EP3763949B1 - Verfahren zur steuerung eines hydrauliksystems, hydrauliksystem und kran - Google Patents

Verfahren zur steuerung eines hydrauliksystems, hydrauliksystem und kran Download PDF

Info

Publication number
EP3763949B1
EP3763949B1 EP19185008.0A EP19185008A EP3763949B1 EP 3763949 B1 EP3763949 B1 EP 3763949B1 EP 19185008 A EP19185008 A EP 19185008A EP 3763949 B1 EP3763949 B1 EP 3763949B1
Authority
EP
European Patent Office
Prior art keywords
flow rate
cylinder
return flow
chamber
hydraulic fluid
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
EP19185008.0A
Other languages
English (en)
French (fr)
Other versions
EP3763949A1 (de
Inventor
José Luis LANAS USÁN
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.)
Hiab AB
Original Assignee
Hiab AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hiab AB filed Critical Hiab AB
Priority to EP19185008.0A priority Critical patent/EP3763949B1/de
Priority to DK19185008.0T priority patent/DK3763949T3/da
Publication of EP3763949A1 publication Critical patent/EP3763949A1/de
Application granted granted Critical
Publication of EP3763949B1 publication Critical patent/EP3763949B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control 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
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
    • 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
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
    • 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
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/634—Electronic controllers using input signals representing a state of a 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
    • F15B2211/665—Methods of control using electronic components
    • 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
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members

