschwindigkeit, mit der der Mengenstrom heruntergefahren wird, verändert werden. Um eine einfache Steuerung zu erlauben, ist in Weiterbildung der Erfindung jedoch vorzugsweise vorgesehen, dass die Drosselgeschwindigkeit des Strömungssteuerorgans unabhängig von der erfassten Bewegungsgeschwindigkeit des Hydraulikzylinders vorgegeben wird. Die Anpassung der Bewegungsdämpfung wird also allein dadurch erreicht, dass der Anfangszeitpunkt der Drosselung bzw. der Betätigungszeitpunkt des Strömungssteuerorgans in Abhängigkeit der erfassten Geschwindigkeit verschoben wird. Allerdings ist es hier durchaus möglich, bei Verwendung mehrerer Strömungssteuerorgane die Betätigungszeitpunkte der Steuerorgane unterschiedlich zu verschieben, so dass sich insgesamt eine unterschiedliche Dämpfungscharakteristik ergibt. Allerdings kann auch hier für jedes der Steuerorgane die Drosselgeschwindigkeit an sich gleichgehalten werden.In order to match the motion damping to the sensed speed, basically the throttle velocity of the flow organ, i. the rate at which the flow is shut down can be changed. In order to allow a simple control, however, it is preferably provided in a development of the invention that the throttle speed of the flow control member is predetermined independently of the detected movement speed of the hydraulic cylinder. The adaptation of the motion damping is thus achieved solely by the fact that the initial time of throttling or the actuation time of the flow control member is shifted in dependence on the detected speed. However, it is quite possible here to shift the actuation times of the control elements differently when using a plurality of flow control elements, so that overall a different damping characteristic results. However, the throttle speed can be kept the same for each of the control organs here.

Zweckmäßigerweise wird der Dämpfungsbeginn mit abnehmender Bewegungsgeschwindigkeit des Hydraulikzylinders verzögert, d.h. zeitlich nach hinten hinaus geschoben.Conveniently, the beginning of damping is delayed with decreasing moving speed of the hydraulic cylinder, i. pushed backwards in time.

Die Anpassung des Anfangszeitpunkts der Dämpfung an die Bewegungsgeschwindigkeit kann grundsätzlich in verschiedener Art und Weise erfolgen. Um die Steuerungsanordnung jedoch einfach zu halten, ist in Weiterbildung der Erfindung die Steuereinrichtung derart ausgebildet, dass ein fester Anfangszeitpunkt immer dann vorgegeben wird, wenn die erfasste Bewegungsgeschwindigkeit größer oder gleich einer vorgegebenen Grenzgeschwindigkeit ist, d.h. also die von der Kolbenstellungserfassungseinrichtung erfasste Vorendstellung mit einer Grenzgeschwindigkeit oder einer noch größeren Geschwindigkeit überfahren wird. In diesem Fall wird die Dämpfung unmittelbar eingeleitet. Liegt die in der Vorendstellung erfasste Bewegungsgeschwindigkeit jedoch unter der Grenzgeschwindigkeit, wird der Anfangszeitpunkt der Dämpfung um eine gewisse Zeitspanne verzögert. Die Zeitspanne, um die der Anfangszeitpunkt der Dämpfung bzw. der Zeitpunkt der Betätigung des Strömungssteuerorgans verschoben wird, kann durch die Steuereinrichtung variabel festgelegt werden. Vorzugsweise verändert die Steuereinrichtung die Zeitspanne, um die die Dämpfung verschoben wird, proportional zu der erfassten Geschwindigkeit bei Erreichen der Vorendstellung.The adaptation of the start time of the damping to the movement speed can basically be done in various ways. However, in order to keep the control arrangement simple, the control device is configured in such a way that a fixed starting time is always specified if the detected movement speed is greater than or equal to a predetermined limit speed, ie, the front end position detected by the piston position detection device with a limit speed or overrun at an even greater speed. In this case, the damping is initiated immediately. However, if the movement speed detected in the pre-end position is below the limit speed, the initial time becomes the damping is delayed by a certain period of time. The period of time by which the start time of the damping or the time of actuation of the flow control member is shifted can be set variably by the control device. Preferably, the control means varies the amount of time the damping is shifted in proportion to the detected speed upon reaching the pre-end position.

