EP3249241B1 - Procédé de détermination de la position finale d'un vérin hydraulique d'un système hydraulique d'une machine de travail mobile, en particulier un chariot de manutention - Google Patents

Procédé de détermination de la position finale d'un vérin hydraulique d'un système hydraulique d'une machine de travail mobile, en particulier un chariot de manutention Download PDF

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Publication number
EP3249241B1
EP3249241B1 EP17169361.7A EP17169361A EP3249241B1 EP 3249241 B1 EP3249241 B1 EP 3249241B1 EP 17169361 A EP17169361 A EP 17169361A EP 3249241 B1 EP3249241 B1 EP 3249241B1
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EP
European Patent Office
Prior art keywords
hydraulic cylinder
hydraulic
movement
hydraulic pump
pump
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.)
Not-in-force
Application number
EP17169361.7A
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German (de)
English (en)
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EP3249241A1 (fr
EP3249241B9 (fr
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
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Filing date
Publication date
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Publication of EP3249241A1 publication Critical patent/EP3249241A1/fr
Application granted granted Critical
Publication of EP3249241B1 publication Critical patent/EP3249241B1/fr
Publication of EP3249241B9 publication Critical patent/EP3249241B9/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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 limiting 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 provided 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 detection 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 Endlagenabscnies be carried out without complex Wegmesssensorik on the hydraulic cylinder 2 and thus with low construction costs in a control of a movement of the hydraulic cylinder 2.
  • 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.

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  • 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)

Claims (8)

  1. Procédé pour vérifier si un vérin hydraulique (2) d'une hydraulique de travail (1) d'un engin mobile de travail, en particulier d'un chariot élévateur, a atteint une la position de fin de course, le vérin hydraulique (2) étant commandé au moyen d'un distributeur de commande (8) à orifices qui communique avec une pompe hydraulique (3) et un réservoir (6), le distributeur de commande (8) à orifices étant amené en position de commande (8b; 8c) pour engendrer un déplacement du vérin hydraulique (2) et du fluide sous pression étant apporté au vérin hydraulique (2) par la pompe hydraulique (3) par l'intermédiaire du distributeur de commande (8) à orifices amené en position de commande (8b; 8c),
    caractérisé en ce que
    pour vérifier si le vérin hydraulique (2) a atteint une position de fin de course lorsque le distributeur de commande (8) à orifices est amené en position de commande (8b; 8c), on détermine dans une première étape si la puissance hydraulique mise à disposition du vérin hydraulique (2) pour assurer le déplacement du vérin hydraulique (2) est trop élevée et, dans une deuxième étape qui suit, le débit volumique de fluide sous pression mis à la disposition du vérin hydraulique (2) est diminué, tandis que pendant la diminution du débit volumique de fluide sous pression mis à la disposition du vérin hydraulique (2), on détermine si la puissance hydraulique mise à disposition du vérin hydraulique (2) pour le déplacement que doit exécuter le vérin hydraulique (2) est toujours trop élevée et, lorsqu'une valeur limite inférieure du débit volumique de fluide sous pression mis à la disposition du vérin hydraulique (2) est atteinte, on constate que le vérin hydraulique (2) a atteint la position de fin de course.
  2. Procédé selon la revendication 1, caractérisé en ce que la puissance hydraulique mise à disposition du vérin hydraulique (2) est calculée à partir de la pression d'alimentation de la pompe hydraulique (3) et du débit volumique de la pompe hydraulique (3).
  3. Procédé selon la revendication 2, caractérisé en ce que le débit volumique de la pompe hydraulique (3) est calculé à partir du volume refoulé par cycle de la pompe hydraulique (3) et de la vitesse de rotation de la pompe hydraulique (3).
  4. Procédé selon la revendication 1, caractérisé en ce que la pompe hydraulique (3) est entraînée par un moteur électrique (4a), la puissance hydraulique mise à disposition du vérin hydraulique (2) étant calculée à partir du couple de rotation ou du courant électrique consommé par le moteur électrique (4a).
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que la diminution du débit volumique de fluide sous pression mis à la disposition du vérin hydraulique (2) s'effectue par une diminution de la vitesse de rotation de la pompe hydraulique (3), par une diminution du volume refoulé par cycle de la pompe hydraulique (3) et/ou par une diminution de l'ouverture du distributeur de commande (8) à orifices.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé en ce que lorsqu'il est constaté que le vérin hydraulique (2) a atteint sa position de fin de course, on exécute un débranchement de fin de course dans lequel on empêche le déplacement du vérin hydraulique (2) dans la direction de déplacement qui a précédé l'atteinte de la position de fin de course.
  7. Procédé selon l'une des revendications 1 à 6, caractérisé en ce que lorsque le distributeur de commande (8) à orifices est amené dans une autre position de commande (8c; 8b) qui entraîne un déplacement en sens opposé du vérin hydraulique (2), on arrête de vérifier si le vérin hydraulique (2) a atteint une position de fin se course est terminée.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce que lorsque le distributeur de commande (8) à orifices n'est pas actionné pendant une durée prédéterminée, la vérification que le vérin hydraulique (2) a atteint sa position de fin de course est arrêtée.
EP17169361.7A 2016-05-27 2017-05-04 Procédé de détermination de la position finale d'un vérin hydraulique d'un système hydraulique d'une machine de travail mobile, en particulier un chariot de manutention Not-in-force EP3249241B9 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016109801.9A DE102016109801A1 (de) 2016-05-27 2016-05-27 Verfahren zur Feststellung der Endlagenposition eines Hydraulikzylinders einer Arbeitshydraulik einer mobilen Arbeitsmaschine, insbesondere eines Flurförderzeugs

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

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DE102021110349A1 (de) * 2021-04-22 2022-10-27 Franz Xaver Meiller Fahrzeug- Und Maschinenfabrik - Gmbh & Co Kg Hydrauliksystem für eine Arbeitsmaschine

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EP3249241B9 (fr) 2019-04-17
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