EP2542787A1 - Système d'entraînement hydraulique et procédé pour commander un tel système d'entraînement - Google Patents

Système d'entraînement hydraulique et procédé pour commander un tel système d'entraînement

Info

Publication number
EP2542787A1
EP2542787A1 EP10798020A EP10798020A EP2542787A1 EP 2542787 A1 EP2542787 A1 EP 2542787A1 EP 10798020 A EP10798020 A EP 10798020A EP 10798020 A EP10798020 A EP 10798020A EP 2542787 A1 EP2542787 A1 EP 2542787A1
Authority
EP
European Patent Office
Prior art keywords
drive
directional
control valve
directional control
pressure
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.)
Withdrawn
Application number
EP10798020A
Other languages
German (de)
English (en)
Inventor
Peter Dengler
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2542787A1 publication Critical patent/EP2542787A1/fr
Withdrawn legal-status Critical Current

Links

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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/14—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing the motor of fluid or electric gearing being disposed in or adjacent to traction wheel
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/163—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for sharing the pump output equally amongst users or groups of users, e.g. using anti-saturation, pressure compensation
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4061—Control related to directional control valves, e.g. change-over valves, for crossing the feeding conduits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4078—Fluid exchange between hydrostatic circuits and external sources or consumers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4148—Open loop circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4192—Detecting malfunction or potential malfunction, e.g. fail safe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
    • F16H61/421—Motor capacity control by electro-hydraulic control means, e.g. using solenoid valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/44—Control of exclusively fluid gearing hydrostatic with more than one pump or motor in operation
    • F16H61/456—Control of the balance of torque or speed between pumps or motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output speed
    • 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
    • F15B2211/25—Pressure control functions
    • F15B2211/253—Pressure margin control, e.g. pump pressure in relation to load 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30555—Inlet and outlet of the pressure compensating valve being connected to the 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
    • F15B2211/70—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
    • F15B2211/71—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