Die Geschwindigkeitserfassungseinrichtung bzw. deren Endsignalgeber können grundsätzlich an verschiedener Stelle angeordnet und dem Hydraulikzylinder zugeordnet sein. Um eine einfache Anordnung zu schaffen und für beide Endstellungen nur ein Paar Endsignalgeber vorsehen zu müssen, können an der Kolbenstange des Hydraulikzylinders und/oder einem damit gekoppelten Detektionsgeber erste und zweite Markierungen vorgesehen sein, die jeweils einer der beiden Endstellungen bzw. Vorendstellungen des Kolbens entsprechen. Beide Markierungen können von einem entsprechend angeordneten Endsignalgeberpaar erfasst werden. Es ist dementsprechend nur eine Erfassungseinrichtung zur Erfassung beider Endstellungen bzw. nur eine Erfassungseinrichtung zur Erfassung der Geschwindigkeit bei Erreichen beider Endstellungen vorgesehen.The speed detection device or its end signal generator can basically be arranged at a different location and assigned to the hydraulic cylinder. In order to provide a simple arrangement and to provide for both end positions only a pair of end signal generator, first and second markings may be provided on the piston rod of the hydraulic cylinder and / or a detection sensor coupled thereto, each corresponding to one of the two end positions and Vorendstellungen of the piston , Both markings can be detected by a correspondingly arranged end signal generator pair. Accordingly, only one detection device is provided for detecting both end positions or only one detection device for detecting the speed when both end positions are reached.

Die Erfassungseinrichtungen können vorzugsweise in den Hydraulikzylinder integriert sein, insbesondere im Bereich des Kragens des Hydraulikzylinders angeordnet sein, durch den die Kolbenstange austritt.The detection devices may preferably be integrated in the hydraulic cylinder, in particular be arranged in the region of the collar of the hydraulic cylinder, through which the piston rod emerges.

Gemäß einer besonders vorteilhaften Ausführung der Erfindung kann auch ein vom Hydraulikzylinder separater, mit diesem jedoch gekoppelter Detektionsgeber vorgesehen sein, der sich entsprechend der Bewegung des Hydraulikzylinders bewegt. Insbesondere kann hier eine rotatorische Drehscheibe vorgesehen sein, die zwei Markierungen der vorgenannten Art aufweist. Die Stellung der Markierungen können durch entsprechende Endsignalgeber erfasst werden.According to a particularly advantageous embodiment of the invention may also be provided a separate from the hydraulic cylinder, but coupled thereto detection sensor, which moves in accordance with the movement of the hydraulic cylinder. In particular, here can be provided a rotary rotary disk having two markings of the aforementioned type. The position of the markings can be detected by corresponding end signal generator.

Die Erfindung wird nachfolgend anhand bevorzugter Ausführungsbeispiele und zugehöriger Zeichnungen näher erläutert. In den Zeichnungen zeigen:

Fig. 1:
eine schematische Darstellung eines hydraulischen Antriebssystems für zwei Hydraulikzylinder eines Hydraulikbaggers mit einer Vorrichtung zur Bewegungsdämpfung nach einer vorteilhaften Ausführung der vorliegenden Erfindung, wobei das Antriebssystem als Dreipumpensystem dargestellt ist,
Fig. 2:
ein Stromzeitdiagramm, das den Verlauf des Ansteuerstroms für die Wegeventile des hydraulischen Antriebs aus Fig. 1 zur Erreichung der gewünschten Bewegungsdämpfung zeigt,
Fig. 3:
die Anordnung der Endsignalgeber zur Erfassung einer Vorendstellung und Geschwindigkeit des Kolbens des Hydraulikzylinders nach einer Ausführung der Erfindung, bei der vier Endsignalgeber vorgesehen sind, die eine Markierung an der Kolbenstange erfassen,
Fig. 4:
eine schematische Darstellung einer mit der Kolbenstange des Hydraulikzylinders gekoppelten Detektionsscheibe sowie die zugehörige Anordnung der Endsignalgeber einer Erfassungseinrichtung zur Erfassung der Vorendstellung und der Geschwindigkeit des Hydraulikzylinders für beide Bewegungsrichtungen,
Fig. 5:
eine schematische Darstellung einer in den Hydraulikzylinder integrierten Einrichtung zur Erfassung der Kolbenstellung und der Kolbengeschwindigkeit,
Fig. 6:
eine schematische Darstellung einer in den Hydraulikzylinder integrierten Einrichtung zur Erfassung der Vorendstellung und der Geschwindigkeit des Kolbens des Hydraulikzylinders nach einer weiteren Ausführung der Erfindung, und
Fig. 7:
eine schematische Darstellung eines hydraulischen Einpumpenantriebs eines Hydraulikzylinders mit hydraulischer Bewegungsdämpfung nach dem Stand der Technik.
The invention will be explained in more detail with reference to preferred embodiments and associated drawings. In the drawings show:
Fig. 1:
1 is a schematic representation of a hydraulic drive system for two hydraulic cylinders of a hydraulic excavator with a device for damping movement according to an advantageous embodiment of the present invention, wherein the drive system is shown as a three-pump system,
Fig. 2:
a current time diagram showing the course of the drive current for the directional valves of the hydraulic drive of Figure 1 to achieve the desired motion damping,
3:
the arrangement of the end signal generator for detecting a Vorendstellung and speed of the piston of the hydraulic cylinder according to an embodiment of the invention, in which four end signal generator are provided which detect a mark on the piston rod,
4:
a schematic representation of a coupled to the piston rod of the hydraulic cylinder detection disc and the associated arrangement of the end signal generator of a detection device for detecting the Vorendstellung and the speed of the hydraulic cylinder for both directions of movement,
Fig. 5:
a schematic representation of an integrated device in the hydraulic cylinder for detecting the piston position and the piston speed,
Fig. 6:
a schematic representation of an integrated device in the hydraulic cylinder for detecting the Vorendstellung and the speed of the piston of the hydraulic cylinder according to a further embodiment of the invention, and
Fig. 7:
a schematic representation of a hydraulic Einpumpenantriebs a hydraulic cylinder with hydraulic motion damping according to the prior art.

