EP2789863B1 - Working cylinder and construction machine or lifting device - Google Patents

Working cylinder and construction machine or lifting device Download PDF

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Publication number
EP2789863B1
EP2789863B1 EP14000197.5A EP14000197A EP2789863B1 EP 2789863 B1 EP2789863 B1 EP 2789863B1 EP 14000197 A EP14000197 A EP 14000197A EP 2789863 B1 EP2789863 B1 EP 2789863B1
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EP
European Patent Office
Prior art keywords
cylinder
control
power cylinder
accordance
regulation
Prior art date
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Application number
EP14000197.5A
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German (de)
French (fr)
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EP2789863A2 (en
EP2789863A3 (en
Inventor
Roman Hofmann
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.)
Liebherr Components Kirchdorf GmbH
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Liebherr Components Kirchdorf GmbH
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Publication of EP2789863A3 publication Critical patent/EP2789863A3/en
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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
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2271—Actuators and supports therefor and protection therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/085—Servomotor systems incorporating electrically operated control means using a data bus, e.g. "CANBUS"
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • 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
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means

Definitions

  • the invention relates to a working cylinder consisting of a piston-cylinder unit.
  • the invention further comprises a construction machine or a hoist with such a working cylinder.
  • Known working cylinders serve as a drive unit for the execution of linear movements (see, for example, the document DE4422528 ).
  • the volume flow or pressure required for the linear movement is provided and regulated by an external control circuit.
  • the volume flow or pressure adjustment takes place hydraulically via hydraulic components of the external control loop.
  • the known from the prior art cylinder thus provide one or more pressure ports, via which the via the external control loop generated volume flow of the respective effective area of the cylinder is provided.
  • the object of the present invention is to develop generic working cylinder to adapt to the necessary conditions of automation technology.
  • a working cylinder which consists of a piston-cylinder unit in the usual way.
  • the working cylinder comprises at least one pressure port for providing a volume flow or pressure energy for the operation of the working cylinder.
  • the working cylinder comprises an integral valve arrangement for the regulation / control of the supply line of the pressure volume flow provided via the at least one pressure connection into the cylinder space.
  • an integrated control and / or regulating unit is provided, which is in communication with the valve assembly and performs a corresponding control of the valve assembly.
  • a kind of intelligent working cylinder which controls its position and its kinematic behavior automatically.
  • no external components are needed, but the cylinder only uses its own components.
  • the cylinder is provided only with pressure energy, for example in the form of a constant pressure volume flow. The necessary pressurization of one or more effective surfaces of the piston-cylinder unit is independently determined and made.
  • the type of cylinder and the structural design of the working principle are less relevant to the essential core idea of the invention.
  • the working cylinder can be designed for example as a hydraulic or pneumatic cylinder.
  • the working cylinder can be constructed as a single-acting or double-acting hydraulic cylinder.
  • the presented idea according to the invention can be ported without restriction to telescopic cylinders.
  • the valve arrangement comprises at least one controllable valve per effective area, which can be addressed correspondingly via the control and / or regulating unit in order to apply the desired effective pressure to the assigned effective area.
  • the one or more controllable valves are on the input side with the at least one pressure port in connection and the output side with at least one opening to the cylinder chamber, in particular an opening to the cylinder chamber with the valve associated effective area.
  • a valve communicates directly with the pressure port while one or more other valves communicate with the pressure port via a pressure line of the working cylinder.
  • the pressure line may extend at least partially channel-like through the cylinder jacket.
  • At least one data interface is preferably provided.
  • the control and / or regulating unit can be supplied with suitable control parameters or other commands or information for the position control of the cylinder or for influencing the working / movement behavior of the cylinder.
  • the data interface may be suitable for data retrieval.
  • certain control and / or regulation parameters of the working cylinder or other operating information of the working cylinder can be read by an external higher-level control.
  • control and / or position and / or dynamic measurement data can be provided by the control and / or regulating unit via the integrated data interface. Based on these measurement data, it is not only possible to draw conclusions about the current position of the piston rod, but additional information such as the current energy requirement can be called up.
  • an integral position measuring system is expediently arranged on or in the cylinder, which is communicatively connected to the control and / or regulating unit.
  • the position measuring system may preferably be arranged on the frontal cylindrical surface in the region of the piston rod outlet.
  • the integrated measuring system allows the current position of the piston rod relative to the cylinder housing to be recorded. It is also possible to record the current movement speed of the piston.
  • the working cylinder has a storage means for storing operation-relevant control or control parameters, which can be used by the control unit during cylinder operation.
  • one or more control profiles can be stored in the memory means. Such profiles describe different control or regulating behavior of the working cylinder, for example for different purposes. Depending on the application, the desired cylinder behavior can be configured by selecting the appropriate profile. The types of profiles may be preferred in terms of the resulting operating speed of the linear motion differ. Furthermore, it can be determined in the profile whether a load damping should be realized by targeted control of the valve arrangement. In this context, it should be noted that the implementation of a load damping without additional components by modification of the executed control algorithm of the control and / or regulating unit is feasible.
  • the use of profiles allows a simple implementation and implementation of different types of cylinders, each with different working behavior, which can therefore be flexibly adapted for various applications.
  • the invention therefore provides a universal cylinder for an enormously wide portfolio.
  • the storage means is accessible via the data interface.
  • existing control or control parameters or control profiles can be created, changed, deleted or read out.
  • the control or regulation unit can be addressed directly via the data interface and receives the necessary profiles or parameters directly via the interface.
  • control and / or regulating unit may be suitable for the execution of one or more monitoring functions.
  • the control and / or regulating unit comprises, for example, an implemented logic for carrying out a test run for checking the basic cylinder functionality. Additionally or alternatively, specific test routines for detecting damage, in particular leaks within the working cylinder may be available.