Definitions

  • the present invention relates to a method of controlling a hydraulic system arranged to operate a working equipment, wherein the hydraulic system comprises
  • the invention also relates to such a hydraulic system, as well as a crane provided with such a hydraulic system.
  • a hydraulic system is known from
  • Cranes having hydraulic systems of the type defined hereinabove are well known.
  • the maximum total return flow rate of the cylinders may be high, and sometimes substantially higher than the maximum total flow rate delivered by the pump into the respective cylinders.
  • pressure spikes and pressure drops in the return flow can be harmful to components of the hydraulic system that are subjected to the total return flow.
  • Such components may include hoses, valves et cetera.
  • One solution to the above-mentioned problem is to dimension the components subjected to such elevated stress caused by large fluid return rates such that they are able of coping with the pressure spikes caused by elevated total return flow rates. This will mean that the components are over-dimensioned for most operations performed by the crane, which do not include elevated total return flow. Over-dimensioning is costly, and it often results in bulkier and heavier components, and should therefore be avoided if possible.
  • the object of the invention is achieved by means of a method of controlling a hydraulic system arranged to operate a working equipment, wherein the hydraulic system comprises
  • the method is characterised in that, for each cylinder the associated piston has a first end surface area directed towards the first chamber and a second end surface area directed towards the second chamber, and in that
  • each control valve is configured to regulate the flow rate into its associated cylinder either in a stepwise manner or in a step-less manner between zero and maximum flow rate, wherein the information regarding the flow rate of hydraulic fluid into each respective cylinder is based on information regarding a control position of each respective control valve, and that the method comprises the step of identifying said control position of the control valve.
  • the control valves may be referred to as proportional control valves, in particular a load sensing proportional control valve.
  • the flow rate to a cylinder is proportional to a control position of a manually operated element of a user input device.
  • the control position may be the position of a part of the valve that is indicative of the degree of opening of the valve, and thus the flow rate into the associated cylinder.
  • Said part may comprise a movable spool, and the means for determining said control position may comprise a spool position sensor arranged to measure how much the spool has been displaced
  • the spool position sensor may be connected to the control unit to communicate measurement results to the control unit.
  • the hydraulic system comprises a user input device which comprises a manually operable element for operating the working equipment, and the flow rate through the respective control valve into each cylinder is determined on basis of the input from the manually operated element.
  • the operator has the user input device for controlling a working equipment, such as a crane, operated by the hydraulic system.
  • the user input device may be mounted to the crane or a separate unit connected to the control system of the crane by cables or wireless transceivers.
  • the operator generates user input to manoeuvre the crane by pushing/pulling levers, buttons, touch screen etc. defined by said manually operable element.
  • a control system of the hydraulic system may then issue control signals to the control valves based on the received user input.
  • the method is characterised in that, if it is determined that the total return flow rate is equal to or above said predetermined return flow rate limit, the flow rate of the hydraulic fluid into the cylinders is reduced with a reduction ratio such that the predetermined return flow rate limit is not exceeded.
  • the method is characterised in that, if it is determined that the total return flow rate approaches said predetermined return flow rate limit with a pace which is above a predetermined pace limit, and within a predetermined flow rate range, the flow rate of the hydraulic fluid into the cylinders is reduced with a reduction ratio such that the predetermined return flow rate limit is not exceeded.
  • said reduction ratio is equal for all the cylinders.
  • the object of the invention is also achieved by means of a hydraulic system for operating a working equipment, said hydraulic system comprising:
  • the hydraulic system is characterised in that, for each cylinder the associated piston has a first end surface area directed towards the first chamber and a second end surface area directed towards the second chamber, and in that the means for determining the total return flow rate comprises the control unit, which is configured to estimate the total return flow rate on basis of information regarding the flow rate of hydraulic fluid into each respective cylinder, on basis of information regarding into which of the first and second chamber of the respective cylinder that the hydraulic fluid flows, on basis of an area ratio between the first end surface area and the second end surface area of the piston of the respective cylinder, and on basis of information regarding the flow rate through the pump.
  • each control valve is configured to regulate the flow rate into its associated cylinder either in a stepwise manner or in a step-less manner between zero and maximum flow rate
  • the means for determining the flow rate of hydraulic fluid into each respective cylinder comprises means for determining a control position of each respective control valve.
  • the control position may be the position of a part of the valve that is indicative of the degree of opening of the valve, and thus the flow rate into the associated cylinder.
  • Said part may comprise a movable spool
  • the means for determining said control position may comprise a spool position sensor arranged to measure how much the spool has been displaced, the spool position sensor may be connected to the control unit to communicate measurement results to the control unit.