Wie Figur 1 zeigt, werden die Hydraulikzylinder 10 und 11, die beispielsweise die Hubzylinder eines Hydraulikbaggers sein können, von einem Hydraulikantrieb angetrieben, der drei Hydraulikpumpen 1, 2 und 3 aufweist, die jeweils über einen Regler R geregelt werden können. Die drei Hydraulikpumpen 1, 2 und 3 sind über jeweils ein Wegeventil 4, 5 und 6 mit den Hydraulikzylindern 10 und 11 verbunden, die ebenfalls parallel zueinander geschaltet sind. Durch die Wegeventile 4, 5 und 6 können in an sich bekannter Weise die Zu- und Abläufe der Hydraulikzylinder 10 und 11 von den jeweiligen Pumpen 1, 2 und 3 abgetrennt und abgesperrt oder mit der Pumpe in Strömungsverbindung gebracht werden, wobei die Strömungsrichtung umkehrbar ist, so dass die Hydraulikzylinder ausgefahren und eingefahren werden können. Stromauf der Wegeventile 4, 5 und 6 sind in die von den Pumpen 1, 2 und 3 abgehenden Druckleitungen Überdruckventile 7, 8 und 9 geschaltet, über die Hydraulikfluid in den Tank 14 abgelassen werden kann. Auch die Wegeventile 4, 5 und 6 sind über entsprechende Leitungen mit dem Tank 14 verbunden, um in der abgesperrten Stellung das von der Pumpe geförderte Fluid sowie bei entsprechender Schaltstellung von den Hydraulikzylindern zurücklaufendes Fluid in den Tank zu führen.As Figure 1 shows, the hydraulic cylinders 10 and 11, which may be, for example, the lifting cylinder of a hydraulic excavator, driven by a hydraulic drive having three hydraulic pumps 1, 2 and 3, which can be controlled via a regulator R respectively. The three hydraulic pumps 1, 2 and 3 are connected via a respective directional control valve 4, 5 and 6 with the hydraulic cylinders 10 and 11, which are also connected in parallel. Through the directional control valves 4, 5 and 6, the inlets and outlets of the hydraulic cylinders 10 and 11 can be separated from the respective pumps 1, 2 and 3 and shut off or brought into flow communication with the pump in a conventional manner, wherein the flow direction is reversible so that the hydraulic cylinders can be extended and retracted. Upstream of the directional control valves 4, 5 and 6 are in the outgoing of the pumps 1, 2 and 3 pressure lines pressure relief valves 7, 8 and 9, can be drained via the hydraulic fluid in the tank 14. Also, the directional control valves 4, 5 and 6 are connected via corresponding lines to the tank 14 in order to guide in the closed position, the pumped by the pump fluid and in the corresponding switching position of the hydraulic cylinders returning fluid in the tank.

