EP2674533A1 - Système de commande hydroélectrique - Google Patents

Système de commande hydroélectrique Download PDF

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Publication number
EP2674533A1
EP2674533A1 EP12171622.9A EP12171622A EP2674533A1 EP 2674533 A1 EP2674533 A1 EP 2674533A1 EP 12171622 A EP12171622 A EP 12171622A EP 2674533 A1 EP2674533 A1 EP 2674533A1
Authority
EP
European Patent Office
Prior art keywords
tool
control system
software
main control
control valve
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.)
Granted
Application number
EP12171622.9A
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German (de)
English (en)
Other versions
EP2674533B1 (fr
Inventor
Martin Heusser
Thomas Wechsel
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.)
Hawe Hydraulik SE
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Hawe Hydraulik SE
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Publication date
Application filed by Hawe Hydraulik SE filed Critical Hawe Hydraulik SE
Priority to EP12171622.9A priority Critical patent/EP2674533B1/fr
Publication of EP2674533A1 publication Critical patent/EP2674533A1/fr
Application granted granted Critical
Publication of EP2674533B1 publication Critical patent/EP2674533B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
    • 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
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • 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
    • F15B2211/77—Control of direction of movement of the output member
    • F15B2211/7733—Control of direction of movement of the output member providing vibrating movement, e.g. dither control for emptying a bucket

