EP2225471B1 - Hydraulic control circuit for the overcontrol of a slewing gear drive - Google Patents

Hydraulic control circuit for the overcontrol of a slewing gear drive Download PDF

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Publication number
EP2225471B1
EP2225471B1 EP08851023A EP08851023A EP2225471B1 EP 2225471 B1 EP2225471 B1 EP 2225471B1 EP 08851023 A EP08851023 A EP 08851023A EP 08851023 A EP08851023 A EP 08851023A EP 2225471 B1 EP2225471 B1 EP 2225471B1
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EP
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Prior art keywords
valves
hydraulic
control
control circuit
slewing
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EP08851023A
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German (de)
French (fr)
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EP2225471A1 (en
Inventor
Thilo Jene
Achim SCHÜTZ
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Tadano Demag GmbH
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Terex Cranes Germany GmbH
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    • 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
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated
    • 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
    • F15B2211/20538—Type of pump constant 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-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
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • 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
    • F15B2211/355—Pilot pressure 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41527—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a 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
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/428—Flow control characterised by the type of actuation actuated by fluid pressure
    • 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
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out 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
    • F15B2211/60—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
    • F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
    • F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve 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
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary 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
    • F15B2211/715—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 invention relates to a hydraulic control circuit for overriding a hydraulic system controlling a drive.
  • the present application is based on the DE 10 2006 040 459 A1 , There, the state of the art is first explained in conventional slewing controls.
  • a turning device is referred to as a device in which a crane superstructure with a corresponding boom can rotate freely on a fixed undercarriage.
  • the drive is via a hydraulic motor, which in turn arbitrarily positioned via a gearbox with a corresponding translation of the superstructure to the undercarriage.
  • the rotational movement must be able to be controlled very slowly on the one hand, and on the other hand to reach high speeds in order to enable corresponding work cycles.
  • the dynamic properties of the lathe system vary widely, depending on boom lengths, payloads and load weights.
  • the requirements for operation of the crane are also determined by the operations on the construction sites. This requires a high degree of controllability through resolution and conversion.
  • the slewing controls commonly used in vehicle cranes are designed as “Closed and Open Circles”. Within the “Open Circuits”, volume-flow or pressure-controlled systems are used.
  • a variable displacement pump delivers into a hydraulic circuit directly to the hydraulic motor without having another distribution point in the system.
  • the refluxing oil is led directly to the pump.
  • Leakage is fed by another auxiliary pump in the respective return side.
  • the speed of the rotary movement is determined by the delivery volume of the pump.
  • the control valves in the pump regulate the quantity as required.
  • the conveying direction and thus also the direction of rotation of the slewing gear is also determined by the pump.
  • the mechanical / hydraulic valve system allows the
  • An advantage of this control principle lies in the clamping of the slewing gear, the conditionally prevents a rotation with lateral forces, since the hydraulic motor on the pump and thus the diesel engine is supported.
  • the clamping of the slewing mechanism by the "closed circle” causes an immediate delay in the rotational speed when the control is canceled.
  • Further advantages are the good energy balance as well as the delivery volume specified by the geometry of the pump and thus the possibility to approach exact positions.
  • a constant pump promotes oil from the tank through a proportional valve to the slewing motor.
  • the returning oil passes through the proportional valve to the tank.
  • the direction of rotation and the flow rate to the slewing motor are determined by the valve. Both are controlled by proportional signals as required.
  • the proportional valves can work as throttle valves or as pressure compensator valves, whereby then a flow control is guaranteed regardless of the pressure.
  • Pure throttle controls are very well suited for very dynamic slewing operation, but are more unpredictable with changing loads.
  • Flow control systems can control or regulate the lowest speeds regardless of the load, but they are not suitable for dynamic driving with counter-steering. Due to the freewheeling circuit of the slides, the load hook always centered on the load when the brake is raised and the lifting hook is raised. A major disadvantage of the "open circles" lies in the targeted stopping of the movement. Braking with the proportional valve is not possible because different braking forces are required on a defined braking distance with changing loads.
  • A1 a hydraulic control circuit for a hydraulic system controlling a drive has been proposed, in particular for controlling a hydraulic motor for driving a slewing gear of a crane superstructure, which is characterized by in the two working lines between a hydraulic constant pump and a hydraulic motor for controlling the slewing gear, separately controllable proportional pilot valves, and each separately controllable proportional directional valves by means of the inflow and outflow to and from the hydraulic motor and thus its direction of rotation can be controlled.
  • a failure of the energy required to control the directional valves means an uncontrollable further rotation due to the inertia of a revolving stage in rotation or starting the rotational movement due to unequal load distribution of a sleeper at rest. Both the uncontrollable further rotation and the beginning of an unwanted rotational movement pose a security risk.
  • the invention has the object of providing a hydraulic circuit in such a way that even in the case of partial or complete failure of the control of slewing, hoist or Einziehhubwerk the operator of the machine slow down the slewing gear, hoist or Einziehhubwerk and can finally stop.
  • the slewing drive is described in only one direction of rotation, the opposite direction is carried out accordingly.
  • the control of the slewing motor 5 via the inlet piston 3.2 The inlet piston specifies the direction of rotation and the rotational speed of the slew motor. It is assumed in this embodiment that the oil flow from the pump 2 via the inlet piston 3.2, the pressure line 3.9 to the motor 5 flows.
  • the oil flowing back from the engine 5 then flows via the pressure line 3.10 to the directional control valve 3.5 and via this via the line 10 to the tank 1.
  • the directional valve is designed such that a control pressure in 3.17 or 3.18 is required to throttle the flow and close. Without control pressure, the directional valves 3.5 and 3.6 release the flow of 3.9 or 3.10 via the line 10 to the tank 1.
  • the control pressure is generated electroproportionally by the pilot valves 3.3 and 3.4 respectively.
  • the pilot valve 3.4 is energized, so that 3.6 remains closed.
  • the drain-side pilot valve 3.3 is (partially) energized so that 3.5 (partially) is open and the flow from 3.10 to 1 releases. So far the description corresponds to that in DE 10 2006 040 459 A1 ,
  • the spring-loaded directional control valve 3.5 opens the drain.
  • the slewing in freewheel it is no longer subject to the control of the operator on the controls, eg. B. joystick 9, in the block diagram of FIG. 2 is shown.
  • the spring-loaded opening of the directional valve ensures that there is no abrupt braking of the slewing gear. This would under certain conditions (high moment of inertia) pose a threat to the system.
  • the operator By operating the valve 6, for example via a foot brake pedal 8, the operator according to the present invention can now build up a control pressure in 3.11 and 3.12. This causes the control valves 3.7 and 3.8 in 3.17 and 3.18 to build up a control pressure that throttles both directional control valves 3.5 and 3.6.
  • the throttling is proportional to the established control pressure.
  • the slewing clutch override according to the present invention can also be used as a dynamic service brake for a given full operating range.

