EP3784850A1 - Method and system for the hydraulic control of a concrete placing boom - Google Patents

Method and system for the hydraulic control of a concrete placing boom

Info

Publication number
EP3784850A1
EP3784850A1 EP19720818.4A EP19720818A EP3784850A1 EP 3784850 A1 EP3784850 A1 EP 3784850A1 EP 19720818 A EP19720818 A EP 19720818A EP 3784850 A1 EP3784850 A1 EP 3784850A1
Authority
EP
European Patent Office
Prior art keywords
pressure
hydraulic
mast
control unit
signals
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.)
Withdrawn
Application number
EP19720818.4A
Other languages
German (de)
French (fr)
Inventor
Werner MÜNZENMAIER
Francisco Martin 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 EP3784850A1 publication Critical patent/EP3784850A1/en
Withdrawn legal-status Critical Current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
    • 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
    • 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
    • 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/003—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors with multiple outputs
    • 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
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/25—Pressure control functions
    • F15B2211/251—High 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
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief 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
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5157—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a return line
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure 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
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief 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
    • F15B2211/60—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
    • F15B2211/6653—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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders

Definitions

  • the invention relates to a method for the hydraulic control of a plurality of mast arms comprising concrete distributor mast in which hydraulic drive cylinders designed to drive the articulated mast arms are actuated via a hydraulic circuit, wherein a supply pressure is supplied via a hydraulic pump of the hydraulic circuit is supplied, and in the drive cylinders by at least one pressure transducer, a pressure signal is detected.
  • the invention further relates to a system for carrying out such a method.
  • a hydraulic circuit arrangement in which for a start-up phase of a concrete distributor mast, a control group responding to the load pressure is provided with a switching valve which below a predetermined minimum value of the load pressure is an adjusting member of the hydraulic pump in its position for maximum Conveying flow.
  • the taps for the transmitted by hydraulic control lines load pressures are located on the consumer side of proportional valves for controlling the drive cylinder, which are further reported via a shuttle valve chain. Since so-called load-holding valves are provided on the drive cylinders, the detected load pressures are initially equal to zero. The higher the fixed specification for the switching valve, the higher the system pressure over a longer time, resulting in a corresponding energy loss.
  • EBC control Ergonic Boom Control
  • the operator can operate with a joystick of a remote control All mast arms are controlled computer-aided simultaneously so that targeted movements in a machine coordinate system are possible without any special handling effort.
  • pressure signals are recorded directly in the drive cylinders.
  • the mast could be in a bow-shaped position, so that for a horizontal movement of the mast top or the end hose, individual mast arms have to be raised and others have to be bent. Due to the required pressure build-up, in this coupled mode, the low-loaded boom or drive cylinders react earlier as drive cylinders with a higher load. As a result, the mast can be excited to oscillate and the trajectory of the mast tip can be influenced undesirable.
  • the object of the invention is to further improve the methods and systems for mast control known in the prior art and to specify the most rapid targeted pressure adjustment, in particular for improving the trajectory during mast movement.
  • the invention is based on the idea of using pressure readings directly tapped on the or all drive cylinders as electrically transmitted signals for an electronic pilot control of the supply pressure. Accordingly, the invention proposes that the highest pressure in the drive cylinders is determined from the pressure signals, and that the supply pressure is adjusted in accordance with the highest pressure by an electronic control unit.
  • the electrical For example, dead times or transit time effects in hydraulic timing chains are avoided during the signal transmission, while the supply pressure, which is dependent on the current or instantaneous mast setting, can be precisely set as a variable manipulated variable by the electronic control unit. This results in more precise trajectories and reduced vibrations, especially during the start-up phase, without requiring an excess of hydraulic energy.
  • the pressure signals are transmitted as electrical signals via electrical signal lines from the pressure transducers to the electronic control unit.
  • the pressure transducers operating, for example, as piezoresistive or strain-measuring pressure transducers convert the physical measured variable pressure into an electrical signal, in particular a standard bus signal, for example for a CAN bus.
  • the electrical pressure signals are transmitted to a comparator of the control device, which is formed in particular by an electronic circuit or software.
  • the supply pressure is adjusted as an actuator by a controllable pressure relief valve connected to a feed line of the hydraulic pump, in particular via a branch line.
  • a controllable pressure relief valve connected to a feed line of the hydraulic pump, in particular via a branch line.
  • the pressure-limiting valve is actuated via an electrical control line, in particular by means of a magnet.
  • the hydraulic pump is designed as a fixed displacement pump.
  • the supply pressure may be adjusted by regulating a hydraulic pump designed as a variable displacement pump via a hydraulic or electrical pump regulator.
  • the supply pressure should be set to the value of the highest pressure or a value above it by a specified amount.
  • the electronic control can be variably adapted to the fact that the respective pressure in the drive cylinders is influenced by the instantaneous or current position of the boom arms, wherein in particular a starting position can be taken into account.
  • the supply pressure is adjusted after a start-up phase of the concrete distributor boom, in particular by a load-sensing regulator, independently of the pressure signals of the pressure sensors.
  • the highest pressure is determined from the pressure signals at the beginning of a movement phase, in particular when starting the concrete distributor mast.
  • an electronic control unit is designed to determine a maximum pressure from the pressure signals at least when starting the concrete distributor mast and to adjust the supply pressure according to the highest pressure.
  • the pressure sensors are connected on the output side to the control unit via electrical signal lines.
  • control unit has a comparator equipped with the pressure signals for determining the highest pressure, so that costly hydraulic valve chains for a pressure comparison can be dispensed with.
  • control unit has an evaluation routine for determining a desired value of the supply pressure as a function of the highest pressure.
  • control unit has a hydraulic or electrical pump regulator or a controllable pressure limiting valve connected to a feed line of the fly-type pump for adjusting the supply pressure.
