EP3443182B1 - Circuit de commande électrohydraulique pour manipulateur de grande taille - Google Patents

Circuit de commande électrohydraulique pour manipulateur de grande taille Download PDF

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Publication number
EP3443182B1
EP3443182B1 EP17720371.8A EP17720371A EP3443182B1 EP 3443182 B1 EP3443182 B1 EP 3443182B1 EP 17720371 A EP17720371 A EP 17720371A EP 3443182 B1 EP3443182 B1 EP 3443182B1
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EP
European Patent Office
Prior art keywords
emergency
valve
unit
control circuit
articulated
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.)
Active
Application number
EP17720371.8A
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German (de)
English (en)
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EP3443182A1 (fr
Inventor
Reiner VIERKOTTEN
Johannes HENIKL
Andreas Lehmann
Peter Przebinda
Karl-Heinz Schwedhelm
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Friedrich Wilhelm Schwing GmbH
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Friedrich Wilhelm Schwing GmbH
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Publication of EP3443182A1 publication Critical patent/EP3443182A1/fr
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/10—Special arrangements for operating the actuated device with or without using fluid pressure, e.g. for emergency use
    • 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
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding valves
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • 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
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8633—Pressure source supply failure
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8636—Circuit failure, e.g. valve or hose failure
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/875—Control measures for coping with failures
    • F15B2211/8757—Control measures for coping with failures using redundant components or assemblies

Definitions

  • the invention relates to an electrohydraulic control circuit with hydraulically actuated drive units, by means of which the mast segments of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, can be adjusted with regard to their orientation, with an electrically controlled proportional valve assigned to one of the drive units, which is connected to hydraulic working lines of the respective drive unit for its control in the Normal operation is connected, with the respective proportional valve being connected to a pressure supply line, with an emergency valve being connected to the hydraulic working lines of the respective drive unit for its control in emergency operation for emergency operation.
  • the invention also relates to a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with such a control circuit.
  • Such an electro-hydraulic control circuit is from WO 2014/165888 A1 known. This document does not disclose any possibility of simply and safely addressing the emergency valves in the event of a failure of the electronics or the hydraulics for normal operation, so that the manipulator cannot be controlled conveniently and intuitively via the emergency valves for salvage or repair.
  • a common return line is disclosed for normal operation and emergency operation. In the event of a leak in this return line, emergency operation would not be possible.
  • an emergency operation is also not possible if the Pressure supply unit, which is connected to the pressure supply line, fails.
  • Another disadvantage of the control circuit disclosed is that a separate control oil circuit is provided for opening/closing the hydraulically pilot operated check valves and for supplying the hydraulically pilot-controlled proportional valve. As a result, an additional pressure supply line and tank line are required for this control oil circuit.
  • the DE 20 2007 008628 U1 discloses an emergency actuation valve, for example in the case of an excavator to drain the hydraulic oil from a chamber of a hydraulic cylinder in a targeted manner and to set down the excavator arm if the hydraulics or electronics fail.
  • the emergency actuation valve arranged on the hydraulic cylinder is actuated via an energy transmission line by means of an energy accumulator or by a muscle-powered device.
  • the CN 201 924 601 U relates to decentralized hydraulics for the mast of a truck-mounted concrete pump.
  • the CN 104 863 366 A shows a hydraulic control block for the decentralized control of a concrete pump boom.
  • the block contains a control valve that is hydraulically controlled by a central pilot valve.
  • a mast damping for the mast of a truck-mounted concrete pump is described.
  • the individual boom cylinders are controlled conventionally, ie centrally.
  • the activation of the first and second mast cylinder is superimposed for the vibration damping by decentralized valves, i.e. on the mast cylinders, which are supplied by a separate hydraulic pump.
  • the object of the invention is to specify a control circuit and a manipulator that eliminates the disadvantages described and a safe Emergency operation and comfortable and intuitive operation if the regular control circuit components fail.
  • the emergency valve in emergency operation is controlled via an emergency operating unit.
  • the drive units can still be activated safely via the emergency valves, for example in order to salvage the articulated mast even if the mast hydraulic system for normal operation or the electrical control system fails be able.
  • the emergency valve is actuated electrically via an emergency operating unit in emergency operation. This enables reliable control in emergency operation.
  • a power supply to the emergency operating unit is activated by means of a key switch in the emergency operating state.
  • the emergency control unit has simple buttons and/or switches with which, on the one hand, the articulated joint or slewing gear of the articulated mast to be controlled is selected and, on the other hand, the direction of travel for the selected articulated joint or slewing gear or the respective
  • an advantageous embodiment provides that the proportional valve and the emergency valve are arranged directly on the associated drive unit to be controlled.
