EP3784849A1 - Procédé de commande du mouvement d'un mât et machine de travail - Google Patents

Procédé de commande du mouvement d'un mât et machine de travail

Info

Publication number
EP3784849A1
EP3784849A1 EP19720797.0A EP19720797A EP3784849A1 EP 3784849 A1 EP3784849 A1 EP 3784849A1 EP 19720797 A EP19720797 A EP 19720797A EP 3784849 A1 EP3784849 A1 EP 3784849A1
Authority
EP
European Patent Office
Prior art keywords
pressure
hydraulic
movement
mast
supply
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.)
Pending
Application number
EP19720797.0A
Other languages
German (de)
English (en)
Inventor
Christian Ziemens
Francisco Martín BRUGUÉ
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.)
Putzmeister Engineering GmbH
Original Assignee
Putzmeister Engineering GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Putzmeister Engineering GmbH filed Critical Putzmeister Engineering GmbH
Publication of EP3784849A1 publication Critical patent/EP3784849A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • 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
    • B66C23/06—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 jibs mounted for jibbing or luffing movements
    • B66C23/08—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 jibs mounted for jibbing or luffing movements and adapted to move the loads in predetermined paths
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • 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
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
    • 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
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F13/00—Common constructional features or accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—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
    • F15B2211/60—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
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • 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
    • F15B2211/6653—Pressure 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
    • F15B2211/665—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
    • F15B2211/71—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
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked

Definitions

  • the invention relates to a method for controlling the movement of a mast and a working machine with a mast.
  • the invention has for its object to provide a method for controlling the movement of a mast and a working machine with a mast available that allow the best possible motion control of the mast.
  • the invention solves this object by methods for controlling the movement of a mast according to claim 1 and a working machine according to claim 6.
  • the method according to the invention serves to control the movement of a mast.
  • the mast is moved by means of a plurality of hydraulic drives, wherein a respective hydraulic drive with a hydraulic medium, for example hydraulic oil, is fed, the pressure and / or the volume flow is adjustable / are.
  • a respective hydraulic drive with a hydraulic medium for example hydraulic oil
  • a desired direction of movement and a desired speed of a mast top are predetermined, for example by means of a suitable input device, for example in the form of a joystick, without this initially leading directly to a movement of the mast top.
  • a respectively required pressure and / or a respectively required volume flow for the hydraulic drives which are required for the desired direction of movement and the desired speed is / are anticipated in advance.
  • the required pressures and / or the required volume flows can, for example, be precalculated on the basis of measured values of sensors which detect an instantaneous load of the entire mast and of a mast model.
  • a supply pressure is generated as a function of the presumably calculated pressures and / or a supply volumetric flow is generated as a function of the prospectively calculated volumetric flows.
  • a single supply line is supplied with the supply pressure and / or the supply volumetric flow is conducted in the supply line, wherein a respective feed pressure is derived from the supply pressure and / or a respective feed volumetric flow from the supply Volume flow is derived.
  • a single pump feeds several consumers.
  • generating the supply pressure comprises the steps of: determining a highest load pressure among the respective anticipated calculated pressures and generating the supply pressure in response to the determined highest load pressure, for example, such that the supply pressure is greater than or equal to how the determined highest load pressure is.
  • At least a part of the hydraulic drives are hydraulic cylinders or mast cylinders.
  • a hydraulic drive for example, form a hydraulic rotary drive.
  • the supply pressure and / or the supply volumetric flow is / are generated by means of a single controllable hydraulic pump.
  • the working machine according to the invention is designed to carry out a method according to one of the preceding claims.
  • the work machine conventionally has a mast with a plurality of mutually relatively movable mast segments or mast arms.
  • the work machine further comprises a plurality of hydraulic drives, which are adapted to move the mast, wherein a respective hydraulic drive is supplied with a hydraulic medium whose pressure and / or its volume flow is / are adjustable.
  • the mast can be designed as a conventional so-called articulated mast, by means of which a range and height difference between a vehicle carrying the mast and a concreting location are continuously adjustable.
  • the articulated mast may have articulated mast arms or mast segments, which are pivotable about axes extending parallel to one another and at right angles to a vertical axis of the mast.
  • the working machine further has an adjusting device, for example in the form of a joystick, by means of which a desired direction of movement and a desired speed of a mast top can be predetermined.
  • the joystick can be deflected in the desired direction of movement, wherein the amount of deflection determines the desired speed of movement.
  • the work machine further has a computing unit, for example in the form of a processor and associated program and memory, which is designed to predictively calculate a respectively required pressure and / or a respective required flow for those hydraulic drives, for the desired direction of movement and the desired speed is required.
  • a computing unit for example in the form of a processor and associated program and memory, which is designed to predictively calculate a respectively required pressure and / or a respective required flow for those hydraulic drives, for the desired direction of movement and the desired speed is required.
  • the working machine further comprises a pressure generating device and / or a volumetric flow generating device which is designed to supply a supply pressure as a function of the predictively calculated pressures and / or a supply volumetric flow as a function of the predictively calculated volumetric flows, following the prospective calculation produce.
  • the required supply volumetric flow can be generated, for example, by suitably adjusting a swivel angle of a hydraulic pump, wherein the appropriate swivel angle is calculated based on an engine speed, a transmission ratio and a maximum displacement.
  • the excess flow typically flows through a pressure relief valve of the pump.
  • the required supply pressure can be generated for example by means of a pressure regulator of a hydraulic pump by appropriate setpoint specification.
  • the working machine further comprises a feed device which is designed to effect a subsequent feeding of the hydraulic drives required for the desired movement direction and the desired speed with the hydraulic medium with a respective feed pressure and / or a respective feed volume flow such that the mast tip moves in the desired direction of movement at the desired speed.
  • the work machine is a mobile crane or an aerial work platform.
  • the work machine is a truck-mounted concrete pump.
  • a predicted movement of the hydraulic drives or the mast tip can be used to anticipate the pressure generating device or volume flow generating device, for example in the form of a mast pump, shortly before any pressure requirement or volume flow requirement and, for example, tilt the mast pump as needed. This eliminates the preference of low-load consumers, which not only improves the trajectory for a user, but also facilitates the adjustment of the control parameters during fattening.
  • the increased pressure requirement or volumetric flow requirement can already be provided before the opening of feed valves of the hydraulic drives, whereby the system-related disadvantages of the invention delayed pressure build-up and the associated preference low-loaded consumer can be avoided.
  • Fig. 1 is a side view of a machine in the form of a truck-mounted concrete pump with a articulated mast in working position and
  • FIG. 2 is a block diagram of a controller and a hydraulic circuit of the work machine shown in FIG. 1.