Definitions

  • the invention relates to an electro-hydraulic control system according to the preamble of claim 1.
  • an electro-hydraulic control system in which several 4/3-way proportional valve with a CAN direct drive be operated. These are, for example, proportional directional spool type PSL (for a hydraulic supply by a constant pump) and PSV (for a supply by a control pump) of the Applicant.
  • PSL for a hydraulic supply by a constant pump
  • PSV for a supply by a control pump
  • main control valves are used to control the direction of movement and optionally load-independent, stepless control of the speed of movement of hydraulic consumers, such as hydraulic cylinders.
  • At least one main control valve or master control valve has a CAN actuator head and is connected via either two-core or four-core cable.
  • the CAN bus has two wires (CAN-hi, CAN-lo). Two wires provide the operating voltage, eg, 12 to 30 volts DC (U bat "grounding.)
  • the control current for actuating the main control valve is applied at a dither frequency between about 40 to 100 Hz, preferably about 55 Hz, to avoid overloading of the
  • the CAN bus is an asynchronous, serial bus system, whose common data transmission formats are the protocols CAN-open 2.0 A and B, and J1939, based on 11-bit or 29-bit address data, and transfer rates of between about 100 kbit / s to about 1000 kbit / s
  • a plug-and-play configuration can be used
  • the respective valve electronics can be amplifier components Such electro-hydraulic control systems or hydraulic valve manifolds, also according to EP 2 063 159 B1 , have been used
  • the invention has for its object to improve an electro-hydraulic control system of the type mentioned using the skills of memory programming so that to save working time and improve the workflow a shaking of the tool in a cost effective and efficient way is possible.
  • the shake function is self-controlled without additional hydraulic components to the main control valve by the memory programming receives at least one tool shake-function software, the activation of which the shaking function of the tool directly via the main control valve. In this way, when setting the tool in the machined Good the shaking function can be used to save working time and optimize the workflow. Updating the software or programming in this way or designing it from the beginning with a useful program section is inexpensive and easy.
  • the bus is a CAN bus
  • the main control valve is integrated with a CAN node in the CAN bus and designed for CAN direct drive.
  • the field of application of this electrohydraulic control system which has proven its worth in practice, is extended cost-effectively and efficiently by the tool ripple-function software, whereby the CAN bus is the main control valve with activated ripple-function software operated so that for the at least one hydraulic cylinder volume flow fluctuations are controlled to assist the penetration or release of the tool, or even cause a loosening of the machined material before a subsequent, then speedy processing.
  • the ripple function software is a program section of the central controller.
  • the ripple function software could also be provided activatable in the CAN node or in a valve electronics.
  • the Rütelfunktions software by a switch, a button or a push button on or near the tool-actuator, preferably on a handle of a joystick, optionally activated and deactivated.
  • the deactivation could e.g. Time-dependent also programmed.
  • the shake-function software could be at least activated by a switch, button or push-button located at the central control, or in a control panel of a control console, e.g. in a keyboard or touchscreen, either by the operator.
  • an embodiment is expedient in which the ripple function software is automatically activated at least if the tool should tend to settle during work or has set itself.
  • This state of the tool can be determined directly or indirectly via corresponding monitoring sensors and reported, for example, to the central control, which then automatically activates the ripple function software at least, and, for example, again automatically deactivated when normal moving tool again.
  • the shaking function can be performed by only one (or a group of similarly operating) hydraulic cylinder, which moves the tool in a certain direction of movement.
  • controlled volume flow fluctuations are superimposed on a volumetric flow setpoint of the main control valve in activated Rüttelfunktions software, so that the tool is shaken during its movement.
  • the shaking function could be controlled without interference with a simultaneous movement of the tool, for example, to loosen the estate.
  • the main control valve is a multi-way slide, preferably a proportional slide or a black / white slide whose spool is adjustable by the at least one magnetic actuator.
  • a proportional slider controls the direction of movement and controls the speed of movement, e.g. independent of load in accordance with the applied current of the magnetic actuator.
  • a black / white slider works with magnets, which are switched between an activated and a de-energized condition.
  • the spool is in accordance with an adjustment of the tool actuator is activated with jog function software disabled, for. steadily displaced, whereas discontinued when the rattle-function software is activated, i. shaking, preferably jerky and / or in opposite directions of adjustment over small strokes.
  • the frequency and / or the duration of time and / or the intensity of each volume flow fluctuation is or can be varied in order to be able to achieve an optimal work result during shaking.
  • the rattle-function software is stored, i. inscribed and programmed.
  • the rattle-function software can also be transferred from a mobile data memory, for example to update given software, or to retrieve the ripple-function software only when needed. This can be done via a USP stick, a PC, or a diagnostic device on, for example, the central control.
  • Fig. 1 is a non-limiting example of eg a mobile implement a hydraulic excavator B schematically indicated in a side view, which has at least one Gutbearbeitungs tool W, such as a bucket, for processing a good G, and is equipped with an electro-hydraulic control system E.
  • the hydraulic excavator B has a wheel 2 movable chassis 1 with a primary drive source and optionally a battery 3 and a cab 4 with a control panel 5 and an example manually adjustable tool actuator 6, such as a joystick on.
  • a central control Z is provided, which is computerized and memory programmable.
  • a control valve assembly V is further placed, which is controllable via the central controller Z and a bus C, for example a CAN bus, according to adjustments of the tool actuator 6.
  • a cantilevered on the chassis 1 boom 7 is pivotable by means of at least one actuatable via the control valve assembly V hydraulic cylinder 8.
  • the tool W is articulated, for example, pivotally and by means of at least one further hydraulic cylinder 9, for example, a double-acting hydraulic cylinder, continuously movable (arrows 11).