  • the hydraulic system comprises a user input device which comprises a manually operable element for operating the working equipment, and the control unit is configured to determine a position of the manually operable element and to estimate the flow through each control valve to its associated cylinder on basis thereof.
  • control unit if it is determined by the control unit that the total return flow rate is equal to or above said predetermined return flow rate limit, the control unit is configured to reduce the flow rate of the hydraulic fluid into the cylinders with a reduction ratio such that the predetermined return flow rate limit is not exceeded.
  • control unit is configured to determine the rate with which the total return flow approaches the predetermined return flow rate limit, wherein, if it is determined by the control unit that the total return flow rate approaches said predetermined return flow rate limit with a pace which is above a predetermined pace limit, and within a predetermined flow rate range, the control unit is configured to reduce the flow rate of the hydraulic fluid into the cylinders with a reduction ratio such that the predetermined return flow rate limit is not exceeded.
  • said reduction ratio is equal for all the cylinders.
  • the object of the invention is also achieved by means of a crane, such as a loader crane, characterised in that it comprises a hydraulic system according to the present invention.
  • the hydraulic system may comprise a computer program comprising a computer program code for causing a computer to implement a method according to the invention when the computer program is executed in the computer.
  • the hydraulic system may further comprise a computer program product comprising a non-transitory data storage medium which can be read by a computer and on which the program code of a computer program as defined hereinabove is stored.
  • a control system of the hydraulic system may comprise an electronic control unit comprising an execution means and a data storage medium which is connected to the execution means and on which the computer program code of a computer program as defined hereinabove is stored.
  • Fig. 1 illustrates a hydraulic loader crane which preferably is equipped with a hydraulic system according to the present invention.
  • the crane comprises a body 1, a first boom section 2 articulated to the body 1, an outer boom 3 articulated to the first boom section 2, and an extension boom 4 fixed to the outer boom 3.
  • the first boom section 2 is operated by means of a hydraulic lifting cylinder 5
  • the outer boom 3 is operated by means of a hydraulic outer boom cylinder 6
  • the extension boom is operated by means of a hydraulic extension boom cylinder 7.
  • the body 1 may comprise a crane column which is rotatably mounted to a crane base (not shown in Fig. 1 ) so as to be rotatable in relation to the crane base about an essentially vertical axis of rotation.
  • the rotatable crane column is operated by a swivel mechanism e.g. based on a rack and pinion design comprising a hydraulic cylinder, sometimes referred to as a slewing cylinder.
  • the swivel mechanism may be a so called endless slewing system comprising a motor with gear and slewing bearing to get a free rotation.
  • boom extensions operated by hydraulic extension boom cylinders may be telescopically mounted to the extension boom 4 to give the crane additional reach.
  • One or more so called jibs may further be mounted to the outer boom 3.
  • a jib is an additional crane boom which may be mounted to the outer end of the outer boom by means of a connecting unit with an insertion part that is received inside the foremost telescopic crane boom section of the outer boom.
  • Jibs add further booms and hydraulic extension boom cylinders to the crane and are connected to the hydraulic system of the crane.
  • the lifting cylinder 5, the outer boom cylinder 6 and the extension boom cylinder 7 form part of a hydraulic system disclosed in fig. 2 .
  • Each of said cylinders 5, 6, 7 is equipped with a piston 8, 9, 10 which is slidingly arranged in the cylinder 5, 6, 7, wherein each piston 8, 9, 10 divides its associated cylinder chamber 5, 6, 7 into a first chamber 11, 12, 13 and a second chamber 14, 15, 16.
  • Each first chamber 11, 12, 13 is provided with a first port 17, 18, 19 through which hydraulic fluid is able to enter and to exit the first chamber 11, 12, 13, and each second chamber 14, 15, 16 is provided with a second port 20, 21, 22 through which hydraulic fluid is able to enter and to exit the second chamber 14, 15, 16.
  • the hydraulic system further comprises a tank 23 for housing hydraulic fluid and a pump 24 configured to pump hydraulic fluid from the tank 23 to each cylinder 5, 6, 7.
  • the hydraulic system further comprises a control unit 28 configured to determine the total return flow rate Rtot from said cylinders 5, 6, 7 to the tank 23.
  • the control unit 28 is also configured to control the flow rate of hydraulic fluid to said first or second ports 17-22 of the cylinders 5-7 on basis of the determined total return flow rate Rtot, such that a predetermined return flow rate limit Rmax is not exceeded.
  • the control unit 28 forms part of a control system of the hydraulic system and may comprise an electronic control unit comprising an execution means and a data storage medium which is connected to the execution means and on which a computer program code of a computer program is stored.
  • the computer program may comprise a computer program code for causing a computer to implement a method according to the invention when the computer program is executed in the computer.
  • the control unit 28 may also comprise a computer program product comprising a non-transitory data storage medium which can be read by a computer and on which the program code of a computer program as defined hereinabove is stored.
  • a user input device 32 configured to allow a user to send control signals to the control unit 28 on basis of which the operation of the control valves is controlled also forms part of the control system.
  • the user input device 32 may be remote from the crane structure. For example it may comprise a remote control device configured to be carried by an operator
  • the total return flow rate Rtot may be obtained by providing one or more flow meters in the hydraulic system, for the purposes determining Rtot by direct measurement of the return flow rate.