  • FIG. 2 is a block diagram of a controller and a hydraulic circuit of the work machine shown in FIG. 1.
  • FIG. 1 shows a schematic side view of a working machine 100 in the form of a truck-mounted concrete pump with a (buckling) mast 1 in working position.
  • the mast 1 conventionally forms a distribution mast for liquid concrete.
  • the mast 1 has, in a manner known per se, five mast segments or mast arms connected to each other in an articulated manner, which are pivotable about axes extending parallel to one another and at right angles to a vertical axis of the mast 1.
  • hydraulic drives 2 to 6 in the form of hydraulic cylinders, the mast 1 can be unfolded or folded.
  • hydraulic cylinders 2 to 6 are shown for simplicity as a single-acting hydraulic cylinder. In practice, however, typically double-acting hydraulic cylinders are used to operate the mast arms.
  • a hydraulic rotary drive 17 is further provided, by means of which the mast 1 is conventionally rotatable about a vertical axis.
  • the hydraulic drives 2 to 6 and 17 are conventionally fed with a hydraulic medium whose pressure and / or its volume flow is / are adjustable.
  • the mast 1 has a mast top 7, on which an end hose 16 is arranged, from which liquid concrete can be discharged during operation.
  • FIG. 2 schematically shows a block diagram of a controller and a hydraulic circuit of the work machine 100 shown in FIG. 1.
  • the hydraulic circuit has a single pressure generating device or volume flow generating device 9 in the form of a motor-driven hydraulic pump 9, which conveys hydraulic oil from a tank 19 into a feed line or supply line 8.
  • a pivotable adjusting member 18 is provided to adjust a volume flow conveyed by means of the hydraulic pump 9 into the supply line 8.
  • the supply line 8 branches into two supply lines to the hydraulic drives 2 and 3, wherein in the path between the hydraulic consumer 2 and the supply line 8, a valve 12 and a controllable proportional valve 13 are arranged and in the path between the hydraulic consumer 3 and the supply line. 8 in accordance with a valve 14 and a controllable proportional valve 15 are arranged.
  • valves 12 and 14 The effect of the valves 12 and 14 is that a pressure dropping at the proportional valves 13 and 15 is almost constant, so that a volume flow through the proportional valves 13 and 15 is substantially dependent on the opening cross-section of the proportional valves 13 and 15, respectively.
  • the elements 12 to 15 form a feed device.
  • Pressure sensors 20 and 21 detect a hydraulic pressure in the hydraulic drives 2 and 3, respectively.
  • an optional pressure sensor 22 is provided, which measures a supply pressure pV generated by means of the hydraulic pump 9.
  • the control of the working machine has a computing unit 1 1.
  • the arithmetic unit 11 is connected to the pressure sensors 20, 21 and 22 and evaluates the sensor signals supplied by the pressure sensors 20, 21 and 22.
  • the arithmetic unit 11 controls the proportional valves 13 and 15 and the adjusting member 18.
  • the control of the work machine 100 furthermore has an adjusting device 10 operatively connected to the arithmetic unit 11.
  • the adjusting device 10 may be embodied, for example, as a control lever, which may be adjusted to the arithmetic unit 11 in three main operating directions, for example, with delivery of control signals.
  • a desired direction of movement R and a desired speed v of the mast tip 7 can be predetermined.
  • the arithmetic unit 11 is designed to predictively calculate a respectively required pressure or pressure profile and / or a respectively required volumetric flow or volumetric flow profile for those hydraulic drives 2 to 6 which are required for the desired direction of movement R and the desired speed v.
  • the arithmetic unit 11 controls the adjusting member 18 such that a supply pressure pV in dependence on the anticipated calculated pressures and / or a supply volumetric flow QV depending on the predictive calculated volumetric flows suitable is produced.
  • the arithmetic unit controls the proportional valves 13 and 15 such that the required for the desired direction of movement R and the desired speed v hydraulic drives, here exemplarily 2 and 3, with the hydraulic medium with a respective feed pressure pS1 or pS2 and / or a respective feed volume flow QS1 or QS2 are supplied such that the mast tip 7 moves in the desired direction of movement R at the desired speed v.
  • a highest load pressure can be determined under the respective presumed calculated pressures, wherein the supply pressure pV is generated as a function of the determined highest load pressure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un procédé pour commander le mouvement d'un mât, le mât étant déplacé au moyen d'une pluralité d'entraînements hydrauliques (2, 3), un entraînement hydraulique respectif (2, 3) étant alimenté avec un fluide hydraulique dont la pression et/ou le débit volumétrique est réglable, le procédé comprenant les étapes : - - spécification d'un sens de déplacement souhaité et d'une vitesse souhaitée d'une pointe de mât; - calcul prévisible d'une pression et/ou d'un débit volumique requis respectivement pour les entraînements hydrauliques (2, 3) qui sont nécessaires pour le sens de déplacement souhaité et la vitesse souhaitée, - génération ultérieure d'une pression d'alimentation (pV) en fonction des pressions calculées et/ou génération ultérieure d'un débit volumique (QV) en fonction des débits volumiques calculés, et - ensuite, alimentation, en la fluide hydraulique à la pression d'alimentation (pS1, pS2) respective et/ou en le débit volumique d'alimentation (QS1, QS2) respectif, des entraînements hydrauliques (2, 3) nécessaires pour le sens de déplacement souhaité et la vitesse souhaités de telle sorte que la pointe du mât se déplace dans le sens du déplacement souhaité à la vitesse souhaitée.
EP19720797.0A 2018-04-24 2019-04-17 Procédé de commande du mouvement d'un mât et machine de travail Pending EP3784849A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018206271.4A DE102018206271A1 (de) 2018-04-24 2018-04-24 Verfahren zur Bewegungssteuerung eines Masts und Arbeitsmaschine
PCT/EP2019/059974 WO2019206774A1 (fr) 2018-04-24 2019-04-17 Procédé de commande du mouvement d'un mât et machine de travail

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EP3784849A1 true EP3784849A1 (fr) 2021-03-03

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US (1) US11761464B2 (fr)
EP (1) EP3784849A1 (fr)
JP (1) JP2021522135A (fr)
KR (1) KR20210003757A (fr)
CN (1) CN112166232B (fr)
DE (1) DE102018206271A1 (fr)
WO (1) WO2019206774A1 (fr)

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US20210231140A1 (en) 2021-07-29
CN112166232B (zh) 2022-06-24
US11761464B2 (en) 2023-09-19
CN112166232A (zh) 2021-01-01
WO2019206774A1 (fr) 2019-10-31
KR20210003757A (ko) 2021-01-12
JP2021522135A (ja) 2021-08-30
DE102018206271A1 (de) 2019-10-24

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