EP3249241A1 - Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck - Google Patents

Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck Download PDF

Info

Publication number
EP3249241A1
EP3249241A1 EP17169361.7A EP17169361A EP3249241A1 EP 3249241 A1 EP3249241 A1 EP 3249241A1 EP 17169361 A EP17169361 A EP 17169361A EP 3249241 A1 EP3249241 A1 EP 3249241A1
Authority
EP
European Patent Office
Prior art keywords
hydraulic cylinder
hydraulic
control
movement
end position
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
EP17169361.7A
Other languages
German (de)
French (fr)
Other versions
EP3249241B9 (en
EP3249241B1 (en
Inventor
Sebastian Schauer
Claas-Tido Corleis
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.)
STILL GmbH
Original Assignee
STILL 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 STILL GmbH filed Critical STILL GmbH
Publication of EP3249241A1 publication Critical patent/EP3249241A1/en
Application granted granted Critical
Publication of EP3249241B1 publication Critical patent/EP3249241B1/en
Publication of EP3249241B9 publication Critical patent/EP3249241B9/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump 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
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20538—Type of pump constant capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational 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
    • F15B2211/60—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

Definitions

  • the invention relates to a method for determining the end position of a hydraulic cylinder of a working hydraulics of a mobile work machine, in particular an industrial truck, wherein the hydraulic cylinder is controlled by means of a control path valve which communicates with a hydraulic pump and a container, wherein for generating a movement of the hydraulic cylinder, the control way valve is operated in a control position and the hydraulic cylinder is supplied from the hydraulic pump via the operated in the control position control valve pressure medium.
  • the movement of a hydraulic cylinder of the working hydraulics is requested and controlled by an operator by operating a control path valve in a corresponding control position, so that performs a hydraulic movement at the request of the operator and appropriate operation of the control valve in a control position of the hydraulic cylinder ,
  • a valve opening is released at the control valve, so that the hydraulic cylinder can flow a certain pressure medium volume flow, which is provided by a hydraulic pump.
  • the size of the pressure medium flow flowing to the hydraulic cylinder is determined and set by the size of the valve opening of the control travel valve operating in the control position.
  • the pressure of the pressure medium increases when the control of the movement of the hydraulic cylinder is continued. If the pressure of the pressure medium reaches the setting pressure of a pressure relief valve which is provided in the working hydraulics to protect the components against overpressure, the pressure limiting valve opens and the pressure medium flow delivered by the hydraulic pump flows to a container. In the end position of the hydraulic cylinder in this case high loads occur The mechanical and hydraulic components of the working hydraulics, as the hydraulic pump provides the set pressure of the pressure relief valve, which corresponds to the maximum working pressure of the working hydraulics.
  • the operating point at which a hydraulic cylinder moves against a mechanical end stop and the driving of the movement of the hydraulic cylinder is continued, can not be reliably prevented without additional sensors, since the operator of the working machine is not always able to recognize that it triggers such an operating point in the control of a movement of the hydraulic cylinder, for example by environmental noise or unconscious triggering of this operating point.
  • the present invention has for its object to provide a method for determining the end position of a hydraulic cylinder working hydraulics of a mobile machine, in particular an industrial truck, the type mentioned that no complex Wegmesssensorik on the hydraulic cylinder requires.
  • This object is achieved in that is detected to determine the end position of the hydraulic cylinder when operated in the control position control valve in a first step, whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed, and in a subsequent second Step is reduced to the hydraulic cylinder provided pressure medium volume flow, wherein it is determined during the reduction of the pressure provided to the hydraulic cylinder pressure medium volume flow, whether the hydraulic cylinder provided Asked hydraulic power is constantly too high for the movement of the hydraulic cylinder to be executed and when reaching a lower limit the hydraulic cylinder provided pressure fluid flow rate the end position of the hydraulic cylinder is detected.
  • the first step forms the initial state, is determined in the actuated in the control position control valve and thus upon execution of a control of the hydraulic cylinder and detects whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed. If it is detected and determined that the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be executed, this state is interpreted as indicating that the end position of the hydraulic cylinder has been reached. In response to this, in the second step, the pressure medium volume flow provided to the hydraulic cylinder and thus the set volume flow are reduced.
  • the hydraulic power provided to the hydraulic cylinder is constantly too high for the movement of the hydraulic cylinder to be performed. If that the hydraulic cylinder Provided hydraulic power during the reduction of the pressure medium flow rate is constantly too high for the movement of the hydraulic cylinder to be executed, the state "end position" is confirmed upon reaching a lower limit of the hydraulic cylinder made available pressure medium flow rate and the end position of the hydraulic cylinder detected. If in the second step, during the reduction of the pressure medium volume flow, the hydraulic power provided to the hydraulic cylinder should again assume plausible values, the state "end position" is reset to the initial state.
  • the achievement of the mechanical end stop of the hydraulic cylinder and thus the end position of the hydraulic cylinder can be determined without expensive Wegmesssensorik on the hydraulic cylinder and thus with little construction effort in a control of a movement of the hydraulic cylinder.
  • the hydraulic power provided to the hydraulic cylinder is calculated from the delivery pressure of the hydraulic pump and the volume flow of the hydraulic pump.
  • the delivery pressure of the hydraulic pump can be determined in a simple manner by means of a corresponding pressure sensor.
  • the volume flow of the hydraulic pump can be determined with low construction costs.
  • the volume flow of the hydraulic pump is calculated from the displacement volume of the hydraulic pump and the rotational speed of the hydraulic pump. From the displacer volume of the hydraulic pump and the rotational speed of the hydraulic pump, the volumetric flow of the hydraulic pump and, in conjunction with the delivery pressure, the hydraulic power provided to the hydraulic cylinder can be calculated in a simple manner.
  • the displacement volume of the hydraulic pump can be stored in an electronic control device performing the method. If a variable displacement pump is provided in the displacement volume, the current displacement volume can be determined by means of a corresponding sensor or determined by the electronic control device on the basis of the control signal of a displacement volume adjusting device of the variable displacement pump.
  • the hydraulic pump is driven by an electric motor.
  • the hydraulic power provided to the hydraulic cylinder can hereby be calculated in a simple manner from the torque or the electric current of the electric motor. If an electronic control device carrying out the method also actuates the electric motor, the hydraulic power provided to the hydraulic cylinder can be determined in a simple manner from the torque or the electric current of the electric motor in conjunction with the rotational speed of the electric motor.
  • the first step it is determined whether the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be performed.
  • the hydraulic power provided to the hydraulic cylinder and thus the hydraulic power requested by the pump can be quantified as described above from the torque or electric current of the electric motor driving the hydraulic pump or by the pump speed in conjunction with a pressure sensor.
  • a comparison of the hydraulic power requested by the hydraulic pump and thus the hydraulic power provided to the hydraulic cylinder with that hydraulic power which the hydraulic cylinder for the hydraulic movement to be executed requires the maximum, ie the maximum hydraulic power of the hydraulic cylinder.
  • This maximum hydraulic power of the hydraulic cylinder which this requires for the hydraulic movement to be carried out, is known on the system side and can be stored, for example, as a parameter in an electronic control device carrying out the method according to the invention.
  • the maximum hydraulic power of the hydraulic cylinder can be determined, for example, from the maximum working pressure of the working hydraulics, to which a working hydraulics against overloading protective pressure relief valve is set, or be made available by the structural design of the hydraulic cylinder available, as from the structural design of the hydraulic cylinder and whose movement to be executed is known, how much hydraulic power must be provided to the hydraulic cylinder maximum.
  • the reduction of the hydraulic cylinder provided pressure medium volume flow is carried out according to a preferred embodiment of the invention by reducing the speed of the hydraulic pump and / or by reducing the displacer volume of the hydraulic pump and / or by reducing the valve opening of the control valve.
  • an end position deactivation is performed, in which the movement of the hydraulic cylinder in the direction of movement preceding the end position is prevented.
  • the operating point of the working hydraulics, on which the hydraulic cylinder moves against the mechanical end stop and the driving of the movement of the hydraulic cylinder is continued, is thus avoided, so that the wear of the components of the working hydraulics and the energy consumption of the working hydraulics and an overload of the components of the working hydraulics avoided can be.
  • the determination of the end position of the hydraulic cylinder is terminated upon actuation of the control valve in a further control position which causes an opposite movement of the hydraulic cylinder.
  • the state "end position" is reset to the initial state, so that the desired movement of the hydraulic cylinder in the opposite direction of movement can be performed.
  • the determination of the end position of the hydraulic cylinder is stopped when not operating the control valves over a predetermined period of time. If there is no triggering of the movement of the hydraulic cylinder over the predetermined period of time, the state "end position" is reset to the initial state.
  • FIGS. 1 and 2 is in each case a working hydraulics 1 a mobile machine, such as a truck, shown.