Description

Die Erfindung betrifft einen Hydrauliksteuerkreis für eine Übersteuerung eines einen Antrieb steuernden Hydrauliksystems.The invention relates to a hydraulic control circuit for overriding a hydraulic system controlling a drive.

Die vorliegende Anmeldung geht aus von der DE 10 2006 040 459 A1 . Dort ist zunächst der Stand der Technik bei gebräuchlichen Drehwerkssteuerungen erläutert.The present application is based on the DE 10 2006 040 459 A1 , There, the state of the art is first explained in conventional slewing controls.

Hiernach wird unter Drehwerk ein Einrichtung bezeichnet, bei dem sich ein Kranoberwagen mit entsprechendem Ausleger auf einem fest stehenden Unterwagen frei drehen kann. Üblicherweise erfolgt der Antrieb über einen Hydraulikmotor, der wiederum über ein Getriebe mit entsprechender Übersetzung den Oberwagen zum Unterwagen beliebig positioniert. Die Drehbewegung muss im Arbeitsfall einerseits sehr langsam steuerbar sein und andererseits hohe Geschwindigkeiten erreichen um entsprechende Arbeitszyklen zu ermöglichen. Die dynamischen Eigenschaften des Drehsystems variieren sehr stark, abhängig von Auslegerlängen, Ausladungen und Lastgewichten. Die Anforderung an die Bedienung des Krans werden ebenso von den Einsätzen auf den Baustellen bestimmt. Das erfordert eine hohes Maß an Steuerbarkeit durch Auflösung und Wandlung.Hereinafter a turning device is referred to as a device in which a crane superstructure with a corresponding boom can rotate freely on a fixed undercarriage. Usually, the drive is via a hydraulic motor, which in turn arbitrarily positioned via a gearbox with a corresponding translation of the superstructure to the undercarriage. On the one hand, the rotational movement must be able to be controlled very slowly on the one hand, and on the other hand to reach high speeds in order to enable corresponding work cycles. The dynamic properties of the lathe system vary widely, depending on boom lengths, payloads and load weights. The requirements for operation of the crane are also determined by the operations on the construction sites. This requires a high degree of controllability through resolution and conversion.