Die Wegeventile 4, 5 und 6 werden von einer elektronischen Steuereinrichtung 15 angesteuert, um die Bewegung der Hydraulikzylinder 10 und 11 zu steuern.The directional control valves 4, 5 and 6 are controlled by an electronic control device 15 to control the movement of the hydraulic cylinders 10 and 11.

Die Bewegung der Hydraulikzylinder 10 und 11 wird einerseits von einer Stellungserfassungseinrichtung 17 überwacht, die die Annäherung der Kolbenstange an deren beiden Endstellungen anzeigt, insbesondere das Erreichen einer Vorendstellung angibt. Andererseits wird mittels einer Geschwindigkeitserfassungseinrichtung 16 die Geschwindigkeit der Kolbenstange der Hydraulikzylinder 10 und 11 erfasst, wenn diese die genannte Vorendstellung erreichen.The movement of the hydraulic cylinders 10 and 11 is monitored on the one hand by a position detection device 17, which indicates the approach of the piston rod at its two end positions, in particular indicates the achievement of a preliminary end position. On the other hand, the velocity of the piston rod of the hydraulic cylinders 10 and 11 is detected by means of a speed detection device 16 when they reach said pre-end position.

Die Geschwindigkeitserfassung und die Erfassung der Vorendstellung kann in verschiedener Art und Weise erfolgen. Figur 3 zeigt eine Geschwindigkeitserfassungseinrichtung 16 in einfachster Form. Dabei erfolgt die Geschwindigkeitserfassung in jeder der Vorendstellungen des Kolbens der Hydraulikzylinder mittels zweier Endschalter S1 und S2 bzw. S3 und S4. An der Kolbenstange 18 ist eine Markierung angebracht, die von den Endschaltern S1 bis S4 erfasst wird, wenn die Kolbenstange daran vorbeibewegt wird. Die Endschalter können mechanische Schalter oder Induktivgeber sein. Den Endschaltern S1 bis S4 ist eine Zeiterfassungseinrichtung 19 in der Steuereinrichtung 15 zugeordnet, die die Zeitspanne bestimmt, die das Überfahren der nacheinander angeordneten Endschalter S1 und S2 bzw. S3 und S4 dauert. Die Zeit, die das Überfahren eines Endschalterpaares dauert, ist ein Maß für die Kolbengeschwindigkeit bei Erreichen der Vorendstellung.The speed detection and the detection of the preliminary end can be done in various ways. FIG. 3 shows a speed detection device 16 in the simplest form. The speed detection takes place in each of the Vorendstellungen the piston of the hydraulic cylinder by means of two limit switches S 1 and S 2 or S 3 and S 4 . On the piston rod 18, a mark is attached, which is detected by the limit switches S 1 to S 4 , when the piston rod is moved past it. The limit switches can be mechanical switches or inductive sensors. The limit switches S 1 to S 4 are associated with a time detection device 19 in the control device 15, which determines the time span that lapses over the successively arranged limit switches S 1 and S 2 or S 3 and S 4 . The time taken to overrun a limit switch pair is a measure of the piston speed when the pre-end position is reached.

Eine vereinfachte Lösung einer Geschwindigkeitserfassungseinrichtung 16 zeigt Figur 4. Hierbei sind die Endschalter S1 und S2 nicht direkt am Hydraulikzylinder angeordnet bzw. nicht direkt der Kolbenstange 18 zugeordnet, sondern sind am Drehpunkt entsprechender Ausrüstungsteile angebracht, die von den Hydraulikzylindern 10 und 11 relativ zueinander bewegt werden. Beispielsweise kann die rotatorische Detektionsscheibe 20 mit einem bewegten Teil wie z. B. am Löffel mit dem Lagerbock eines Hydraulikbaggers verbunden sein bzw. von einem Teil des Lagerbocks gebildet sein. Die Endschalter in Form von Induktivgebern S1 und S2 können mit dem Gegenstück, z. B. dem Stiel des Hydraulikbaggers, verbunden sein. Die Markierungen 21, 22 sind derart an der Detektionsscheibe 20 angebracht, dass sie die Endschalter S1 und S2 erreichen, wenn der Hydraulikzylinder jeweils eine seiner Vorendstellungen erreicht.A simplified solution of a speed detection device 16 is shown in FIG 4. Here, the limit switches S 1 and S 2 are not arranged directly on the hydraulic cylinder or not directly associated with the piston rod 18, but are attached to the fulcrum of appropriate equipment, the hydraulic cylinders 10 and 11 relative to each other to be moved. For example, the rotary detection disc 20 with a moving part such. B. be connected to the bucket with the bearing block of a hydraulic excavator or be formed by a part of the bearing block. The limit switches in the form of inductive sensors S 1 and S 2 can with the counterpart, z. B. the stem of the hydraulic excavator connected. The markers 21, 22 are mounted on the detection disc 20 so that they reach the limit switches S 1 and S 2 when the hydraulic cylinder reaches one of its Vorendstellungen.