  • a sensor system can be provided which monitors at least the tool W directly or indirectly, for example sensors 10 in the articulation region of the arm 7 and in the articulation region of the tool W, wherein the sensor system 10 is also linked to the central control Z or the bus C.
  • the electro-hydraulic control system E has tool ripple function software, with a shaking function F of the tool W is controllable, for example, indicated by the directional arrows 12, ie, to move the tool W in the respective direction of movement jerkily faster and slower, or only about to move short movement strokes back and forth, if the tool W in the processing of the goods G tend to settle or should be fixed.
  • the control valve arrangement V includes, for example, a plurality of main control valves V1, V2, which are here combined in a block arrangement and connected together to a pressure source 14 and a return 15, wherein only the main control valve V1 to the hydraulic cylinder 9 guided working lines 16, 17 are shown.
  • the pressure source 14 may be a fixed displacement pump or a variable displacement pump.
  • the main control valves V1, V2 and the like are, for example, Proportional-way gate valves of the types PSL or PSV of the Applicant, which can optionally operate on the load-sensing principle.
  • Each main control valve V1, V2 serves to control the direction of movement and to control the speed of movement of the hydraulic cylinder or of another hydraulic consumer.
  • the CAN bus C is for example two-wire and leads to a CAN mounting base 26 on the control valve assembly V. Further, the control valve assembly V is connected to a power supply 13 (two-wire) to the control valves via corresponding magnetic actuators (see Fig. 5 ) can be operated from the central control Z via the CAN bus C. Via a piston rod 18 of the hydraulic cylinder 9, for example, the tool W is moved in its articulation on the arm 7 in the direction of the arrows 11, 12. The boom 7 can be moved simultaneously.
  • Fig. 3 shows in a block diagram combined with a terminal block 27 main control valves V1, V2 as multipath proportional valve, each of which is connected to a pressure line 28 and a return line 29, and from which the working lines 16, 17 to the respective hydraulic cylinder, eg the hydraulic cylinder 9 lead ,
  • the respective main control valve V1, V2 could be a 2/2, 3/2, 3/3-way control valve.
  • Fig. 3 are as magnetic actuators proportional solenoids 31 a, 31 b installed.
  • black and white magnets could be installed instead of proportional solenoids.
  • the main control valve V1 in Fig. 3 has a spool 21 which is continuously adjustable in a block housing by the proportional magnets 31 a, 31 b between different switching positions.
  • the proportional solenoids 31a, 31b could actuate the spool 21 directly.
  • pressure feedforward controls 30a, 30b are provided in each case for an adjustment direction of the piston slide 21, ie, each proportional solenoid 31a, 31b controls a pressure pilot control 30a, 30b, which in turn adjusts the slide piston 21.
  • the magnets of the main control valve V1 which may contain integrated valve electronics, are connected to a CAN node in the CAN bus C of FIG Fig. 1 and 2 incorporated.
  • a spring assembly 32 serves to center the spool 21 in the neutral position shown, in which the working lines 16, 17 as well as the pressure and return lines 28, 29 are shut off. Furthermore, a feed regulator 33 (optional) which picks up the respective load pressure is provided.
  • the proportional solenoids 31a, 31b optionally combined with the valve electronics, form the at least one magnetic actuator 22 of the main control valve V1.
  • a displacement transducer 30 is optionally provided and connected to the CAN bus C to monitor the respective position of the spool 21 can.
  • Fig. 4 schematically shows the control panel 5 or on a handle 19 of the tool-actuator (joystick) a push button 20, a button, a switch, or the like., With which the shaking function F can be activated and optionally also deactivated.
  • the program section S which represents the Rüttelfunktions software is included or stored in the central control Z, ie either provided from the outset or subsequently programmed.
  • Fig. 5 the integration of the main control valve V1 in the CAN bus C is shown with the CAN node 23 to which the solenoid actuator 22 is connected to actuate the spool 21.
  • the program section S corresponding to the ripple function software is provided either in the CAN node 23 or in a valve electronics 24 and activated, for example via the CAN bus C and the central control Z.
  • Fig. 6 shows in a diagram the superposition of the shaking function F with a volume flow setpoint curve 25 of a desired volume flow Qs.
  • the volume flow is plotted on the vertical axis Q, while time is plotted on the horizontal axis t.
  • the volumetric flow setpoint curve shown in this embodiment parallel to the time axis t represents a certain continuous movement speed of the tool W.
  • the curve 25 is superimposed on volume flow fluctuations Q 'whose frequency f, respective time duration w and / or respective intensity or amplitude a are appropriately varied.
  • the volumetric flow fluctuations Q in the left half of Fig. 6 represent volume flow increases compared to the setpoint curve 25, while represent in the right part of the figure, the volume flow fluctuations Q 'increases and decreases compared to the volume flow setpoint curve 25.
  • the volumetric flow fluctuations Q ' are expediently activated with activated shaking function F by control current application of the valve electronics 24 or of the respective magnetic actuator with a frequency f between about 1.0 to about 30 Hz, preferably about 10 Hz, because a permanent current applied to the magnetic actuator Overload result could.
  • the respective solenoid actuator or the valve electronics 24 is clocked with a dither frequency between about 4 ⁇ and 100 Hz, preferably by about 55 Hz, with control current. From this relatively higher frequency compared to the frequency f of the volume flow fluctuations Q 'results in a steady adjustment of the spool 21 or a persistence of the spool 21 in a set control position.
  • the low-frequency volume flow fluctuations Q ' cause jerky movements of the spool 21, starting from its respectively set control position or starting from the neutral position of the main control valve V1, V2.
  • the tool W when the shaking function is activated, the tool W is moved in a direction of movement by the volume flow fluctuations, for example the direction of movement monitored by the hydraulic cylinder 9.
  • the volume flow fluctuations for example the direction of movement monitored by the hydraulic cylinder 9.
  • the tool W would be moved about the articulation on the boom 7 in the shaking function, and at the same time to the articulation of the boom 7 in the chassis 1 to intensify the effect of the shaking function.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
EP12171622.9A 2012-06-12 2012-06-12 Système de commande hydroélectrique Active EP2674533B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12171622.9A EP2674533B1 (fr) 2012-06-12 2012-06-12 Système de commande hydroélectrique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12171622.9A EP2674533B1 (fr) 2012-06-12 2012-06-12 Système de commande hydroélectrique