  • FIG. 1 shows a truck-mounted concrete pump with a concrete distributor boom which can be moved by means of hydraulic drive cylinders on its mast arms, in a side view,
  • FIG. 2 shows a block diagram of a system for controlling the concrete distributor mast under load pressure-dependent adaptation of the supply pressure
  • FIG. 3 shows a Flydraulikscrien with a fixed displacement pump and a load pressure dependent triggered pressure relief valve.
  • the truck-mounted concrete pump 10 shown in FIG. 1 in a supported working position comprises a vehicle 12 and a concrete distributor mast 14 that can be transported therewith, whose articulated mast arms 16 are pivotable about a respective joint 20 by means of a respective hydraulic drive cylinder 18, so that an end hose 22 for placing concrete in the working space can be positioned.
  • FIG. 2 shows a control system 24 for the concrete placing boom 14.
  • This comprises actuators 26 for the double-acting hydraulic drive cylinders 18 and for a rotary drive 28 for mast rotation about a vehicle vertical axis, a computer-assisted remote control unit 30 for actuation the actuators 26 under the control of a machinist, a hydraulic circuit 34 containing a hydraulic pump 32 for the hydraulic actuation of the drive cylinders 18 via their actuators 26 and an electronic control device 36 for load-dependent adaptation of the supply pressure supplied by the hydraulic pump 32, at least at the start. ren of the concrete distributor mast 14.
  • each drive cylinder 18 is provided with bottom and rod-side pressure sensors 38 whose pressure signals are supplied as electrical output signals via electrical signal lines 40 to a comparator 42 of the control device 36. This is designed to determine the highest pressure value from the pressure signals and forward it to an evaluation stage 44 of the control device 36. In the evaluation stage 44, a desired value of the supply pressure can be determined therefrom, wherein, if necessary, the determined highest pressure value is increased by a predetermined amount. In order to set the supply pressure to this setpoint, a pressure actuator 46 is provided which can be controlled by the control device 36 via a control line 48.
  • the pressure regulator 46 comprises a pressure-limiting valve 50 whose input is connected via a branch line 52 to an output-side feed line 54 of the hydraulic pump 32.
  • the valve is actuated via a proportional solenoid 56 at the end of the control line 48.
  • the output of the pressure relief valve 50 is connected via a return line 58 to the tank 60.
  • the supply or delivery pressure of the hydraulic pump 32 designed as a variable displacement pump is distributed in parallel to the actuators 26 via the hydraulic circuit 34.
  • These are based on proportional changeover valves, which can be connected on the bottom or rod side to the drive cylinder 18 and provide a hydraulic lock in their zero position, so that the mast arms 16 remain in a given position and the hydraulic pump 32 does not have to work continuously under full load.
  • the respective pressure in the drive cylinders 18 is influenced by the instantaneous position of the mast arms 16 and is thus of different heights.
  • the vehicle-near first drive cylinder 18 in FIG. 1 requires the greatest pressure for erecting, whereas the last drive cylinder requires less pressure for the kinking in front of the mast end.
  • the hydraulic pressure can not be provided abruptly but builds up over a certain period of time.
  • the automatic control system 24 automatically ensures that the currently required maximum supply pressure is provided.
  • the measurement signals provided as electrical signals or current signals of the pressure transducer 38 are processed in the comparator 42 in order to determine the highest required pressure electronically or digitally.
  • the evaluation stage 44 as part of a microprocessor, provides for the corresponding energization of the proportional solenoid 56 of the pressure limiting valve 50 for setting the highest required pressure as a preload pressure. All the drive cylinders 18 can thus be approached at the same time because none of them remains under-supplied for their required working pressure during a certain dead time. After this start-up time effects in the chain of actuators 26 are rather subordinate and there is enough hydraulic oil available, so that if necessary, the pressure control can be disabled.
  • control unit 36 via a control line 48 'and a pump controller, not shown directly on the pivoting angle of a variable displacement pump 32 acts to set a desired biasing pressure.
  • FIG. 3 shows a further exemplary embodiment of the use of the control device 36 in conjunction with a constant displacement pump 32 ', wherein only two actuators 26 with their proportional valves 62 and downstream hydraulic drive cylinders 18 are shown in the circuit diagram for the sake of simplicity.
  • the load pressure is determined by pressure sensor 38 and preset to the pressure relief valve 50 via a proportional solenoid coil 56 according to the highest detected pressure variable.
  • the directional control valve 64 closes, and the pressure is transmitted hydraulically via a load-sensing line 66 to the pressure compensator 68.
  • the excess hydraulic oil is diverted from the branch point 70 to the tank 60.
  • the pressure balance 68 has a switching valve 72, which is acted upon by the load-sensing pressure at its one spring-biased control input and by the pump pressure at its other control input and correspondingly controls or blocks in an intermediate position.
  • the taps 74 for the load pressure transmission are located on the supply side of the proportional valves 62.
  • the shuttle valve chain 76 ensures that only the highest load pressure on the load-sensing line 66 is controlled in the ferry mode.
  • the drive cylinders 18 are locked by the load-holding valves 78, and no load-sensing signal is provided.
  • the control device 36 which is coupled to the pressure sensors 38, makes it possible to provide the required pressure prestress in order to use an electronic mast control device (for example known as EBC, Ergonic Boom Control) Start command in suitable synchronized pivoting movements of the mast arms 16 to implement without individual drive cylinder 18 lead with lower supply pressure requirement.