Eine weitere bevorzugte Ausführungsform einer Geschwindigkeitserfassungseinrichtung 16 zeigt Figur 5. Bei dieser Ausführung wird der Weg des Kolbens über Markierungen an der Zylinderstange bzw. Kolbenstange 18 und entsprechenden Endschaltern bzw. Sensoren S1 und S2 über den kompletten Weg des Kolbens erfasst. Die Sensoren S1 und S2 befinden sich im drucklosen Bereich des Kolbenstangenlagers. Ein solches relatives Messsystem ist zweckmäßigerweise mit einer Referenznull versehen, die bei jedem Start der Maschine mindestens einmal überfahren wird.A further preferred embodiment of a speed detection device 16 is shown in FIG 5. In this embodiment, the path of the piston via markings on the cylinder rod or piston rod 18 and corresponding limit switches or sensors S 1 and S 2 is detected over the entire path of the piston. The sensors S 1 and S 2 are located in the unpressurized region of the piston rod bearing. Such a relative measuring system is expediently provided with a reference zero, which is run over at least once each time the machine is started.

Für die vorliegende Bewegungsdämpfung bevorzugt ist im Vergleich dazu die in Figur 6 gezeigte Ausbildung der Stellungs- und Geschwindigkeitserfassungseinrichtung 16 bzw. 17. Der Weg der Kolbenstange 18 wird nur im Bereich der beiden Endlagen erfasst, was völlig ausreichend ist für Hydraulikzylinder, bei denen nur die erfindungsgemäße Bewegungsdämpfung stattfinden soll. Die Endschalter S1 und S2 sind wiederum im Bereich des Kolbenstangenlagers in den Hydraulikzylinder integriert und erfassen Markierungen auf der Kolbenstange 18, die in deren Endbereichen vorgesehen sind. Erreichen die Markierungen 21 bzw. 22 die Endschalter bzw. Endsignalgeber S1 und S2, geben diese ein Signal ab, so dass in der zuvor beschriebenen Weise zum einen das Erreichen der Vorendstellung des Kolbens angezeigt und andererseits die dabei vorhandene Geschwindigkeit des Kolbens erfasst bzw. bestimmt werden kann.For the present motion damping is preferred in comparison to the training shown in Figure 6, the position and speed detection device 16 and 17. The way of the piston rod 18 is detected only in the region of the two end positions, which is quite sufficient for hydraulic cylinders, in which only the Movement damping according to the invention should take place. The limit switches S 1 and S 2 are in turn integrated in the region of the piston rod bearing in the hydraulic cylinder and detect markings on the piston rod 18, which are provided in the end regions thereof. If the markers 21 or 22 reach the limit switches or end signal transmitters S 1 and S 2 , they emit a signal, so that the reaching of the preliminary end position of the piston is indicated in the previously described manner and, on the other hand, the velocity of the piston present or detected . can be determined.

Die in Figur 1 gezeigte Steuereinrichtung 15 betätigt die Wegeventile 4, 5 und 6 bei Erreichen der Vorendstellungen in Abhängigkeit der dabei erfassten Geschwindigkeit folgendermaßen:The control device 15 shown in Figure 1 actuates the directional control valves 4, 5 and 6 when reaching the Vorendstellungen depending on the speed detected here as follows:

Wie Figur 2 zeigt, wird eine Bewegung der Hydraulikzylinder 10 und 11 durch die Ansteuerung der Wegeventile 4, 5 und 6 im Punkt P1 eingeleitet. Der Ansteuerstrom wird zunächst auf einen 10%igen Wert wie 10 erhöht, so dass der Bewegungsbeginn der Hydraulikzylinder im Punkt 2 angenommen werden kann. Der Druckaufbau und die Beschleunigung der Hydraulikzylinder 10 und 11 erfolgt entlang der Steuerrampe zwischen den Punkten P2 und P3. Die Hydraulikzylinder erreichen ihre Maximalgeschwindigkeit bei 90%igem Ansteuerstrom I90, der im Punkt P3 des Diagramms aus Figur 2 erreicht wird. Von dort wird auf den Maximalstrom Imax in Punkt P4 gegangen, so dass die Hydraulikkolben mit voller Geschwindigkeit fahren.As FIG. 2 shows, a movement of the hydraulic cylinders 10 and 11 is initiated by the control of the directional control valves 4, 5 and 6 at point P1. The drive current is first increased to a 10% value such as 10, so that the start of movement of the hydraulic cylinder can be assumed in point 2. The pressure build-up and the acceleration of the hydraulic cylinders 10 and 11 take place along the control ramp between the points P2 and P3. The hydraulic cylinders reach their maximum speed at 90% drive current I 90 , which is reached at point P3 of the diagram of Figure 2. From there, the maximum current Imax goes to point P4, so that the hydraulic pistons drive at full speed.

Wird der Kolben dementsprechend bis zu einer seiner Endstellungen gefahren, wird zunächst der in Bewegungsrichtung erste Endsignalgeber S1 überfahren. Im Diagramm Punkt P5 gemäß Figur 2 wird der Hydraulikzylinder noch mit voller Geschwindigkeit gefahren, wobei der erste Endsignalgeber S1 sein Signal abgibt. Hier wird je nach Ausrüstungskomponente ein Steuerkolben eines der Wegeventile 4 oder auch mehrere Steuerkolben mehrerer Wegeventile 4 und 5 schlagartig abgesteuert, so dass der entsprechende Ansteuerstrom für diese Wegeventile sprungartig vom Punkt P5 auf Punkt P6, d.h. auf Null fällt. Die Steuerkolben folgen dabei dem Strom entsprechend Ihrer dynamischen Eigenschaft.If the piston is accordingly driven to one of its end positions, the first end signal transmitter S 1 , which is first in the direction of movement, is run over. In the diagram point P5 according to Figure 2, the hydraulic cylinder is still driven at full speed, the first end signal generator S 1 emits its signal. Here Depending on the equipment component, a control piston of one of the directional control valves 4 or more control pistons several way valves 4 and 5 abruptly controlled, so that the corresponding drive current for these directional control valves abruptly from point P5 to point P6, ie falls to zero. The control pistons follow the current according to their dynamic characteristic.

Die verbleibenden Steuerkolben werden weiter mit zunächst vollem Ansteuerstrom Imax angesteuert, bis auch der zweite Endsignalgeber S2 überfahren wird und sein entsprechendes Signal abgibt. In der Zeiterfassungseinrichtung 19 der Steuereinrichtung 15 wird dabei die Zeit tK bestimmt, die zum Überfahren beider Endsignalgeber S1 und S2 benötigt wurde. Eine Vergleichs- und Differenzbildungseinrichtung 23 in der Steuereinrichtung 15 vergleicht den erfassten Wert tK der Zeitspanne, der ein Maß für die Geschwindigkeit des Hydraulikzylinders ist, mit einem vorgegebenen Wert tS. Ist die erfasste Zeit tK kleiner oder gleich dem Wert tS, so erfolgt der Dämpfungsvorgang entlang der Linie zwischen den Punkten P7, P8, P9, P10, P11, P12. Dies bedeutet, dass die erfasste Kolbengeschwindigkeit größer oder gleich einer Grenzgeschwindigkeit war. Der Dämpfungsvorgang wird unmittelbar eingeleitet.The remaining control pistons are further driven with initially full drive current Imax until the second end signal generator S 2 is run over and emits its corresponding signal. In the time detection device 19 of the control device 15 while the time t K is determined, which was needed to pass over both end signal generator S 1 and S 2 . A comparison and subtraction device 23 in the control device 15 compares the detected value t K of the time span, which is a measure of the speed of the hydraulic cylinder, with a predetermined value t S. If the detected time t K is less than or equal to the value t S , the damping process takes place along the line between the points P7, P8, P9, P10, P11, P12. This means that the detected piston speed was greater than or equal to a limit speed. The damping process is initiated immediately.