  • the control unit 28 is configured to estimate, or calculate, Rtot on basis of input that it receives continually regarding the operation and the structural characteristics of the cylinders 5-7.
  • Input from sensors like flow meters, pressure sensors and/or temperature sensors located at various positions in the hydraulic system may further be used to verify that the estimations are reasonable. Such sensor input may be further used to modify the estimations, if needed.
  • the associated piston 8, 9, 10 has a first end surface area A1 directed towards the first chamber 11, 12, 13 and a second end surface area A2 directed towards the second chamber 14, 15, 16.
  • the return flow rate Ri from each cylinder 5, 6, 7 is thus dependent on the area ratio A1/A2 and on the direction of flow (i.e. if the hydraulic fluid flows into the first port 17, 18, 19 or into the second port 20, 21, 22), and, needless to say, the flow rate into the cylinder.
  • the ratio A1/A2 may be different for different cylinders. For some cylinders, like the slewing cylinder, the ratio A1/A2 may be 1.
  • the control unit 28 is thus configured to estimate the total return flow rate Rtot on basis of information regarding the flow rate of hydraulic fluid into each respective cylinder, on basis of information regarding into which of the first and second chamber 11-16 of the respective cylinder 5, 6, 7 that the hydraulic fluid flows, on basis of an area ratio A1/A2 between the first end surface area A1 and the second end surface area A2 of the piston 8, 9, 10 of the respective cylinder 5, 6, 7, and on basis of information regarding the flow rate through the pump 24.
  • Each control valve 25, 26, 27 is configured to regulate the flow rate into its associated cylinder 5, 6, 7 either in a stepwise manner or in a step-less manner between zero and maximum flow rate, by displacing a spool in the control valve.
  • the control valves 25, 26, 27 are proportional valves arranged so as to regulate the flow rate through the valve 25, 26, 27 towards the respective cylinder 5, 6, 7 on basis of an order from an operator.
  • the input user device 32 comprises manually operable elements, for example levers, knobs, touch screens or the like, which are schematically represented with reference number 29, 30, 31 in fig. 2 .
  • the manually operable element 29, 30, 31 is arranged on a remote control device which is physically separated from the control valves 25, 26, 27 and designed so as to enable an operator to operate the crane functions from a remote position.
  • the control valves may be controlled with an input user device physically connected to the control valves.
  • Each control valve may further be monitored by a spool position sensor (33, 34, 35) arranged to measure how much the spool has been displaced, the spool position sensor may be connected to the control unit 28 to communicate measurement results to the control unit 28.
  • the control unit 28 is thus configured to estimate the return flow rate Ri of each cylinder 5, 6, 7 on basis of the position of said manually operable element 29, 30 ,31, which gives an indirect information about the fluid flow rate into each respective cylinder 5, 6, 7 and, or, by input from the measurements of the spool position sensor (33, 34, 35).
  • the measurements from the spool position sensor may further be combined with information regarding the flow rate through the pump (24).
  • cylinders In addition to cylinders other hydraulic components such as motors or hoists may further be part of the hydraulic system and generate contributions to the return flow.
  • the output flow from these components may further be estimated in accordance with user input signals and input flow, and also be reduced using a similar method as for the cylinders.
  • Regenerative cylinders may further be part of e.g. the hydraulic system for the extension boom system. When these cylinders are in regenerative mode there is no, or little, return flow. This should of course be taken into account in the estimations of the return flow.
  • the control system may monitor the mode of the regenerative cylinders (if they are in normal operation or regenerative operation mode) and the estimations of return flow may be performed accordingly.
  • control unit 28 If it is determined by the control unit 28 that the total return flow rate Rtot is equal to or above said predetermined return flow rate limit Rmax, the control unit 28 is configured to reduce the flow rate of the hydraulic fluid into the cylinders 5, 6, 7 with a reduction ratio Red such that the predetermined return flow rate limit Rmax is not exceeded.
  • control unit 28 is also configured to calculate the rate V (measured, for example, in litres/seconds 2 , l/s 2 ) with which the total return flow approaches the predetermined return flow rate limit Rmax. If it is determined by the control unit 28 that the total return flow rate approaches said predetermined return flow rate limit Rmax with a pace which is above a predetermined pace limit Vmax, the control unit 28 is configured to reduce the flow rate increase of the hydraulic fluid into the cylinders with a reduction ratio such that the predetermined return flow rate limit Rmax is not exceeded. Preferably, the reduction of the flow rate increase is applied in a predetermined flow rate range close to the predetermined return flow rate limit.
  • the above-mentioned reduction ratio is equal for all the cylinders.
  • Fig. 3 shows a flow chart in which an embodiment of the method according to the invention is disclosed.
  • Steps S1-S7 are repeated repeatedly during operation of the crane comprising the hydraulic system in order to make sure that Rmax is not exceeded.
  • the control unit 28 may be configured to allow occasional exceeding of Rmax under special circumstances, but, preferably, the inventive method is applied continually during operation of the crane.
  • Rmax is a predetermined return flow rate limit.
  • one or more return flow rate limits may be defined, e.g. one limit that may be occasionally exceeded and one limit that should not be exceeded due to risk of system failure. The reduction rate may be further increased if it is estimated that the limit that should not be exceeded is approached.
  • the pump 24 operates at constant nominal effect.
  • the output of the pump 24 could be reduced with a reduction ratio corresponding to Rtot/Rmax.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (15)