  • a mobile machine such as a truck
  • the same components are provided here with the same reference numerals.
  • the working hydraulics 1 of FIGS. 1 and 2 has at least one consumer, which is designed as a hydraulic cylinder 2.
  • the working hydraulics 1 For supplying the hydraulic cylinder 2 with pressure medium, the working hydraulics 1 to a hydraulic pump 3, which is driven by a drive motor 4.
  • the drive motor 4 is formed as an electric motor 4a.
  • the hydraulic pump 3 is operated in the open circuit.
  • the hydraulic pump 3 sucks by means of a suction 5 pressure medium from a container 6 and conveys the pressure medium in a feed line. 7
  • the hydraulic pump 3 is designed as a fixed displacement pump with a constant displacement volume.
  • a control way valve 8 is provided for controlling the hydraulic cylinder 2.
  • the control-way valve 8 is connected to the delivery line 7 of the hydraulic pump 3 and to a container line 9 guided to the container 6.
  • the hydraulic cylinder 2 is designed as a double-acting hydraulic cylinder, which is connected by means of load lines 10a, 10b with the control-way valve 8.
  • the control-way valve 8 has a neutral position 8a, in which the connection of the consumer lines 10a, 10b to the delivery line 7 and the container line 9 are shut off.
  • the control-way valve 8 has a first control position 8b, in which the consumer line 10a is connected to the delivery line 7 and the consumer line 10b is connected to the container line 9.
  • a movement of the hydraulic cylinder 2 is thus achieved in a first direction of movement, in the illustrated embodiment an extension movement of a piston rod 2a of the hydraulic cylinder. 2
  • the control-way valve 8 has a second control position 8c, in which the consumer line 10b is connected to the delivery line 7 and the consumer line 10a to the container line 9.
  • a movement of the hydraulic cylinder 2 is thus achieved in a second direction of movement, in the illustrated embodiment, a retraction movement of the piston rod 2a of the hydraulic cylinder. 2
  • control-way valve 8 is designed as a proportional valve throttling in intermediate positions, which with increasing actuation in the control positions 8b or 8c releases an increasing valve opening from the delivery line 7 into the consumer line 10a or 10b.
  • the control-way valve 8 is electrically actuated in the illustrated embodiment and is connected to the control with an electronic control device 15 in connection.
  • the electronic control device 15 is further connected to an operator-operable control element 20, for example a joystick, by the actuation of which the operator prescribes a control of the control travel valve 8 and thus can execute a control of a movement of the hydraulic cylinder 2.
  • an operator-operable control element 20 for example a joystick
  • a pressure relief valve 16 is provided, which is on the input side with the delivery line 7 in communication and is set to a maximum working pressure of the working hydraulics 1.
  • the electronic control device 15 is further connected to a pressure sensor 17, which detects the pressure in the delivery line 7, and a speed sensor 18, which detects the input speed of the hydraulic pump 20.
  • the electronic control device 15 is further connected to a sensor device 25, with which the torque or the electric current of the electric motor 4a can be detected.
  • the electronic control device 15 executes a method with which the end position of the hydraulic cylinder 2 can be detected and an end position cut-off can be performed.
  • From the electronic control device 15 is in this case in a first step, which forms the initial state of the method, upon appropriate actuation of the control element 20 by the operator and as a result of the operation of the control element 20 at an actuated in the control position 8b and 8c control valve 8 and thus at detects a control of a movement of the hydraulic cylinder 2 and determines whether the hydraulic power supplied to the hydraulic cylinder 2, ie the hydraulic power requested by the hydraulic pump 3, is too high for the movement of the hydraulic cylinder 2 to be performed.
  • the hydraulic power supplied to the hydraulic cylinder 2 can be provided in the FIG. 1 from the pressure of the pressure sensor 17, the rotational speed of the rotational speed sensor 18 and the displacement volume of the hydraulic pump 3 are determined. In the FIG.
  • the hydraulic power supplied to the hydraulic cylinder 2 is determined by means of the sensor device 25 from the torque or the electric current of the drive motor 4.
  • the maximum hydraulic power of the hydraulic cylinder 2, which this requires for the hydraulic movement to be carried out, is known on the system side and stored as a parameter in the electronic control device 15.
  • this state becomes indicative of the reaching of the end position of the hydraulic cylinder 2 and thus an indication of the "end position "interpreted.
  • the electronic control device 15 continuously reduces the pressure medium volume flow provided to the hydraulic cylinder 2 and thus the setpoint flow rate for the hydraulic cylinder 2.
  • the reduction of the pressure medium volume flow can be up to zero.
  • the reduction of the pressure medium volume flow provided to the hydraulic cylinder 2 can be done by reducing the rotational speed of the hydraulic pump 3 and / or reducing the valve opening of the pilot valve 8 by operating the pilot valve 8 in the direction of the neutral position 8a.
  • the reduction in the pressure medium volume flow provided to the hydraulic cylinder 2 can take place by reducing the displacement volume of the hydraulic pump 3.
  • the electronic control device 15 further determines whether the hydraulic power supplied to the hydraulic cylinder 2 is constantly too high for the movement of the hydraulic cylinder 2 to be executed and controlled 2 provided hydraulic power during the reduction of the pressure medium flow rate is constantly too high for the movement of the hydraulic cylinder 2 to be executed, is confirmed by the electronic control device 15 upon reaching a lower limit of the hydraulic cylinder 2 provided pressure medium flow rate the state "end position" and the end position of the hydraulic cylinder 2 detected.
  • the lower limit value of the pressure medium volume flow provided to the hydraulic cylinder 2 in this case represents a minimum nominal volume flow and is stored in the electronic control device 15.
  • the electronic control device 15 resets the state "end position" to the initial state.
  • the electronic control device 15 performs an end position switch-off, for example by triggering the Control path valve 8 in the neutral position 8a and / or a shutdown of the hydraulic pump 3.
  • the further control and movement of the hydraulic cylinder 2 in the direction of the actuated operating element 20 movement direction is thus prevented, so that the operating point of the working hydraulics 1, where the hydraulic cylinder 2 against a mechanical stop moves and the control of the movement of the hydraulic cylinder 2 is continued, is limited in time and avoided.
  • the wear and the energy consumption of the working hydraulics 1 is thereby reduced and an overload of the working hydraulics avoided.
  • the electronic control device 15 resets the state "end position" to the initial state.
  • the reaching of the mechanical end stop of the hydraulic cylinder 2 and thus the end position of the hydraulic cylinder 2 can be determined and a Endlagenabscen be performed without consuming Wegmesssensorik on the hydraulic cylinder 2 and thus with low construction costs.
  • the method according to the invention there are no restrictions on the operation of the working hydraulics 1 for the operator.
  • Wegmesssensorik on the hydraulic cylinder 2 eliminates in the invention, the effort for the integration of the Wegmesssensorik, the evaluation of the Wegmesssensorik, a teach function for the Wegmesssensorik to specify the mechanical limit stop of the hydraulic cylinder, and service and maintenance of the Wegmesssensorik.
  • the invention is not on the in the FIGS. 1 and 2 illustrated embodiments with a single hydraulic cylinder 2 limited.
  • the invention also allows for a working hydraulics 1 with multiple hydraulic cylinders and a parallel operation of a plurality of hydraulic cylinders and in a drive system in which the hydraulic pump 3 additionally supplies a hydraulic steering with pressure medium, the determination of the end position of each hydraulic cylinder.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zur Feststellung der Endlagenposition eines Hydraulikzylinders (2) einer Arbeitshydraulik (1) einer mobilen Arbeitsmaschine, insbesondere eines Flurförderzeugs, wobei der Hydraulikzylinder (2) mittels eines Steuerwegeventils (8) gesteuert wird, das mit einer Hydraulikpumpe (3) und einem Behälter (6) in Verbindung steht, wobei zur Erzeugung einer Bewegung des Hydraulikzylinders (2) das Steuerwegeventil (8) in eine Steuerstellung (8b; 8c) betätigt wird und dem Hydraulikzylinder (2) von der Hydraulikpumpe (3) über das in die Steuerstellung (8b; 8c) betätigte Steuerwegeventil (8) Druckmittel zugeführt wird. Bei dem erfindungsgemäßen Verfahren wird zur Feststellung der Endlagenposition des Hydraulikzylinders (2) bei in die Steuerstellung (8b; 8c) betätigtem Steuerwegeventil (8) in einem ersten Schritt erfasst, ob die dem Hydraulikzylinder (2) zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders (2), und wird in einem anschließenden zweiten Schritt der dem Hydraulikzylinder (2) zur Verfügung gestellte Druckmittelvolumenstrom verringert. Während der Verringerung des dem Hydraulikzylinder (2) zur Verfügung gestellten Druckmittelvolumenstroms wird ermittelt, ob die die dem Hydraulikzylinder (2) zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders (2) und bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder (2) zur Verfügung gestellten Druckmittelvolumenstroms wird die Endlagenposition des Hydraulikzylinders (2) festgestellt.The invention relates to a method for determining the end position of a hydraulic cylinder (2) of a working hydraulics (1) of a mobile machine, in particular a truck, wherein the hydraulic cylinder (2) by means of a control valve (8) is controlled, with a hydraulic pump (3) and a container (6) is in communication, wherein for generating a movement of the hydraulic cylinder (2), the control-way valve (8) in a control position (8b, 8c) is actuated and the hydraulic cylinder (2) from the hydraulic pump (3) via in the Control position (8 b, 8 c) operated control valve (8) pressure medium is supplied. In the method according to the invention, in order to determine the end position of the hydraulic cylinder (2) in the control position valve (8) operated in the control position (8b; 8c), it is detected in a first step whether the hydraulic power provided to the hydraulic cylinder (2) is too high for the to be performed movement of the hydraulic cylinder (2), and is reduced in a subsequent second step of the hydraulic cylinder (2) made available pressure medium flow rate. During the reduction of the pressure medium volume flow provided to the hydraulic cylinder (2), it is determined whether the hydraulic power supplied to the hydraulic cylinder (2) is constantly too high for the movement of the hydraulic cylinder (2) to be performed and when the hydraulic cylinder reaches a lower limit (2) provided pressure medium volume flow, the end position of the hydraulic cylinder (2) is detected.