Ist die erfasste Zeit tK jedoch größer als der vorgegebene Wert tS, so erfolgt die Dämpfung zeitversetzt, und zwar entlang der Linie zwischen den Punkten P7', P8', P9', P10', P11' und P12'. Der Zeitversatz tF wird von der Steuereinrichtung 15 dabei proportional zur zeitlichen Überschreitung von tS, d.h. proportional zu dem Betrag gewählt, um den die erfasste Zeit tK größer als die vorgegebene Zeit tS ist.However, if the detected time t K is greater than the predetermined value t S , the damping takes place with a time delay, along the line between the points P7 ', P8', P9 ', P10', P11 'and P12'. The time offset t F is thereby selected by the control device 15 proportional to the time overflow of t S , ie proportional to the amount by which the detected time t K is greater than the predetermined time t S.

Der nicht verzögerte Dämpfungsvorgang entlang der Linie zwischen den Punkten P7 und P12 sowie der zeitverzögerte Dämpfungsvorgang entlang der Linie zwischen den Punkten P7' bis P12' kann wie folgt beschrieben werden:The non-delayed damping process along the line between the points P7 and P12 and the time-delayed damping process along the line between the points P7 'to P12' can be described as follows:

Zunächst wird der Ansteuerstrom für die verbleibenden Wegeventile 6 bis n, d.h. für die Wegeventile, die nicht gleich bei Überfahren des ersten Endsignalgebers S1 zurückgefahren wurden, auf den Sprungwert IS zurückgefahren. Durch den Sprung werden die Steuerkolben der Wegeventile schlagartig in eine Position gebracht, ab der eine Bremswirkung auf der Ablaufseite der Hydraulikzylinder 10 und 11 erfolgt.First of all, the drive current for the remaining directional control valves 6 to n, ie for the directional control valves which were not retracted as soon as the first end signal generator S 1 has been traveled over, is reduced to the jump value I S. By the jump The control piston of the directional control valves are suddenly brought into a position from which a braking effect on the discharge side of the hydraulic cylinders 10 and 11 takes place.

Das Bremsen erfolgt dann entlang der Dämpfungsrampe von dem Punkt P8 zum Punkt P9 bzw. vom Punkt P8' zum Punkt P9'. Je nach Anzahl der verbleibenden Steuerkolben läuft ein Kolben entlang der Dämpfungsrampe weiter bis zu den Punkten P11 bzw. P11', wo er dann jeweils abgeschaltet wird, d.h. der Strom wird zurückgefahren auf Null, wie dies die Punkte P12 bzw. P12' angeben.The braking then takes place along the damping ramp from the point P8 to the point P9 or from the point P8 'to the point P9'. Depending on the number of remaining control pistons, a piston continues along the damping ramp up to the points P11 and P11 ', where it is then switched off in each case, ie. the current is reduced to zero, as indicated by the points P12 and P12 '.

Der noch verbleibende Steuerkolben des einen Wegeventils wird entlang einer Steuerrampe vom Punkt P9 zum Punkt P10 bzw. P9' und P10' angesteuert, wo er dann in Punkt P10 den Auslaufstrom IA erreicht. Mit dem Auslaufstrom ist ein Erreichen der Endposition bei voller Zylinderkraft möglich.The remaining control piston of the one-way valve is driven along a control ramp from the point P9 to the point P10 or P9 'and P10', where it then reaches the outlet flow I A in point P10. With the discharge flow it is possible to reach the end position with full cylinder force.

Die Absteuerung wird bei Punkt P13 durch Loslassen des Handsteuergebers eingeleitet. Der Strom verläuft entlang der Sprungrampe vom Punkt P13 zum Punkt P14 und wird dann abgeschaltet entlang der Linie vom Punkt P14 zum Punkt P15.The control is initiated at point P13 by releasing the manual control. The current runs along the jump ramp from point P13 to point P14 and is then cut off along the line from point P14 to point P15.

Es versteht sich, dass der Dämpfungsvorgang in die Gegenrichtung nach dem gleichen Schema abläuft. Die Detektion und Richtungserkennung erfolgt in umgekehrter Richtung.It is understood that the damping process in the opposite direction proceeds according to the same scheme. The detection and direction detection takes place in the reverse direction.

Wird anstelle der drei Pumpen 1, 2 und 3 nur eine Pumpe zur Speisung der Hydraulikzylinder verwendet, versteht es sich, dass bei Überfahren des ersten Endsignalgebers S1 der Steuerkolben des entsprechenden Wegeventils noch nicht abgeschaltet wird. Das Gesamtprozedere erfolgt dann geschwindigkeitsabhängig ab dem Überfahren des zweiten Endsignalgebers S2. Es können grundsätzlich n Pumpen verwendet werden.If instead of the three pumps 1, 2 and 3 only one pump is used to supply the hydraulic cylinders, it will be understood that when the first end signal generator S 1 is passed, the control piston of the corresponding directional control valve is not yet switched off. The Gesamtprozedere then takes place depending on the speed from the crossing of the second Endsignalgebers S 2nd In principle, n pumps can be used.