  1. Verfahren zum Steuern eines hydraulischen Systems, das zum Betreiben einer Arbeitsausrüstung angeordnet ist, wobei das hydraulische System umfasst:
    - einen Satz von hydraulischen Zylindern (5, 6, 7), wobei jeder Zylinder (5, 6, 7) mit einem Kolben (8, 9, 10) ausgestattet ist, der gleitend in dem Zylinder (5, 6, 7) angeordnet ist, wobei jeder Kolben (8, 9, 10) seine zugehörige Zylinderkammer in eine erste Kammer (11, 12, 13) und eine zweite Kammer (14, 15, 16) unterteilt, wobei die erste Kammer (11, 12, 13) mit einem ersten Anschluss (17, 18, 19) versehen ist, durch den Hydraulikfluid in die erste Kammer (11, 12, 13) eintreten und diese verlassen kann, und die zweite Kammer (14, 15, 16) mit einem zweiten Anschluss (20, 21, 22) versehen ist, durch den Hydraulikfluid in die zweite Kammer (14, 15, 16) eintreten und diese verlassen kann,
    - einen Tank (23) zur Aufnahme von Hydraulikfluid,
    - eine Pumpe (24), die so konfiguriert ist, dass sie Hydraulikfluid aus dem Tank (23) zu jedem Zylinder pumpt,
    - einen Satz von hydraulischen Steuerventilen (25, 26, 27), eines für jeden Zylinder, wobei jedes Steuerventil (25, 26, 27) so konfiguriert ist, dass es einen Fluss von Hydraulikfluid von der Pumpe (24) entweder zum ersten Anschluss (17, 18, 19) oder zum zweiten Anschluss (20, 21, 22) seines zugehörigen Zylinders steuert und gleichzeitig einen Rückfluss vom anderen des ersten Anschlusses (17, 18, 19) und des zweiten Anschlusses (20, 21, 22) seines zugehörigen Zylinders zum Tank (23) ermöglicht, wobei das Verfahren dadurch gekennzeichnet ist, dass es die Schritte umfasst:
    - Ermitteln der gesamten Rückflussrate von den Zylindern (5, 6, 7) zum Tank (23), und
    - Steuern der Durchflussrate des Hydraulikfluids zum ersten oder zweiten Anschluss (17-22) der Zylinder (5, 6, 7) auf der Grundlage der ermittelten Gesamtrückflussrate, so dass eine vorgegebene Rückflussratengrenze nicht überschritten wird.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass für jeden Zylinder der zugehörige Kolben (8, 9, 10) eine erste, zu der ersten Kammer (11, 12, 13) gerichtete Endfläche und eine zweite, zu der zweiten Kammer (11, 12, 13) gerichtete Endfläche aufweist, und dass
    - der Schritt zum Ermitteln der Gesamtrückflussrate eine Schätzung der Gesamtrückflussrate auf der Grundlage von Informationen bezüglich der Durchflussrate von Hydraulikfluid in jeden jeweiligen Zylinder, auf der Grundlage von Informationen bezüglich dessen, in welche der ersten und zweiten Kammer (14, 15, 16) des jeweiligen Zylinders das Hydraulikfluid strömt, auf der Grundlage eines Flächenverhältnisses zwischen der ersten Endfläche und der zweiten Endfläche des Kolbens (8, 9, 10) des jeweiligen Zylinders umfasst.
  3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass jedes Steuerventil (25, 26, 27) so konfiguriert ist, dass es die Durchflussrate in den zugehörigen Zylinder entweder stufenweise oder stufenlos zwischen Null und maximaler Durchflussrate regelt, und dass die Informationen bezüglich der Durchflussrate von Hydraulikfluid in jeden jeweiligen Zylinder auf Informationen bezüglich einer Steuerposition jedes jeweiligen Steuerventils (25, 26, 27) basieren, und dass das Verfahren den Schritt zur Identifizierung der Steuerposition des Steuerventils (25, 26, 27) umfasst.
