EP1426499B1 - Procédé et appareil d'amortissement des fins de course d'un cylindre hydraulique utilisé dans des engins de travaux publics - Google Patents

Procédé et appareil d'amortissement des fins de course d'un cylindre hydraulique utilisé dans des engins de travaux publics 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)
English (en)
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EP1426499A1 (fr
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)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
  • Actuator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (11)

  1. Procédé d'amortissement de mouvement de vérins hydrauliques (10, 11) d'engins de travaux mobiles, en particulier de pelles excavatrices hydrauliques, dans lequel, avant l'atteinte d'une des positions finales du vérin hydraulique (10, 11), sa vitesse de mouvement est réduite, et le vérin hydraulique (10, 11) est amené à la vitesse réduite dans la position finale respective, où pour la réduction de la vitesse, au moyen d'un organe de commande d'écoulement (4, 5, 6), l'afflux et/ou l'écoulement du vérin hydraulique (10, 11) est étranglé,
    caractérisé en ce que
    avant l'atteinte des positions finales respectives, deux capteurs de signaux terminaux (S1, S2) sont dépassés et, pour la détection de la vitesse de déplacement du vérin hydraulique (10, 11), le laps de temps (tK) entre le dépassement des deux capteurs de signaux terminaux (S1, S2) est détecté, où à partir du laps de temps détecté (tK) et d'un laps de temps prédéfini (tS), une différence de temps (δt) est déterminée, et un retard (tF) de l'instant initial (P7') de l'amortissement est déterminé en fonction de la différence de temps (δt).
  2. Procédé selon la revendication précédente, où la vitesse d'étranglement de l'organe de commande d'écoulement (4, 5, 6) est prédéfinie indépendamment de la vitesse de déplacement détectée du vérin hydraulique (10, 11).
  3. Procédé selon l'une des revendications précédentes, où le début d' amortissement (P7, P7' ) est retardé au fur et à mesure que la vitesse de déplacement détectée diminue.
  4. Procédé selon l'une des revendications précédentes, où un instant initial fixe (P7) est prédéfini lorsque la vitesse de déplacement détectée est supérieure ou égale à une vitesse limite prédéfinie, et que l'instant initial (P7') est avancé selon le retard (tF), relativement à l'instant initial fixe (P7) lorsque la vitesse de déplacement détectée est plus petite que la vitesse limite prédéfinie.
  5. Procédé selon l'une des revendications précédentes, où le retard (tF) est sélectionné d'une manière proportionnelle à la différence de temps (δt).
  6. Dispositif d'amortissement de mouvement de vérins hydrauliques d'engins de travaux mobiles, en particulier de pelles excavatrices hydrauliques selon le procédé en accord avec l'une des revendications précédentes avec une installation de détection (17) pour détecter une position avant-fin du vérin hydraulique (10, 11), un organe de commande d'écoulement (4, 5, 6) pour l'étranglement de l'afflux et/ou de l'écoulement du vérin hydraulique (10, 11), et avec une installation de commande (15) pour commander l'organe de commande d'écoulement (4, 5, 6) lors de l'atteinte de la position avant-fin, caractérisé en ce qu'une installation de détection de vitesse (16) pour détecter la vitesse de déplacement du vérin hydraulique lors de l'atteinte de la position avant-fin présente deux capteurs de signaux terminaux (S1, S2) disposés l'un derrière l'autre et une installation de détection de temps (19), qui détecte le laps de temps (tK) entre les signaux des deux capteurs de signaux (S1, S2), et l'installation de commande (15) présente une installation de comparaison (23) pour comparer le laps de temps détecté (tk) avec un laps de temps prédéfini (tS) et pour former la différence entre les deux laps de temps (tK, tS) et une installation de retard avec un capteur de retard qui indique en fonction de la différence déterminée le retard (tF) de la commande de l'organe de commande d'écoulement (4, 5, 6).
  7. Dispositif selon la revendication précédente, où l'un des deux capteurs de signaux terminaux (S1, S2) constitue en même temps l'installation de détection de position (17).
  8. Dispositif selon l'une des revendications précédentes 6 ou 7, où sont prévus à la tige de piston (18) du vérin hydraulique (10, 11) et/ou à un capteur de détection (20) couplé à celle-ci des première et seconde marquages (21, 22) qui correspondent à chaque fois à l'une des deux positions avant-fin et qui peuvent être détectées tous les deux par l'installation de détection de position (17) et/ou l'installation de détection de vitesse (16).
  9. Dispositif selon l'une des revendications précédentes 6 à 8, où l'installation de détection de vitesse (16) est intégrée dans le vérin hydraulique (10, 11).
  10. Dispositif selon l'une des revendications 6 à 8, où l'installation de détection de vitesse (16) est disposée séparément du vérin hydraulique (10, 11) et est associée à un capteur de détection (20).
  11. Dispositif selon l'une des revendications précédentes 6 à 10, où l'installation de détection de position (17) est associée à un point d'articulation de deux composants du tronçon de mouvement entraîné par le vérin hydraulique (10, 11) et détecte la position des deux composants l'un relativement à l'autre.
EP03021744A 2002-12-05 2003-09-25 Procédé et appareil d'amortissement des fins de course d'un cylindre hydraulique utilisé dans des engins de travaux publics Expired - Lifetime EP1426499B1 (fr)

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DE10256923A DE10256923B4 (de) 2002-12-05 2002-12-05 Verfahren und Vorrichtung zur Bewegungsdämpfung von Hydraulikzylindern mobiler Arbeitsmaschinen
DE10256923 2002-12-05

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EP1426499B1 true EP1426499B1 (fr) 2006-12-27

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US (1) US7318292B2 (fr)
EP (1) EP1426499B1 (fr)
JP (1) JP4503272B2 (fr)
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AT (1) ATE349578T1 (fr)
DE (2) DE10256923B4 (fr)

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DE50306094D1 (de) 2007-02-08
JP2004183899A (ja) 2004-07-02
DE10256923B4 (de) 2013-10-24
JP4503272B2 (ja) 2010-07-14
KR101073202B1 (ko) 2011-10-12
EP1426499A1 (fr) 2004-06-09
DE10256923A1 (de) 2004-06-17
CN1566717A (zh) 2005-01-19
US7318292B2 (en) 2008-01-15
KR20040049277A (ko) 2004-06-11
ATE349578T1 (de) 2007-01-15
CN100353078C (zh) 2007-12-05

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