EP3385456B1 - Verfahren zur steuerung der durchflussmenge einer baumaschine und system zur durchführung des verfahrens - Google Patents

Verfahren zur steuerung der durchflussmenge einer baumaschine und system zur durchführung des verfahrens Download PDF

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Publication number
EP3385456B1
EP3385456B1 EP18166095.2A EP18166095A EP3385456B1 EP 3385456 B1 EP3385456 B1 EP 3385456B1 EP 18166095 A EP18166095 A EP 18166095A EP 3385456 B1 EP3385456 B1 EP 3385456B1
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European Patent Office
Prior art keywords
flow rate
maximum
working device
arm
attachment
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Active
Application number
EP18166095.2A
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English (en)
French (fr)
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EP3385456A1 (de
Inventor
Hee-Jun Jeong
Hong-Cheol YUN
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HD Hyundai Infracore Co Ltd
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Hyundai Doosan Infracore Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2214—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing the shock generated at the stroke end
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • 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
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member

Definitions

  • the main controller 110 may supply the flow rate corresponding to the cut-off flow rate, which may not be supplied to the boom B located at the maximum position, to the arm A or the attachment T requiring the rapid working speed.
  • the working device requiring the rapid working speed may be identified from the strokes of the joysticks 140 and 142.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)

Claims (10)

  1. Verfahren zum Steuern einer Durchflussrate einer Baumaschine, wobei das Verfahren umfasst:
    Detektieren (S210) einer Drehposition von mindestens einer von Arbeitsvorrichtungen, einschließlich eines Auslegers (B), eines Arms (A) und einer Anbauvorrichtung (T) der Baumaschine;
    Bestimmen (S220), ob die detektierte Arbeitsvorrichtung eine maximale Position (A1, A2, B1, B2, T1, T2) erreicht oder nicht,
    wobei der Ausleger (B) von einer maximalen Absenkposition (B1) zu einer maximalen Anhebeposition (B2) drehbar ist, wobei diese Positionen einer maximalen Position des Auslegers (B) entsprechen,
    wobei der Arm (A) von einer maximalen Absenkposition (A1) zu einer maximalen Anhebeposition (A2) drehbar ist, wobei diese Positionen einer maximalen Position des Arms (A) entsprechen, und
    wobei die Anbauvorrichtung (T) von einer maximalen Absenkposition (T1) zu einer maximalen Anhebeposition (T2) drehbar ist, wobei diese Positionen einer maximalen Position der Anbauvorrichtung (T) entsprechen;
    Abschalten (S230) einer Durchflussrate, die der detektierten Arbeitsvorrichtung zugeführt wird, wenn die detektierte Arbeitsvorrichtung die maximale Position (A1, A2, B1, B2, T1, T2) erreicht,
    gekennzeichnet durch:
    Identifizieren (S240), ob ein Kraftstoffreduzierungsmodus ausgewählt ist oder nicht;
    Verringern (S250), durch einen Haupt-Controller (110), einer Fördermenge einer Pumpe, die einer Abschalt-Durchflussrate entspricht, wenn der Kraftstoffreduzierungsmodus ausgewählt ist; Identifizieren (S260), ob ein
    Kapazitätsverbesserungsmodus ausgewählt ist oder nicht, wenn der Kraftstoffreduzierungsmodus nicht ausgewählt ist; und
    Zuführen (S270), durch den Haupt-Controller (110), einer Abschalt-Durchflussrate zu mindestens einer der Arbeitsvorrichtungen, die nicht die maximale Position erreicht haben.
  2. Verfahren nach Anspruch 1, wobei das Detektieren der Drehposition der mindestens einen Arbeitsvorrichtung das Detektieren eines Winkels der Arbeitsvorrichtung oder das Detektieren einer Verschiebung eines Zylinders, der zum Antreiben der Arbeitsvorrichtung ausgebildet ist, umfasst.
  3. Verfahren nach Anspruch 1, wobei das Abschalten der Durchflussrate das Steuern eines Schiebers eines elektronischen Proportional-Druckminderungsventils unabhängig von einer Ausgangsspannung eines elektrischen Joysticks, der zum Steuern der Arbeitsvorrichtungen ausgebildet ist, umfasst.
  4. Verfahren nach Anspruch 1, umfassend des Weiteren die schrittweise Verringerung der Durchflussrate, die der detektierten Arbeitsvorrichtung zugeführt wird, bevor die detektierte Arbeitsvorrichtung die maximale Position erreicht.
  5. Verfahren nach Anspruch 1, wobei die Baumaschine einen Bagger umfasst.
  6. System zum Steuern einer Durchflussrate einer Baumaschine, wobei das System umfasst:
    eine Detektionseinheit (130, 132, 134), die dafür ausgebildet ist, eine Drehposition von mindestens einer von Arbeitsvorrichtungen, einschließlich eines Auslegers (B), eines Arms (A) und einer Anbauvorrichtung (T) der Baumaschine, zu detektieren;
    eine Betriebseinheit (140, 142), die dafür ausgebildet ist, Betriebssignale zum Ansteuern der Arbeitsvorrichtungen zu erzeugen;
    gekennzeichnet durch:
    einen Hauptsteuerventil-Controller (150), der dafür ausgebildet ist, einen Hydraulikdruck eines Zylinders zu steuern, der dafür ausgebildet ist, die mindestens eine Arbeitsvorrichtung anzutreiben, indem er einen Schieber eines elektronischen Proportional-Druckminderungsventils gemäß den Betriebssignalen der Betriebseinheit (140, 142) bewegt; und
    einen Haupt-Controller (110), der dafür ausgebildet ist, eine Durchflussrate, die einer beliebigen der Arbeitsvorrichtungen zugeführt wird, abzuschalten, wenn jene Arbeitsvorrichtung eine maximale Position erreicht, wobei der Ausleger (B) von einer maximalen Absenkposition (B1) zu einer maximalen Anhebeposition (B2) drehbar ist, wobei diese Positionen einer maximalen Position des Auslegers (B) entsprechen,
    wobei der Arm (A) von einer maximalen Absenkposition (A1) zu einer maximalen Anhebeposition (A2) drehbar ist, wobei diese Positionen einer maximalen Position des Arms (A) entsprechen, und
    wobei die Anbauvorrichtung (T) von einer maximalen Absenkposition (T1) zu einer maximalen Anhebeposition (T2) drehbar ist, wobei diese Positionen einer maximalen Position der Anbauvorrichtung (T) entsprechen,
    wobei der Haupt-Controller (110) dafür ausgebildet ist, eine Fördermenge einer Pumpe entsprechend einer Abschalt-Durchflussrate zu reduzieren, und
    wobei der Haupt-Controller (110) dafür ausgebildet ist, mindestens einer der Arbeitsvorrichtungen, die nicht die maximale Position erreicht, eine Abschalt-Durchflussrate zuzuführen.
  7. System nach Anspruch 6, wobei die Detektionseinheit einen Winkelsensor (130, 132, 134) umfasst, der dafür ausgebildet ist, einen Winkel der Arbeitsvorrichtung zu detektieren, oder einen Verschiebungssensor (130, 132, 134) umfasst, der dafür ausgebildet ist, eine Verschiebung des Zylinders zu detektieren.
  8. System nach Anspruch 6, wobei der Haupt-Controller ein Steuersignal zum Steuern des Schiebers des EPPR-Ventils unabhängig von einer Ausgangsspannung eines elektrischen Joysticks (140, 142), der zum Steuern der Arbeitsvorrichtungen ausgebildet ist, überträgt.
  9. System nach Anspruch 6, wobei der Haupt-Controller die Durchflussrate, die der in der maximalen Position befindlichen Arbeitsvorrichtung zugeführt wird, allmählich reduziert, bevor die Arbeitsvorrichtung die maximale Position erreicht.
  10. System nach Anspruch 6, wobei die Baumaschine einen Bagger umfasst.
EP18166095.2A 2017-04-06 2018-04-06 Verfahren zur steuerung der durchflussmenge einer baumaschine und system zur durchführung des verfahrens Active EP3385456B1 (de)