  • a program for determining the quality of the used pressure medium for example for detecting the fluid quality of the hydraulic medium used, may be ready for execution.
  • the invention also relates to a construction machine, in particular an earthmoving machine, or a hoist with at least one working cylinder according to the present invention or an advantageous embodiment of the invention.
  • the construction machine or the hoist obviously have the same advantages and properties as the working cylinder according to the invention, which is why at this point a further description is omitted.
  • the at least one working cylinder is connected via its pressure connection to a pressure circuit of the construction machine or hoist according to the invention.
  • a central control unit of the construction machine or the hoist is connected via the data interface of the working cylinder according to the invention with the control unit in combination.
  • the operation of the working cylinder can be influenced and checked by the higher-level control via the data interface.
  • the interface offers the possibility of retrieving current state information concerning the working cylinder and to evaluate it centrally.
  • the control and / or regulation of the piston movement is incumbent on each cylinder itself.
  • FIG. 1 shows a working cylinder 10 with a cylinder jacket 11 and a linearly displaceably mounted therein piston rod 12 at the lying within the cylinder chamber end of the piston rod 12, the piston 13 is arranged.
  • the other piston rod end passes through the end face of the cylinder jacket 11 out of the cylinder chamber.
  • the cylinder space is divided into two mutually sealed cylinder chambers, namely the piston-side cylinder chamber 14 and the rod-side cylinder chamber 15 by targeted pressure regulation of the pressure level within the cylinder chambers 14, 15 can be a linear movement of the piston rod 12 produce.
  • a valve arrangement of two controllable proportional valves 20, 30 is embedded in the cylinder jacket 11.
  • the control valve 20 controls the prevailing in the cylinder chamber 14 pressure level, while the proportional valve 30 determines the pressure level within the cylinder chamber 15.
  • the cylinder 10 is operated with a hydraulic medium.
  • the valves 20, 30 are in communication with a central hydraulic pressure port 40, wherein the valve 30 is in fluid communication with the pressure port 40 via a channel 23 provided in the cylinder jacket 11.
  • the actuation of the proportional valves 20, 30 takes place electrically. Suitable control signals are generated by a control unit 70, which is also an integral part of the working cylinder 10, and applied to the respective control input of the valves 20, 30.
  • the unit 70 is disposed at the piston rod side end of the cylinder jacket 11.
  • a measuring device 60 likewise fastened in the region of the piston rod outlet on the cylinder jacket 11 measures, in addition to the current position of the piston rod 12 relative to the cylinder housing 11, the speed of movement of the piston and shares both values of the control and / or regulating unit With.
  • the measuring unit 60 is based on the developed positioning sensor system for hydraulic cylinders PMHZ.
  • a data interface 50 is available, which is used for communication of the control and / or regulating unit with a higher-level central control.
  • the basic programming or maintenance of the working cylinder 10, in particular the control and regulating unit 70, can take place via the data interface.
  • the controller 71 receives as a target size 72 a possible position request or a movement profile.
  • the setpoint quantity 72 is compared with the actual size 61 and from this a corresponding setpoint value 73 for the hydraulic valves 20, 30 is generated.
  • the actual variable 61 is provided by the measuring system 60 and characterizes the current position of the piston rod 12. Additionally or alternatively, further variables provided via the measuring system, such as the speed of the piston movement, can be used and used as the actual variable 61.
  • the current position request of the working cylinder 10 as well as a possible movement profile can be stored in an unillustrated storage unit with access by the control or regulation unit 70 or alternatively provided at runtime via the data interface 50.
  • About the movement profile can be a desirable working behavior of the working cylinder 10 configure. This includes on the one hand the desired speed of movement of the piston rod 12 as well as the realization of a cushioning, etc.
  • the manipulated variable 73 generated by the controller 71 is applied as an electrical control signal to the valves 20, 30 in order to set the desired passage quantity and the required pressure level in the cylinder chambers 14, 15.
  • information 51 can be transmitted to a higher-level system via the data interface 50. This includes, for example, the current cylinder position and the energy required for the operation of the working cylinder 10th
  • the control unit 70 may also include logic for possible monitoring functions of the power cylinder 10. This includes, for example, a monitoring function for checking the basic functions of the working cylinder 10 as well as for detecting possible damage or leaks within the cylinder system. However, the control unit 70 may include logic to check the current fluid quality of the hydraulic oil used.
  • the invention describes an integrated intelligent cylinder which receives the position and the kinematic behavior in the form of digital data. Hydraulic energy is available to the cylinder, but this regulates the necessary energy requirement and its movement independently depending on the control parameters or given profiles. In addition, it can provide control, position and dynamic measurement data to higher-level systems, which can be used to display process automation or partial automation and monitoring functions.
  • the behavior of the hydraulic cylinder can be understood analogously to electronically controlled or regulated actuators and be interpreted as a closed system to which only energy must be supplied and via the data interface communication with a higher-level control system can take place.
  • the working cylinder creates competitive conditions for the automation of work processes or assistance systems.
  • the cylinder provides the necessary conditions for the realization of a tilting moment control, for example, to protect during lifting work, or for a stroke limitation, in which case different working cylinders can be used for different equipment.
  • Due to the electric control it is particularly easy to introduce a speed control, which is particularly useful in the danger zone, i. Position dependent, lower speeds allowed.
  • a load damping for example, for damping the equipment against rocking, can be realized without additional design effort.
  • This electronic end position damping eliminates the otherwise necessary mechanics.
  • the adaptation of the working behavior to certain areas of application is just as electronic and not hydraulically as before.
  • the invention thus provides a universal hydraulic cylinder, which can achieve a reduction of the entire portfolio of cylinders.
  • it is particularly easy to implement a necessary customer adaptation via the electronic control.
  • the electronics provide numerous self-monitoring and diagnostic functions within the cylinder.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)
  • Operation Control Of Excavators (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Description

Die Erfindung betrifft einen Arbeitszylinder bestehend aus einer Kolben-Zylindereinheit. Die Erfindung umfasst ferner eine Baumaschine bzw. ein Hebezeug mit einem derartigen Arbeitszylinder.The invention relates to a working cylinder consisting of a piston-cylinder unit. The invention further comprises a construction machine or a hoist with such a working cylinder.