Description

Die Erfindung betrifft ein Verfahren zur Feststellung der Endlagenposition eines Hydraulikzylinders einer Arbeitshydraulik einer mobilen Arbeitsmaschine, insbesondere eines Flurförderzeugs, wobei der Hydraulikzylinder mittels eines Steuerwegeventils gesteuert wird, das mit einer Hydraulikpumpe und einem Behälter in Verbindung steht, wobei zur Erzeugung einer Bewegung des Hydraulikzylinders das Steuerwegeventil in eine Steuerstellung betätigt wird und dem Hydraulikzylinder von der Hydraulikpumpe über das in die Steuerstellung betätigte Steuerwegeventil Druckmittel zugeführt wird.The invention relates to a method for determining the end position of a hydraulic cylinder of a working hydraulics of a mobile work machine, in particular an industrial truck, wherein the hydraulic cylinder is controlled by means of a control path valve which communicates with a hydraulic pump and a container, wherein for generating a movement of the hydraulic cylinder, the control way valve is operated in a control position and the hydraulic cylinder is supplied from the hydraulic pump via the operated in the control position control valve pressure medium.

Bei mobilen Arbeitsmaschinen, beispielsweise Flurförderzeugen, wird die Bewegung eines Hydraulikzylinders der Arbeitshydraulik von einer Bedienperson durch eine Betätigung eines Steuerwegeventils in eine entsprechende Steuerstellung angefordert und angesteuert, so dass auf Anforderung der Bedienperson und entsprechender Betätigung des Steuerwegeventils in eine Steuerstellung der Hydraulikzylinder eine hydraulische Bewegung ausführt. Durch eine Betätigung des Steuerwegeventils in eine Steuerstellung wird an dem Steuerwegventil eine Ventilöffnung freigegeben, so dass dem Hydraulikzylinder ein bestimmter Druckmittelvolumenstrom, der von einer Hydraulikpumpe bereitgestellt wird, zuströmen kann. Die Größe des dem Hydraulikzylinder zuströmenden Druckmittelstroms wird hierbei durch die Größe der Ventilöffnung des in die Steuerstellung betätigen Steuerwegeventils bestimmt und eingestellt.In mobile machines, such as industrial trucks, the movement of a hydraulic cylinder of the working hydraulics is requested and controlled by an operator by operating a control path valve in a corresponding control position, so that performs a hydraulic movement at the request of the operator and appropriate operation of the control valve in a control position of the hydraulic cylinder , By actuating the control travel valve into a control position, a valve opening is released at the control valve, so that the hydraulic cylinder can flow a certain pressure medium volume flow, which is provided by a hydraulic pump. The size of the pressure medium flow flowing to the hydraulic cylinder is determined and set by the size of the valve opening of the control travel valve operating in the control position.

Sofern bei einer Ansteuerung einer Bewegung des Hydraulikzylinders der Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und sich der Hydraulikzylinder somit in einer Endlagenposition befindet, steigt der Druck des Druckmittels an, wenn die Ansteuerung der Bewegung des Hydraulikzylinders fortgeführt wird. Erreicht der Druck des Druckmittels den Einstelldruck eines Druckbegrenzungsventils, das in der Arbeitshydraulik zur Absicherung der Komponenten gegen Überdruck vorgesehen ist, öffnet das Druckbegrenzungsventil und der von der Hydraulikpumpe gelieferte Druckmittelstrom strömt zu einem Behälter ab. In der Endlagenposition des Hydraulikzylinders treten hierbei hohe Belastungen an den mechanischen und hydraulischen Komponenten der Arbeitshydraulik auf, da die Hydraulikpumpe den Einstelldruck des Druckbegrenzungsventils liefert, der dem maximalen Arbeitsdruck der Arbeitshydraulik entspricht. Zudem wird in der Endlagenposition des Hydraulikzylinders Energie verbraucht ohne eine Bewegung des Hydraulikzylinders auszuführen und es entstehen hohe Energieverluste, da die Hydraulikpumpe einen Druckmittelstrom mit dem Einstelldruck des Druckbegrenzungsventils liefert, der an dem geöffneten Druckbegrenzungsventil zum Behälter abgedrosselt wird.If, when a movement of the hydraulic cylinder is actuated, the hydraulic cylinder moves against a mechanical end stop and the hydraulic cylinder is thus in an end position, the pressure of the pressure medium increases when the control of the movement of the hydraulic cylinder is continued. If the pressure of the pressure medium reaches the setting pressure of a pressure relief valve which is provided in the working hydraulics to protect the components against overpressure, the pressure limiting valve opens and the pressure medium flow delivered by the hydraulic pump flows to a container. In the end position of the hydraulic cylinder in this case high loads occur The mechanical and hydraulic components of the working hydraulics, as the hydraulic pump provides the set pressure of the pressure relief valve, which corresponds to the maximum working pressure of the working hydraulics. In addition, energy is consumed in the end position of the hydraulic cylinder without carrying out a movement of the hydraulic cylinder and there are high energy losses, since the hydraulic pump delivers a pressure medium flow with the set pressure of the pressure relief valve, which is throttled at the open pressure relief valve to the container.

An dem Arbeitspunkt der Arbeitshydraulik, an dem ein Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, tritt somit ein erhöhter Verschleiß der Komponenten der Arbeitshydraulik, ein erhöhter Energieverbrauch und gegebenenfalls eine Überlastung der Komponenten der Arbeitshydraulik auf.At the operating point of the working hydraulics, where a hydraulic cylinder moves against a mechanical end stop and the control of the movement of the hydraulic cylinder is continued, thus occurs increased wear of the components of the working hydraulics, increased energy consumption and possibly overloading of the components of the working hydraulics.

Der Arbeitspunkt, an dem ein Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, kann ohne eine zusätzliche Sensorik nicht in sicherer Weise verhindert werden, denn die Bedienperson der Arbeitsmaschine ist nicht immer in der Lage, zu erkennen, dass sie einen derartigen Arbeitspunkt bei der Ansteuerung einer Bewegung des Hydraulikzylinders auslöst, beispielsweise durch Umgebungslärm oder unbewusstes Auslösen dieses Arbeitspunktes.The operating point at which a hydraulic cylinder moves against a mechanical end stop and the driving of the movement of the hydraulic cylinder is continued, can not be reliably prevented without additional sensors, since the operator of the working machine is not always able to recognize that it triggers such an operating point in the control of a movement of the hydraulic cylinder, for example by environmental noise or unconscious triggering of this operating point.