Claims (11)

  1. Method for damping the movement of hydraulic cylinders (10, 11) of mobile working machines, in particular hydraulic excavators, in which the movement speed of a hydraulic cylinder (10, 11) is reduced before the said cylinder reaches one of its end positions and the hydraulic cylinder (10, 11) is moved to the respective end position at a reduced speed, with the inflow and/or outflow of the hydraulic cylinder (10, 11) being throttled by means of a flow-control element (4, 5, 6) in order to reduce the speed,
    characterized in that
    two end signal transmitters (S1, S2) which are arranged in series are crossed before the respective end positions are reached, and the time period (tK) between the times at which the two end signal transmitters (S1, S2) are crossed is detected in order to detect the movement speed of the hydraulic cylinder (10, 11), with a time difference (δt) being determined from the detected time period (tK) and a prespecified time period (tS), and a delay (tF) of the starting time (P7') of the damping being determined as a function of the time difference (δt).
  2. Method according to the preceding claim, with the throttling speed of the flow-control element (4, 5, 6) being prespecified independently of the detected movement speed of the hydraulic cylinder (10, 11).
  3. Method according to either of the preceding claims, with the start (P7, P7') of damping being delayed at a decreasing detected movement speed.
  4. Method according to one of the preceding claims, with a fixed start time (P7) being prespecified when the detected movement speed is greater than or equal to a prespecified limit speed, and the start time (P7') is performed with the delay (tF) with respect to the fixed start time (P7) when the detected movement speed is less than the prespecified limit speed.
  5. Method according to one of the preceding claims, with the delay (tF) being selected to be proportional to the time difference (δt).
  6. Apparatus for damping the movement of hydraulic cylinders of mobile working machines, in particular hydraulic excavators, in accordance with the method according to one of the preceding claims, having a position-detection device (17) for detecting a front end position of the hydraulic cylinder (10, 11), a flow-control element (4, 5, 6) for throttling the inflow and/or outflow of the hydraulic cylinder (10, 11), and a control device (15) for actuating the flow-control element (4, 5, 6) when the front end position is reached, characterized in that a speed-detection device (16) for detecting the movement speed of the hydraulic cylinder when the front end position is reached has two end signal transmitters (S1, S2), which are arranged in series, and a time-detection device (19) which detects the time period (tK) between the signals from the two end signal transmitters (S1 and S2), and the control device (15) has a comparison device (23) for comparing the detected time period (tK) with a prespecified time period (tS) and for forming the difference between the two time periods (tK, tS), and a delay device with a delay transmitter which prespecifies the delay (tF) with which the flow-control element (4, 5, 6) is actuated as a function of the specific difference.
  7. Apparatus according to the preceding claim, with one of the end signal transmitters (S1, S2) simultaneously forming the position-detection device (17).
  8. Apparatus according to either of the preceding Claims 6 and 7, with first and second markers (21, 22) being provided on the piston rod (18) of the hydraulic cylinder (10, 11) and/or a detection transmitter (20) coupled to the latter, the said markers each corresponding to one of the two front end positions and it being possible for the position-detection device (17) and/or the speed-detection device (16) to detect them both.
  9. Apparatus according to one of the preceding Claims 6 to 8, with the speed-detection device (16) being integrated in the hydraulic cylinder (10, 11).
  10. Apparatus according to one of Claims 6 to 8, with the speed-detection device (16) being arranged separately from the hydraulic cylinder (10, 11) and being associated with a detection transmitter (20).
  11. Apparatus according to one of the preceding Claims 6 to 10, with the position-detection device (17) being associated with an articulation point between the two components of the movement train which is driven by the hydraulic cylinder (10, 11), and the position of the two components in relation to one another being detected.
EP03021744A 2002-12-05 2003-09-25 Method and apparatus for end stroke dampening in hydraulic actuators of mobile working machines Expired - Lifetime EP1426499B1 (en)

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DE10256923A DE10256923B4 (en) 2002-12-05 2002-12-05 Method and device for motion damping of hydraulic cylinders of mobile machines

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DE10256923A1 (en) 2004-06-17
ATE349578T1 (en) 2007-01-15

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