  4. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass das hydraulische System eine Benutzereingabevorrichtung (32) umfasst, die ein manuell bedienbares Element (29, 30, 31) zur Bedienung der Arbeitsausrüstung umfasst, und dass die Durchflussrate durch das jeweilige Steuerventil (25, 26, 27) in jeden Zylinder (5, 6, 7) auf der Grundlage der Eingabe von dem manuell bedienten Element ermittelt wird.
  5. Verfahren nach einem der Ansprüche 1 - 4, dadurch gekennzeichnet, dass, wenn ermittelt wird, dass die gesamte Rückflussrate gleich oder über dem vorbestimmten Rückflussraten-Grenzwert liegt, die Durchflussrate des Hydraulikfluids in die Zylinder (5, 6, 7) mit einem solchen Reduktionsverhältnis reduziert wird, dass der vorbestimmte Rückflussraten-Grenzwert nicht überschritten wird.
  6. Verfahren nach einem der Ansprüche 1 - 5, dadurch gekennzeichnet, dass, wenn ermittelt wird, dass sich die gesamte Rückflussrate dem vorbestimmten Rückflussraten-Grenzwert mit einer Geschwindigkeit nähert, die über einem vorbestimmten Geschwindigkeitsgrenzwert und innerhalb eines vorbestimmten Durchflussratenbereichs liegt, die Durchflussrate des Hydraulikfluids in die Zylinder (5, 6, 7) mit einem solchen Reduktionsverhältnis reduziert wird, dass der vorbestimmte Rückflussraten-Grenzwert nicht überschritten wird.
  7. Verfahren nach einem der Ansprüche 5 oder 6, dadurch gekennzeichnet, dass das Reduktionsverhältnis für alle Zylinder (5, 6, 7) gleich ist.
  8. Hydraulisches System zum Betreiben einer Arbeitsausrüstung, wobei das hydraulische System umfasst:
    - einen Satz von Hydraulikzylindern (5, 6, 7), wobei jeder Zylinder mit einem Kolben (8, 9, 10) ausgestattet ist, der gleitend in dem Zylinder angeordnet ist, wobei jeder Kolben (8, 9, 10) seine zugehörige Zylinderkammer in eine erste Kammer (11, 12, 13) und eine zweite Kammer (14, 15, 16) unterteilt, wobei die erste Kammer (11, 12, 13) mit einem ersten Anschluss (17, 18, 19) versehen ist, durch den Hydraulikfluid in die erste Kammer (11, 12, 13) eintreten und diese verlassen kann, und die zweite Kammer (14, 15, 16) mit einem zweiten Anschluss (20, 21, 22) versehen ist, durch den Hydraulikfluid in die zweite Kammer (14, 15, 16) eintreten und diese verlassen kann,
    - einen Tank (23) zur Aufnahme von Hydraulikfluid,
    - eine Pumpe (24), die so konfiguriert ist, dass sie Hydraulikfluid aus dem Tank (23) zu jedem Zylinder pumpt,
    - einen Satz von hydraulischen Steuerventilen (25, 26, 27), eines für jeden Zylinder, wobei jedes Steuerventil (25, 26, 27) so konfiguriert ist, dass es einen Fluss von Hydraulikfluid von der Pumpe (24) entweder zum ersten Anschluss (17, 18, 19) oder zum zweiten Anschluss (20, 21, 22) seines zugehörigen Zylinders steuert und gleichzeitig einen Rückfluss vom anderen des ersten Anschlusses (17, 18, 19) und des zweiten Anschlusses (20, 21, 22) seines zugehörigen Zylinders zum Tank (23) ermöglicht, wobei das hydraulische System dadurch gekennzeichnet ist, dass es umfasst:
    - ein Mittel zum Ermitteln der gesamten Rückflussrate von den Zylindern (5, 6, 7) zum Tank (23), und
    - eine Steuereinheit (28), die konfiguriert ist zum Steuern der Durchflussrate des Hydraulikfluids zum ersten oder zweiten Anschluss (17 - 22) der Zylinder (5, 6, 7) auf der Grundlage der ermittelten Gesamtrückflussrate, so dass eine vorgegebene Rückflussratengrenze nicht überschritten wird.
  9. Hydrauliksystem nach Anspruch 8, dadurch gekennzeichnet, dass für jeden Zylinder der zugehörige Kolben (8, 9, 10) eine erste, zu der ersten Kammer (11, 12, 13) gerichtete Endfläche und eine zweite, zu der zweiten Kammer (11, 12, 13) gerichtete Endfläche aufweist, und dass