Um den Arbeitspunkt der Arbeitshydraulik, an dem ein Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, zu vermeiden, ist es bereits bekannt, nach Erreichen der Endlagenposition des Hydraulikzylinders eine Endlagenabschaltung durchzuführen, in der die Ansteuerung der Bewegung des Hydraulikzylinders unterbunden und somit beendet wird. Hierzu ist es bekannt, den Hydraulikzylinder mit einer Wegmesssensorik zu versehen und in einer das Steuerwegeventil ansteuernden elektronischen Steuereinrichtung die Endlagenpositionen des Hydraulikzylinders abzuspeichern, so dass von der elektronischen Steuereinrichtung anhand des Signals der Wegmesssensorik die Endlagenposition des Hydraulikzylinders und somit das Erreichen des mechanischen Endanschlags ermittelt werden kann und in diesem Zustand die Ansteuerung der Bewegung des Hydraulikzylinders unterbunden und somit beendet werden kann. Eine derartige zusätzliche Wegmesssensorik an dem Hydraulikzylinder führt jedoch zu einem hohen Bauaufwand.In order to avoid the operating point of the working hydraulics, where a hydraulic cylinder moves against a mechanical limit stop and the control of the movement of the hydraulic cylinder is continued, it is already known to perform an end position deactivation, after reaching the end position of the hydraulic cylinder, in which the control of the movement prevented the hydraulic cylinder and thus terminated. For this purpose, it is known to provide the hydraulic cylinder with a Wegmesssensorik and store the end position of the hydraulic cylinder in an the control travel valve controlling electronic control device, so that the end position of the hydraulic cylinder and thus the achievement of the mechanical end stop are determined by the electronic control device based on the signal of the Wegmesssensorik can and in this state, the control of the movement of the hydraulic cylinder prevented and thus can be ended. However, such additional Wegmesssensorik on the hydraulic cylinder leads to a high construction cost.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Feststellung der Endlagenposition eines Hydraulikzylinders einer Arbeitshydraulik einer mobilen Arbeitsmaschine, insbesondere eines Flurförderzeugs, der eingangs genannten Gattung zur Verfügung zu stellen, dass keine aufwändige Wegmesssensorik an dem Hydraulikzylinder erfordert.The present invention has for its object to provide a method for determining the end position of a hydraulic cylinder working hydraulics of a mobile machine, in particular an industrial truck, the type mentioned that no complex Wegmesssensorik on the hydraulic cylinder requires.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass zur Feststellung der Endlagenposition des Hydraulikzylinders bei in die Steuerstellung betätigtem Steuerwegeventil in einem ersten Schritt erfasst wird, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders, und in einem anschließenden zweiten Schritt der dem Hydraulikzylinder zur Verfügung gestellte Druckmittelvolumenstrom verringert wird, wobei während der Verringerung des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms ermittelt wird, ob die die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders und bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms die Endlagenposition des Hydraulikzylinders festgestellt wird. Bei dem erfindungsgemäßen Verfahren bildet der erste Schritt den Ausgangszustand, in dem bei in die Steuerstellung betätigtem Steuerwegeventil und somit beim Ausführen einer Ansteuerung des Hydraulikzylinders ermittelt und erkannt wird, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders. Sofern hierbei erkannt und ermittelt wird, dass die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders wird dieser Zustand als Anzeichen des Erreichens der Endlagenposition des Hydraulikzylinders interpretiert. Als Reaktion hierauf wird in dem zweiten Schritt der dem Hydraulikzylinder zur Verfügung gestellte Druckmittelvolumenstrom und somit der Sollvolumenstrom verringert. Während der Verringerung des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms wird weiterhin ermittelt, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders. Sofern die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung während der Verringerung des Druckmittelvolumenstroms stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders, wird bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms der Zustand "Endlagenposition" bestätigt und die Endlagenposition des Hydraulikzylinders festgestellt. Sofern in dem zweiten Schritt während der Verringerung des Druckmittelvolumenstroms die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung wieder plausible Werte annehmen sollte, wird der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand. Mit dem erfindungsgemäßen Verfahren kann ohne aufwändige Wegmesssensorik an dem Hydraulikzylinder und somit mit geringem Bauaufwand bei einer Ansteuerung einer Bewegung des Hydraulikzylinders das Erreichen des mechanischen Endanschlags des Hydraulikzylinders und somit die Endlagenposition des Hydraulikzylinders ermittelt werden.This object is achieved in that is detected to determine the end position of the hydraulic cylinder when operated in the control position control valve in a first step, whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed, and in a subsequent second Step is reduced to the hydraulic cylinder provided pressure medium volume flow, wherein it is determined during the reduction of the pressure provided to the hydraulic cylinder pressure medium volume flow, whether the hydraulic cylinder provided Asked hydraulic power is constantly too high for the movement of the hydraulic cylinder to be executed and when reaching a lower limit the hydraulic cylinder provided pressure fluid flow rate the end position of the hydraulic cylinder is detected. In the method according to the invention, the first step forms the initial state, is determined in the actuated in the control position control valve and thus upon execution of a control of the hydraulic cylinder and detects whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed. If it is detected and determined that the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be executed, this state is interpreted as indicating that the end position of the hydraulic cylinder has been reached. In response to this, in the second step, the pressure medium volume flow provided to the hydraulic cylinder and thus the set volume flow are reduced. During the reduction of the pressure medium volume flow provided to the hydraulic cylinder, it is further determined whether the hydraulic power provided to the hydraulic cylinder is constantly too high for the movement of the hydraulic cylinder to be performed. If that the hydraulic cylinder Provided hydraulic power during the reduction of the pressure medium flow rate is constantly too high for the movement of the hydraulic cylinder to be executed, the state "end position" is confirmed upon reaching a lower limit of the hydraulic cylinder made available pressure medium flow rate and the end position of the hydraulic cylinder detected. If in the second step, during the reduction of the pressure medium volume flow, the hydraulic power provided to the hydraulic cylinder should again assume plausible values, the state "end position" is reset to the initial state. With the method according to the invention, the achievement of the mechanical end stop of the hydraulic cylinder and thus the end position of the hydraulic cylinder can be determined without expensive Wegmesssensorik on the hydraulic cylinder and thus with little construction effort in a control of a movement of the hydraulic cylinder.

Gemäß einer vorteilhaften Ausführungsform der Erfindung wird die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung aus dem Förderdruck der Hydraulikpumpe und dem Volumenstrom der Hydraulikpumpe berechnet. Der Förderdruck der Hydraulikpumpe kann auf einfache Weise mittels eines entsprechenden Drucksensors ermittelt werden. Auch ist der Volumenstrom der Hydraulikpumpe mit geringem Bauaufwand ermittelbar.According to an advantageous embodiment of the invention, the hydraulic power provided to the hydraulic cylinder is calculated from the delivery pressure of the hydraulic pump and the volume flow of the hydraulic pump. The delivery pressure of the hydraulic pump can be determined in a simple manner by means of a corresponding pressure sensor. Also, the volume flow of the hydraulic pump can be determined with low construction costs.

Vorteilhaftweise wird der Volumenstrom der Hydraulikpumpe aus dem Verdrängervolumen der Hydraulikpumpe und der Drehzahl der Hydraulikpumpe berechnet. Aus dem Verdrängervolumen der Hydraulikpumpe und der Drehzahl der Hydraulikpumpe kann auf einfache Weise der Volumenstrom der Hydraulikpumpe und in Verbindung mit dem Förderdruck die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung berechnet werden. Bei einer als Konstantpumpe ausgebildeten Hydraulikpumpe, die ein konstantes Verdrängervolumen aufweist, kann das Verdrängervolumen der Hydraulikpumpe in einer das Verfahren durchführenden elektronischen Steuereinrichtung abgespeichert sein. Sofern eine im Verdrängervolumen verstellbare Verstellpumpe vorgesehen ist, kann das aktuelle Verdrängervolumen mittels eines entsprechenden Sensors ermittelt werden oder von der elektronischen Steuereinrichtung anhand des Ansteuersignals einer Verdrängervolumenstelleinrichtung der Verstellpumpe bestimmt werden.Advantageously, the volume flow of the hydraulic pump is calculated from the displacement volume of the hydraulic pump and the rotational speed of the hydraulic pump. From the displacer volume of the hydraulic pump and the rotational speed of the hydraulic pump, the volumetric flow of the hydraulic pump and, in conjunction with the delivery pressure, the hydraulic power provided to the hydraulic cylinder can be calculated in a simple manner. In the case of a hydraulic pump designed as a fixed-displacement pump, which has a constant displacement volume, the displacement volume of the hydraulic pump can be stored in an electronic control device performing the method. If a variable displacement pump is provided in the displacement volume, the current displacement volume can be determined by means of a corresponding sensor or determined by the electronic control device on the basis of the control signal of a displacement volume adjusting device of the variable displacement pump.

Gemäß einer vorteilhaften Ausführungsform der Erfindung ist die Hydraulikpumpe von einem Elektromotor angetrieben. Die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung kann hierbei auf einfache Weise aus dem Drehmoment oder dem elektrischen Strom des Elektromotors berechnet werden. Sofern eine das Verfahren durchführende elektronische Steuereinrichtung auch den Elektromotor ansteuert, kann die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung auf einfache Weise aus dem Drehmoment oder dem elektrischen Strom des Elektromotors in Verbindung mit der Drehzahl des Elektromotors ermittelt werden.According to an advantageous embodiment of the invention, the hydraulic pump is driven by an electric motor. The hydraulic power provided to the hydraulic cylinder can hereby be calculated in a simple manner from the torque or the electric current of the electric motor. If an electronic control device carrying out the method also actuates the electric motor, the hydraulic power provided to the hydraulic cylinder can be determined in a simple manner from the torque or the electric current of the electric motor in conjunction with the rotational speed of the electric motor.