Die in Fahrzeugkranen üblicherweise verwendeten Drehwerkssteuerungen werden als "Geschlossene und Offene Kreise" ausgeführt. Innerhalb der "Offenen Kreise" finden volumenstrom- oder druckgeregelte Systeme Anwendung.The slewing controls commonly used in vehicle cranes are designed as "Closed and Open Circles". Within the "Open Circuits", volume-flow or pressure-controlled systems are used.

Im "Geschlossenen Kreis" fördert eine Verstellpumpe in einen Hydraulikkreis direkt zum Hydraulikmotor, ohne eine weitere Verteilstelle im System aufzuweisen. Das Rückfließende Öl wird direkt zur Pumpe geleitet. Leckage wird durch eine weitere Hilfspumpe in die jeweilige Rücklaufseite eingespeist.
Die Geschwindigkeit der Drehbewegung wird durch das Fördervolumen der Pumpe bestimmt. Die Steuerventile in der Pumpe regeln je nach Anforderung die Menge.
Die Förderrichtung und damit auch die Drehrichtung des Drehwerkes wird ebenfalls durch die Pumpe bestimmt. Das mechanisch / hydraulische Ventilsystem ermöglicht es, dieIn the "closed circuit", a variable displacement pump delivers into a hydraulic circuit directly to the hydraulic motor without having another distribution point in the system. The refluxing oil is led directly to the pump. Leakage is fed by another auxiliary pump in the respective return side.
The speed of the rotary movement is determined by the delivery volume of the pump. The control valves in the pump regulate the quantity as required.
The conveying direction and thus also the direction of rotation of the slewing gear is also determined by the pump. The mechanical / hydraulic valve system allows the

Verstelleinheit der Pumpe aus einer Maximalstellung über die Nullstellung zur anderen Maximalstellung zu schwenken und somit kontinuierlichen Förderstrom von einem Ausgang zum anderen umzuschalten. Gleichzeitig wechseln auch die Saugseiten an der Pumpe.Pivoting adjustment of the pump from a maximum position on the zero position to the other maximum position and thus to switch continuous flow from one output to another. At the same time, the suction sides on the pump also change.

Ein Vorteil dieses Steuerungsprinzips liegt in der Einspannung des Drehwerks, die ein Wegdrehen bei Seitenkräften bedingt verhindert, da sich der Hydraulikmotor auf der Pumpe und somit dem Dieselmotor abstützt. Die Einspannung des Drehwerks durch den "Geschlossenen Kreis" verursacht bei zurücknehmen der Ansteuerung ein sofortiges Verzögern der Drehgeschwindigkeit. Es ist eine erhöhte Aufmerksamkeit des Fahrers auf die Drehbewegung erforderlich.
Weitere Vorteile sind die gute Energiebilanz sowie das durch die Geometrie der Pumpe vorgegebene Fördervolumen und somit die Möglichkeit genaue Positionen anfahren zu können.An advantage of this control principle lies in the clamping of the slewing gear, the conditionally prevents a rotation with lateral forces, since the hydraulic motor on the pump and thus the diesel engine is supported. The clamping of the slewing mechanism by the "closed circle" causes an immediate delay in the rotational speed when the control is canceled. There is an increased attention of the driver to the rotational movement required.
Further advantages are the good energy balance as well as the delivery volume specified by the geometry of the pump and thus the possibility to approach exact positions.

Nachteilig wirkt sich der erhöhte Leckölanfall durch Hydraulikmotor und Pumpe bei Seitenkräften aus, wobei es dabei zu ungewollten Wegdriften des Drehwerks kommt. Eine zusätzliche dynamische Drehbremse ist trotz "Geschlossenem Kreis" erforderlich.The disadvantage is the increased leakage oil accumulation by hydraulic motor and pump with lateral forces, whereby it comes to unwanted drifting of the slewing gear. An additional dynamic rotary brake is required despite the "closed circuit".