  • EBC Ergonic Boom Control

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention relates to a method and a system for the hydraulic control of a concrete placing boom (14) comprising a plurality of boom arms (16), wherein hydraulic drive cylinders (18) for the boom arms (16), which are connected to one another in an articulated manner, are controlled by a hydraulic circuit (34), wherein a supply pressure is supplied via a hydraulic pump (32) to the hydraulic circuit (34), and wherein a pressure signal is captured in the drive cylinders (18) by at least one pressure sensor (38) in each case. According to the invention, the maximum pressure in the drive cylinders (18) is determined from the pressure signals and the supply pressure is adjusted by an electronic control unit (36) according to the maximum pressure.

Description

Verfahren und System zur hydraulischen Steuerung eines Betonver- teilermasts  Method and system for hydraulic control of a concrete distributor mast
Beschreibung  description
Die Erfindung betrifft ein Verfahren zur hydraulischen Steuerung eines meh- rere Mastarme umfassenden Betonverteilermasts, bei welchem zum An- trieb der gelenkig miteinander verbundenen Mastarme ausgebildete hyd- raulische Antriebszylinder über eine Hydraulikschaltung angesteuert wer- den, wobei über eine Hydraulikpumpe der Hydraulikschaltung ein Versor- gungsdruck geliefert wird, und in den Antriebszylindern durch jeweils min- destens einen Druckaufnehmer ein Drucksignal erfasst wird. Die Erfindung betrifft weiter ein System zur Durchführung eines solchen Verfahrens. The invention relates to a method for the hydraulic control of a plurality of mast arms comprising concrete distributor mast in which hydraulic drive cylinders designed to drive the articulated mast arms are actuated via a hydraulic circuit, wherein a supply pressure is supplied via a hydraulic pump of the hydraulic circuit is supplied, and in the drive cylinders by at least one pressure transducer, a pressure signal is detected. The invention further relates to a system for carrying out such a method.
Aus der DE 10 2005 035 981 A1 ist eine hydraulische Schaltungsanordnung bekannt, bei der für eine Anfahrphase eines Betonverteilermasts eine auf den Lastdruck ansprechende Steuergruppe mit einem Schaltventil vorgese- hen, die unterhalb eines vorgegebenen Mindestwerts des Lastdrucks ein Verstellorgan der Hydraulikpumpe in seine Position für maximalen Förder- strom bringt. Die Abgriffe für die durch hydraulische Steuerleitungen über- mittelten Lastdrücke befinden sich dabei jeweils auf der Verbraucherseite von Proportionalventilen zur Ansteuerung der Antriebszylinder, wobei die über eine Wechselventilkette weitergemeldet werden. Da an den Antriebs- zylindern so genannte Lasthalteventile vorgesehen sind, sind die erfassten Lastdrücke zunächst gleich Null. Je höher nun die feste Vorgabe für das Schaltventil eingestellt wird, desto höher ist der Systemdruck über eine län- gere Zeit, woraus ein entsprechender Energieverlust resultiert. From DE 10 2005 035 981 A1, a hydraulic circuit arrangement is known in which for a start-up phase of a concrete distributor mast, a control group responding to the load pressure is provided with a switching valve which below a predetermined minimum value of the load pressure is an adjusting member of the hydraulic pump in its position for maximum Conveying flow. The taps for the transmitted by hydraulic control lines load pressures are located on the consumer side of proportional valves for controlling the drive cylinder, which are further reported via a shuttle valve chain. Since so-called load-holding valves are provided on the drive cylinders, the detected load pressures are initially equal to zero. The higher the fixed specification for the switching valve, the higher the system pressure over a longer time, resulting in a corresponding energy loss.
Bei aktuellen Steuersystemen für Betonverteilermasten, wie sie von der An- melderin als so genannte EBC-Steuerung (Ergonic Boom Control) vertrie- ben werden, kann der Bediener mit einem Joystick einer Fernbedienung alle Mastarme rechnergestützt gleichzeitig ansteuern, so dass gezielte Be- wegungen in einem Maschinenkoordinatensystem ohne besonderen Hand- habungsaufwand möglich sind. Hierfür werden Drucksignale direkt in den Antriebszylindern erfasst. Beispielsweise könnte sich der Mast in einer bo- genförmigen Stellung befinden, so dass zum horizontalen Bewegen der Mastspitze bzw. des Endschlauchs einzelne Mastarme angehoben und an- dere abgeknickt werden müssen. In diesem gekoppelten Betrieb reagieren bedingt durch den benötigten Druckaufbau die stellungsbedingt niedrigbe- lasteten Mastarm- bzw. Antriebszylinder früher als Antriebszylinder mit hö- herer Last. Dadurch kann der Mast zu Schwingungen angeregt werden und die Bahnkurve der Mastspitze unerwünscht beeinflusst werden. With current control systems for concrete distributor masts, as they are distributed by the applicant as so-called EBC control (Ergonic Boom Control), the operator can operate with a joystick of a remote control All mast arms are controlled computer-aided simultaneously so that targeted movements in a machine coordinate system are possible without any special handling effort. For this purpose, pressure signals are recorded directly in the drive cylinders. For example, the mast could be in a bow-shaped position, so that for a horizontal movement of the mast top or the end hose, individual mast arms have to be raised and others have to be bent. Due to the required pressure build-up, in this coupled mode, the low-loaded boom or drive cylinders react earlier as drive cylinders with a higher load. As a result, the mast can be excited to oscillate and the trajectory of the mast tip can be influenced undesirable.
Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, die im Stand der Technik bekannten Verfahren und Systeme zur Maststeuerung weiter zu verbessern und eine möglichst rasche gezielte Druckanpassung insbe- sondere für eine Verbesserung der Bahnkurve bei der Mastbewegung an- zugeben. Proceeding from this, the object of the invention is to further improve the methods and systems for mast control known in the prior art and to specify the most rapid targeted pressure adjustment, in particular for improving the trajectory during mast movement.