Bei der Erfindung wird in dem ersten Schritt ermittelt, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders. Die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung und somit die von der Pumpe angeforderten Hydraulikleistung kann wie oben beschrieben aus dem Drehmoment bzw. dem elektrischen Strom des die Hydraulikpumpe antreibenden Elektromotors oder durch die Pumpendrehzahl in Verbindung mit einem Drucksensor quantifiziert werden. Bei der Erfindung erfolgt im ersten Schritt ein Vergleich der von der Hydraulikpumpe angeforderten Hydraulikleistung und somit der dem Hydraulikzylinder zur Verfügung gestellten Hydraulikleistung mit derjenigen Hydraulikleistung, die der Hydraulikzylinder für die auszuführende hydraulische Bewegung maximal benötigt, d. h. der maximalen hydraulischen Leistung des Hydraulikzylinders. Diese maximale hydraulische Leistung des Hydraulikzylinders, die dieser für die auszuführende hydraulische Bewegung benötigt, ist systemseitig bekannt und kann beispielsweise als Parameter in einer das erfindungsgemäße Verfahren durchführenden elektronischen Steuereinrichtung abgelegt sein. Die maximale hydraulische Leistung des Hydraulikzylinders kann beispielsweise aus dem maximalen Arbeitsdruck der Arbeitshydraulik bestimmt werden, auf den ein die Arbeitshydraulik vor einer Überlastung schützendes Druckbegrenzungsventil eingestellt ist, oder durch die konstruktive Auslegung des Hydraulikzylinders zur Verfügung bereit gestellt werden, da aus der konstruktive Auslegung des Hydraulikzylinders und dessen auszuführenden Bewegung bekannt ist, wieviel hydraulische Leistung dem Hydraulikzylinder maximal zur Verfügung gestellt werden muss.In the invention, in the first step, it is determined whether the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be performed. The hydraulic power provided to the hydraulic cylinder and thus the hydraulic power requested by the pump can be quantified as described above from the torque or electric current of the electric motor driving the hydraulic pump or by the pump speed in conjunction with a pressure sensor. In the invention, in the first step, a comparison of the hydraulic power requested by the hydraulic pump and thus the hydraulic power provided to the hydraulic cylinder with that hydraulic power which the hydraulic cylinder for the hydraulic movement to be executed requires the maximum, ie the maximum hydraulic power of the hydraulic cylinder. This maximum hydraulic power of the hydraulic cylinder, which this requires for the hydraulic movement to be carried out, is known on the system side and can be stored, for example, as a parameter in an electronic control device carrying out the method according to the invention. The maximum hydraulic power of the hydraulic cylinder can be determined, for example, from the maximum working pressure of the working hydraulics, to which a working hydraulics against overloading protective pressure relief valve is set, or be made available by the structural design of the hydraulic cylinder available, as from the structural design of the hydraulic cylinder and whose movement to be executed is known, how much hydraulic power must be provided to the hydraulic cylinder maximum.

Die Verringerung des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms erfolgt gemäß einer bevorzugten Ausgestaltungsform der Erfindung durch eine Verringerung der Drehzahl der Hydraulikpumpe und/oder durch eine Verringerung des Verdrängervolumens der Hydraulikpumpe und/oder durch eine Verringerung der Ventilöffnung des Steuerwegeventils.The reduction of the hydraulic cylinder provided pressure medium volume flow is carried out according to a preferred embodiment of the invention by reducing the speed of the hydraulic pump and / or by reducing the displacer volume of the hydraulic pump and / or by reducing the valve opening of the control valve.

Gemäß einer Weiterbildung der Erfindung wird bei Feststellung der Endlagenposition des Hydraulikzylinders eine Endlagenabschaltung durchgeführt, in der die Bewegung des Hydraulikzylinders in der der Endlagenposition vorausgegangene Bewegungsrichtung unterbunden wird. Der Arbeitspunkt der Arbeitshydraulik, an dem der Hydraulikzylinder gegen den mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, wird somit vermieden, so dass der Verschleiß der Komponenten der Arbeitshydraulik und der Energieverbrauch der Arbeitshydraulik sowie eine Überlastung der Komponenten der Arbeitshydraulik vermieden werden kann.According to one embodiment of the invention, when the end position of the hydraulic cylinder is detected, an end position deactivation is performed, in which the movement of the hydraulic cylinder in the direction of movement preceding the end position is prevented. The operating point of the working hydraulics, on which the hydraulic cylinder moves against the mechanical end stop and the driving of the movement of the hydraulic cylinder is continued, is thus avoided, so that the wear of the components of the working hydraulics and the energy consumption of the working hydraulics and an overload of the components of the working hydraulics avoided can be.

Gemäß einer vorteilhaften Weiterbildung der Erfindung wird bei einer Betätigung des Steuerwegeventils in eine weitere Steuerstellung, die eine entgegengesetzte Bewegung des Hydraulikzylinders bewirkt, die Feststellung der Endlagenposition des Hydraulikzylinders beendet. Sofern von der Bedienperson der Arbeitsmaschine eine entgegengesetzte Bewegung des Hydraulikzylinders angesteuert wird, wird somit der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand, so dass die gewünschte Bewegung des Hydraulikzylinders in die entgegengesetzte Bewegungsrichtung durchgeführt werden kann.According to an advantageous embodiment of the invention, the determination of the end position of the hydraulic cylinder is terminated upon actuation of the control valve in a further control position which causes an opposite movement of the hydraulic cylinder. Thus, if an opposite movement of the hydraulic cylinder is controlled by the operator of the work machine, the state "end position" is reset to the initial state, so that the desired movement of the hydraulic cylinder in the opposite direction of movement can be performed.

Gemäß einer vorteilhaften Weiterbildung der Erfindung wird bei Nichtbetätigen des Steuerwegeventils über eine vorgegebene Zeitspanne die Feststellung der Endlagenposition des Hydraulikzylinders beendet. Sofern über die vorgegebene Zeitspanne somit keine Ansteuerung der Bewegung des Hydraulikzylinders erfolgt, wird der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand.According to an advantageous embodiment of the invention, the determination of the end position of the hydraulic cylinder is stopped when not operating the control valves over a predetermined period of time. If there is no triggering of the movement of the hydraulic cylinder over the predetermined period of time, the state "end position" is reset to the initial state.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt

Figur 1
eine erste Ausführungsform der Erfindung und
Figur 2
eine zweite Ausführungsform der Erfindung.
Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figure. This shows
FIG. 1
a first embodiment of the invention and
FIG. 2
a second embodiment of the invention.

In den Figuren 1 und 2 ist jeweils eine Arbeitshydraulik 1 einer mobilen Arbeitsmaschine, beispielsweise eines Flurförderzeugs, dargestellt. Gleiche Bauteile sind hierbei mit gleichen Bezugsziffern versehen.In the FIGS. 1 and 2 is in each case a working hydraulics 1 a mobile machine, such as a truck, shown. The same components are provided here with the same reference numerals.

Die Arbeitshydraulik 1 der Figuren 1 und 2 weist mindestens einen Verbraucher auf, der als Hydraulikzylinder 2 ausgebildet ist.The working hydraulics 1 of FIGS. 1 and 2 has at least one consumer, which is designed as a hydraulic cylinder 2.

Zur Versorgung des Hydraulikzylinders 2 mit Druckmittel weist die Arbeitshydraulik 1 eine Hydraulikpumpe 3 auf, die von einem Antriebsmotor 4 angetrieben ist. In den dargestellten Ausführungsbeispielen ist der Antriebsmotor 4 als Elektromotor 4a ausgebildet.For supplying the hydraulic cylinder 2 with pressure medium, the working hydraulics 1 to a hydraulic pump 3, which is driven by a drive motor 4. In the illustrated embodiments, the drive motor 4 is formed as an electric motor 4a.

Die Hydraulikpumpe 3 ist im offenen Kreislauf betrieben. Die Hydraulikpumpe 3 saugt mittels einer Ansaugleitung 5 Druckmittel aus einem Behälter 6 an und fördert das Druckmittel in eine Förderleitung 7.The hydraulic pump 3 is operated in the open circuit. The hydraulic pump 3 sucks by means of a suction 5 pressure medium from a container 6 and conveys the pressure medium in a feed line. 7

Im dargestellten Ausführungsbeispiel ist die Hydraulikpumpe 3 als Konstantpumpe mit einem konstanten Verdrängervolumen ausgebildet.In the illustrated embodiment, the hydraulic pump 3 is designed as a fixed displacement pump with a constant displacement volume.

Zur Steuerung des Hydraulikzylinders 2 ist ein Steuerwegeventil 8 vorgesehen. Das Steuerwegeventil 8 ist an die Förderleitung 7 der Hydraulikpumpe 3 und an eine zu dem Behälter 6 geführte Behälterleitung 9 angeschlossen.For controlling the hydraulic cylinder 2, a control way valve 8 is provided. The control-way valve 8 is connected to the delivery line 7 of the hydraulic pump 3 and to a container line 9 guided to the container 6.

Im dargestellten Ausführungsbeispiel ist der Hydraulikzylinder 2 als doppelt-wirkender Hydraulikzylinder ausgebildet, der mittels Verbraucherleitungen 10a, 10b mit dem Steuerwegeventil 8 verbunden ist.In the illustrated embodiment, the hydraulic cylinder 2 is designed as a double-acting hydraulic cylinder, which is connected by means of load lines 10a, 10b with the control-way valve 8.

Das Steuerwegeventil 8 weist eine Neutralstellung 8a auf, in der die Verbindung der Verbraucherleitungen 10a, 10b mit der Förderleitung 7 und der Behälterleitung 9 abgesperrt sind.The control-way valve 8 has a neutral position 8a, in which the connection of the consumer lines 10a, 10b to the delivery line 7 and the container line 9 are shut off.