Bekannte Arbeitszylinder dienen als Antriebseinheit zur Ausführung von Linearbewegungen (siehe z.B. das Dokument DE4422528 ). Unterschieden wird zwischen einfach wirkenden und doppelt wirkenden Zylindern. Durch Druckbeaufschlagung der ein oder mehreren Wirkflächen wird eine Linearbewegung der Kolbenstange erzielt. Die Kolbenbewegung wird über die Kolbenstange abgegriffen und auf die zu bewegenden Maschinenkomponenten übertragen.Known working cylinders serve as a drive unit for the execution of linear movements (see, for example, the document DE4422528 ). A distinction is made between single-acting and double-acting cylinders. By pressurizing the one or more active surfaces, a linear movement of the piston rod is achieved. The piston movement is picked up via the piston rod and transferred to the machine components to be moved.

Der für die Linearbewegung benötigte Volumenstrom bzw. Druck wird durch einen externen Regelkreis bereitgestellt und eingeregelt. Die Volumenstrom- bzw. Druckanpassung erfolgt auf hydraulischem Wege über hydraulische Komponenten des externen Regelkreises. Die aus dem Stand der Technik bekannten Zylinder sehen folglich ein oder mehrere Druckanschlüsse vor, über die der über den externen Regelkreis erzeugte Volumenstrom der jeweiligen Wirkfläche des Zylinders bereitgestellt wird.The volume flow or pressure required for the linear movement is provided and regulated by an external control circuit. The volume flow or pressure adjustment takes place hydraulically via hydraulic components of the external control loop. The known from the prior art cylinder thus provide one or more pressure ports, via which the via the external control loop generated volume flow of the respective effective area of the cylinder is provided.

Mit zunehmender Automatisierung von Baumaschinen wachsen die Anforderungen an die verbauten Maschinenkomponenten. In diesem Zusammenhang wächst die Nachfrage nach intelligenten Zylindern, die sich durch eine geregelte Bewegung auszeichnen.With increasing automation of construction machinery, the demands on the installed machine components are growing. In this context, the demand for intelligent cylinders, which are characterized by a controlled movement, is growing.

Die Aufgabe der vorliegenden Erfindung besteht darin, gattungsgemäße Arbeitszylinder weiterzuentwickeln, um diese an die notwendigen Voraussetzungen der Automatisierungstechnik anzupassen.The object of the present invention is to develop generic working cylinder to adapt to the necessary conditions of automation technology.

Diese Aufgabe wird durch einen Arbeitszylinder gemäß den Merkmalen des Anspruchs 1 gelöst. Vorteilhafte Ausführungen des Arbeitszylinders sind Gegenstand der abhängigen Unteransprüche.This object is achieved by a working cylinder according to the features of claim 1. Advantageous embodiments of the working cylinder are the subject of the dependent subclaims.

Gemäß Anspruch 1 wird ein Arbeitszylinder vorgeschlagen, der in üblicher Weise aus einer Kolben-Zylindereinheit besteht. Der Arbeitszylinder umfasst wenigstens einen Druckanschluss zur Bereitstellung eines Volumenstroms bzw. von Druckenergie für den Betrieb des Arbeitszylinders. Weiterhin umfasst der Arbeitszylinder eine integrale Ventilanordnung zur Regelung/Steuerung der Zuleitung des über den wenigstens einen Druckanschluss bereitgestellten Druckvolumenstrom in den Zylinderraum. Für eine autarke Steuerung/Regelung der Kolbenstangenbewegung des Arbeitszylinders ist eine integrierte Steuer- und/oder Regeleinheit vorgesehen, die mit der Ventilanordnung in Verbindung steht und eine entsprechende Ansteuerung der Ventilanordnung vornimmt.According to claim 1, a working cylinder is proposed, which consists of a piston-cylinder unit in the usual way. The working cylinder comprises at least one pressure port for providing a volume flow or pressure energy for the operation of the working cylinder. Furthermore, the working cylinder comprises an integral valve arrangement for the regulation / control of the supply line of the pressure volume flow provided via the at least one pressure connection into the cylinder space. For an autonomous control / regulation of the piston rod movement of the working cylinder, an integrated control and / or regulating unit is provided, which is in communication with the valve assembly and performs a corresponding control of the valve assembly.

Demnach wird eine Art intelligenter Arbeitszylinder geschaffen, der seine Position und sein kinematisches Verhalten selbsttätig steuert bzw. regelt. Dazu werden keine externen Komponenten benötigt, sondern der Zylinder greift ausschliesslich auf eigene Komponenten zurück. Dem Zylinder wird lediglich Druckenergie, beispielsweise in Form eines konstanten Druckvolumenstroms, zur Verfügung gestellt. Die notwendige Druckbeaufschlagung der ein oder mehreren Wirkflächen der Kolben-Zylindereinheit wird selbstständig bestimmt und vorgenommen.Accordingly, a kind of intelligent working cylinder is created, which controls its position and its kinematic behavior automatically. For this purpose, no external components are needed, but the cylinder only uses its own components. The cylinder is provided only with pressure energy, for example in the form of a constant pressure volume flow. The necessary pressurization of one or more effective surfaces of the piston-cylinder unit is independently determined and made.

Die Zylinderart und die konstruktive Ausgestaltung des Arbeitsprinzips sind für den wesentlichen Kerngedanken der Erfindung weniger relevant. Der Arbeitszylinder kann beispielsweise als Hydraulik- oder Pneumatikzylinder ausgeführt sein. Ferner kann der Arbeitszylinder als einfach wirkender oder doppelwirkender Hydraulikzylinder konstruiert sein. Die vorgestellte erfindungsgemäße Idee lässt sich uneingeschränkt auch auf Teleskopzylinder portieren.The type of cylinder and the structural design of the working principle are less relevant to the essential core idea of the invention. The working cylinder can be designed for example as a hydraulic or pneumatic cylinder. Furthermore, the working cylinder can be constructed as a single-acting or double-acting hydraulic cylinder. The presented idea according to the invention can be ported without restriction to telescopic cylinders.