Definitions

  • the invention relates to a hydraulic traction drive according to the preamble of claim 1 and a method for driving a traction drive.
  • Such hydraulic traction drives are running in mobile work equipment, such as compact and mini excavators, in which each wheel or each chain is associated with a hydraulic motor, which are individually controlled to change the motion parameters, such as the direction of travel and driving speed.
  • DE 43 25 703 A1 discloses a hydrostatic drive is disclosed, in each of which a wheel of a wheeled vehicle associated hydraulic motors via continuously adjustable directional control valves with a hydraulic motor associated pump are hydraulically connected.
  • This pump is designed as an over zero pivotable axial piston pump, wherein the pressure medium flow rate and the pressure fluid flow direction to the respective associated hydraulic machine by individually controlling the continuously adjustable directional control valves is adjustable.
  • Such a travel drive can be used, for example, in a hydraulic system of a mobile implement, in which not only the hydrostatic drive and all or some work functions are supplied via the variable displacement.
  • Such hydraulic control arrangements are designed as LUDV system, as described for example in DE 10 2006 002 920 A1 of the applicant.
  • Each work function such as differential cylinders for adjusting a boom, a handle, a spoon or a hydraulic motor for adjusting the slewing gear each associated with a continuously adjustable directional control valve with downstream LUDV pressure balance. The latter is acted upon in the sense of reducing a throttle cross-section of the highest load pressure of all consumers and in the sense of increasing a throttle cross-section of the pressure downstream of a metering orifice formed by the associated directional control valve.
  • each LUDV pressure compensator corresponds to the pressure in the pressure fluid flow path between the associated metering orifice and the respective LUDV pressure compensator the highest load pressure, which is then throttled over this to the individual load pressure of each consumer.
  • the pressure drop across the metering plates load pressure is kept constant independently, whereby in the case of undersaturation the pressure medium volume flow to all actuated consumers of a circuit is proportionally reduced.
  • the variable displacement pump is preferably also controlled depending on the highest load pressure of all connected consumers such that the pump pressure is above this maximum load pressure by a predetermined pressure difference.
  • the invention has for its object to provide a simple design and operable with low hydraulic losses hydrostatic drive with improved reliability.
  • the invention is also based on the object to provide a method for driving such a hydrostatic drive.
  • the hydraulic traction drive with at least two traction motors and at least one, for adjusting movement parameters continuously adjustable directional control valve via which the pressure medium supply and removal to or from the traction motors in response to the actuation of an actuator, such as a joystick or foot pedals or the like is adjustable.
  • the two hydraulic motors are designed adjustable and controlled by a control unit in response to the actuation of the actuator.
  • this setpoint speed ratio is compared with the actually present actual speed ratio of the traction motors and, depending on the result of this comparison, the traction motors are adjusted until the desired speed ratio is reached.
  • a desired state of motion for example, an exact straight ahead or cornering with a predetermined cornering speed can be maintained even under unfavorable operating conditions.
  • Another advantage is that in case of failure of the electronic control for the traction motors by adjusting the directional control valve at least a slow forward or reverse drive of the mobile implement is guaranteed to move it out of a hazardous area out.
  • the continuously adjustable directional control valve is associated with a LUDV pressure compensator via which the pressure medium volume flow can be kept constant, independent of the load pressure, via the directional control valve.
  • a single directional control valve is assigned to both traction motors.
  • the one or more continuously variable directional control valves are actuated as a function of the control unit, via which the drive motors are also actuated.
  • each traction motor is associated with a continuously adjustable directional control valve of the type described above, so that in case of failure of the control electronics for traction motors, the functionality of a conventional system is maintained, so that the mobile implement is still maneuverable. It may be advantageous to provide in the drain lines of the traction motors, a pressure equalizing diaphragm, which improves the straight-ahead running independently of the control of the traction motors.
  • each traction motor is assigned its own actuator.
  • This actuator can be designed as an electronic actuator (Drive by Wire). In principle, however, a hydraulic actuator can be used, the adjustment detected by suitable sensors and converted into control signals for the control unit.
  • the driving safety is further improved when the traction motors are set in a basic position in the direction of the maximum absorption volume.
  • speed sensors are preferably used.
  • the control for the travel drive described is preferably carried out as a directional control valve section of a mobile control block, via the other directional valve sections, the other work functions of the mobile implement are controlled.
  • Figure 1 is a circuit diagram of a hydraulic control arrangement of a mobile working device
  • FIG. 2 shows a hydraulic travel drive of the control arrangement from FIG. 1;
  • Figure 3 is a flowchart of the control of the traction drive and
  • FIG. 4 shows a variant of a travel drive for a hydraulic control arrangement according to FIG. 1.