  • the resulting relatively short hydraulic connecting lines lead to more sensitive control of the drive units.
  • the proportional valves are connected to the drive units via relatively long hydraulic lines. Because hose breaks or the like cannot be ruled out with this arrangement, the drive units usually have lowering brake valves which prevent the large manipulator from lowering in the event of damage. In machines according to the prior art, these lowering brake valves must first be pressed open by the hydraulic pressure before the drive unit can react.
  • an advantageous embodiment provides that the emergency operating unit is connected, preferably wired, to the power supply and the emergency valve. This ensures that the manipulator can be safely controlled in emergency operation via simple, preferably electrical connections, for example without the availability of the usual wireless radio remote control for controlling the proportional valves for normal operation or an electronic mast control,
  • a particularly advantageous embodiment provides that the emergency operating unit is connected, preferably wired, to the power supply and the emergency valve via a movable cable. In this way the operator can move away from the machine with the emergency control unit in order to be able to see the position of the mast during the emergency control. This ensures safe control of the articulated mast even in emergency operation.
  • the power supply provides a constant voltage and the emergency valve is controlled with this constant voltage.
  • the manipulator can be operated with a simple, not necessarily regulated, voltage supply in emergency operation.
  • the emergency operation unit is activated for emergency operation with a key switch, so that an unintentional or unauthorized activation of emergency operation is not possible.
  • switches and/or buttons are arranged on the emergency operating unit, with which the emergency valve can be subjected to a constant voltage by actuating the switches and/or buttons in order to move the associated drive unit.
  • the proportional valve can be controlled with a stepping motor.
  • a safe electro-hydraulic control circuit can be implemented, which ensures excellent response behavior of the mast segments.
  • proportional valves that can be controlled with a stepper motor are significantly lighter and smaller than similarly powerful valves with proportional magnets, which enables a significant weight saving and a reduction in the required installation space. Since the proportional valve with a stepper motor is also not a hydraulically pilot-controlled valve, this embodiment of the invention eliminates the need for a separate control oil circuit, which reduces the number of hydraulic lines on the mast segments, which also results in a significant weight saving.
  • the stepping motor of the proportional valve can be controlled via a BUS data connection. This allows a significant weight saving compared to a hydraulic pilot control of the valve. This is of particular interest, since it enables the constant desire for a larger range of large manipulators to be realized.
  • a local control device is set up on the drive unit in order to receive BUS data signals and to control the stepping motor of the proportional valve.
  • the stepping motor can be controlled particularly precisely and quickly by precisely specifying the setting steps.
  • Another advantage of the local control device is that information can be processed locally and therefore the The number of electrical lines on the articulated mast and the utilization of the CAN bus system can be reduced to a minimum.
  • a voltage supply to the outputs of the local control device (ECU) is switched off when switching to emergency operation. This guarantees that the (safety-relevant) valves controlled by the local control device are placed in a safe state.
  • the local control device ECU
  • at least a first power supply supplying the local control device (ECU), more precisely the computing units of this, and at least a second power supply supplying the outputs on the local control device ( ECU) supplied.
  • the outputs of the local control unit (ECU) which can be connected to safety-related valves, can be switched off independently of the computing units of the local control unit (ECU). This ensures that the system is in a safe state in the event of an error, with the computing units of the local control unit (ECU) still being able to process data, for example to enable queries from locally connected sensors and the transmission of the measured values to a central controller.
  • a particularly advantageous embodiment provides that when switching over to emergency operation, the first voltage supply is interrupted and/or the second voltage supply remains activated.
  • the interruption of the first voltage supply leads to the control device (ECU) being switched off, so that errors caused by this are avoided.
  • Activating the second power supply means that the drive units can still be controlled.
  • it can also be advantageous not to interrupt the first voltage supply so that the sensors connected to the control device (ECU) continue to supply information and the control device (ECU) logs this.
  • the emergency valve is actuated automatically at periodic intervals. This can happen, for example, when the control circuit or the manipulator is put into operation and the mast for example, is still in an edition. With this automatic actuation of the valves, it can be ensured that they do not jam even if they are not used for a long time.
  • the control device also has a control output for the emergency valve, which is preferably isolated from the second voltage supply via a diode circuit.
  • check valves upstream and/or downstream of the proportional valve are relieved in emergency operation. This prevents the non-return valves from opening, since, depending on the cross-section of the return lines used, back pressures that cannot be ignored can occur with larger hydraulic oil delivery volumes, especially when moving the articulated mast.
  • One embodiment of the invention provides that the proportional valve and/or a switching valve and/or at least one check valve switch to a safe state when the power supply fails, in particular when the power supplies fail. In this way it can be ensured that the manipulator does not move and remains in the current position if the power supply fails.