Zur Lösung dieser Aufgabe wird die im Patentanspruch 1 bzw. 15 angege- bene Merkmalskombination vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen An- sprüchen. To solve this problem, the combination of features specified in claims 1 and 15 is proposed. Advantageous embodiments and further developments of the invention will become apparent from the dependent claims.
Die Erfindung geht von dem Gedanken aus, an den bzw. allen Antriebszy- lindern direkt abgegriffene Druckmesswerte als elektrisch übermittelte Sig- nale für eine elektronische Vorsteuerung des Versorgungsdrucks zu nut- zen. Dementsprechend wird erfindungsgemäß vorgeschlagen, dass der höchste Druck in den Antriebszylindern aus den Drucksignalen ermittelt wird, und dass der Versorgungsdruck nach Maßgabe des höchsten Drucks durch eine elektronische Steuereinheit angepasst wird. Durch die elektri- sche Signalübertragung werden Totzeiten bzw. Laufzeiteffekte in hydrauli- schen Steuerketten vermieden, während durch die elektronische Steuerein- heit der von der aktuellen bzw. momentanen Maststellung abhängige Ver- sorgungsdruck zielgenau als variable Stellgröße eingestellt werden kann. Daraus resultieren insbesondere in der Anfahrphase genauere Bahnkurven und verminderte Schwingungen, ohne dass ein Überschuss an hydrauli- scher Energie erforderlich ist. The invention is based on the idea of using pressure readings directly tapped on the or all drive cylinders as electrically transmitted signals for an electronic pilot control of the supply pressure. Accordingly, the invention proposes that the highest pressure in the drive cylinders is determined from the pressure signals, and that the supply pressure is adjusted in accordance with the highest pressure by an electronic control unit. Through the electrical For example, dead times or transit time effects in hydraulic timing chains are avoided during the signal transmission, while the supply pressure, which is dependent on the current or instantaneous mast setting, can be precisely set as a variable manipulated variable by the electronic control unit. This results in more precise trajectories and reduced vibrations, especially during the start-up phase, without requiring an excess of hydraulic energy.
Zur Vermeidung eines verzögerten Druckaufbaus ist es weiter von Vorteil, wenn die Drucksignale als elektrische Signale über elektrische Signalleitun- gen von den Druckaufnehmern an die elektronische Steuereinheit übertra- gen werden. Die bspw. als piezoresistiver oder Dehnungs-messender Druckmessumformer arbeitenden Druckaufnehmer wandeln dabei die phy- sikalische Messgröße Druck in ein elektrisches Signal, insbesondere ein Standard-Bussignal bspw. für einen CAN-Bus um. To avoid a delayed pressure build-up, it is also advantageous if the pressure signals are transmitted as electrical signals via electrical signal lines from the pressure transducers to the electronic control unit. The pressure transducers operating, for example, as piezoresistive or strain-measuring pressure transducers convert the physical measured variable pressure into an electrical signal, in particular a standard bus signal, for example for a CAN bus.
Um hydraulische Signalleitungen zu vermeiden, ist es vorteilhaft, wenn die Drucksignale jeweils an der Bodenseite und/oder der Stangenseite der An- triebszylinder direkt abgegriffen werden. In order to avoid hydraulic signal lines, it is advantageous if the pressure signals are tapped directly on the bottom side and / or the rod side of the drive cylinder.
Für eine elektronische Signalverarbeitung ist es vorteilhaft, wenn die elektri- schen Drucksignale an einen insbesondere durch eine elektronische Schal- tung oder Software gebildeten Vergleicher der Steuereinrichtung übertra- gen werden. For electronic signal processing, it is advantageous if the electrical pressure signals are transmitted to a comparator of the control device, which is formed in particular by an electronic circuit or software.
Für eine indirekte Anpassung des Versorgungsdrucks ist es vorteilhaft, wenn der Versorgungsdruck durch ein an einer Speiseleitung der Hydrau- likpumpe insbesondere über eine Abzweigleitung angeschlossenes, regel- bares Druckbegrenzungsventil als Stellglied angepasst wird. Um auch hier Laufzeiteffekte zu vermeiden und eine feinfühlige Druckein- stellung zu ermöglichen, ist es von Vorteil, wenn das Druckbegrenzungs- ventil über eine elektrische Steuerleitung insbesondere mittels eines Mag- neten betätigt wird. For an indirect adaptation of the supply pressure, it is advantageous if the supply pressure is adjusted as an actuator by a controllable pressure relief valve connected to a feed line of the hydraulic pump, in particular via a branch line. In order to avoid run-time effects here as well and to enable a sensitive pressure setting, it is advantageous if the pressure-limiting valve is actuated via an electrical control line, in particular by means of a magnet.
In einer einfachen Schaltungsvariante ist es vorgesehen, dass die Hydrau- likpumpe als Konstantpumpe ausgebildet ist. In a simple circuit variant, it is provided that the hydraulic pump is designed as a fixed displacement pump.
Alternativ ist es auch möglich, dass der Versorgungsdruck durch Regelung einer als Verstellpumpe ausgebildeten Hydraulikpumpe über einen hydrau- lischen oder elektrischen Pumpenregler angepasst wird. Alternatively, it is also possible for the supply pressure to be adjusted by regulating a hydraulic pump designed as a variable displacement pump via a hydraulic or electrical pump regulator.
Um eine hinreichende Versorgung aller hydraulischen Verbraucher zu ge- währleisten, sollte der Versorgungsdruck auf den Wert des höchsten Drucks oder einen um einen vorgegebenen Betrag darüberliegenden Wert einge- stellt werden. In order to ensure adequate supply to all hydraulic consumers, the supply pressure should be set to the value of the highest pressure or a value above it by a specified amount.