  • FIG. 1 shows a circuit diagram of a hydraulic control arrangement 1 of a compact excavator for operating a boom 2, a handle 4, a spoon 6, a slewing gear 8 and a traction drive 10.
  • the boom 2, the handle 4 and the bucket 6 are each a differential cylinder 12th , 14, 16 pressed.
  • the slewing gear 8 has a hydraulic motor 18 and the traction drive 10 is provided with a differential speed control executed, in each of which a traction motor 20, 22 is assigned to a left and a right chain.
  • the pressure medium supply of these hydraulic units via a variable displacement pump 26, which is adjustable via an unillustrated LS control valve in response to the highest load pressure of the driven loads so that the pump pressure is a predetermined ⁇ above this highest load pressure.
  • a variable displacement pump 26 it is also possible to use a constant-displacement pump with an associated LS pressure compensator, via which an excess flow conveyed by the pump flows out to the tank.
  • the pressure medium supply to and from the consumers is controlled by a mobile control block 28, the directional valves described in more detail below are controlled via suitable actuators, for example via joysticks 30, 32 shown in FIG. 1, wherein the joystick 30 is connected to the boom 2 and the handle 4 and the joystick 32 is associated with the bucket 6 and the slewing gear 8.
  • a hydraulic pilot control device is actuated with pressure reducing valves, via which a control pressure provided by a control pressure source control pressure is reduced to a control pressure difference for actuating the respective control valves.
  • the construction of such hydraulic control devices is known, so that further explanations are unnecessary.
  • control of the traction motors 22, 24 via a respective electronic foot pedal 34, 36 the control signals are converted via a control unit 38 into corresponding control signals for the traction drive.
  • the mobile control block 28 has a basic structure, as described in the aforementioned DE 10 2006 002 920 A1 and consists of a plurality of valve disks, here directional valve sections 40, 42, 44, 46, 48 called an input element 50 and an output element 52nd
  • the directional control valve section 40, 42, 44 are the differential cylinders 12, 14, 16, the directional valve section 46 to the hydraulic motor 18 and the directional valve section 48 associated with the traction drive 10.
  • the input element 50 has an LS connection, via which the load pressure for adjusting the LS pump 26 is tapped.
  • an LS pressure relief valve arrangement 54 is provided, via which the LS pressure can be limited and, by means of an orifice, directed to a tank T. can be built. Furthermore, a pressure port P connected to the delivery port of the variable displacement pump 26 and a tank port T connected to a tank 56 are formed on the input element 50.
  • Each directional valve section 40, 42, 44 has two working ports A, B connected to the respective pressure chambers of the differential cylinders 12, 14, 16, and further two control ports a, b connected to the output ports of the above-described pilot devices, so that the respective control pressure difference can be applied.
  • the mobile control block 28 is designed as a LUDV control block, wherein each directional control valve section 40, 42, 44, 46 with a continuously variable directional control valve 58, 60, 62, 64 is executed.
  • Each of these directional control valves 58, 60, 62, 64 has a speed part formed by a metering orifice 66 and a directional part 68 for adjusting the pressure fluid flow direction to and from the associated consumer 12, 14, 16, 18.
  • a metering orifice 66 of the directional control valve 58 of the directional valve section 40 For the sake of clarity, only the directional part 68 is shown in FIG and the metering orifice 66 of the directional control valve 58 of the directional valve section 40.
  • the concrete structure of such directional valves reference is made by way of example to DE 10 2006 002 920 A1 or corresponding LUDV solutions.
  • a LUDV pressure compensator 70, 72, 74, 76 Downstream of each metering orifice 66, a LUDV pressure compensator 70, 72, 74, 76 is arranged, which in the closing direction is driven by the highest load pressure of all
  • Consumers are moved or driven in a predetermined direction at a predetermined speed.
  • any additional working lines 78, 80 with pressure control are still associated with each working line. limit function provided over the pulling load of increasing pressure chamber with the tank is connected, so that pressure medium can be sucked.
  • This Nachsaugventile 78, 80 and the pressure in the respective working lines is limited to a maximum pressure. The construction of such Nachsaugventile is also known, so that further explanations are unnecessary.
  • a continuously adjustable directional control valve 82 which has a speed part formed by a metering orifice 84 and a direction part 86 for adjusting the pressure fluid flow direction to the terminals B5, A5.
  • a LUDV pressure compensator 88 Downstream of the metering orifice 84, in turn, a LUDV pressure compensator 88 is provided which is acted upon in the closing direction by the highest load pressure of the load in an LS line 90 and in the opening direction by the pressure downstream of the metering orifice 84, which flows from a pressure medium flow path between the metering orifice 84 and the LUDV pressure compensator 88 forming connecting channel 92 is tapped.
  • the directional control valve 82 As can be seen from the switching symbol of the directional control valve 82 shown on the bottom right in FIG. 2, its input connection P is connected to a supply line 93, which is connected to a pump line 94 connected to the delivery connection of the variable displacement pump 26.
  • a tank connection T of the directional valve 82 is connected via a discharge channel 96 to a tank line 98 leading to the tank 56.
  • the output of the LUDV pressure compensator 88 is connected via a pressure compensator channel 100 to an input P * of the directional part, while the connection channel 92 connects the input of the LUDV pressure compensator 88 with a pressure compensator connection D of the directional control valve 82.