Im "Offenen Kreis" fördert üblicherweise eine Konstantpumpe Öl aus dem Tank durch ein Proportionalventil zum Drehwerksmotor. Das rückfließende Öl gelangt durch das Proportionalventil zum Tank. Die Drehrichtung und die Fördermenge zum Drehwerksmotor werden durch das Ventil bestimmt. Beides wird durch Proportionalsignale je nach Anforderung gesteuert.In the "open circuit" usually a constant pump promotes oil from the tank through a proportional valve to the slewing motor. The returning oil passes through the proportional valve to the tank. The direction of rotation and the flow rate to the slewing motor are determined by the valve. Both are controlled by proportional signals as required.

Die Proportionalventile können als Drosselventile arbeiten oder aber auch als Druckwaagenventile, wobei dann eine Förderstromregelung unabhängig vom Druck gewährleistet ist.
Reine Drosselsteuerungen sind für sehr dynamische Fahrweise des Drehwerks sehr gut geeignet, sind jedoch bei wechselnden Lasten unberechenbarer.
Förderstromregelungen können unabhängig von der Last kleinste Geschwindigkeiten steuern oder regeln, sind jedoch für dynamische Fahrweise mit Gegensteuerung nicht geeignet. Durch die Freilaufschaltung der Schieber zentriert sich der Lasthaken bei geöffneter Bremse und anhebendem Lasthaken immer selbstständig genau über der Last. Ein großer Nachteil der "Offenen Kreise" liegt im gezielten Anhalten der Bewegung. Das Bremsen mit dem Proportionalventil ist nicht möglich, da bei wechselnden Lasten unterschiedliche Bremskräfte auf einem definierten Bremsweg erforderlich sind.The proportional valves can work as throttle valves or as pressure compensator valves, whereby then a flow control is guaranteed regardless of the pressure.
Pure throttle controls are very well suited for very dynamic slewing operation, but are more unpredictable with changing loads.
Flow control systems can control or regulate the lowest speeds regardless of the load, but they are not suitable for dynamic driving with counter-steering. Due to the freewheeling circuit of the slides, the load hook always centered on the load when the brake is raised and the lifting hook is raised. A major disadvantage of the "open circles" lies in the targeted stopping of the movement. Braking with the proportional valve is not possible because different braking forces are required on a defined braking distance with changing loads.

Da somit diese Option nicht besteht, sind die Steuerschieber in Neutralstellung immer im Freilauf des Drehwerksmotors geschaltet. Zum Anhalten wird eine dynamisch wirkende Bremse benötigt. Diese Bremsen sind überwiegend als mechanische Lamellenbremsen ausgeführt, die ebenso problematisch zu handhaben sind, wenn stark variierende Lasten zu bremsen sind.Since this option does not exist, the spools are always in the neutral position in the freewheel of the slew motor switched. To stop a dynamically acting brake is needed. These brakes are designed predominantly as mechanical disc brakes, which are just as problematic to handle when strongly varying loads are to be braked.

Nach der DE 10 2006 040 459.9 A1 ist ein Hydrauliksteuerkreis für ein einen Antrieb steuerndes Hydrauliksystem vorgeschlagen worden, insbesondere zur Steuerung eines Hydraulikmotors zum Antrieb eines Drehwerks eines Kranoberwagens, der gekennzeichnet ist durch in den beiden Arbeitsleitungen zwischen einer Hydraulikkonstantpumpe und einem Hydraulikmotor zur Steuerung des Drehwerkes angeordnete, getrennt ansteuerbare proportionale Pilotventile, sowie jeweils getrennt ansteuerbare proportionale Wegeventile mittels der die Zu- und Ablaufmenge zum und vom Hydraulikmotor und damit dessen Drehrichtung steuerbar sind.After DE 10 2006 040 459.9 A1 a hydraulic control circuit for a hydraulic system controlling a drive has been proposed, in particular for controlling a hydraulic motor for driving a slewing gear of a crane superstructure, which is characterized by in the two working lines between a hydraulic constant pump and a hydraulic motor for controlling the slewing gear, separately controllable proportional pilot valves, and each separately controllable proportional directional valves by means of the inflow and outflow to and from the hydraulic motor and thus its direction of rotation can be controlled.