  • An embodiment of the invention provides that the emergency valve is connected to another return line, while the proportional valve is connected to another, regular return line. This allows the drive unit to be controlled via the emergency valve, even if the regular return line has a fault or is leaking. Returning the hydraulic oil to the tank via separate return lines makes the control circuit less error-prone.
  • An embodiment of the invention provides that the additional pressure supply line is connected to an emergency pressure supply unit, while the other pressure supply line is connected to another pressure supply unit. This allows the drive unit to be driven safely in emergency operation, even if the regular pressure supply unit fails.
  • the use of a separate emergency pressure supply unit makes the control circuit more fault-tolerant.
  • an advantageous embodiment provides that the proportional valve and the emergency valve are arranged directly on the associated drive unit to be controlled.
  • the resulting relatively short hydraulic connecting lines lead to more sensitive control of the drive units.
  • the proportional valves are connected to the drive units via relatively long hydraulic lines. Because hose ruptures or the like cannot be ruled out with this arrangement, lowering brake valves are usually arranged on the drive units, which prevent the large manipulator from lowering in the event of damage. In machines according to the prior art, these lowering brake valves must first be pressed open by the hydraulic pressure before the drive unit can react.
  • the proportional valve can be controlled with a stepping motor.
  • a safe electro-hydraulic control circuit can be implemented, which ensures excellent response behavior of the mast segments.
  • proportional valves that can be controlled with a stepper motor are significantly lighter and smaller than similarly powerful valves with proportional magnets, which enables a significant weight saving and a reduction in the required installation space.
  • the proportional valve with a stepper motor is not a hydraulically pilot-operated valve, there is no need for a dedicated valve in this embodiment of the invention Control oil circuit, which reduces the number of hydraulic lines on the mast segments, which also results in significant weight savings.
  • the stepping motor of the proportional valve can be controlled via a BUS data connection. This allows a significant weight saving compared to a hydraulic pilot control of the valve. This is of particular interest, since it enables the constant desire for a larger range of large manipulators to be realized.
  • a local control device can be set up on the drive unit in order to receive BUS data signals and to control the stepping motor of the proportional valve.
  • the stepping motor can be controlled particularly precisely and quickly by precisely specifying the setting steps.
  • Another advantage of the local control device is that information can be processed locally and therefore the number of electrical lines on the articulated mast and the utilization of the CAN bus system can be reduced to a minimum.
  • a voltage supply to the outputs of the local control unit (ECU) is advantageously switched off when switching over to emergency operation. This guarantees that the (safety-relevant) valves controlled by the local control device are placed in a safe state.
  • the local control device ECU
  • at least a first power supply supplying the local control device (ECU), more precisely the computing units of this, and at least a second power supply supplying the outputs on the local control device ( ECU) supplied.
  • the outputs of the local control unit (ECU) which can be connected to safety-related valves, can be switched off independently of the computing units of the local control unit (ECU).
  • a safe state of the system can thus be guaranteed in the event of an error, with data still being able to be processed by the arithmetic units of the local control unit (ECU). For example, to enable the querying of locally connected sensors and the transmission of the measured values to a central control.
  • a particularly advantageous embodiment provides that when switching over to emergency operation, the first voltage supply is interrupted and/or the second voltage supply remains activated.
  • the interruption of the first voltage supply leads to the control device (ECU) being switched off, so that errors caused by this are avoided.
  • Activating the second power supply means that the drive units can still be controlled.
  • it can also be advantageous not to interrupt the first voltage supply so that the sensors connected to the control device (ECU) continue to supply information and the control device (ECU) logs this.
  • check valves upstream and/or downstream of the proportional valve are relieved in emergency operation. This prevents the non-return valves from opening, since, depending on the cross-section of the return lines used, back pressures that cannot be ignored can occur with larger hydraulic oil delivery volumes, especially when moving the articulated mast.
  • an advantageous embodiment provides that the emergency pressure supply unit is set up in normal operation to supply pressure to another pressure receiver used in normal operation.
  • This can be, for example, a water pump for a high-pressure cleaner, since this unit is usually not used in emergency operation and is therefore available for the drive in emergency operation. This multiple use, both in normal operation and in emergency operation, saves weight and reduces the number of components required.
  • the emergency pressure supply unit is set up to supply pressure to an agitator during normal operation.
  • the agitator is driven by a hydraulic motor and stirs the liquid concrete in the feed hopper of a concrete pump so that the concrete can be pumped through a concrete pump after it has been poured in Truck mixer not solidified in the hopper and the suction openings of the delivery cylinder can be better fed.
  • the emergency pressure supply unit is simply switched over.
  • One embodiment of the invention provides that the proportional valve and/or a switching valve and/or at least one check valve switch to a safe state when the power supply fails, in particular when the power supplies fail.