    - das Mittel zum Ermitteln der Gesamtrückflussrate die Steuereinheit (28) aufweist, die konfiguriert ist zur Schätzung der Gesamtrückflussrate auf der Grundlage von Informationen bezüglich der Durchflussrate von Hydraulikfluid in jeden jeweiligen Zylinder, auf der Grundlage von Informationen bezüglich dessen, in welche der ersten und zweiten Kammer (14, 15, 16) des jeweiligen Zylinders das Hydraulikfluid strömt, auf der Grundlage eines Flächenverhältnisses zwischen der ersten Endfläche und der zweiten Endfläche des Kolbens (8, 9, 10) des jeweiligen Zylinders.
  10. Hydraulisches System nach Anspruch 9, dadurch gekennzeichnet, dass jedes Steuerventil (25, 26, 27) so konfiguriert ist, dass es die Durchflussrate in den zugehörigen Zylinder entweder stufenweise oder stufenlos zwischen Null und maximaler Durchflussrate regelt, und dass das Mittel zum Ermitteln der Durchflussrate von Hydraulikfluid in jeden jeweiligen Zylinder ein Mittel zum Ermitteln einer Steuerposition jedes jeweiligen Steuerventils (25, 26, 27) umfasst.
  11. Hydraulisches System nach einem der Ansprüche 8 oder 9, dadurch gekennzeichnet, dass es eine Benutzereingabevorrichtung (32) umfasst, die ein manuell betätigbares Element (29, 30, 31) zum Betätigen der Arbeitsausrüstung umfasst, und dass die Steuereinheit (28) so konfiguriert ist, dass sie eine Position des manuell betätigbaren Elements (29, 30, 31) ermittelt und auf deren Grundlage den Durchfluss durch jedes Steuerventil (25, 26, 27) zu seinem zugehörigen Zylinder (5, 6, 7) schätzt.
  12. Hydrauliksystem nach einem der Ansprüche 9-11, dadurch gekennzeichnet, dass, wenn durch die Steuereinheit (28) ermittelt wird, dass die gesamte Rückflussrate gleich oder über dem vorbestimmten Rückflussraten-Grenzwert liegt, die Steuereinheit (28) konfiguriert ist, die Durchflussrate des Hydraulikfluids in die Zylinder (5, 6, 7) mit einem solchen Reduktionsverhältnis zu reduzieren, dass der vorbestimmte Rückflussraten-Grenzwert nicht überschritten wird.
  13. Hydrauliksystem nach einem der Ansprüche 9-12, dadurch gekennzeichnet, dass die Steuereinheit (28) konfiguriert ist, um die Rate zu ermitteln, mit der sich der Gesamtrückfluss der vorbestimmten Rückflussratengrenze nähert, und dass, wenn durch die Steuereinheit (28) ermittelt wird, dass sich die Gesamtrückflussrate der vorbestimmten Rückflussratengrenze mit einer Geschwindigkeit nähert, die oberhalb einer vorbestimmten Geschwindigkeitsgrenze und innerhalb eines vorbestimmten Durchflussratenbereichs liegt, die Steuereinheit (28) konfiguriert ist, um die Durchflussrate des Hydraulikfluids in die Zylinder (5, 6, 7) mit einem Reduktionsverhältnis zu reduzieren, so dass die vorbestimmte Rückflussratengrenze nicht überschritten ist.
  14. Hydraulisches System nach einem der Ansprüche 12 oder 13, dadurch gekennzeichnet, dass das Reduktionsverhältnis für alle Zylinder (5, 6, 7) gleich ist.
  15. Kran, dadurch gekennzeichnet, dass er ein Hydrauliksystem nach einem der Ansprüche 8 bis 14 umfasst.
EP19185008.0A 2019-07-08 2019-07-08 Verfahren zur steuerung eines hydrauliksystems, hydrauliksystem und kran Active EP3763949B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19185008.0A EP3763949B1 (de) 2019-07-08 2019-07-08 Verfahren zur steuerung eines hydrauliksystems, hydrauliksystem und kran
DK19185008.0T DK3763949T3 (da) 2019-07-08 2019-07-08 Fremgangsmåde til at kontrollere et hydrauliksystem, et hydrauliksystem og en kran