Bei einem derartigen Hydrauliksteuerkreis sind unter anderem 2 Varianten denkbar:

  1. 1 Wegeventile im nicht angesteuerten-Zustand "offen", d. h. Durchfluss über die Arbeitsleitungen und Rückflussleitung zum Tank
  2. 2 Wegeventile im nicht angesteuerten Zustand "geschlossen", d. h. kein Durchfluss über die Rücklaufleitung zum nach Tank
In such a hydraulic control circuit, two variants are conceivable, among others:
  1. 1 directional valve in non-activated state "open", ie flow through the working lines and return line to the tank
  2. 2-way valves in the non-activated state "closed", ie no flow via the return line to the tank

Zu 1.: In diesem Fall bedeutet ein Ausfall der zur Ansteuerung der Wegeventile erforderlichen Energie ein nicht kontrollierbares Weiterdrehen auf Grund der Massenträgheit einer in Drehbewegung befindlichen Drehbühne bzw. ein Starten der Drehbewegung auf Grund ungleicher Lastverteilung eines in Ruhe befindlichen Drehwerks. Sowohl das nicht kontrollierbare Weiterdrehen als auch der Beginn einer ungewollten Drehbewegung stellen ein Sicherheitsrisiko dar.Re 1 .: In this case, a failure of the energy required to control the directional valves means an uncontrollable further rotation due to the inertia of a revolving stage in rotation or starting the rotational movement due to unequal load distribution of a sleeper at rest. Both the uncontrollable further rotation and the beginning of an unwanted rotational movement pose a security risk.

Zu 2.: In diesem Fall bedeutet ein Ausfall der zur Ansteuerung der Wegeventile erforderlichen Energie ein Schließen der Ablaufleitungen des Antriebes. Dies führt zu einem abrupten Abbremsen der Drehbewegung. Dies birgt das Risiko der mechanischen Überlastung der Maschine bzw, des Kippens der Maschine.Re 2 .: In this case, a failure of the energy required to control the directional valves means closing the drain lines of the drive. This leads to a abrupt braking of the rotary motion. This carries the risk of mechanical overloading of the machine or tipping of the machine.

Die im Oberbegriff des Patentanspruchs 1 angegebenen Komponenten finden auch bei dem Hydrauliksteuerkreis gemäß der US 2005/205272A1 Anwendung, jedoch erfolgt bei der dort offenbarten Lösung ein vorlaufseitiges Schalten zwischen zwei Haupthydraulikwirkungen.The specified in the preamble of claim 1 components also found in the hydraulic control circuit according to the US 2005 / 205272A1 Application, however, occurs in the solution disclosed there, a flow-side switching between two main hydraulic effects.

Der Erfindung liegt die Aufgabe zu Grunde einen Hydraulikkreis so auszubilden, dass auch im Falle eines teilweisen oder vollständigen Ausfalls der Ansteuerung von Drehwerk, Hubwerk oder Einziehhubwerk der Bediener der Maschine das Drehwerk, Hubwerk oder Einziehhubwerk abbremsen und schließlich anhalten kann.The invention has the object of providing a hydraulic circuit in such a way that even in the case of partial or complete failure of the control of slewing, hoist or Einziehhubwerk the operator of the machine slow down the slewing gear, hoist or Einziehhubwerk and can finally stop.

Gelöst wird diese Aufgabe erfindungsgemäß mit den Merkmalen des Anspruchs 1.This object is achieved according to the invention with the features of claim 1.

Die Erfindung soll nachfolgend erläutert werden, wobei auf die Zeichnungen Bezug genommen wird.The invention will be explained below, reference being made to the drawings.

Dabei zeigt:

  • Fig.1. den Hydrauliksteuerkreis und
  • Fig. 2 das Blockschaltbild.
Showing:
  • Fig.1 , the hydraulic control circuit and
  • Fig. 2 the block diagram.

Die wesentlichen Bauteile des vorliegenden Steuerungskonzeptes beinhalten folgende Komponenten:

  • Gegeben: Drehwerkssteuerung eines Mobilkrans gemäß DE 10 2006 040 459 A1 .
  • Des Weiteren:
    • Wechselventile 3.7 und 3.8
    • Steuerleitungen 3.11 und 3.12
    • Proportional Druckregelventil 6
The essential components of the present control concept include the following components:
  • Given: Slewing control of a mobile crane according to DE 10 2006 040 459 A1 ,
  • Furthermore:
    • Shuttle valves 3.7 and 3.8
    • Control lines 3.11 and 3.12
    • Proportional pressure control valve 6

Beschrieben wird die Drehwerksansteuerung in nur eine Drehrichtung, die entgegengesetzte Richtung erfolgt entsprechend.The slewing drive is described in only one direction of rotation, the opposite direction is carried out accordingly.