In einer vorzugsweisen Ausführungsform umfasst die Ventilanordnung pro Wirkfläche wenigstens ein regelbares Ventil, das über die Steuer- und/oder Regeleinheit entsprechend ansprechbar ist, um die zugeordnete Wirkfläche mit dem gewünschten Druck zu beaufschlagen. Die ein oder mehreren regelbaren Ventile stehen eingangsseitig mit dem wenigstens einen Druckanschluss in Verbindung und ausgangsseitig mit wenigstens einer Öffnung zum Zylinderraum, insbesondere einer Öffnung zum Zylinderraum mit der dem Ventil zugeordneten Wirkfläche.In a preferred embodiment, the valve arrangement comprises at least one controllable valve per effective area, which can be addressed correspondingly via the control and / or regulating unit in order to apply the desired effective pressure to the assigned effective area. The one or more controllable valves are on the input side with the at least one pressure port in connection and the output side with at least one opening to the cylinder chamber, in particular an opening to the cylinder chamber with the valve associated effective area.

Besonders geeignet sind elektrisch ansteuerbare Proportionalventile, die elektrisch mit der Steuer- und/oder Regeleinheit in Verbindung stehen und entsprechende Schaltsignale von dieser erhalten. Sinnvollerweise sind die ein oder mehreren Ventile zumindest teilweise in den Zylindermantel eingebettet. Dies ist nicht nur platzsparend sondern schützt die Ventile zudem vor äußeren Einflüssen.Particularly suitable are electrically controllable proportional valves which are electrically connected to the control and / or regulating unit and receive corresponding switching signals from the latter. It makes sense for the one or more valves to be at least partially embedded in the cylinder jacket. This not only saves space but also protects the valves against external influences.

In einer bevorzugten Ausführungsform steht ein Ventil direkt mit dem Druckanschluss in Verbindung, während ein oder mehrere weitere Ventile über eine Druckleitung des Arbeitszylinders mit dem Druckanschluss in Verbindung stehen. Die Druckleitung kann zumindest teilweise kanalartig durch den Zylindermantel verlaufen.In a preferred embodiment, a valve communicates directly with the pressure port while one or more other valves communicate with the pressure port via a pressure line of the working cylinder. The pressure line may extend at least partially channel-like through the cylinder jacket.

Für die kommunikative Anbindung des Arbeitszylinders nach aussen ist vorzugsweise wenigstens eine Datenschnittstelle vorgesehen. Über die Datenschnittstelle können der Steuer- und/oder Regeleinheit passende Steuerungs- bzw. Regelungsparameter bzw. sonstige Befehle bzw. Informationen für die Positionsansteuerung des Zylinders bzw. zur Einflussnahme auf das Arbeits-/Bewegungsverhaltens des Zylinders zugeführt werden.For the communicative connection of the working cylinder to the outside, at least one data interface is preferably provided. Via the data interface For example, the control and / or regulating unit can be supplied with suitable control parameters or other commands or information for the position control of the cylinder or for influencing the working / movement behavior of the cylinder.

Alternativ oder zusätzlich kann die Datenschnittstelle für den Datenabruf geeignet sein. Dabei lassen sich gewisse Steuerungs- und/oder Regelungsparameter des Arbeitszylinders bzw. sonstige betriebsrelevante Informationen des Arbeitszylinders durch eine externe übergeordnete Steuerung auslesen. Beispielsweise können von der Steuer- und/oder Regeleinheit über die integrierte Datenschnittstelle Regel- und/oder Positions- und/oder dynamische Messdaten bereitgestellt werden. Anhand dieser Messdaten lässt sich nicht nur auf die aktuelle Position der Kolbenstange rückschließen, sondern es können zusätzlich Informationen wie beispielsweise der aktuelle Energiebedarf abgerufen werden.Alternatively or additionally, the data interface may be suitable for data retrieval. In this case, certain control and / or regulation parameters of the working cylinder or other operating information of the working cylinder can be read by an external higher-level control. For example, control and / or position and / or dynamic measurement data can be provided by the control and / or regulating unit via the integrated data interface. Based on these measurement data, it is not only possible to draw conclusions about the current position of the piston rod, but additional information such as the current energy requirement can be called up.

Für die Positionsbestimmung der Kolbenstange ist zweckmäßigerweise ein integrales Positionsmesssystem am oder im Zylinder angeordnet, das kommunikativ mit der Steuer- und/oder Regeleinheit verbunden ist. Das Positionsmesssystem kann bevorzugt an der stirnseitigen Zylinderfläche im Bereich des Kolbenstangenausgangs angeordnet sein. Über das integrierte Messsystem lässt sich die aktuelle Lage der Kolbenstange relativ zum Zylindergehäuse erfassen. Möglich ist auch die Erfassung der aktuellen Bewegungsgeschwindigkeit des Kolbens.For determining the position of the piston rod, an integral position measuring system is expediently arranged on or in the cylinder, which is communicatively connected to the control and / or regulating unit. The position measuring system may preferably be arranged on the frontal cylindrical surface in the region of the piston rod outlet. The integrated measuring system allows the current position of the piston rod relative to the cylinder housing to be recorded. It is also possible to record the current movement speed of the piston.

Denkbar ist es, dass der Arbeitszylinder ein Speichermittel zur Speicherung betriebsrelevanter Steuerungs- bzw. Regelparameter aufweist, auf die die Steuer- bzw. Regelungseinheit während des Zylinderbetriebs zurückgreifen kann. Denkbar ist es auch, dass ein oder mehrere Steuer- bzw. Regelungsprofile in dem Speichermittel ablegbar sind. Derartige Profile beschreiben unterschiedliche Steuerungs- bzw. Regelverhalten des Arbeitszylinders, beispielsweise für unterschiedliche Einsatzzweck. Je nach Anwendungsfall lässt sich durch Auswahl des passenden Profils das gewünschte Zylinderverhalten konfigurieren. Die Profilarten können sich bevorzugt hinsichtlich der resultierenden Arbeitsgeschwindigkeit der Linearbewegung unterscheiden. Ferner kann im Profil festgelegt sein, ob eine Lastdämpfung durch gezielte Ansteuerung der Ventilanordnung realisiert werden soll. In diesem Zusammenhang wird darauf hingewiesen, dass die Implementierung einer Lastdämpfung ohne Zusatzkomponenten durch Modifikation des ausgeführten Regelalgorithmus der Steuer- und/oder Regeleinheit realisierbar ist.It is conceivable that the working cylinder has a storage means for storing operation-relevant control or control parameters, which can be used by the control unit during cylinder operation. It is also conceivable that one or more control profiles can be stored in the memory means. Such profiles describe different control or regulating behavior of the working cylinder, for example for different purposes. Depending on the application, the desired cylinder behavior can be configured by selecting the appropriate profile. The types of profiles may be preferred in terms of the resulting operating speed of the linear motion differ. Furthermore, it can be determined in the profile whether a load damping should be realized by targeted control of the valve arrangement. In this context, it should be noted that the implementation of a load damping without additional components by modification of the executed control algorithm of the control and / or regulating unit is feasible.