  • the two working ports A5, B5 are connected via lines 102, 104 to output ports A, B of the directional control valve 82. Depending on the setting of the directional part 86, these lines 102, 104 act as flow or return lines.
  • two pressure reducing valves 106, 108 are provided, whose input terminals connected to said control oil supply are and which are controlled via the control unit 38 in order to apply to the control sides of the directional control valve 82, a predetermined control pressure difference (a5-b5).
  • the outputs of the pressure reducing valves 106, 108 are, as indicated in Figure 2, connected to the tank 56.
  • the two traction motors 24, 26 are designed as over zero pivotable hydraulic machines whose pivot angle is adjustable via the control unit 38. Both traction motors 24, 26 are connected in parallel, wherein in each case a working port A is connected via a branching working line 110 to the port A5 of the directional valve section 48 and ports B via a further branching working line 112 to the port B5 of the directional valve section 48.
  • the actuation of the foot pedals 34, 36 is detected electronically via sensors 114, 116 and reported to the control unit 38 by means of signal lines. This converts these setpoints into control signals for adjusting the directional valve 82.
  • the two drive motors 24, 26 are preset to their maximum swing angle and thus the maximum displacement.
  • the desired cornering speed and the curve are predetermined by the operator by pressing the accelerator pedals 34, 36.
  • the control unit 38 determines control signals for the directional control valve, so that it is acted on by a control pressure difference (a5-b5) and the metering orifice 84 and the directional part 86 are adjusted accordingly.
  • a desired speed ratio of the two traction motors 24, 26 is determined via the control unit 38 from the actuating signals, and this desired speed ratio is compared with the actual speed ratio of the traction motors 24, 26.
  • These actual rotational speeds can be detected, for example, via rotational speed sensors, not shown, or the like.
  • the actual values are compared with the desired values.
  • the traction motors 24, 26 are set in accordance with the target value signals, and the mobile working device moves along the predetermined movement curve.
  • the two drive motors 26, 28 are adjusted via the control unit, and then in turn the actual speed ratio which then arises is compared with the preset desired speed ratio - this adjustment takes place as long as until the actual speed ratio corresponds to the desired speed ratio.
  • the control unit 38 corrects the "faster" traction motor 24, 26 by returning it until the speed ratio specified by the operator has been reached , where the value 0 corresponds to a rotation about a standing chain and the value 1 of a straight ahead driving Furthermore, the specification of negative target speed ratios to -1 allows a counter run of the chains, so that the vehicle - in accordance with the predetermined speed ratio - can turn in place This is then made possible by pivoting an engine over 0 into the negative range
  • two travel motors 24, 26 are assigned a common directional valve section 48 and the foot pedals 34, 36 are embodied as so-called electronic foot pedals, whose setpoint signals for the control unit 38 are generated by their actuation.
  • FIG. 4 shows a variant in which, similar to the conventional solutions described above, each travel motor 24, 26 is provided with a directional valve section 48a, 48b.
  • the basic structure of the directional valve section 48 corresponds to Figure 2, so that can be omitted with reference to these statements to a detailed description.
  • a difference from the common directional valve section 48 is that the two directional control valves 82a, 82b are not designed directly with pressure reducing valves, but that the adjustment is done hydraulically via pilot control devices 114, 116, which in dependence on the operation of the footpedals 34, 36 a control pressure difference a5 Generate -b5 or a6-b6.
  • This control pressure difference is applied via corresponding control terminals a5, b5, a6, b6 to the corresponding directional valves 82a, 82b.
  • Each directional valve section 48a, 48b has its own working ports A5, B5 and A6, B6, which are connected via working lines 110a, 112a and 110b, 112b to the corresponding terminals A, B of the traction motors 24, 26. Their adjustment is again via the control unit 38.
  • the control pressures generated at the pilot control devices 114, 116 are detected by pressure sensors 118 and converted into corresponding desired value signals, which are applied to the input of the control unit 38.
  • the displacement of the traction motors 24, 26 is adjusted at preset metering orifices 84a, 84b according to the procedure described above, until the predetermined target speed ratio at the traction motors 24, 26 sets.
  • a hydraulic drive and a method for controlling such a drive wherein two drive motors are controlled via at least one continuously adjustable directional control valve.
  • two traction motors are designed as adjustable hydraulic machines.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne un système d'entraînement hydraulique et un procédé pour commander un tel système d'entraînement, deux moteurs d'entraînement pouvant être commandés au moyen d'une soupape à voies multiples pouvant être réglée constamment. Selon l'invention, les deux moteurs d'entraînement sont réalisés sous forme de machines hydrauliques réglables.
EP10798020A 2010-03-01 2010-12-29 Système d'entraînement hydraulique et procédé pour commander un tel système d'entraînement Withdrawn EP2542787A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010009704A DE102010009704A1 (de) 2010-03-01 2010-03-01 Hydraulischer Fahrantrieb und Verfahren zum Steuern eines derartigen Fahrantriebs
PCT/EP2010/007968 WO2011107135A1 (fr) 2010-03-01 2010-12-29 Système d'entraînement hydraulique et procédé pour commander un tel système d'entraînement