Das Steuerwegeventil 8 weist eine erste Steuerstellung 8b auf, in der die Verbraucherleitung 10a mit der Förderleitung 7 und die Verbraucherleitung 10b mit der Behälterleitung 9 verbunden ist. Bei einer Betätigung des Steuerwegeventils 8 in Richtung der ersten Steuerstellung 8b wird somit eine Bewegung des Hydraulikzylinders 2 in einer ersten Bewegungsrichtung erzielt, im dargestellten Ausführungsbeispiel eine Ausfahrbewegung einer Kolbenstange 2a des Hydraulikzylinders 2.The control-way valve 8 has a first control position 8b, in which the consumer line 10a is connected to the delivery line 7 and the consumer line 10b is connected to the container line 9. Upon actuation of the control travel valve 8 in the direction of the first control position 8b, a movement of the hydraulic cylinder 2 is thus achieved in a first direction of movement, in the illustrated embodiment an extension movement of a piston rod 2a of the hydraulic cylinder. 2

Das Steuerwegeventil 8 weist eine zweite Steuerstellung 8c auf, in der die Verbraucherleitung 10b mit der Förderleitung 7 und die Verbraucherleitung 10a mit der Behälterleitung 9 verbunden ist. Bei einer Betätigung des Steuerwegeventils 8 in Richtung der zweiten Steuerstellung 8c wird somit eine Bewegung des Hydraulikzylinders 2 in eine zweite Bewegungsrichtung erzielt, im dargestellten Ausführungsbeispiel eine Einfahrbewegung der Kolbenstange 2a des Hydraulikzylinders 2.The control-way valve 8 has a second control position 8c, in which the consumer line 10b is connected to the delivery line 7 and the consumer line 10a to the container line 9. Upon actuation of the control travel valve 8 in the direction of the second control position 8c, a movement of the hydraulic cylinder 2 is thus achieved in a second direction of movement, in the illustrated embodiment, a retraction movement of the piston rod 2a of the hydraulic cylinder. 2

Das Steuerwegeventil 8 ist im dargestellten Ausführungsbeispiel als in Zwischenstellungen drosselndes Proportionalventil ausgebildet, das mit zunehmender Betätigung in die Steuerstellungen 8b bzw. 8c eine zunehmende Ventilöffnung von der Förderleitung 7 in die Verbraucherleitung 10a bzw. 10b freigibt.In the exemplary embodiment illustrated, the control-way valve 8 is designed as a proportional valve throttling in intermediate positions, which with increasing actuation in the control positions 8b or 8c releases an increasing valve opening from the delivery line 7 into the consumer line 10a or 10b.

Das Steuerwegeventil 8 ist im dargestellten Ausführungsbeispiel elektrisch betätigbar und steht zur Ansteuerung mit einer elektronischen Steuereinrichtung 15 in Verbindung.The control-way valve 8 is electrically actuated in the illustrated embodiment and is connected to the control with an electronic control device 15 in connection.

Die elektronische Steuereinrichtung 15 steht weiterhin mit einem von der Bedienperson betätigbaren Bedienelement 20 in Verbindung, beispielsweise einem Joystick, durch dessen Betätigung die Bedienperson eine Ansteuerung des Steuerwegeventils 8 vorgeben und somit eine Ansteuerung einer Bewegung des Hydraulikzylinders 2 ausführen kann.The electronic control device 15 is further connected to an operator-operable control element 20, for example a joystick, by the actuation of which the operator prescribes a control of the control travel valve 8 and thus can execute a control of a movement of the hydraulic cylinder 2.

Zur Absicherung der Arbeitshydraulik 1 ist ein Druckbegrenzungsventil 16 vorgesehen, das eingangsseitig mit der Förderleitung 7 in Verbindung steht und auf einen maximalen Arbeitsdruck der Arbeitshydraulik 1 eingestellt ist.To protect the working hydraulics 1, a pressure relief valve 16 is provided, which is on the input side with the delivery line 7 in communication and is set to a maximum working pressure of the working hydraulics 1.

In der Figur 1 steht die elektronische Steuereinrichtung 15 weiterhin mit einem Drucksensor 17 in Verbindung, der den Druck in der Förderleitung 7 erfasst, und mit einem Drehzahlsensor 18, der die Antriebsdrehzahl der Hydraulikpumpe 20 erfasst.In the FIG. 1 the electronic control device 15 is further connected to a pressure sensor 17, which detects the pressure in the delivery line 7, and a speed sensor 18, which detects the input speed of the hydraulic pump 20.

In der Figur 2 steht die elektronische Steuereinrichtung 15 weiterhin mit einer Sensoreinrichtung 25 in Verbindung, mit der das Drehmoment oder der elektrische Strom des Elektromotors 4a erfassbar ist.In the FIG. 2 the electronic control device 15 is further connected to a sensor device 25, with which the torque or the electric current of the electric motor 4a can be detected.

Bei der Arbeitshydraulik der Figuren 1 und 2 führt die elektronische Steuereinrichtung 15 ein Verfahren aus, mit dem die Endlagenposition des Hydraulikzylinders 2 erfasst werden kann und eine Endlagenabschaltung durchgeführt werden kann.At the working hydraulics of FIGS. 1 and 2 The electronic control device 15 executes a method with which the end position of the hydraulic cylinder 2 can be detected and an end position cut-off can be performed.

Von der elektronischen Steuereinrichtung 15 wird hierbei in einem ersten Schritt, der den Ausgangszustand des Verfahrens bildet, bei entsprechender Betätigung des Bedienelements 20 durch die Bedienperson und infolge der Betätigung des Bedienelements 20 bei einem in die Steuerstellung 8b bzw. 8c betätigten Steuerwegeventil 8 und somit bei einer Ansteuerung einer Bewegung des Hydraulikzylinders 2 erfasst und ermittelt, ob die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung, d.h. die von der Hydraulikpumpe 3 angeforderte Hydraulikleistung, zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders 2. Die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung kann in der Figur 1 aus dem Druck des Drucksensors 17, der Drehzahl des Drehzahlsensors 18 und dem Verdrängervolumen der Hydraulikpumpe 3 ermittelt werden. In der Figur 2 wird die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung mittels der Sensoreinrichtung 25 aus dem Drehmoment oder dem elektrische Strom des Antriebsmotors 4 ermittelt. Die maximale hydraulische Leistung des Hydraulikzylinders 2, die dieser für die auszuführende hydraulische Bewegung benötigt, ist systemseitig bekannt und als Parameter in der elektronischen Steuereinrichtung 15 abgelegt.From the electronic control device 15 is in this case in a first step, which forms the initial state of the method, upon appropriate actuation of the control element 20 by the operator and as a result of the operation of the control element 20 at an actuated in the control position 8b and 8c control valve 8 and thus at detects a control of a movement of the hydraulic cylinder 2 and determines whether the hydraulic power supplied to the hydraulic cylinder 2, ie the hydraulic power requested by the hydraulic pump 3, is too high for the movement of the hydraulic cylinder 2 to be performed. The hydraulic power supplied to the hydraulic cylinder 2 can be provided in the FIG. 1 from the pressure of the pressure sensor 17, the rotational speed of the rotational speed sensor 18 and the displacement volume of the hydraulic pump 3 are determined. In the FIG. 2 the hydraulic power supplied to the hydraulic cylinder 2 is determined by means of the sensor device 25 from the torque or the electric current of the drive motor 4. The maximum hydraulic power of the hydraulic cylinder 2, which this requires for the hydraulic movement to be carried out, is known on the system side and stored as a parameter in the electronic control device 15.

Sofern in dem ersten Schritt erkannt und ermittelt wird, dass die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders 2 wird dieser Zustand als Anzeichen des Erreichens der Endlagenposition des Hydraulikzylinders 2 und somit als Anzeichen für den Zustand "Endlagenposition" interpretiert.If it is detected and determined in the first step that the hydraulic power supplied to the hydraulic cylinder 2 is too high for the movement of the hydraulic cylinder 2 to be executed, this state becomes indicative of the reaching of the end position of the hydraulic cylinder 2 and thus an indication of the "end position "interpreted.

Als Reaktion hierauf wird in einem zweiten Schritt von der elektronischen Steuereinrichtung 15 der dem Hydraulikzylinder 2 zur Verfügung gestellte Druckmittelvolumenstrom und somit der Sollvolumenstrom für den Hydraulikzylinder 2 kontinuierlich verringert. Die Verringerung des Druckmittelvolumenstroms kann bis zum Wert Null erfolgen. Die Verringerung des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms kann durch eine Verringerung der Drehzahl der Hydraulikpumpe 3 und/oder durch eine Verringerung der Ventilöffnung des Steuerwegeventils 8 erfolgen, in dem das Steuerwegeventil 8 in Richtung der Neutralstellung 8a betätigt wird. Bei einer als Verstellpumpe ausgebildeten Hydraulikpumpe 3 kann die Verringerung des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms durch eine Verringerung des Verdrängervolumens der Hydraulikpumpe 3 erfolgen.In response to this, in a second step the electronic control device 15 continuously reduces the pressure medium volume flow provided to the hydraulic cylinder 2 and thus the setpoint flow rate for the hydraulic cylinder 2. The reduction of the pressure medium volume flow can be up to zero. The reduction of the pressure medium volume flow provided to the hydraulic cylinder 2 can be done by reducing the rotational speed of the hydraulic pump 3 and / or reducing the valve opening of the pilot valve 8 by operating the pilot valve 8 in the direction of the neutral position 8a. In the case of a hydraulic pump 3 embodied as a variable displacement pump, the reduction in the pressure medium volume flow provided to the hydraulic cylinder 2 can take place by reducing the displacement volume of the hydraulic pump 3.