Die Verwendung von Profilen erlaubt eine einfache Implementierung und Umsetzung verschiedenartiger Zylindertypen mit jeweils unterschiedlichen Arbeitsverhalten, die sich daher flexibel für diverse Einsatzgebiete anpassen lassen. Durch die Erfindung wird daher ein universaler Arbeitszylinder für ein enorm breites Portfolio geschaffen.The use of profiles allows a simple implementation and implementation of different types of cylinders, each with different working behavior, which can therefore be flexibly adapted for various applications. The invention therefore provides a universal cylinder for an enormously wide portfolio.

Für die Programmierung des Arbeitszylinders kann es vorgesehen sein, dass das Speichermittel über die Datenschnittstelle ansprechbar ist. Auf diese Weise können bestehende Regel- bzw. Steuerungsparameter bzw. Regelprofile erstellt, geändert, gelöscht bzw. ausgelesen werden. Alternativ oder zusätzlich kann es ebenso vorgesehen sein, dass die Steuer- bzw. Regeleinheit unmittelbar über die Datenschnittstelle ansprechbar ist und das oder die notwendigen Profilen bzw. Parameter direkt über die Schnittstelle erhält.For the programming of the working cylinder, it may be provided that the storage means is accessible via the data interface. In this way, existing control or control parameters or control profiles can be created, changed, deleted or read out. Alternatively or additionally, it can also be provided that the control or regulation unit can be addressed directly via the data interface and receives the necessary profiles or parameters directly via the interface.

In einer weiteren vorteilhaften Ausführungsform kann die Steuer- und/oder Regeleinheit für die Ausführung ein oder mehrerer Überwachungsfunktionen geeignet sein. Die Steuer- und/oder Regeleinheit umfasst beispielsweise eine implementierte Logik zur Durchführung eines Testlaufs zur Prüfung der grundlegenden Zylinderfunktionalität. Zusätzlich oder alternativ können spezifische Testroutinen zum Erkennen von Schädigungen, insbesondere Leckagen innerhalb des Arbeitszylinders zur Verfügung stehen. Weiterhin kann optional ein Programm zur Bestimmung der Qualität des verwendeten Druckmediums, beispielsweise zur Erfassung der Fluidqualität des verwendeten Hydraulikmediums zu Ausführung bereit liegen.In a further advantageous embodiment, the control and / or regulating unit may be suitable for the execution of one or more monitoring functions. The control and / or regulating unit comprises, for example, an implemented logic for carrying out a test run for checking the basic cylinder functionality. Additionally or alternatively, specific test routines for detecting damage, in particular leaks within the working cylinder may be available. Furthermore, optionally a program for determining the quality of the used pressure medium, for example for detecting the fluid quality of the hydraulic medium used, may be ready for execution.

Die Erfindung betrifft zudem eine Baumaschine, insbesondere eine Erdbewegungsmaschine, oder ein Hebezeug mit wenigstens einem Arbeitszylinder gemäß der vorliegenden Erfindung bzw. einer vorteilhaften Ausgestaltung der Erfindung. Die Baumaschine bzw. das Hebezeug weisen offensichtlich dieselben Vorteile und Eigenschaften auf, wie der erfindungsgemäße Arbeitszylinder, weshalb an dieser Stelle auf eine erneute Beschreibung verzichtet wird.The invention also relates to a construction machine, in particular an earthmoving machine, or a hoist with at least one working cylinder according to the present invention or an advantageous embodiment of the invention. The construction machine or the hoist obviously have the same advantages and properties as the working cylinder according to the invention, which is why at this point a further description is omitted.

Der wenigstens eine Arbeitszylinder ist über seinen Druckanschluss an einen Druckkreislauf der erfindungsgemäßen Baumaschine bzw. des Hebezeugs angeschlossen. Eine zentrale Steuereinheit der Baumaschine bzw. des Hebezeugs steht über die Datenschnittstelle des erfindungsgemäßen Arbeitszylinders mit dessen Steuer- bzw. Regeleinheit in Verbindung. Die Arbeitsweise des Arbeitszylinders lässt sich über die Datenschnittstelle von der übergeordneten Steuerung beeinflussen und überprüfen. Zudem offeriert die Schnittstelle die Möglichkeit, aktuelle den Arbeitszylinder betreffende Zustandsinformationen abzurufen und zentral auszuwerten. Die Steuer- und/oder Regelung der Kolbenbewegung obliegt jedoch jedem Arbeitszylinder selbst.The at least one working cylinder is connected via its pressure connection to a pressure circuit of the construction machine or hoist according to the invention. A central control unit of the construction machine or the hoist is connected via the data interface of the working cylinder according to the invention with the control unit in combination. The operation of the working cylinder can be influenced and checked by the higher-level control via the data interface. In addition, the interface offers the possibility of retrieving current state information concerning the working cylinder and to evaluate it centrally. However, the control and / or regulation of the piston movement is incumbent on each cylinder itself.