  • the emergency valve is actuated automatically at periodic intervals. This can happen, for example, when the control circuit or the manipulator is put into operation and the mast is still on a support, for example. With this automatic actuation of the valves, it can be ensured that they do not jam even if they are not used for a long time.
  • the control device also has a control output for the emergency valve, which is preferably isolated from the second voltage supply via a diode circuit.
  • the invention also relates to a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with an articulated mast that can be folded out, which has a turntable that can be rotated about a vertical axis and a plurality of mast segments, with the mast segments being pivotable to a limited extent on articulated joints about bending axes relative to an adjacent mast segment or the turntable are wherein an electrohydraulic control circuit as above and below described, is provided.
  • a manipulator with such a control circuit enables safe emergency operation if the regular control circuit components fail.
  • an advantageous embodiment of this manipulator provides that the proportional valve is arranged directly on an associated drive unit to be controlled, that is to say at the attachment location of the drive unit. Due to the particularly small size and the low weight of the proportional valve according to the invention, this is particularly suitable for a decentralized hydraulic control circuit.
  • the proportional valve can be arranged on the drive unit to be controlled in such a way that the proportional valve, together with the drive unit on the mast segment of the articulated mast, changes its position relative to the turntable or the concrete pump. Thanks to the direct arrangement of the proportional valve on the associated drive unit to be controlled, the length of the working lines can be significantly reduced, which improves the response behavior of the manipulator and allows it to be moved more agilely and dynamically.
  • the figure 1 shows an electrohydraulic control circuit 1 according to the invention for controlling hydraulically operated drive units, wherein in figure 1 a total of five drive units 2, 2a, 2b, 2c, 2d for driving the mast segments 3, 3a, 3b, 3c, 3d ( 4 ) are shown.
  • the drive units 2, 2a, 2b, 2c, 2d allow an adjustment of the mast segments 3, 3a, 3b, 3c, 3d ( 4 ) of the manipulator 4 ( 4 ) regarding their orientation.
  • the drive units 2, 2a, 2b, 2c, 2d can be driven in normal operation by means of a first hydraulic pressure supply unit 5, with this operating state in figure 1 is shown.
  • the first pressure supply unit 5 supplies the drive units 2, 2a, 2b, 2c, 2d with hydraulic pressure via the pressure supply (P1) 24 in order to drive the drive units 2, 2a, 2b, 2c, 2d.
  • the first pressure supply (P1) 24 is in figure 1 shown in phantom, while the first return (T1) 25 is shown in phantom.
  • the hydraulic oil conveyed by the first pressure supply unit 5 is supplied to the individual mast segments 3, 3a, 3b, 3c, 3d ( 4 ) or the drive units 2, 2a, 2b, 2c, 2d arranged there.
  • the first return (T1) 25 returns the hydraulic oil from the drive units 2, 2a, 2b, 2c, 2d to the tank 23, from where the hydraulic oil is available for renewed delivery through the hydraulic pump line 22.
  • the hydraulic pump train 22 includes further pressure supply units 6 , 8 .
  • the second pressure supply unit 6 is connected to charge a hydraulic accumulator 7 in its first operating state.
  • the third pressure supply unit 8, which is used as an emergency pressure supply unit 8, supplies an agitator 9 or its drive motor with hydraulic pressure during normal operation.
  • the individual drive units 2, 2a, 2b, 2c, 2d have their own proportional valves 28 ( 3 ), which are arranged in parallel on the first pressure supply (P1) 24 and on the first return (T1) 25.
  • the proportional valve 28 ( 3 ) with a stepping motor 31 ( 3 ) controllable.
  • the associated drive unit 2, 2a, 2b, 2c, 2d in particular the hydraulic cylinder, can be moved by the proportional valve 28 ( 3 ) the drive unit 2, 2a, 2b, 2c, 2d associated working lines 29, 30 ( 3 ) subjected to a pressure difference.
  • the working lines 29, 30 ( 3 ) either with a first pressure supply (P1) 24 or a first return (T1) 25 through the proportional valve 28 ( 3 ) connected.
  • FIG 1 An emergency stop circuit with an emergency stop valve 21 can also be seen, through which the hydraulic oil conveyed by the pressure supply units 5, 6 can simply flow back into the tank 23 in an emergency.
  • the emergency stop valve 21 is switched, for example, when one of the emergency stop buttons 51 ( figure 5 ) is pressed.
  • the second pressure supply unit 6 has a downstream switchover 19, via which the hydraulic oil delivered can be switched over from the hydraulic accumulator 7 of a piston pump to the first pressure supply (P1) 24.