Publications (1)

Publication Number Publication Date
EP2542787A1 true EP2542787A1 (fr) 2013-01-09

Family

ID=43536581

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10798020A Withdrawn EP2542787A1 (fr) 2010-03-01 2010-12-29 Système d'entraînement hydraulique et procédé pour commander un tel système d'entraînement

Country Status (7)

Country Link
US (1) US9140275B2 (fr)
EP (1) EP2542787A1 (fr)
JP (1) JP5623556B2 (fr)
KR (1) KR20130012579A (fr)
CN (1) CN102782338B (fr)
DE (1) DE102010009704A1 (fr)
WO (1) WO2011107135A1 (fr)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012003320A1 (de) 2012-02-18 2013-08-22 Robert Bosch Gmbh Mobile Arbeitsmaschine mit Energierückgewinnung zum Antrieb der Motorkühlung
FR3006272B1 (fr) * 2013-05-31 2015-06-05 Technoboost Procede et dispositif de controle/commande d'un module hydraulique differentiel pour vehicule hybride
US9328821B2 (en) 2013-06-10 2016-05-03 Caterpillar Inc. Hydrostatic drive system
DE102013224823A1 (de) * 2013-12-04 2015-06-11 Robert Bosch Gmbh Verfahren und System zum Ermitteln von zeitlich veränderlichen Parametern eines hydrostatischen Fahrantriebs
CN105626079B (zh) * 2014-10-31 2019-02-01 徐州徐工铁路装备有限公司 暗挖机液控系统以及流量分配系统
DE102014117355A1 (de) * 2014-11-26 2016-06-02 Linde Hydraulics Gmbh & Co. Kg Hydrostatischer Fahrantrieb
DE102015201318A1 (de) * 2015-01-27 2016-08-11 Robert Bosch Gmbh Hydraulische Steueranordnung zur Druckmittelversorgung wenigstens zweier hydraulischer Verbraucher
ITUA20162611A1 (it) * 2016-04-14 2017-10-14 Cnh Ind Italia Spa Circuito idraulico di controllo e potenza e veicolo da costruzione comprendente tale circuito
JP6732650B2 (ja) * 2016-12-22 2020-07-29 株式会社クボタ 作業機
JP6752183B2 (ja) * 2017-09-07 2020-09-09 日立建機株式会社 油圧作業機械
JP7095287B2 (ja) * 2018-01-22 2022-07-05 コベルコ建機株式会社 旋回式油圧作業機械
JP7049213B2 (ja) * 2018-08-10 2022-04-06 川崎重工業株式会社 建設機械の油圧回路
KR102691912B1 (ko) * 2019-05-21 2024-08-06 볼보 컨스트럭션 이큅먼트 에이비 회전 부하 제어 방법, 유압 시스템 및 작업 기계
US11608616B2 (en) 2020-09-30 2023-03-21 Kubota Corporation Hydraulic system for working machine

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB956396A (en) * 1961-05-18 1964-04-29 Robert Colin Pearson Improvements in or relating to hydrostatic transmissions
US4177870A (en) * 1978-05-30 1979-12-11 Deere & Company Hydrostatic front wheel drive system
US4766727A (en) * 1987-06-01 1988-08-30 Dyneer Corporation Fluid control valve
JP2714821B2 (ja) * 1988-07-05 1998-02-16 株式会社小松製作所 走行油圧モータの変速制御装置
JP2520314B2 (ja) * 1990-01-18 1996-07-31 株式会社小松製作所 油圧掘削機の走行速度切換装置
JPH05156666A (ja) * 1991-12-06 1993-06-22 Hitachi Constr Mach Co Ltd 建設機械の走行駆動装置
DE4325703A1 (de) 1993-07-30 1995-02-02 Linde Ag Radfahrzeug mit hydrostatischem Fahrantrieb
JPH0771410A (ja) * 1993-08-31 1995-03-17 Hitachi Constr Mach Co Ltd 可変容量型油圧モータ駆動装置
JPH082269A (ja) * 1994-06-21 1996-01-09 Komatsu Ltd 油圧駆動式走行装置の走行制御回路
JP3419610B2 (ja) * 1995-11-07 2003-06-23 日立建機株式会社 油圧駆動走行装置
JPH10252703A (ja) * 1997-03-12 1998-09-22 Komatsu Ltd 建設機械の走行制御装置
US6857494B2 (en) * 2000-09-06 2005-02-22 Komatsu Ltd. Steering-wheel revolution number correction system of all-wheel-drive vehicle
DE10135298A1 (de) * 2001-07-24 2003-02-13 Bosch Rexroth Ag Ventilanordnung
JP2004340259A (ja) * 2003-05-15 2004-12-02 Kobelco Contstruction Machinery Ltd 建設機械の走行駆動装置
DE10325295A1 (de) * 2003-06-04 2004-12-23 Bosch Rexroth Ag Hydraulische Steueranordnung
DE10357471A1 (de) * 2003-12-09 2005-07-07 Bosch Rexroth Ag Hydraulische Steueranordnung
KR101155718B1 (ko) * 2004-12-31 2012-06-12 두산인프라코어 주식회사 굴삭기의 주행제어장치
DE102006002920A1 (de) * 2006-01-20 2007-07-26 Robert Bosch Gmbh Hydraulische Steueranordnung
DE102006053925A1 (de) * 2006-11-15 2008-05-21 Robert Bosch Gmbh Hydrostatischer Fahrantrieb mit zwei Hydromotoren
DE102008008092A1 (de) * 2007-11-28 2009-06-04 Robert Bosch Gmbh Ventilanordnung