Die elektronische Ansteuerung lässt sich variabel darauf anpassen, dass der jeweilige Druck in den Antriebszylindern durch die momentane bzw. ak- tuelle Stellung der Mastarme beeinflusst wird, wobei insbesondere eine An- fahrstellung berücksichtigt werden kann. The electronic control can be variably adapted to the fact that the respective pressure in the drive cylinders is influenced by the instantaneous or current position of the boom arms, wherein in particular a starting position can be taken into account.
Um einen robusten Betrieb zu ermöglichen, ist es vorteilhaft, wenn der Ver- sorgungsdruck nach einer Anfahrphase des Betonverteilermasts insbeson- dere durch einen Load-Sensing-Regler unabhängig von den Drucksignalen der Druckaufnehmer eingestellt wird. In order to enable robust operation, it is advantageous if the supply pressure is adjusted after a start-up phase of the concrete distributor boom, in particular by a load-sensing regulator, independently of the pressure signals of the pressure sensors.
Für eine möglichst exakte Mastbewegung ist es günstig, wenn die Antriebs- zylinder über jeweils ein zugeordnetes Stellglied der Hydraulikschaltung, insbesondere ein Proportional-Wegeventil mit einem von dem Versor- gungsdruck abgeleiteten Arbeitsdruck beaufschlagt werden. Eine weitere Erhöhung des Gebrauchsnutzens ergibt sich dadurch, dass die Bewegung der Mastarme des Betonverteilermasts nach Vorgabe von Fahrbefehlen rechnerunterstützt koordiniert wird. For a mast movement that is as exact as possible, it is expedient for the drive cylinders to be acted upon by a respective associated actuator of the hydraulic circuit, in particular a proportional directional control valve, with a working pressure derived from the supply pressure. A further increase of the utility benefit results from the fact that the movement of the boom arms of the concrete distributor mast is coordinated according to the specification of driving commands computer-aided.
Günstig ist es auch, wenn am Anfang einer Bewegungsphase, insbeson- dere beim Anfahren des Betonverteilermasts aus den Drucksignalen der höchste Druck ermittelt wird. Im Hinblick auf ein Steuerungssystem wird vorgeschlagen, dass eine elekt- ronische Steuereinheit dazu ausgebildet ist, zumindest beim Anfahren des Betonverteilermasts aus den Drucksignalen einen höchsten Druck zu ermit- teln und den Versorgungsdruck nach Maßgabe des höchsten Drucks anzu- passen. Daraus ergeben sich Systemvorteile analog zu den eingangs er- läuterten vorteilhaften Wirkungen. It is also favorable if the highest pressure is determined from the pressure signals at the beginning of a movement phase, in particular when starting the concrete distributor mast. With regard to a control system, it is proposed that an electronic control unit is designed to determine a maximum pressure from the pressure signals at least when starting the concrete distributor mast and to adjust the supply pressure according to the highest pressure. This results in system advantages analogous to the advantageous effects explained at the outset.
Um eine rasche Signalübertragung direkt von den Antriebszylindern an die Steuereinheit zu ermöglichen, ist es von Vorteil, wenn die Druckaufnehmer ausgangsseitig über elektrische Signalleitungen an die Steuereinheit ange- schlossen sind. To enable rapid signal transmission directly from the drive cylinders to the control unit, it is advantageous if the pressure sensors are connected on the output side to the control unit via electrical signal lines.
Vorteilhafterweise besitzt die Steuereinheit einen mit den Drucksignalen be- aufschlagten Vergleicher zur Ermittlung des höchsten Drucks, so dass auf aufwendige hydraulische Ventilketten für einen Druckvergleich verzichtet werden kann. Advantageously, the control unit has a comparator equipped with the pressure signals for determining the highest pressure, so that costly hydraulic valve chains for a pressure comparison can be dispensed with.
Eine flexible Anpassung wird dadurch ermöglicht, dass die Steuereinheit eine Auswerteroutine zur Ermittlung eines Sollwerts des Versorgungs- drucks in Abhängigkeit von dem höchsten Druck aufweist. Ein weiterer Systemvorteil ergibt sich dadurch, dass die Steuereinheit einen hydraulischen oder elektrischen Pumpenregler oder ein an einer Speiselei- tung der Flydraulikpumpe angeschlossenes, regelbares Druckbegren- zungsventil zur Anpassung des Versorgungsdrucks aufweist. A flexible adaptation is made possible by the fact that the control unit has an evaluation routine for determining a desired value of the supply pressure as a function of the highest pressure. Another system advantage results from the fact that the control unit has a hydraulic or electrical pump regulator or a controllable pressure limiting valve connected to a feed line of the fly-type pump for adjusting the supply pressure.
Im Folgenden wird die Erfindung anhand der in der Zeichnung schematisch dargestellten Ausführungsbeispiele näher erläutert. Es zeigen: In the following the invention will be explained in more detail with reference to the embodiments schematically illustrated in the drawing. Show it:
Fig. 1 eine Autobetonpumpe mit einem durch hydraulische Antriebszy- linder an seinen Mastarmen bewegbaren Betonverteilermast in ei- ner Seitenansicht, 1 shows a truck-mounted concrete pump with a concrete distributor boom which can be moved by means of hydraulic drive cylinders on its mast arms, in a side view,
Fig. 2 ein Blockschaltbild eines Systems zur Ansteuerung des Betonver- teilermasts unter lastdruckabhängiger Anpassung des Versor- gungsdrucks; 2 shows a block diagram of a system for controlling the concrete distributor mast under load pressure-dependent adaptation of the supply pressure;
Fig. 3 eine Flydraulikschaltung mit einer Konstantpumpe und einem last- druckabhängig angesteuerten Druckbegrenzungsventil. Die in Fig. 1 in einer abgestützten Arbeitsstellung gezeigte Autobetonpumpe 10 umfasst ein Fahrzeug 12 und einen damit transportierbaren Betonvertei- lermast 14, dessen gelenkig miteinander verbundene Mastarme 16 mittels jeweils eines hydraulischen Antriebszylinders 18 um ein jeweiliges Gelenk 20 schwenkbar sind, so dass ein Endschlauch 22 zum Ausbringen von Be- ton im Arbeitsraum positionierbar ist. 3 shows a Flydraulikschaltung with a fixed displacement pump and a load pressure dependent triggered pressure relief valve. The truck-mounted concrete pump 10 shown in FIG. 1 in a supported working position comprises a vehicle 12 and a concrete distributor mast 14 that can be transported therewith, whose articulated mast arms 16 are pivotable about a respective joint 20 by means of a respective hydraulic drive cylinder 18, so that an end hose 22 for placing concrete in the working space can be positioned.