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KR1020170044905A KR102054666B1 (ko) 2017-04-06 2017-04-06 건설 기계의 유량 제어 방법 및 이를 수행하기 위한 시스템

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JP2021001537A (ja) 2019-06-20 2021-01-07 ジョイ・グローバル・サーフェイス・マイニング・インコーポレーテッド 自動ダンプ制御を備えた産業機械

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WO1991000432A1 (en) * 1989-06-26 1991-01-10 Kabushiki Kaisha Komatsu Seisakusho Hydraulic circuit
JPH09203087A (ja) * 1996-01-30 1997-08-05 Hitachi Constr Mach Co Ltd 建設機械
JP3734189B2 (ja) * 1996-07-19 2006-01-11 株式会社小松製作所 ２ピースブーム型建設機械のストロークエンドショック低減装置
JP2002021804A (ja) * 2000-07-03 2002-01-23 Hitachi Constr Mach Co Ltd 油圧シリンダの駆動制御装置及びその記録媒体
JP3386797B2 (ja) * 2001-03-16 2003-03-17 株式会社クボタ バックホーの油圧シリンダ制御装置
JP4114684B2 (ja) * 2005-08-11 2008-07-09 コベルコ建機株式会社 油圧シリンダの制御装置及びこれを備えた作業機械
JP2011106591A (ja) * 2009-11-18 2011-06-02 Hitachi Constr Mach Co Ltd 建設機械の油圧駆動装置
JP5752526B2 (ja) * 2011-08-24 2015-07-22 株式会社小松製作所 油圧駆動システム
KR20130075365A (ko) * 2011-12-27 2013-07-05 현대중공업 주식회사 휠 로더의 안전 조향장치
CN204403044U (zh) * 2014-12-29 2015-06-17 劲旅环境科技有限公司 油缸位置检测装置

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EP3385456A1 (de) 2018-10-10
KR102054666B1 (ko) 2020-01-22
CN108691329A (zh) 2018-10-23
KR20180113397A (ko) 2018-10-16
CN108691329B (zh) 2024-03-01

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