Weitere Vorteile und Einzelheiten der Erfindung sollen im Folgenden anhand eines in den Figuren dargestellten Ausführungsbeispiels näher erläutert werden. Es zeigen:

Figur 1:
ein Systembild des erfindungsgemäßen Arbeitszylinders und
Figur 2:
ein Funktionsschaltbild des erfindungsgemäßen Arbeitszylinders aus Figur 1.
Further advantages and details of the invention will be explained in more detail below with reference to an embodiment shown in FIGS. Show it:
FIG. 1:
a system image of the working cylinder according to the invention and
FIG. 2:
a functional diagram of the working cylinder according to the invention FIG. 1 ,

Der erfindungswesentliche Gedanke des intelligenten Arbeitszylinders soll anhand des in der Figur 1 dargestellten doppelwirkenden Linearzylinders 10 erläutert werden. Es ist jedoch offensichtlich, dass sich die erfindungsgemäße Lehre auf eine Vielzahl von unterschiedlichen Zylindertypen anwenden lässt und nicht auf das konkrete Ausführungsbeispiel der Figuren 1 und 2 beschränkt ist.The idea of the invention of the intelligent working cylinder is based on the in the FIG. 1 illustrated double-acting linear cylinder 10 will be explained. However, it is obvious that the teaching of the invention can be applied to a variety of different types of cylinders and not to the specific embodiment of FIGS. 1 and 2 is limited.

Figur 1 zeigt einen Arbeitszylinder 10 mit einem Zylindermantel 11 und einer darin linear verschieblich gelagerten Kolbenstange 12. Am innerhalb des Zylinderraums liegenden Ende der Kolbenstange 12 ist der Kolben 13 angeordnet. Das andere Kolbenstangenende tritt durch die Stirnfläche des Zylindermantels 11 aus dem Zylinderraum heraus. FIG. 1 shows a working cylinder 10 with a cylinder jacket 11 and a linearly displaceably mounted therein piston rod 12 at the lying within the cylinder chamber end of the piston rod 12, the piston 13 is arranged. The other piston rod end passes through the end face of the cylinder jacket 11 out of the cylinder chamber.

Aufgrund der doppelwirkenden Funktion des Arbeitszylinders 10 unterteilt sich der Zylinderraum in zwei gegeneinander abgedichtete Zylinderräume, nämlich den kolbenseitigen Zylinderraum 14 sowie den stangenseitigen Zylinderraum 15. Durch gezielte Druckregulierung des Druckniveaus innerhalb der Zylinderräume 14, 15 lässt sich eine Linearbewegung der Kolbenstange 12 erzeugen.Due to the double-acting function of the working cylinder 10, the cylinder space is divided into two mutually sealed cylinder chambers, namely the piston-side cylinder chamber 14 and the rod-side cylinder chamber 15 by targeted pressure regulation of the pressure level within the cylinder chambers 14, 15 can be a linear movement of the piston rod 12 produce.

In den Zylindermantel 11 ist eine Ventilanordnung aus zwei regelbaren Proportionalventilen 20, 30 eingebettet. Das Regelventil 20 regelt das im Zylinderraum 14 vorherrschende Druckniveau, während das Proportionalventil 30 das Druckniveau innerhalb des Zylinderraums 15 bestimmt. Der Zylinder 10 wird mit einem Hydraulikmedium betrieben. Die Ventile 20, 30 stehen mit einem zentralen hydraulischen Druckanschluss 40 in Verbindung, wobei das Ventil 30 über einen im Zylindermantel 11 vorgesehenen Kanal 23 fluidisch leitend mit dem Druckanschluss 40 in Verbindung steht. Durch die Regulierung des Volumenstroms in die jeweiligen Kammern 14, 15 mittels der zugeordneten Ventile 20, 30 lässt sich der Kammerdruck einstellen und die gewünschte Kolbenbewegung erzeugen.In the cylinder jacket 11, a valve arrangement of two controllable proportional valves 20, 30 is embedded. The control valve 20 controls the prevailing in the cylinder chamber 14 pressure level, while the proportional valve 30 determines the pressure level within the cylinder chamber 15. The cylinder 10 is operated with a hydraulic medium. The valves 20, 30 are in communication with a central hydraulic pressure port 40, wherein the valve 30 is in fluid communication with the pressure port 40 via a channel 23 provided in the cylinder jacket 11. By regulating the volume flow in the respective chambers 14, 15 by means of the associated valves 20, 30, the chamber pressure can be adjusted and produce the desired piston movement.

Die Betätigung der Proportionalventile 20, 30 erfolgt elektrisch. Passende Steuersignale werden durch eine Steuer- bzw. Regeleinheit 70, die ebenfalls integraler Bestandteil des Arbeitszylinders 10 ist, erzeugt und am jeweiligen Steuereingang der Ventile 20, 30 angelegt. Die Einheit 70 ist am kolbenstangenseitigen Ende des Zylindermantels 11 angeordnet. Eine im Bereich des Kolbenstangenausgangs am Zylindermantel 11 ebenfalls befestigte Messeinrichtung 60 misst neben der aktuellen Position der Kolbenstange 12 relativ zum Zylindergehäuse 11 die Bewegungsgeschwindigkeit des Kolbens und teilt beide Werte der Steuer- und/oder Regeleinheit mit. Die Messeinheit 60 basiert auf dem entwickelten Positioniersensorsystem für Hydraulikzylinder PMHZ.The actuation of the proportional valves 20, 30 takes place electrically. Suitable control signals are generated by a control unit 70, which is also an integral part of the working cylinder 10, and applied to the respective control input of the valves 20, 30. The unit 70 is disposed at the piston rod side end of the cylinder jacket 11. A measuring device 60 likewise fastened in the region of the piston rod outlet on the cylinder jacket 11 measures, in addition to the current position of the piston rod 12 relative to the cylinder housing 11, the speed of movement of the piston and shares both values of the control and / or regulating unit With. The measuring unit 60 is based on the developed positioning sensor system for hydraulic cylinders PMHZ.