  • the delivery volume can be increased in such a way that the drive units 2, 2a, 2b, 2c, 2d the mast segments 3, 3a, 3b, 3c, 3d ( 4 ) Pivot such that the specified speeds of the individual drive units 2, 2a, 2b, 2c, 2d are reliably achieved even when several drive units are moved at the same time.
  • the second pressure supply unit 6 it makes sense to switch on the second pressure supply unit 6 in order to move the manipulator 4 ( 4 ) to be able to pivot in the range of the maximum possible speed.
  • the emergency pressure supply unit 8 also has a downstream switch 20, in which case the pumped hydraulic oil can be switched away from the agitator 9, as a possible pressure receiver in normal operation, towards the emergency circuit (P2, T2) 26, 27 in emergency operation.
  • This emergency circuit 26, 27 enables the drive units 2, 2a, 2b, 2c, 2d to be moved if the regular pressure supply (P1, T1) 24, 25 fails.
  • the drive units 2, 2a, 2b, 2c, 2d in particular their hydraulic cylinders, can be proceeded in emergency operation in that the separate pressure supply (P2) 26 or the separate return (T2) 27 applies a pressure difference to the drive units 2, 2a, 2b, 2c, 2d.
  • the working lines 29, 30 ( 3 ) optionally connected to the second pressure supply (P2) 26 or a second return (T2) 27 from the control valve 36 for emergency operation.
  • the drive units 2, 2a, 2b, 2c, 2d are supplied with pressure by the emergency pressure supply unit 8 via the separate pressure supply (P2) 26 and the separate return (T2) 27, so that if there is a leak in the pressure supply (P1) 24 or the return (T1) 25, but also if the first pressure supply unit 5 fails, it is still possible to control the drive units 2, 2a, 2b, 2c, 2d is.
  • the articulated mast 10 ( 4 ) can still be moved, for example to remove articulated mast 10 ( 4 ) to retract and, if necessary, to pump out the residual concrete from the concrete pump and the delivery pipes.
  • the electrohydraulic control circuit 1 is off figure 1 shown in emergency mode.
  • the emergency pressure supply unit 8 is switched on via the switchover 20 of the separate pressure supply (P2) 26, which is shown in dashed lines, and supplies the drive units 2, 2a, 2b, 2c, 2d with hydraulic pressure and thus drives the drive units 2, 2a, 2b, 2c, 2d on.
  • the return of the hydraulic oil runs via the second return (T2) 27, which is shown in broken lines.
  • a power supply is supplied to an emergency operation unit 56 ( figure 5 ) by means of a key switch 53 ( figure 5 ) via a switch 55 to be actuated electrically, for example ( figure 5 ) activated.
  • the emergency control unit 56 is connected via the switch 55 to a simple voltage source, for example the manipulator's on-board battery 54, which supplies a constant voltage ( figure 5 ) and has simple buttons and/or switches with which, on the one hand, the articulated joint 13, 13a, 13b, 13c, 13d ( 4 ) or slewing gear 12 ( 4 ) of articulated mast 10 ( 4 ) is selected and on the other hand the direction of travel for the selected articulated joint 13, 13a, 13b, 13c, 13d ( 4 ) or slewing gear 12 ( 4 ) or the drive unit 2, 2a, 2b, 2c, 2d ( Figures 1 to 3 ) is specified.
  • a simple voltage source for example the manipulator's on-board battery 54, which supplies a constant voltage ( figure 5 ) and has simple buttons and/or switches with which, on the one hand, the articulated joint 13, 13a, 13b, 13c, 13d ( 4 ) or slewing gear 12 ( 4 ) of articulated mast 10 ( 4
  • this emergency operating unit 56 ( figure 5 ) is a simple and less error-prone control for emergency operation, since the emergency operation unit 56 ( figure 5 ) is electrically robust. From the emergency operation unit 56 ( figure 5 ) leads a cable bundle with twelve cores to the emergency valves. By pressing the button on the emergency operating unit 56 ( figure 5 ) the 24 V voltage supply of an on-board battery 54 ( figure 5 ) on the respective electromagnetic emergency valve 36 to be actuated for the selected articulated joint 13, 13a, 13b, 13c, 13d ( 4 ) or slewing gear 12 ( 4 ) placed.
  • the emergency operating unit 56 ( figure 5 ) can be hardwired or wired or be connected to the electrical system via a plug connection, for example an option box.
  • the emergency operating unit 56 ( figure 5 ) via a long cable 57 ( Fig.5 ) is connected to the machine so that the user can use the emergency control unit 56 ( figure 5 ) from the manipulator and can follow the articulated mast movements without having to rely on the help of other people.
  • the emergency operating unit 56 ( figure 5 ) from a switching device attached to the machine with a radio receiver, which can be operated via another simple separate radio remote control or the radio remote control 15 ( 4 and 5) is controlled.