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19185008.0A EP3763949B1 (de) 2019-07-08 2019-07-08 Verfahren zur steuerung eines hydrauliksystems, hydrauliksystem und kran

Publications (2)

Publication Number Publication Date
EP3763949A1 EP3763949A1 (de) 2021-01-13
EP3763949B1 true EP3763949B1 (de) 2022-02-23

Family

ID=67211621

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19185008.0A Active EP3763949B1 (de) 2019-07-08 2019-07-08 Verfahren zur steuerung eines hydrauliksystems, hydrauliksystem und kran

Country Status (2)

Country Link
EP (1) EP3763949B1 (de)
DK (1) DK3763949T3 (de)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0668281B2 (ja) * 1985-09-30 1994-08-31 株式会社小松製作所 流量制御方法及び装置
CN101824916B (zh) * 2010-03-26 2011-11-09 长沙中联重工科技发展股份有限公司 混凝土布料设备臂架复合运动控制系统、方法和电控系统

Also Published As

Publication number Publication date
DK3763949T3 (da) 2022-05-23
EP3763949A1 (de) 2021-01-13

Similar Documents

Publication Publication Date Title
US11002297B2 (en) Method to automatically detect parameter for pressure dynamics control
US8726647B2 (en) Hydraulic control system having cylinder stall strategy
US6725131B2 (en) System and method for controlling hydraulic flow
US9303387B2 (en) Hydraulic system with open loop electrohydraulic pressure compensation
US8813486B2 (en) Hydraulic control system having cylinder stall strategy
US20030121409A1 (en) System and method for controlling hydraulic flow
US20170292243A1 (en) Construction machine
US11808258B2 (en) Calibration system for variable capacity hydraulic pump
US10508415B2 (en) Swing control apparatus of construction equipment and control method thereof
US20040112207A1 (en) Hydraulic actuator control
EP3763949B1 (de) Verfahren zur steuerung eines hydrauliksystems, hydrauliksystem und kran
JP7114429B2 (ja) 建設機械
JP2020051110A5 (de)
JP7400791B2 (ja) 目詰まり判定システム、目詰まり判定方法、および目詰まり判定プログラム
JP7285356B1 (ja) 作業機械の診断装置
JP6901441B2 (ja) 油圧駆動装置
EP3599382B1 (de) Hydrauliksystem und verfahren zur steuerung der geschwindigkeit und des drucks eines hydraulikzylinders
WO2009149712A1 (en) A control system for controlling a flow of a fluid from a power source
EP4230809A1 (de) Hydraulisches steuerungssystem für eine maschine, maschine und verfahren zum steuern von ausleger- und anbauteilbewegungen einer maschine
WO2017175814A1 (ja) 油圧ポンプの制御システム
JPH06504512A (ja) 油圧クレーン用負荷検知及び圧力補償制御システムのパンクチャーを防止する方法及び装置
JP6446909B2 (ja) 作業機の荷重測定装置
JP2024032132A (ja) 油圧システムにおけるキャリブレーションシステムおよびキャリブレーション方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

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

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: HIAB AB

17P Request for examination filed

Effective date: 20210518

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20211102

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602019011796

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1470674

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220315

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

Effective date: 20220518

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20220223

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

Ref country code: SE

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

Effective date: 20220223

Ref country code: RS

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

Effective date: 20220223

Ref country code: PT

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

Effective date: 20220623

Ref country code: NO

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

Effective date: 20220523

Ref country code: NL

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

Effective date: 20220223

Ref country code: LT

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

Effective date: 20220223

Ref country code: HR

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

Effective date: 20220223

Ref country code: ES

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

Effective date: 20220223

Ref country code: BG

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

Effective date: 20220523

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

Ref country code: PL

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

Effective date: 20220223

Ref country code: LV

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

Effective date: 20220223

Ref country code: GR

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

Effective date: 20220524

Ref country code: FI

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

Effective date: 20220223

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

Ref country code: IS

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

Effective date: 20220623

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

Ref country code: SM

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

Effective date: 20220223

Ref country code: SK

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

Effective date: 20220223

Ref country code: RO

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

Effective date: 20220223

Ref country code: EE

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

Effective date: 20220223

Ref country code: CZ

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

Effective date: 20220223

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602019011796

Country of ref document: DE

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

Ref country code: AL

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

Effective date: 20220223

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

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

26N No opposition filed

Effective date: 20221124

REG Reference to a national code

Ref country code: AT

Ref legal event code: UEP

Ref document number: 1470674

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220223

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

Ref country code: SI

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

Effective date: 20220223

Ref country code: MC

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

Effective date: 20220223

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20220731

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

Ref country code: LU

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

Effective date: 20220708

Ref country code: LI

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

Effective date: 20220731

Ref country code: FR

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

Effective date: 20220731

Ref country code: CH

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

Effective date: 20220731

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

Ref country code: BE

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

Effective date: 20220731

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

Ref country code: IE

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

Effective date: 20220708

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

Ref country code: IT

Payment date: 20230721

Year of fee payment: 5

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

Ref country code: DK

Payment date: 20230726

Year of fee payment: 5

Ref country code: DE

Payment date: 20230726

Year of fee payment: 5

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

Effective date: 20230708

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

Ref country code: MK

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

Effective date: 20220223

Ref country code: CY

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

Effective date: 20220223

Ref country code: GB

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

Effective date: 20230708