Während der Verringerung des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms im zweiten Schritt wird von der elektronischen Steuereinrichtung 15 weiterhin ermittelt, ob die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende und angesteuerte Bewegung des Hydraulikzylinders 2. Sofern die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung während der Verringerung des Druckmittelvolumenstroms stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders 2, wird von der elektronischen Steuereinrichtung 15 bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms der Zustand "Endlagenposition" bestätigt und die Endlagenposition des Hydraulikzylinders 2 festgestellt. Der untere Grenzwert des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms stellt hierbei einen Mindest-Sollvolumenstrom dar und ist in der elektronischen Steuereinrichtung 15 abgespeichert.During the reduction of the pressure medium volume flow provided to the hydraulic cylinder 2 in the second step, the electronic control device 15 further determines whether the hydraulic power supplied to the hydraulic cylinder 2 is constantly too high for the movement of the hydraulic cylinder 2 to be executed and controlled 2 provided hydraulic power during the reduction of the pressure medium flow rate is constantly too high for the movement of the hydraulic cylinder 2 to be executed, is confirmed by the electronic control device 15 upon reaching a lower limit of the hydraulic cylinder 2 provided pressure medium flow rate the state "end position" and the end position of the hydraulic cylinder 2 detected. The lower limit value of the pressure medium volume flow provided to the hydraulic cylinder 2 in this case represents a minimum nominal volume flow and is stored in the electronic control device 15.

Sofern in dem zweiten Schritt während der Verringerung des Druckmittelvolumenstroms die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung wieder plausible Werte annehmen sollte, wird von der elektronischen Steuereinrichtung 15 der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand.If, in the second step, the hydraulic power supplied to the hydraulic cylinder 2 should again assume plausible values during the reduction of the pressure medium volume flow, the electronic control device 15 resets the state "end position" to the initial state.

Im bestätigten Zustand "Endlagenposition" führt die elektronische Steuereinrichtung 15 eine Endlagenabschaltung durch, beispielsweise durch eine Ansteuerung des Steuerwegeventils 8 in die Neutralstellung 8a und/oder einem Abschalten der Hydraulikpumpe 3. Die weitere Ansteuerung und Bewegung des Hydraulikzylinders 2 in die an dem betätigten Bedienelement 20 vorgegebene Bewegungsrichtung wird somit unterbunden, so dass der Arbeitspunkt der Arbeitshydraulik 1, an dem der Hydraulikzylinder 2 gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders 2 weiter fortgeführt wird, zeitlich eingeschränkt und vermieden wird. Der Verschleiß und der Energieverbrauch der Arbeitshydraulik 1 wird hierdurch verringert und eine Überlastung der Arbeitshydraulik vermieden.In the confirmed state "end position", the electronic control device 15 performs an end position switch-off, for example by triggering the Control path valve 8 in the neutral position 8a and / or a shutdown of the hydraulic pump 3. The further control and movement of the hydraulic cylinder 2 in the direction of the actuated operating element 20 movement direction is thus prevented, so that the operating point of the working hydraulics 1, where the hydraulic cylinder 2 against a mechanical stop moves and the control of the movement of the hydraulic cylinder 2 is continued, is limited in time and avoided. The wear and the energy consumption of the working hydraulics 1 is thereby reduced and an overload of the working hydraulics avoided.

Sobald von der Bedienperson das Bedienelement 20 derart betätigt wird, dass eine Bewegung des Hydraulikzylinders 2 in entgegengesetzter Bewegungsrichtung angesteuert wird, wird von der elektronischen Steuereinrichtung 15 der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand.As soon as the operating element 20 is actuated by the operator such that a movement of the hydraulic cylinder 2 in the opposite direction of movement is actuated, the electronic control device 15 resets the state "end position" to the initial state.

Gleiches gilt, wenn über eine vorgegebene Zeitspanne keine Ansteuerung der Bewegung des Hydraulikzylinders 2 erfolgt.The same applies if no control of the movement of the hydraulic cylinder 2 takes place over a predetermined period of time.

Mit dem erfindungsgemäßen Verfahren kann ohne aufwändige Wegmesssensorik an dem Hydraulikzylinder 2 und somit mit geringem Bauaufwand bei einer Ansteuerung einer Bewegung des Hydraulikzylinders 2 das Erreichen des mechanischen Endanschlags des Hydraulikzylinders 2 und somit die Endlagenposition des Hydraulikzylinders 2 ermittelt werden und eine Endlagenabschaltung durchgeführt werden. Mit dem erfindungsgemäßen Verfahren ergeben sich für die Bedienperson keine Beschränkungen bei der Bedienung der Arbeitshydraulik 1.With the method according to the invention, the reaching of the mechanical end stop of the hydraulic cylinder 2 and thus the end position of the hydraulic cylinder 2 can be determined and a Endlagenabschaltung be performed without consuming Wegmesssensorik on the hydraulic cylinder 2 and thus with low construction costs. With the method according to the invention, there are no restrictions on the operation of the working hydraulics 1 for the operator.

Durch den Entfall einer Wegmesssensorik an dem Hydraulikzylinder 2 entfällt bei der Erfindung der Aufwand für die Integration der Wegmesssensorik, der Auswertung der Wegmesssensorik, einer Teach-Funktion für die Wegmesssensorik, um den mechanischen Endanschlag des Hydraulikzylinders vorzugeben, sowie Service und Wartung der Wegmesssensorik.The elimination of a Wegmesssensorik on the hydraulic cylinder 2 eliminates in the invention, the effort for the integration of the Wegmesssensorik, the evaluation of the Wegmesssensorik, a teach function for the Wegmesssensorik to specify the mechanical limit stop of the hydraulic cylinder, and service and maintenance of the Wegmesssensorik.

Die Erfindung ist nicht auf die in den Figuren 1 und 2 dargestellten Ausführungsbeispiele mit einem einzigen Hydraulikzylinder 2 beschränkt. Die Erfindung ermöglicht auch bei einer Arbeitshydraulik 1 mit mehreren Hydraulikzylindern und einer Parallelbedienung von mehreren Hydraulikzylindern sowie in einem Antriebssystem, bei dem die Hydraulikpumpe 3 zusätzlich eine hydraulische Lenkung mit Druckmittel versorgt, die Feststellung der Endlagenposition jedes Hydraulikzylinders.The invention is not on the in the FIGS. 1 and 2 illustrated embodiments with a single hydraulic cylinder 2 limited. The invention also allows for a working hydraulics 1 with multiple hydraulic cylinders and a parallel operation of a plurality of hydraulic cylinders and in a drive system in which the hydraulic pump 3 additionally supplies a hydraulic steering with pressure medium, the determination of the end position of each hydraulic cylinder.

Claims (8)