  • the figure 3 shows a schematic representation of an electrohydraulic control circuit 1 for controlling a hydraulically actuated drive unit 2, by means of which a mast segment 3, 3a, 3b, 3c, 3d ( 4 ) of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, is adjustable in terms of its orientation, with an electrically controlled proportional valve 28, which is connected to the hydraulic working lines 29, 30 of the drive unit 2 to control it.
  • a detail of the control circuit 1 is off figure 1 and 2 shown, which controls a drive unit 2.
  • the proportional valve 28 can be controlled with a stepping motor 31, the proportional valve 28 containing a valve piston and a return spring.
  • the valve piston on the proportional valve 28 is actuated via a toothed rack by means of the stepping motor 31.
  • a monitoring unit for monitoring the adjustment steps carried out by the stepping motor 31 is provided on the stepping motor 31.
  • a memory is also provided for storing the adjustment steps of the stepper motor 31 that have been carried out. The actuation by means of the stepper motor 31 enables a very precise adjustment of the proportional valve 28 independently of the flow forces that occur, which particularly accurate control of the drive unit 2 allows.
  • the electrically controlled proportional valve 28 can also be seen, with which the drive unit 2, in particular the hydraulic cylinder, can be moved by Proportional valve 28 acts on the working lines 29, 30 assigned to the drive unit 2 with a pressure difference.
  • the working lines 29, 30 are optionally connected to a first pressure supply (P1) 24 or a first return (T1) 25 through the proportional valve 28.
  • the proportional valve 28 is controlled via an associated stepping motor 31 by a local electronic control device ECU (electronic control unit), which is set up to receive BUS data signals and to control the stepping motor of the proportional valve.
  • the local electronic control unit (ECU) monitors the state of the local system via sensors connected to it (e.g.
  • the pressure sensors 32a, 32b enables the implementation of complex algorithms, offers an interface for external communication, in particular to a central control unit 52 via a bus system ( preferably CAN) to connect.
  • the sensors can be connected either analogously or via another local BUS system (in particular CAN).
  • the local processing of the sensor data has the advantage that the electrical connection lines to a central control unit 52 ( 4 u. 5) and the utilization of the BUS system, which the local control device (ECU) with the central control unit 52 ( 4 u. 5) connects, to be or will be reduced.
  • Several power supplies are provided to supply the local control unit (ECU) with energy, with a first power supply (U1) supplying the local control unit (ECU) and at least one second power supply (U2) supplying the outputs on the local control unit (ECU).
  • a first power supply U1 supplying the local control unit (ECU)
  • at least one second power supply U2 supplying the outputs on the local control unit (ECU).
  • the hydraulic oil flow is controlled via the emergency stop valve 21 ( 1 and 2) to tank 23 ( 1 u. 2) diverted, in addition, all hydraulic supplies for the operation of the concrete pump are switched off or to tank 23 ( 1 and 2) redirected.
  • the second power supply (U2) is switched off, so that the outputs of the local control unit (ECU) are de-energized, and all valves switch to a safe state, so that no mast movement can take place.
  • the key switch 53 ( figure 5 ) can be switched to emergency mode so that the Emergency control unit 56 ( figure 5 ) via a switch 55 ( figure 5 ) from an on-board battery 54 ( figure 5 ) are supplied with voltage.
  • emergency operation can be activated if one of the drive units 2, 2a, 2b, 2c, 2d or the slewing gear 12 ( 4 ) cannot be moved in normal operation due to a malfunction.
  • the key switch 53 ( figure 5 ) switched to emergency operation which also means that the second power supply (U2) is switched off, so that the outputs of the local control unit (ECU) are de-energized.
  • a supply pressure assigned to the pressure supply (P1) 24 is switched to a working line 29 or 30 of the assigned drive assembly 2.
  • the check valves 33, 33a perform a load holding function when the control circuit 1 is in an inactive state or safe state.
  • the check valve 38 also has a safety function, in particular it prevents the check valves 33, 33a from being pressed open in the event of a jammed valve piston outside of the central position in the proportional valve 28.
  • the check valves 33, 33a and 38 are preferably designed as hydraulically pilot-operated check valves which are actuated indirectly by means of an electrically controllable switching valve 37 are opened.
  • the electrohydraulic control circuit 1 also includes a hydraulic emergency circuit connected in parallel with the proportional valve 28 for emergency operation. This emergency circuit enables the drive unit 2 to be moved if the components assigned to the proportional valve 28 (upstream or downstream) fail.
  • Each proportional valve 28 for controlling a drive assembly 2, 2a, 2b, 2c, 2d is assigned its own emergency circuit.