Die Ansteuerung des Drehwerksmotors 5 erfolgt über den Zulaufkolben 3.2. Der Zulaufkolben gibt Drehrichtung und Drehgeschwindigkeit des Drehwerksmotors vor. Es sei in diesem Ausführungsbeispiel angenommen, dass der Ölfluss von der Pumpe 2 über den Zulaufkolben 3.2, die Druckleitung 3.9 zu dem Motor 5 fließt.The control of the slewing motor 5 via the inlet piston 3.2. The inlet piston specifies the direction of rotation and the rotational speed of the slew motor. It is assumed in this embodiment that the oil flow from the pump 2 via the inlet piston 3.2, the pressure line 3.9 to the motor 5 flows.

Das vom Motor 5 zurückfließende Öl fließt dann über die Druckleitung 3.10 zu dem Wegeventil 3.5 und über dieses über die Leitung 10 zum Tank 1.
Das Wegeventil ist dabei derart ausgeführt, dass ein Steuerdruck in 3.17 bzw. 3.18 erforderlich ist, um den Ablauf anzudrosseln und zu schließen. Ohne Steuerdruck geben die Wegeventile 3.5 und 3.6 den Durchfluss von 3.9 bzw. 3.10 über die Leitung 10 zum Tank 1 frei.
Der Steuerdruck wird elektroproportional durch die Pilotventile 3.3 bzw. 3.4 erzeugt.
Im behandelten Beispiel wird das Pilotventil 3.4 bestromt, so dass 3.6 geschlossen bleibt. Das ablaufseitige Pilotventil 3.3 wird (teil-)bestromt, so dass 3.5 (teil-)geöffnet ist und den Durchfluss von 3.10 nach 1 freigibt.
Soweit entspricht die Beschreibung derjenigen in DE 10 2006 040 459 A1 .The oil flowing back from the engine 5 then flows via the pressure line 3.10 to the directional control valve 3.5 and via this via the line 10 to the tank 1.
The directional valve is designed such that a control pressure in 3.17 or 3.18 is required to throttle the flow and close. Without control pressure, the directional valves 3.5 and 3.6 release the flow of 3.9 or 3.10 via the line 10 to the tank 1.
The control pressure is generated electroproportionally by the pilot valves 3.3 and 3.4 respectively.
In the example, the pilot valve 3.4 is energized, so that 3.6 remains closed. The drain-side pilot valve 3.3 is (partially) energized so that 3.5 (partially) is open and the flow from 3.10 to 1 releases.
So far the description corresponds to that in DE 10 2006 040 459 A1 ,

Angenommen sei nun eine Fehlfunktion der elektrischen Ansteuerung des Pilotventils 3.3 derart, dass kein Vorsteuerdruck in 3.15 und somit auch 3.17 aufgebaut wird.
In diesem Fall öffnet das federbelastete Wegeventil 3.5 den Ablauf. Dadurch ist das Drehwerk in Freilauf, es unterliegt nicht mehr der Kontrolle des Bedieners über die Bedienelemente, z. B. Joystick 9, der im Blockschaltbild der Figur 2 dargestellt ist.
Durch das federbelastete Öffnen des Wegeventils wird erreicht, dass es nicht zu einem abrupten Abbremsen des Drehwerkes kommt. Dieses würde unter bestimmten Randbedingungen (hohes Trägheitsmoment) eine Gefährdung des Systems darstellen.Suppose now a malfunction of the electrical control of the pilot valve 3.3 such that no pilot pressure is built in 3.15 and thus also 3.17.
In this case, the spring-loaded directional control valve 3.5 opens the drain. As a result, the slewing in freewheel, it is no longer subject to the control of the operator on the controls, eg. B. joystick 9, in the block diagram of FIG. 2 is shown.
The spring-loaded opening of the directional valve ensures that there is no abrupt braking of the slewing gear. This would under certain conditions (high moment of inertia) pose a threat to the system.