Fig. 2 zeigt ein Steuerungssystem 24 für den Betonverteilermast 14. Dieses umfasst Stellglieder 26 für die doppeltwirkenden hydraulischen Antriebszy- linder 18 und für einen Drehantrieb 28 zur Mastdrehung um eine Fahrzeug- hochachse, eine rechnerunterstützte Fernbedieneinheit 30 zur Betätigung der Stellglieder 26 unter Kontrolle eines Maschinisten, einer eine Hydraulik- pumpe 32 enthaltenden Hydraulikschaltung 34 zur hydraulischen Ansteue- rung der Antriebszylinder 18 über deren Stellglieder 26 und eine elektroni- schen Steuereinrichtung 36 zur lastabhängigen Anpassung des von der Hydraulikpumpe 32 gelieferten Versorgungsdrucks zumindest beim Anfah- ren des Betonverteilermasts 14. 2 shows a control system 24 for the concrete placing boom 14. This comprises actuators 26 for the double-acting hydraulic drive cylinders 18 and for a rotary drive 28 for mast rotation about a vehicle vertical axis, a computer-assisted remote control unit 30 for actuation the actuators 26 under the control of a machinist, a hydraulic circuit 34 containing a hydraulic pump 32 for the hydraulic actuation of the drive cylinders 18 via their actuators 26 and an electronic control device 36 for load-dependent adaptation of the supply pressure supplied by the hydraulic pump 32, at least at the start. ren of the concrete distributor mast 14.
Zu diesem Zweck ist jeder Antriebszylinder 18 mit boden- und stangensei- tigen Druckaufnehmern 38 versehen, deren Drucksignale als elektrische Ausgangssignale über elektrische Signalleitungen 40 einem Vergleicher 42 der Steuereinrichtung 36 zugeführt werden. Dieser ist dazu ausgebildet, den höchsten Druckwert aus den Drucksignalen zu ermitteln und an eine Auswertestufe 44 der Steuereinrichtung 36 weiterzuleiten. In der Auswerte- stufe 44 kann daraus ein Sollwert des Versorgungsdrucks bestimmt wer- den, wobei ggf. der ermittelte höchste Druckwert noch um einen vorgege- benen Betrag erhöht wird. Um den Versorgungsdruck auf diesen Sollwert einzustellen, ist ein Druckstellglied 46 vorgesehen, das durch die Steuer- einrichtung 36 über eine Steuerleitung 48 ansteuerbar ist. For this purpose, each drive cylinder 18 is provided with bottom and rod-side pressure sensors 38 whose pressure signals are supplied as electrical output signals via electrical signal lines 40 to a comparator 42 of the control device 36. This is designed to determine the highest pressure value from the pressure signals and forward it to an evaluation stage 44 of the control device 36. In the evaluation stage 44, a desired value of the supply pressure can be determined therefrom, wherein, if necessary, the determined highest pressure value is increased by a predetermined amount. In order to set the supply pressure to this setpoint, a pressure actuator 46 is provided which can be controlled by the control device 36 via a control line 48.
In der in Fig. 2 gezeigten Ausführung umfasst der Druckregler 46 ein Druck- begrenzungsventil 50, dessen Eingang über eine Abzweigleitung 52 an eine ausgangsseitige Speiseleitung 54 der Hydraulikpumpe 32 angeschlossen ist. Die Ventilbetätigung erfolgt über einen Proportionalmagnetspule 56 am Ende der Steuerleitung 48. Der Ausgang des Druckbegrenzungsventils 50 ist über eine Rückführleitung 58 an den Tank 60 angeschlossen. In the embodiment shown in FIG. 2, the pressure regulator 46 comprises a pressure-limiting valve 50 whose input is connected via a branch line 52 to an output-side feed line 54 of the hydraulic pump 32. The valve is actuated via a proportional solenoid 56 at the end of the control line 48. The output of the pressure relief valve 50 is connected via a return line 58 to the tank 60.
Der Versorgungs- bzw. Lieferdruck der als Verstellpumpe ausgebildeten Hydraulikpumpe 32 wird über die Hydraulikschaltung 34 parallel auf die Stellglieder 26 verteilt. Diese basieren auf Proportionalwechselventilen, die sich boden- oder stangenseitig auf die Antriebszylinder 18 aufschalten las- sen und in ihrer Nullstellung für eine hydraulische Verriegelung sorgen, so dass die Mastarme 16 in einer gegebenen Stellung verharren und die Hyd- raulikpumpe 32 nicht stetig unter Volllast arbeiten muss. The supply or delivery pressure of the hydraulic pump 32 designed as a variable displacement pump is distributed in parallel to the actuators 26 via the hydraulic circuit 34. These are based on proportional changeover valves, which can be connected on the bottom or rod side to the drive cylinder 18 and provide a hydraulic lock in their zero position, so that the mast arms 16 remain in a given position and the hydraulic pump 32 does not have to work continuously under full load.