  • the emergency circuit includes a control valve 36 for controlling the direction of travel of the drive assembly 2 in emergency operation and two mutually coupled valves 35, 35a, which are designed as hydraulically pilot operated check valves or lowering brake valves 35, 35a in a classic configuration.
  • the drive unit 2 in particular the hydraulic cylinder, can be used in emergency mode be moved in that the control valve 36 for emergency operation applies a pressure difference to the working lines 29, 30 assigned to the drive unit 2.
  • the working lines 29, 30 are optionally connected to a second pressure supply (P2) 26 or a second return (T2) 27 from the control valve 36.
  • the drive unit 2 is preferably supplied with pressure via the separate pressure supply (P2) 26 and the separate return (T2) 27, so that if there is a leak in the pressure supply (P1) 24 or the return (T1) 25, control of the drive unit 2 is possible.
  • the articulated mast 10 ( 4 ) can still be moved, for example to remove articulated mast 10 ( 4 ) to retract and, if necessary, to pump out the residual concrete from the concrete pump and the delivery pipes.
  • the local electronic control unit monitors the state and the behavior of the control circuit 1 by means of the available sensors.
  • the local electronic control unit As soon as the local electronic control unit (ECU) detects an error, it automatically switches the control circuit 1 to a safe state.
  • the proportional valve 28 and, via the switching valve 37, the non-return valves 33, 33a, 38 are preferably switched to a safe state, in particular also when the power supply fails.
  • the local electronic control unit (ECU) can be activated via a BUS system, which transmits control commands and setpoint values, which are preferably transmitted via a user interface, such as via the remote control device 15 ( 4 ), specified by a user and sent to the central control unit 52 ( 4 u. 5) are transmitted which, under certain circumstances, are processed and passed on to the local electronic control units (ECU).
  • a manipulator 4 in particular a large manipulator for truck-mounted concrete pumps, is shown schematically, with a folding mast 10 which has a turntable 12 rotatable about a vertical axis 11 and a plurality of mast segments 3, 3a, 3b, 3c, 3d.
  • the mast segments 3, 3a, 3b, 3c, 3d, five in total in the exemplary embodiment, are on articulated joints 13, 13a, 13b, 13c, 13d, each about bending axes relative to an adjacent mast segment 3, 3a, 3b, 3c, 3d or the turntable 12 pivotable.
  • a central control unit 52 is provided, which converts a travel command, which specifies a desired direction of movement and travel speed of the mast tip 14 of the articulated mast 10 or an end hose attached thereto, into control signals for the drive units 2, 2a, 2b, 2c, 2d ( Figures 1 to 3 ) implemented.
  • a corresponding driving command can be generated.
  • the control lever 16 is moved in an adjustment direction, and the central control unit 52 receives the generated driving command.
  • the central control unit 52 then converts the driving command into control signals for the drive units 2, 2a, 2b, 2c, 2d ( Figures 1 to 3 ) around. These control signals are received by the local control unit (ECU) and converted into switching signals for the respective proportional valve 28 ( 3 ) or its stepping motor 31 ( 3 ) converted.
  • the desired travel speed is also specified with the travel command.
  • the central control unit 52 switches to drive the drive units 2, 2a, 2b, 2c, 2d ( Figures 1 to 3 ) the additional pressure supply unit 6 ( 1 and 2) the first pressure supply unit 5 ( 1 and 2) to, this is preferably done automatically.
  • the control unit can be switched between several operating states, with the automatic activation of the additional pressure supply unit 6 ( 1 and 2) preferably only occurs in a specific operating state. The user selects this special operating state, in particular when folding and unfolding the articulated mast 10, in order to select the maximum possible or permissible speeds for the drive units 2, 2a, 2b, 2c, 2d ( 1 u. 2) to be able to make optimal use of it and thus to save time when erecting the mast.