Für den Datenaustausch steht eine Datenschnittstelle 50 zur Verfügung, die zur Kommunikation der Steuer- und/oder Regeleinheit mit einer übergeordneten Zentralsteuerung dient. Zudem kann über die Datenschnittstelle die grundlegende Programmierung bzw. Wartung des Arbeitszylinders 10, insbesondere der Steuer- und Regeleinheit 70 erfolgen.For the data exchange is a data interface 50 is available, which is used for communication of the control and / or regulating unit with a higher-level central control. In addition, the basic programming or maintenance of the working cylinder 10, in particular the control and regulating unit 70, can take place via the data interface.

Anhand der Funktionsskizze der Figur 2 soll die grundlegende Funktionsweise des erfindungsgemäßen Arbeitszylinders 10 verdeutlicht werden. Über den hydraulischen Druckanschluss 40 wird der Arbeitszylinder mit einer konstanten hydraulischen Energie versorgt. Die hydraulische Energie wird eingangsseitig an beide Proportionalventile 20, 30 angelegt. Der Durchlass der beiden Hydraulikventile 20, 30 wird durch den Regler 71 der Steuer- und Regeleinheit 70 bestimmt und an den Ventilen 20, 30 eingestellt.Based on the functional sketch of FIG. 2 should the basic operation of the working cylinder 10 of the invention are illustrated. About the hydraulic pressure port 40 of the working cylinder is supplied with a constant hydraulic energy. The hydraulic energy is applied on the input side to both proportional valves 20, 30. The passage of the two hydraulic valves 20, 30 is determined by the controller 71 of the control unit 70 and set to the valves 20, 30.

Der Regler 71 erhält als Sollgröße 72 einen möglichen Positionswunsch bzw. ein Bewegungsprofil. Die Sollgröße 72 wird mit der Istgröße 61 verglichen und daraus ein entsprechender Stellwert 73 für die Hydraulikventile 20, 30 generiert. Die Istgröße 61 wird durch das Messsystem 60 bereitgestellt und charakterisiert die aktuelle Lage der Kolbenstange 12. Zusätzlich oder alternativ lassen sich weitere über das Messsystem bereitgestellte Größen, wie die Geschwindigkeit der Kolbenbewegung, heranziehen und als Istgröße 61 verwenden.The controller 71 receives as a target size 72 a possible position request or a movement profile. The setpoint quantity 72 is compared with the actual size 61 and from this a corresponding setpoint value 73 for the hydraulic valves 20, 30 is generated. The actual variable 61 is provided by the measuring system 60 and characterizes the current position of the piston rod 12. Additionally or alternatively, further variables provided via the measuring system, such as the speed of the piston movement, can be used and used as the actual variable 61.

Der aktuelle Positionswunsch des Arbeitszylinders 10 sowie ein mögliches Bewegungsprofil können in einer nicht dargestellten Speichereinheit mit Zugriff durch die Steuer- bzw. Regeleinheit 70 hinterlegt sein oder alternativ zur Laufzeit über die Datenschnittstelle 50 bereitgestellt werden. Über das Bewegungsprofil lässt sich ein wünschenswertes Arbeitsverhalten des Arbeitszylinders 10 konfigurieren. Darunter fällt zum Einen die gewünschte Bewegungsgeschwindigkeit der Kolbenstange 12 als auch die Realisierung einer Endlagendämpfung, etc.The current position request of the working cylinder 10 as well as a possible movement profile can be stored in an unillustrated storage unit with access by the control or regulation unit 70 or alternatively provided at runtime via the data interface 50. About the movement profile can be a desirable working behavior of the working cylinder 10 configure. This includes on the one hand the desired speed of movement of the piston rod 12 as well as the realization of a cushioning, etc.

Die durch den Regler 71 generierte Stellgröße 73 wird als elektrisches Steuersignal an den Ventile 20, 30 angelegt, um die gewünschte Durchlassmenge und das erforderliche Druckniveau in den Zylinderkammern 14, 15 einzustellen.The manipulated variable 73 generated by the controller 71 is applied as an electrical control signal to the valves 20, 30 in order to set the desired passage quantity and the required pressure level in the cylinder chambers 14, 15.

Über die Datenschnittstelle 50 lassen sich zudem Informationen 51 an ein übergeordnetes System übertragen. Hierzu zählt beispielsweise die aktuelle Zylinderposition als auch der für den Betrieb notwendige Energiebedarf des Arbeitszylinders 10.In addition, information 51 can be transmitted to a higher-level system via the data interface 50. This includes, for example, the current cylinder position and the energy required for the operation of the working cylinder 10th

Die Steuer- und Regeleinheit 70 kann zudem eine Logik für mögliche Überwachungsfunktionen des Arbeitszylinders 10 umfassen. Hierzu zählt beispielsweise eine Überwachungsfunktion zur Überprüfung der grundlegenden Funktionen des Arbeitszylinders 10 sowie zum Erkennen von möglichen Schädigungen bzw. Leckagen innerhalb des Zylindersystems. Gleichwohl kann die Steuer- und Regeleinheit 70 eine Logik zur Überprüfung der aktuellen Fluidqualität des verwendeten Hydrauliköls umfassen.The control unit 70 may also include logic for possible monitoring functions of the power cylinder 10. This includes, for example, a monitoring function for checking the basic functions of the working cylinder 10 as well as for detecting possible damage or leaks within the cylinder system. However, the control unit 70 may include logic to check the current fluid quality of the hydraulic oil used.

Die Erfindung beschreibt einen integrierten intelligenten Zylinder, der die Position und das kinematische Verhalten in Form von digitalen Daten bekommt. Dem Zylinder steht hydraulische Energie zur Verfügung, dieser regelt jedoch den notwendigen Energiebedarf und seine Bewegung eigenständig in Abhängigkeit bereitgestellter Regelparameter bzw. vorgegebener Profile. Darüber hinaus kann er Regel-, Positions- und dynamische Messdaten an übergeordnete Systeme zur Verfügung stellen, wodurch eine Prozessautomatisierung oder Teilautomatisierung sowie Überwachungsfunktion dargestellt werden kann.The invention describes an integrated intelligent cylinder which receives the position and the kinematic behavior in the form of digital data. Hydraulic energy is available to the cylinder, but this regulates the necessary energy requirement and its movement independently depending on the control parameters or given profiles. In addition, it can provide control, position and dynamic measurement data to higher-level systems, which can be used to display process automation or partial automation and monitoring functions.