Der jeweilige Druck in den Antriebszylindern 18 wird durch die momentane Stellung der Mastarme 16 beeinflusst und ist damit unterschiedlich hoch. Beispielsweise benötigt der fahrzeugnahe erste Antriebszylinder 18 in Fig. 1 für das Aufrichten den größten Druck, während der letzte Antriebszylinder vor dem Mastende für das Abknicken weniger Druck braucht. Der Hydrau- likdruck kann aber nicht sprungartig bereitgestellt werden, sondern baut sich über eine gewisse Zeit auf. The respective pressure in the drive cylinders 18 is influenced by the instantaneous position of the mast arms 16 and is thus of different heights. For example, the vehicle-near first drive cylinder 18 in FIG. 1 requires the greatest pressure for erecting, whereas the last drive cylinder requires less pressure for the kinking in front of the mast end. However, the hydraulic pressure can not be provided abruptly but builds up over a certain period of time.
Wenn nun der Betonverteilermast 14 aus einer gegebenen Stellung ange- fahren werden soll, sorgt das automatische Steuerungssystem 24 selbsttä- tig dafür, dass der aktuell maximal erforderliche Versorgungsdruck bereit- gestellt wird. Hierfür werden die als elektrische Signale bzw. Stromsignale bereitgestellten Messsignale der Druckaufnehmer 38 in dem Vergleicher 42 verarbeitet, um den höchsten benötigten Druck elektronisch bzw. digital zu ermitteln. Die Auswertestufe 44 sorgt als Teil eines Mikroprozessors für die entsprechende Bestromung der Proportionalmagnetspule 56 des Druckbe- grenzungsventils 50 zur Einstellung des höchsten benötigten Drucks als Vorspanndruck. Damit können alle Antriebszylinder 18 gleichzeitig angefah- ren werden, weil keiner für seinen erforderlichen Arbeitsdruck während ei- ner gewissen Totzeit unterversorgt bleibt. Nach dieser Anfahrphase sind Laufzeiteffekte in der Kette von Stellgliedern 26 eher untergeordnet und es steht genügend Hydrauliköl zur Verfügung, so dass ggf. die Druckregelung außer Funktion gesetzt werden kann. If now the concrete distributor boom 14 is to be approached from a given position, the automatic control system 24 automatically ensures that the currently required maximum supply pressure is provided. For this purpose, the measurement signals provided as electrical signals or current signals of the pressure transducer 38 are processed in the comparator 42 in order to determine the highest required pressure electronically or digitally. The evaluation stage 44, as part of a microprocessor, provides for the corresponding energization of the proportional solenoid 56 of the pressure limiting valve 50 for setting the highest required pressure as a preload pressure. All the drive cylinders 18 can thus be approached at the same time because none of them remains under-supplied for their required working pressure during a certain dead time. After this start-up time effects in the chain of actuators 26 are rather subordinate and there is enough hydraulic oil available, so that if necessary, the pressure control can be disabled.
Anstelle der indirekten Drucksteuerung mittels eines regelbaren Druckbe- grenzungsventils 50 ist es auch denkbar, dass die Steuereinheit 36 über eine Steuerleitung 48‘ und einen nicht gezeigten Pumpenregler direkt auf den Schwenkwinkel einer Verstellpumpe 32 wirkt, um einen gewünschten Vorspanndruck einzustellen. Instead of the indirect pressure control by means of a controllable pressure relief valve 50, it is also conceivable that the control unit 36 via a control line 48 'and a pump controller, not shown directly on the pivoting angle of a variable displacement pump 32 acts to set a desired biasing pressure.
Fig. 3 zeigt ein weiteres Ausführungsbeispiel für den Einsatz der Steuerein- richtung 36 in Verbindung mit einer Konstantpumpe 32‘, wobei in dem Schaltplan zur Vereinfachung nur zwei Stellglieder 26 mit ihren Proportio- nalventilen 62 und nachgeordneten hydraulischen Antriebszylindern 18 dar- gestellt sind. Auch dort wird der Lastdruck über Druckaufnehmer 38 ermittelt und an dem Druckbegrenzungsventil 50 über eine Proportionalmagnetspule 56 entsprechend dem höchsten erfassten Druck variabel voreingestellt. So- bald im weiteren Mastbetrieb ein höherer Druck erforderlich wird, schließt das Wegeventil 64, und die Druckübertragung erfolgt hydraulisch über eine Load-Sensing-Leitung 66 an die Druckwaage 68. Dort wird das überschüs- sige Hydrauliköl vom Abzweigpunkt 70 zum Tank 60 abgeleitet. Die Druck- waage 68 weist hierfür ein Schaltventil 72 auf, das an seinem einen feder- vorgespannten Steuereingang mit dem Load-Sensing-Druck und an seinem anderen Steuereingang mit dem Pumpendruck beaufschlagt ist und ent- sprechend in eine Zwischenstellung durchsteuert oder sperrt. 3 shows a further exemplary embodiment of the use of the control device 36 in conjunction with a constant displacement pump 32 ', wherein only two actuators 26 with their proportional valves 62 and downstream hydraulic drive cylinders 18 are shown in the circuit diagram for the sake of simplicity. Also there, the load pressure is determined by pressure sensor 38 and preset to the pressure relief valve 50 via a proportional solenoid coil 56 according to the highest detected pressure variable. As soon as a higher pressure is required in the further fattening operation, the directional control valve 64 closes, and the pressure is transmitted hydraulically via a load-sensing line 66 to the pressure compensator 68. There, the excess hydraulic oil is diverted from the branch point 70 to the tank 60. For this purpose, the pressure balance 68 has a switching valve 72, which is acted upon by the load-sensing pressure at its one spring-biased control input and by the pump pressure at its other control input and correspondingly controls or blocks in an intermediate position.