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

Claims (6)

  1. Circuit de commande électrohydraulique (1) muni d'organes d'entraînement actionnés hydrauliquement (2, 2a, 2b, 2c, 2d), au moyen desquels des segments de mât (3, 3a, 3b, 3c, 3d) d'un manipulateur (4), en particulier d'un manipulateur de grande taille pour pompes à béton sur camion, muni d'un mât articulé déployable (10), qui présente une sellette rotative (12) pouvant tourner autour d'un axe vertical et une pluralité de segments de mât (3, 3a, 3b, 3c, 3d), les segments de mât (3, 3a, 3b, 3c, 3d) pouvant pivoter de manière limitée sur des articulations (13, 13a, 13b, 13c, 13d) respectivement autour d'axes d'articulation par rapport à un segment de mât voisin (3, 3a, 3b, 3c, 3d) ou par rapport à la sellette rotative (12) au moyen d'un organe d'entraînement respectif, sont réglables au regard de leur orientation, munis respectivement d'une soupape proportionnelle (28) à commande électrique associée aux organes d'entraînement, qui est reliée à des conduites de travail hydrauliques (29, 30) de l'organe d'entraînement respectif (2, 2a, 2b, 2c, 2d) pour sa commande en mode de fonctionnement normal, la soupape proportionnelle respective (28) étant reliée à une conduite d'alimentation en pression (24) et à une conduite de retour (25), une soupape de secours (36) étant reliée pour le mode de fonctionnement de secours aux conduites de travail hydrauliques (29, 30) de l'organe d'entraînement respectif (2, 2a, 2b, 2c, 2d) pour sa commande dans le mode de fonctionnement de secours,
    caractérisé en ce que
    dans le mode de fonctionnement secours, la soupape de secours (36) est commandée électriquement par l'intermédiaire d'une unité de commande de secours (56), l'unité de commande de secours (56) étant activée pour le mode de fonctionnement de secours avec un commutateur à clé (53), une alimentation en tension (54) avec une tension constante vers l'unité de commande de secours (56) étant activée au moyen du commutateur à clé (53), des commutateurs et/ou des boutons-poussoirs étant agencés sur l'unité de commande de secours (56), la soupape de secours (36) pouvant être alimentée avec la tension constante par actionnement d'au moins un des commutateurs et/ou des boutons-poussoirs, afin de déplacer l'organe d'entraînement associé (2, 2a, 2b, 2c, 2d), les commutateurs et/ou les boutons-poussoirs permettant, d'une part, de sélectionner l'articulation (13, 13a, 13b, 13c, 13d) à commander ou la sellette rotative (12) du mât articulé (10) et, d'autre part, de définir la direction de déplacement pour l'articulation (13, 13a, 13b, 13c, 13d) sélectionnée ou la sellette rotative (12) ou l'organe d'entraînement respectif (2, 2a, 2b, 2c, 2d).
  2. Circuit de commande (1) selon la revendication 1, caractérisé en ce que l'unité de commande de secours (56) est reliée à l'alimentation en tension (54) et à la soupape de secours (36).
  3. Circuit de commande (1) selon la revendication 2, caractérisé en ce que l'unité de commande de secours (56) est reliée à l'alimentation en tension (54) et à la soupape de secours (36) par l'intermédiaire d'un câble mobile (57).
  4. Circuit de commande (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que la soupape proportionnelle respective (28) peut être commandée par un moteur pas à pas (31), le moteur pas à pas (31) de la soupape proportionnelle (28) pouvant être commandé par une liaison de données BUS.
  5. Circuit de commande (1) selon la revendication 4, caractérisé en ce qu'un dispositif de commande (ECU) est aménagé sur l'organe d'entraînement respectif (2, 2a, 2b, 2c, 2d) pour recevoir des signaux de données BUS et pour commander le moteur pas à pas (31) de la soupape proportionnelle (28).
  6. Manipulateur (4), en particulier manipulateur de grande taille pour pompes à béton sur camion, comprenant un mât articulé déployable (10), qui présente une sellette rotative (12) pouvant tourner autour d'un axe vertical (11) et une pluralité de segments de mât (3, 3a, 3b, 3c, 3d), les segments de mât (3, 3a, 3b, 3c, 3d) peuvent pivoter de manière limitée sur des articulations (13, 13a, 13b, 13c, 13d) respectivement autour d'axes d'articulation par rapport à un segment de mât voisin (3, 3a, 3b, 3c, 3d) ou à la sellette rotative (12), caractérisé par un circuit de commande électrohydraulique (1) selon l'une quelconque des revendications précédentes.
EP17720371.8A 2016-04-11 2017-04-10 Circuit de commande électrohydraulique pour manipulateur de grande taille Active EP3443182B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016106616.8A DE102016106616B4 (de) 2016-04-11 2016-04-11 Elektrohydraulischer Steuerkreis für einen Großmanipulator
PCT/EP2017/058510 WO2017178413A1 (fr) 2016-04-11 2017-04-10 Circuit de commande électrohydraulique pour manipulateur de grande taille

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EP3443182A1 EP3443182A1 (fr) 2019-02-20
EP3443182B1 true EP3443182B1 (fr) 2022-01-26

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EP (1) EP3443182B1 (fr)
CN (1) CN109312569A (fr)
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WO (1) WO2017178413A1 (fr)

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US10900244B2 (en) 2021-01-26
CN109312569A (zh) 2019-02-05
EP3443182A1 (fr) 2019-02-20
DE102016106616A1 (de) 2017-10-12
DE102016106616B4 (de) 2023-07-06
US20190119934A1 (en) 2019-04-25
WO2017178413A1 (fr) 2017-10-19

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