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EP2674533A1 true EP2674533A1 (fr) 2013-12-18
EP2674533B1 EP2674533B1 (fr) 2019-09-04

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2514346B (en) * 2013-05-20 2017-02-08 Jc Bamford Excavators Ltd Working machine and control system
US11421401B2 (en) 2020-01-23 2022-08-23 Cnh Industrial America Llc System and method for controlling work vehicle implements during implement shake operations

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0511383A1 (fr) * 1990-01-16 1992-11-04 Kabushiki Kaisha Komatsu Seisakusho Procede et appareil de generation automatique de vibrations pour excavateur hydraulique
EP1361312A1 (fr) * 2002-05-07 2003-11-12 Husco International, Inc. Dispositif et procédé pour faire vibrer un accessoire d'un engin de travaux
US20090031891A1 (en) * 2007-07-31 2009-02-05 Caterpillar Inc. Hydraulic circuit for rapid bucket shake out
EP2063159B1 (fr) 2007-11-22 2010-09-29 HAWE Hydraulik SE Batterie de soupapes hydrauliques
US7878481B2 (en) * 2008-03-11 2011-02-01 Robert Bosch Gmbh Method for triggering a plurality of valves, and control block having a plurality of valves

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0511383A1 (fr) * 1990-01-16 1992-11-04 Kabushiki Kaisha Komatsu Seisakusho Procede et appareil de generation automatique de vibrations pour excavateur hydraulique
EP1361312A1 (fr) * 2002-05-07 2003-11-12 Husco International, Inc. Dispositif et procédé pour faire vibrer un accessoire d'un engin de travaux
US20090031891A1 (en) * 2007-07-31 2009-02-05 Caterpillar Inc. Hydraulic circuit for rapid bucket shake out
EP2063159B1 (fr) 2007-11-22 2010-09-29 HAWE Hydraulik SE Batterie de soupapes hydrauliques
US7878481B2 (en) * 2008-03-11 2011-02-01 Robert Bosch Gmbh Method for triggering a plurality of valves, and control block having a plurality of valves

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"Informationsschrift D 7700 CAN", February 2011, FIRMA HAWE HYDRAULIK SE, pages: 2

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2514346B (en) * 2013-05-20 2017-02-08 Jc Bamford Excavators Ltd Working machine and control system
US11421401B2 (en) 2020-01-23 2022-08-23 Cnh Industrial America Llc System and method for controlling work vehicle implements during implement shake operations

Also Published As

Publication number Publication date
EP2674533B1 (fr) 2019-09-04

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