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2011107135A1 *

Also Published As

Publication number Publication date
JP5623556B2 (ja) 2014-11-12
US9140275B2 (en) 2015-09-22
US20130213024A1 (en) 2013-08-22
CN102782338A (zh) 2012-11-14
WO2011107135A1 (fr) 2011-09-09
JP2013521444A (ja) 2013-06-10
DE102010009704A1 (de) 2011-09-01
KR20130012579A (ko) 2013-02-04
CN102782338B (zh) 2016-06-29

Similar Documents

Publication Publication Date Title
WO2011107135A1 (fr) Système d'entraînement hydraulique et procédé pour commander un tel système d'entraînement
EP1073575B1 (fr) Systeme de direction hydraulique pour un vehicule, notamment pour un engin mobile
DE69319400T2 (de) Hydraulische schaltungsanordnung für erdbewegungsmaschinen
DE69132869T2 (de) Hydraulisches Steuersystem für Baumaschinen
DE4100988C2 (de) Hydraulisches Antriebssystem
EP1812715B1 (fr) Systeme de commande hydraulique
DE102005035171A1 (de) Elektrohydraulische Lenkung
DE112012005636T5 (de) Antriebssystem für geschlossenen Hydraulikkreislauf
DE19615593B4 (de) Hydrostatisches Antriebssystem
EP1989450A1 (fr) Dispositif de commande hydraulique
EP3210852B1 (fr) Engine de construction avec un dispostif de direction et procédé pour la direction d'un engine de construction
EP0701671B1 (fr) Systeme de transport hydrostatique
DE102007033990A1 (de) Hydraulische Lenkeinrichtung mit Stromverstärkung und hydraulischer Sicherheitsfunktion
WO2008116451A1 (fr) Ensemble de commande hydraulique
EP0141074B1 (fr) Système hydraulique comprenant une pompe, une soupape, une conduite d'alimentation et une conduite de commande
EP1565658B1 (fr) Systeme hydraulique a deux circuits
EP2279354B1 (fr) Système hydraulique à deux circuits et procédé de commande de consommateurs d'un système à deux circuits
WO2007045397A1 (fr) Servocommande pour direction assistee
WO2003091082A2 (fr) Mecanisme de direction hydraulique
DE3820876C2 (de) Hydrostatische Lenkungseinrichtung
DE102008008102A1 (de) Verfahren und Vorrichtung zur Druckmittelversorgung von zumindest drei hydraulischen Verbrauchern
EP2591931A1 (fr) Entraînement hydrostatique et véhicule doté d'un tel entraînement
EP1253327B1 (fr) Circuit de commande hydraulique
EP0574737B1 (fr) Véhicule à propulsion électrique à alimentation par accumulateurs, en particulier Chariot-élévateur
DE102020135022B4 (de) Hydraulisches Lenksystem für einen Mobilkran und fahrbares Arbeitsgerät mit einem solchen

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20121001

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20180703