Das Verhalten des hydraulischen Zylinders kann analog zu elektronisch gesteuerten bzw. geregelten Stellantrieben aufgefasst werden und als geschlossenes System intepretiert werden, dem lediglich Energie zugeführt werden muss und über dessen Datenschnittstelle die Kommunikation mit einem übergeordneten Steuerungssystem erfolgen kann.The behavior of the hydraulic cylinder can be understood analogously to electronically controlled or regulated actuators and be interpreted as a closed system to which only energy must be supplied and via the data interface communication with a higher-level control system can take place.

Der erfindungsgemäße Arbeitszylinder schafft wettbewerbsfähige Voraussetzungen für die Automatisierung von Arbeitsprozessen bzw. Assistenzsystemen. So bietet der Zylinder die notwendigen Voraussetzungen für die Realisierung einer Kippmomentkontrolle, beispielsweise zum Schutz bei Lasthebearbeiten, oder für eine Hubbegrenzung, wobei hier unterschiedliche Arbeitszylinder für verschiedene Ausrüstungen verwendet werden können. Durch die elektrische Ansteuerung kann besonders einfach eine Geschwindigkeitskontrolle eingeführt werden, die insbesondere im Gefahrenbereich, d.h. Positionsabhängig, geringere Geschwindigkeiten zulässt. Zudem lässt sich ohne zusätzlichen konstruktiven Aufwand eine Lastdämpfung, beispielsweise zur Dämpfung der Ausrüstung gegen Aufschaukeln, realisieren. Diese elektronische Endlagendämpfung bewirkt einen Wegfall der ansonsten notwendigen Mechanik. Die Anpassung des Arbeitsverhaltens an bestimmte Anwendungsgebiete erfolgt ebenso rein elektronisch und nicht wie bisher auf hydraulischem Wege.The working cylinder according to the invention creates competitive conditions for the automation of work processes or assistance systems. Thus, the cylinder provides the necessary conditions for the realization of a tilting moment control, for example, to protect during lifting work, or for a stroke limitation, in which case different working cylinders can be used for different equipment. Due to the electric control, it is particularly easy to introduce a speed control, which is particularly useful in the danger zone, i. Position dependent, lower speeds allowed. In addition, a load damping, for example, for damping the equipment against rocking, can be realized without additional design effort. This electronic end position damping eliminates the otherwise necessary mechanics. The adaptation of the working behavior to certain areas of application is just as electronic and not hydraulically as before.

Die Erfindung bietet also einen universellen Hydraulikzylinder, wodurch sich eine Reduktion des gesamten Portfolios an Zylindern erreichen lässt. Über die elektronische Steuerung kann zudem besonders einfach eine notwendige Kundenadaptionen umgesetzt werden. Weiterhin stehen durch die Elektronik zahlreiche Selbstüberwachungs- und Diagnostikfunktionen innerhalb des Zylinders zur Verfügung.The invention thus provides a universal hydraulic cylinder, which can achieve a reduction of the entire portfolio of cylinders. In addition, it is particularly easy to implement a necessary customer adaptation via the electronic control. Furthermore, the electronics provide numerous self-monitoring and diagnostic functions within the cylinder.

Insgesamt wird eine verbesserte Energieeffizienz durch einen vorhersehbaren und regelbaren hydraulischen Energiebedarf geschaffen, wodurch notwendige Voraussetzungen für die Pumpenregelung erfüllt werden.Overall, an improved energy efficiency is created by a predictable and controllable hydraulic energy requirements, whereby necessary conditions for the pump control are met.

Claims (9)

  1. A power cylinder (10) including a piston-in-cylinder unit having at least one pressure connection (40), an integral valve arrangement for controlling the pressure volume flow from the pressure connection (40) into the cylinder space (14, 15) and an integrated control and/or regulation unit (70) for actuating the valve arrangement, wherein the valve arrangement comprises at least one valve which can be regulated, in particular an electrically controllable proportional valve, per active surface, characterized in that two or more valves (20, 30) are arranged at least partially within the cylinder jacket (11), with them preferably being connected to one another via at least one pressure passage (23) extending in the cylinder jacket (11).
  2. A power cylinder (10) in accordance with one of the preceding claims, characterized in that the control and/or regulation unit (70) comprises a data connection (50).
  3. A power cylinder (10) in accordance with claim 2, characterized in that regulation measurement data, and/or position measurement data and/or dynamic measurement data can be provided by the control and/or regulation unit (70) via the data interface (50).
  4. A power cylinder (10) in accordance with one of the preceding claims, characterized in that an integral position measurement system is provided at the cylinder (10) and is in communication connection with the control and/or regulation unit (70).
  5. A power cylinder (10) in accordance with one of the preceding claims, characterized in that the valve arrangement can be controlled/regulated by the control and/or regulation unit (70) in dependence on a movement profile and/or one or more regulation parameters, with the movement profile and/or the regulation parameters being able to be provided by an integrated memory means of the power cylinder(10) and/or via the data interface (50).
  6. A power cylinder (10) in accordance with one of the preceding claims, characterized in that one or more monitoring functions can be executed by means of the control and/or regulation unit (70), in particular for monitoring the cylinder operability and/or for recognizing damage or leaks in the power cylinder (10) and/or for detecting the quality of the used pressure medium, in particular hydraulic fluid.
  7. A power cylinder (10) in accordance with one of the preceding claims, characterized in that the power cylinder (10) is a pneumatic or hydraulic cylinder.
  8. A power cylinder (10) in accordance with one of the preceding claims, characterized in that the power cylinder (10) is a single-action or double-action cylinder (10) or a telescopic cylinder.
  9. A construction machine, in particular an earthmover or a lifting gear having at least one power cylinder(10) in accordance with one of the preceding claims.
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US20140305117A1 (en) 2014-10-16
DE102013006231A1 (en) 2014-10-16
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CN104100607A (en) 2014-10-15
TR201900477T4 (en) 2019-02-21
EP2789863A3 (en) 2015-06-10

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