Verfahren zur Feststellung der Endlagenposition eines Hydraulikzylinders (2) einer Arbeitshydraulik (1) einer mobilen Arbeitsmaschine, insbesondere eines Flurförderzeugs, wobei der Hydraulikzylinder (2) mittels eines Steuerwegeventils (8) gesteuert wird, das mit einer Hydraulikpumpe (3) und einem Behälter (6) in Verbindung steht, wobei zur Erzeugung einer Bewegung des Hydraulikzylinders (2) das Steuerwegeventil (8) in eine Steuerstellung (8b; 8c) betätigt wird und dem Hydraulikzylinder (2) von der Hydraulikpumpe (3) über das in die Steuerstellung (8b; 8c) betätigte Steuerwegeventil (8) Druckmittel zugeführt wird, dadurch gekennzeichnet, dass zur Feststellung der Endlagenposition des Hydraulikzylinders (2) bei in die Steuerstellung (8b; 8c) betätigtem Steuerwegeventil (8) in einem ersten Schritt erfasst wird, ob die dem Hydraulikzylinder (2) zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders (2), und in einem anschließenden zweiten Schritt der dem Hydraulikzylinder (2) zur Verfügung gestellte Druckmittelvolumenstrom verringert wird, wobei während der Verringerung des dem Hydraulikzylinder (2) zur Verfügung gestellten Druckmittelvolumenstroms ermittelt wird, ob die die dem Hydraulikzylinder (2) zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders (2) und bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder (2) zur Verfügung gestellten Druckmittelvolumenstroms die Endlagenposition des Hydraulikzylinders (2) festgestellt wird.Method for determining the end position of a hydraulic cylinder (2) of a working hydraulics (1) of a mobile work machine, in particular of a truck, wherein the hydraulic cylinder (2) is controlled by means of a control travel valve (8) which is connected to a hydraulic pump (3) and a container (6 ), wherein for generating a movement of the hydraulic cylinder (2) the control-way valve (8) in a control position (8b, 8c) is actuated and the hydraulic cylinder (2) from the hydraulic pump (3) via the in the control position (8b; 8c) actuated control path valve (8) pressure medium is supplied, characterized in that for detecting the end position of the hydraulic cylinder (2) in the control position (8b, 8c) actuated control way valve (8) is detected in a first step, whether the hydraulic cylinder ( 2) provided hydraulic power is too high for the movement of the hydraulic cylinder (2) to be carried out, and in a connection nden second step of the hydraulic cylinder (2) made available pressure medium flow rate is reduced, wherein during the reduction of the hydraulic cylinder (2) provided pressure medium flow rate is determined whether the hydraulic cylinder (2) made available hydraulic power is constantly too high for the movement of the hydraulic cylinder (2) to be executed and the end position of the hydraulic cylinder (2) are detected when a lower limit value of the pressure medium volume flow provided to the hydraulic cylinder (2) is reached. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die dem Hydraulikzylinder (2) zur Verfügung gestellte Hydraulikleistung aus dem Förderdruck der Hydraulikpumpe (3) und dem Volumenstrom der Hydraulikpumpe (3) berechnet wird.A method according to claim 1, characterized in that the hydraulic power supplied to the hydraulic cylinder (2) is calculated from the delivery pressure of the hydraulic pump (3) and the volume flow of the hydraulic pump (3). Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass der Volumenstrom der Hydraulikpumpe (3) aus dem Verdrängervolumen der Hydraulikpumpe (3) und der Drehzahl der Hydraulikpumpe (3) berechnet wird.A method according to claim 2, characterized in that the volume flow of the hydraulic pump (3) from the displacement volume of the hydraulic pump (3) and the rotational speed of the hydraulic pump (3) is calculated. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Hydraulikpumpe (3) von einem Elektromotor (4a) angetrieben ist, wobei die dem Hydraulikzylinder (2) zur Verfügung gestellte Hydraulikleistung aus dem Drehmoment oder dem elektrischen Strom des Elektromotors (4a) berechnet wird.A method according to claim 1, characterized in that the hydraulic pump (3) by an electric motor (4a) is driven, wherein the hydraulic cylinder (2) made available hydraulic power from the torque or the electric current of the electric motor (4a) is calculated. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Verringerung des dem Hydraulikzylinder (2) zur Verfügung gestellten Druckmittelvolumenstroms durch eine Verringerung der Drehzahl der Hydraulikpumpe (3) und/oder durch eine Verringerung des Verdrängervolumens der Hydraulikpumpe (3) und/oder durch eine Verringerung der Ventilöffnung des Steuerwegeventils (8) erfolgt.Method according to one of claims 1 to 4, characterized in that the reduction of the hydraulic cylinder (2) provided pressure medium volume flow by reducing the speed of the hydraulic pump (3) and / or by reducing the displacement volume of the hydraulic pump (3) and / or by reducing the valve opening of the control valve (8). Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass bei Feststellung der Endlagenposition des Hydraulikzylinders (2) eine Endlagenabschaltung durchgeführt wird, in der die Bewegung des Hydraulikzylinders (2) in der der Endlagenposition vorausgegangene Bewegungsrichtung unterbunden wird.Method according to one of Claims 1 to 5, characterized in that, when the end position of the hydraulic cylinder (2) is determined, an end position deactivation is carried out in which the movement of the hydraulic cylinder (2) in the direction of movement preceding the end position is inhibited. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass bei einer Betätigung des Steuerwegeventils (8) in eine weitere Steuerstellung (8c; 8b), die eine entgegengesetzte Bewegung des Hydraulikzylinders (2) bewirkt, die Feststellung der Endlagenposition des Hydraulikzylinders (2) beendet wird.Method according to one of claims 1 to 6, characterized in that upon actuation of the control travel valve (8) in a further control position (8c; 8b), which causes an opposite movement of the hydraulic cylinder (2), the determination of the end position of the hydraulic cylinder (2 ) is terminated. Verfahren nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass bei Nichtbetätigen des Steuerwegeventils (8) über eine vorgegebene Zeitspanne die Feststellung der Endlagenposition des Hydraulikzylinders (2) beendet wird.Method according to one of claims 1 to 7, characterized in that when not actuating the control-way valve (8) over a predetermined period of time, the determination of the end position of the hydraulic cylinder (2) is terminated.
EP17169361.7A 2016-05-27 2017-05-04 Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck Not-in-force EP3249241B9 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016109801.9A DE102016109801A1 (en) 2016-05-27 2016-05-27 Method for determining the end position of a hydraulic cylinder of a working hydraulics of a mobile work machine, in particular an industrial truck

Publications (3)

Publication Number Publication Date
EP3249241A1 true EP3249241A1 (en) 2017-11-29
EP3249241B1 EP3249241B1 (en) 2018-12-19
EP3249241B9 EP3249241B9 (en) 2019-04-17

Family

ID=58669686

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17169361.7A Not-in-force EP3249241B9 (en) 2016-05-27 2017-05-04 Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck

Country Status (2)

Country Link
EP (1) EP3249241B9 (en)
DE (1) DE102016109801A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111148905A (en) * 2018-09-05 2020-05-12 株式会社日立建机Tierra Hydraulic drive device for electric hydraulic construction machine

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021110349A1 (en) * 2021-04-22 2022-10-27 Franz Xaver Meiller Fahrzeug- Und Maschinenfabrik - Gmbh & Co Kg Hydraulic system for a working machine

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002323005A (en) * 2001-04-26 2002-11-08 Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd Hydraulic cylinder drive unit
DE102010028762A1 (en) * 2010-05-07 2011-11-10 Zf Friedrichshafen Ag Device for determining an operating state of at least one bidirectionally actuable hydraulic adjusting device of a switching element of a transmission device
EP2767720A1 (en) * 2011-10-11 2014-08-20 Volvo Construction Equipment AB Actuator displacement measurement system in electronic hydraulic system of construction equipment

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002323005A (en) * 2001-04-26 2002-11-08 Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd Hydraulic cylinder drive unit
DE102010028762A1 (en) * 2010-05-07 2011-11-10 Zf Friedrichshafen Ag Device for determining an operating state of at least one bidirectionally actuable hydraulic adjusting device of a switching element of a transmission device
EP2767720A1 (en) * 2011-10-11 2014-08-20 Volvo Construction Equipment AB Actuator displacement measurement system in electronic hydraulic system of construction equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111148905A (en) * 2018-09-05 2020-05-12 株式会社日立建机Tierra Hydraulic drive device for electric hydraulic construction machine
CN111148905B (en) * 2018-09-05 2021-08-27 株式会社日立建机Tierra Hydraulic drive device for electric hydraulic construction machine

Also Published As

Publication number Publication date
EP3249241B9 (en) 2019-04-17
DE102016109801A1 (en) 2017-11-30
EP3249241B1 (en) 2018-12-19

Similar Documents

Publication Publication Date Title
DE112009000713B4 (en) Control system for part-turn actuators of construction machinery
EP1588057A1 (en) Hydraulic system for linear drives controlled by a displacer element
EP3249241B1 (en) Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck
EP2667038A2 (en) Hydraulic circuit assembly
DE112015005464T5 (en) Control system for a hybrid construction machine
EP3749489B1 (en) Portable tool for mobile use
EP3517790B1 (en) Working machine with hydraulics for energy recuperation
DE102020129275A1 (en) Mobile work machine, in particular industrial truck, with a hydrostatic steering device
EP2910796A1 (en) Control valve device with a float position
EP2199623A2 (en) Hydraulic system
EP2455552A1 (en) Work device
EP2256082B1 (en) Hydrostatic drive system for a mobile work machine
EP0283803B1 (en) Hydraulically actuated steering
EP3002461B1 (en) Hydraulic circuit for supplying compressed media to a differential cylinder
DE102014105127A1 (en) Hydraulic drive system of a mobile work machine
DE102007018405A1 (en) Electro-hydraulic controller for e.g. excavator, has working cylinder including adjustable path and stroke that are proportionally assigned to adjustable path and deflection angle at lever of reference value setting element
EP2937307B9 (en) Hydraulic drive system of an industrial truck
DE10007688A1 (en) Device for controlling the tilting function of a mast, in particular for a forklift
DE102010048890A1 (en) Hydrostatic drive system of mobile working machine e.g. industrial truck, has fan drive that is controlled by directional control valve having pressure balance
DE102022205233B4 (en) Method for operating an electro-hydraulic unit
DE102010048891A1 (en) Drive system for mobile machine, particularly ground conveyor, has hydraulic fan drive for producing cooling air flow at heat exchanger unit
DE102006051549A1 (en) Work vehicle with a feed unit and a control unit and method for operating the same
DE102020135108A1 (en) Hydraulic system of an industrial truck
EP3263954B1 (en) Hydrostatic drive with closed circuit and method for operating the drive
EP4286607A1 (en) Hydraulic system and working device with such a system

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

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

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

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180430

RBV Designated contracting states (corrected)

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

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20180725

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

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

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502017000527

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1079042

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190115

REG Reference to a national code

Ref country code: CH

Ref legal event code: PK

Free format text: BERICHTIGUNG B9

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20181219

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190319

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190319

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502017000527

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190320

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190419

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190419

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017000527

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

26N No opposition filed

Effective date: 20190920

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20190531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190504

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190504

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200531

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20170504

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20210504

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210504

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181219

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20220523

Year of fee payment: 6

Ref country code: FR

Payment date: 20220523

Year of fee payment: 6

Ref country code: DE

Payment date: 20220519

Year of fee payment: 6

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230518

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1079042

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220504

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220504

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502017000527

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231201

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230531