Über Betätigung des Ventil 6, beispielsweise über ein Fußbremspedal 8, kann der Bediener gemäß vorliegender Erfindung nun einen Steuerdruck in 3.11 und 3.12 aufbauen. Dies bewirkt, dass über die Wechselventile 3.7 und 3.8 in 3.17 und 3.18 ein Steuerdruck aufgebaut wird, der beide Wegeventile 3.5 und 3.6 androsselt. Die Androsselung erfolgt proportional zum aufgebauten Steuerdruck. Dadurch wird die Drehbewegung abgebremst, ein freies Drehen der Drehbühne wird unterbunden.
Der Bediener hat somit auch bei (Teil-)Systemausfall stets die Kontrolle über die Drehbewegung.
Die Drehwerksübersteuerung gemäß vorliegender Erfindung kann auch bei gegebenem vollen Betriebsumfang als dynamische Betriebsbremse genutzt werden..By operating the valve 6, for example via a foot brake pedal 8, the operator according to the present invention can now build up a control pressure in 3.11 and 3.12. This causes the control valves 3.7 and 3.8 in 3.17 and 3.18 to build up a control pressure that throttles both directional control valves 3.5 and 3.6. The throttling is proportional to the established control pressure. As a result, the rotational movement is decelerated, a free rotation of the revolving stage is prevented.
The operator thus always has control over the rotational movement even in the event of (partial) system failure.
The slewing clutch override according to the present invention can also be used as a dynamic service brake for a given full operating range.

Claims (2)

  1. An hydraulic control circuit for an overcontrol of an hydraulic system controlling a drive, in particular for controlling an hydraulic motor (5) to drive a slewing gear of a crane superstructure, having a supply piston (3.2), an hydraulic pump (2), a tank (1), pilot valves (3.4, 3.3), shuttle valves (3.8, 3.7) and directional control valves (3.6, 3.5) as well as having pressure lines (3.9, 3.10) for the hydraulic motor (5), which pressure lines (3.9, 3.10) are connected to the hydraulic pump (2) or the tank (1) via the supply piston (3.2), wherein in each case one of the pilot valves (3.4, 3.3), one of the shuttle valves (3.8, 3.7) and one of the directional control valves (3.6, 3.5) is associated with the pressure lines (3.9, 3.10), characterised in that there is provided an actuatable proportional pilot valve (6) to which the shuttle valves (3.7, 3.8) are connected via control lines (3.11, 3.12), so that the directional control valves (3.5, 3.6) separately actuatable by the pilot valves (3.4, 3.3) are actuatable by these shuttle valves (3.7, 3.8) by the pressure built up by the actuatable proportional pilot valve (6).
  2. An hydraulic control circuit according to claim 1, characterised in that the pilot valve (6) is in the form of a foot brake which, in addition to the function of the emergency brake, can also assume the function of a dynamic service brake.
EP08851023A 2007-11-14 2008-11-07 Hydraulic control circuit for the overcontrol of a slewing gear drive Active EP2225471B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102007055001 2007-11-14
DE102008034028A DE102008034028A1 (en) 2007-11-14 2008-07-17 Hydraulic control circuit for overriding a slewing gear drive
PCT/DE2008/001861 WO2009062484A1 (en) 2007-11-14 2008-11-07 Hydraulic control circuit for the overcontrol of a slewing gear drive

Publications (2)

Publication Number Publication Date
EP2225471A1 EP2225471A1 (en) 2010-09-08
EP2225471B1 true EP2225471B1 (en) 2013-01-09

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ID=40577223

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Application Number Title Priority Date Filing Date
EP08851023A Active EP2225471B1 (en) 2007-11-14 2008-11-07 Hydraulic control circuit for the overcontrol of a slewing gear drive

Country Status (7)

Country Link
US (1) US8689549B2 (en)
EP (1) EP2225471B1 (en)
JP (1) JP5649449B2 (en)
CN (1) CN101878370B (en)
DE (1) DE102008034028A1 (en)
ES (1) ES2402547T3 (en)
WO (1) WO2009062484A1 (en)

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JP6776590B2 (en) * 2016-04-08 2020-10-28 株式会社タダノ crane
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CN112709730B (en) * 2021-01-06 2023-06-23 武汉船用机械有限责任公司 Closed hydraulic control system of slewing mechanism and application method thereof

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Also Published As

Publication number Publication date
JP5649449B2 (en) 2015-01-07
EP2225471A1 (en) 2010-09-08
US20100313555A1 (en) 2010-12-16
CN101878370A (en) 2010-11-03
ES2402547T3 (en) 2013-05-06
CN101878370B (en) 2013-11-20
DE102008034028A1 (en) 2009-05-28
JP2011503475A (en) 2011-01-27
WO2009062484A1 (en) 2009-05-22
US8689549B2 (en) 2014-04-08

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