EP2225471B1 - Hydrauliksteuerkreis zur übersteuerung eines drehwerkantriebes - Google Patents

Hydrauliksteuerkreis zur übersteuerung eines drehwerkantriebes 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
Authority
EP
European Patent Office
Prior art keywords
valves
hydraulic
control
control circuit
slewing
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.)
Active
Application number
EP08851023A
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German (de)
English (en)
French (fr)
Other versions
EP2225471A1 (de
Inventor
Thilo Jene
Achim SCHÜTZ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tadano Demag GmbH
Original Assignee
Terex Cranes Germany GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Terex Cranes Germany GmbH filed Critical Terex Cranes Germany GmbH
Publication of EP2225471A1 publication Critical patent/EP2225471A1/de
Application granted granted Critical
Publication of EP2225471B1 publication Critical patent/EP2225471B1/de
Active legal-status Critical Current
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Classifications

    • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
EP08851023A 2007-11-14 2008-11-07 Hydrauliksteuerkreis zur übersteuerung eines drehwerkantriebes Active EP2225471B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102007055001 2007-11-14
DE102008034028A DE102008034028A1 (de) 2007-11-14 2008-07-17 Hydrauliksteuerkreis zur Übersteuerung eines Drehwerkantriebes
PCT/DE2008/001861 WO2009062484A1 (de) 2007-11-14 2008-11-07 Hydrauliksteuerkreis zur übersteuerung eines drehwerkantriebes

Publications (2)

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

Family

ID=40577223

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08851023A Active EP2225471B1 (de) 2007-11-14 2008-11-07 Hydrauliksteuerkreis zur übersteuerung eines drehwerkantriebes

Country Status (7)

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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10850076B2 (en) 2012-10-26 2020-12-01 Urotronic, Inc. Balloon catheters for body lumens

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102092647B (zh) * 2011-02-14 2013-12-04 上海三一科技有限公司 一种用于履带起重机回转微动控制的液压系统
DE102011101921A1 (de) * 2011-05-18 2012-11-22 Linde Material Handling Gmbh Hydraulische Bremsventileinrichtung
CN103122894B (zh) * 2012-10-26 2015-04-15 中联重科股份有限公司 控制臂架回转的液压系统及其控制方法和混凝土泵送设备
JP6156871B2 (ja) * 2013-07-12 2017-07-05 キャタピラー エス エー アール エル 作業車両
DE102016002613B4 (de) 2016-03-03 2022-09-29 Liebherr-Werk Ehingen Gmbh Hydrauliksteuerkreis für ein Krandrehwerk
JP6776590B2 (ja) * 2016-04-08 2020-10-28 株式会社タダノ クレーン
EP3290386A1 (de) 2016-08-30 2018-03-07 Putzmeister Engineering GmbH Hydraulischer drehwerksantrieb
JP6693842B2 (ja) * 2016-09-08 2020-05-13 住友重機械建機クレーン株式会社 クレーン
JP6923413B2 (ja) * 2017-10-10 2021-08-18 住友重機械建機クレーン株式会社 作業機械
CN112709730B (zh) * 2021-01-06 2023-06-23 武汉船用机械有限责任公司 一种回转机构的闭式液压控制系统及其使用方法

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US1205272A (en) 1916-03-14 1916-11-21 Alois Scherber Heater for curling-irons.
JPS6011704A (ja) * 1983-07-01 1985-01-22 Hitachi Constr Mach Co Ltd 油圧コントロ−ルバルブのスプ−ル制御装置
JP2630777B2 (ja) * 1987-07-10 1997-07-16 カヤバ工業株式会社 車両用制御回路
JPH02275103A (ja) * 1989-04-17 1990-11-09 Hitachi Constr Mach Co Ltd 作業装置用油圧回路
JP3195989B2 (ja) * 1990-12-31 2001-08-06 帝人製機株式会社 クローラ車両走行油圧回路
JP2003130004A (ja) * 2001-10-29 2003-05-08 Komatsu Ltd 油圧信号出力装置
US7162869B2 (en) * 2003-10-23 2007-01-16 Caterpillar Inc Hydraulic system for a work machine
US7059124B2 (en) * 2003-12-01 2006-06-13 Komatsu Ltd. Hydraulic control apparatus for work machines
JP4558465B2 (ja) * 2003-12-01 2010-10-06 株式会社小松製作所 建設機械の油圧制御装置
DE102006040459B4 (de) 2005-09-07 2012-12-13 Terex Demag Gmbh Hydrauliksteuerkreis

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10850076B2 (en) 2012-10-26 2020-12-01 Urotronic, Inc. Balloon catheters for body lumens

Also Published As

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

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