Wie aus Fig. 3 hervorgeht, befinden sich die Abgriffe 74 für die Lastdruck- Übermittlung auf der Versorgungsseite der Proportionalventile 62. Die Wechselventilkette 76 sorgt dafür, dass im Fährbetrieb nur der höchste Lastdruck auf die Load-Sensing-Leitung 66 durchgesteuert wird. As can be seen from FIG. 3, the taps 74 for the load pressure transmission are located on the supply side of the proportional valves 62. The shuttle valve chain 76 ensures that only the highest load pressure on the load-sensing line 66 is controlled in the ferry mode.
Im Stand-by-Betrieb, also in der gezeigten Mittelstellung der Proportional- ventile 62, sind die Antriebszylinder 18 durch die Lasthalteventile 78 verrie- gelt, und es wird kein Load-Sensing-Signal bereitgestellt. Hier ermöglicht die mit den Druckaufnehmern 38 gekoppelte Steuereinrichtung 36 die er- forderliche Druckvorspannung, um mittels einer elektronischen Mastkontrol- leinrichtung (beispielsweise bekannt als EBC, Ergonic Boom Control) einen Anfahrbefehl in geeignete synchronisierte Schwenkbewegungen der Mast- arme 16 umzusetzen, ohne dass einzelne Antriebszylinder 18 mit geringe- rem Versorgungsdruckbedarf voreilen. In stand-by mode, that is to say in the illustrated mid-position of the proportional valves 62, the drive cylinders 18 are locked by the load-holding valves 78, and no load-sensing signal is provided. Here, the control device 36, which is coupled to the pressure sensors 38, makes it possible to provide the required pressure prestress in order to use an electronic mast control device (for example known as EBC, Ergonic Boom Control) Start command in suitable synchronized pivoting movements of the mast arms 16 to implement without individual drive cylinder 18 lead with lower supply pressure requirement.

Claims

Patentansprüche claims
1. Verfahren zur hydraulischen Steuerung eines mehrere Mastarme (16) umfassenden Betonverteilermasts (14), bei welchem hydraulische An- triebszylinder (18) für die gelenkig miteinander verbundenen Mast- arme (16) über eine Hydraulikschaltung (34) angesteuert werden, wo- bei über eine Hydraulikpumpe (32) der Hydraulikschaltung (34) ein Versorgungsdruck geliefert wird, und in den Antriebszylindern (18) durch jeweils mindestens einen Druckaufnehmer (38) ein Drucksignal erfasst wird, dadurch gekennzeichnet, dass der höchste Druck in den Antriebszylindern (18) aus den Drucksignalen ermittelt wird, und dass der Versorgungsdruck nach Maßgabe des höchsten Drucks durch eine elektronische Steuereinheit (36) angepasst wird. 2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die Drucksignale als elektrische Signale über elektrische Signalleitungen (40) von den Druckaufnehmern (38) an die elektronische Steuereinheit (36) übertragen werden. 3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Drucksignale jeweils an der Bodenseite und/oder der Stangenseite der Antriebszylinder direkt abgegriffen werden. 1. A method for the hydraulic control of a plurality of mast arms (16) comprehensive concrete distributor mast (14), in which hydraulic drive cylinder (18) for the articulated mast arms (16) are controlled via a hydraulic circuit (34), wherein via a hydraulic pump (32) of the hydraulic circuit (34), a supply pressure is supplied, and in the drive cylinders (18) by at least one pressure transducer (38) detects a pressure signal, characterized in that the highest pressure in the drive cylinders (18) the pressure signals is determined, and that the supply pressure in accordance with the highest pressure by an electronic control unit (36) is adjusted. 2. The method according to claim 1, characterized in that the pressure signals are transmitted as electrical signals via electrical signal lines (40) from the pressure transducers (38) to the electronic control unit (36). 3. The method according to claim 1 or 2, characterized in that the pressure signals are tapped directly on the bottom side and / or the rod side of the drive cylinder.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeich- net, dass die elektrischen Drucksignale an einen insbesondere durch eine elektronische Schaltung oder Software gebildeten Vergleicher der Steuereinrichtung übertragen werden. 4. The method according to any one of claims 1 to 3, characterized marked, that the electrical pressure signals are transmitted to a particular formed by an electronic circuit or software comparator of the control device.
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass der Versorgungsdruck durch ein an einer Speiseleitung (54) der Hydraulikpumpe (32) insbesondere über eine Abzweigleitung (52) angeschlossenes, regelbares Druckbegrenzungsventil (50) als Stell- glied angepasst wird. 5. The method according to any one of claims 1 to 4, characterized in that the supply pressure by a at a feed line (54) of the hydraulic pump (32) in particular via a branch line (52) connected, adjustable pressure relief valve (50) is adjusted as an actuator ,
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass das Druckbegrenzungsventil (50) über eine elektrische Steuerleitung (48) insbesondere mittels einer Magnetspule (56) betätigt wird. 6. The method according to claim 5, characterized in that the pressure limiting valve (50) via an electrical control line (48) in particular by means of a magnetic coil (56) is actuated.
7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Hydraulikpumpe (32) als Konstantpumpe ausgebildet ist. 7. The method according to any one of claims 1 to 6, characterized in that the hydraulic pump (32) is designed as a fixed displacement pump.
8. Verfahren nach einem der Ansprüche 1 bis 7, dadurch gekennzeich- net, dass der Versorgungsdruck durch Regelung einer als Verstell- pumpe ausgebildeten Hydraulikpumpe (32) über einen hydraulischen oder elektrischen Pumpenregler angepasst wird. 8. The method according to any one of claims 1 to 7, characterized marked, that the supply pressure by adjusting a pump designed as a variable displacement hydraulic pump (32) via a hydraulic or electrical pump controller is adjusted.
9. Verfahren nach einem der Ansprüche 1 bis 8, dadurch gekennzeich- net, dass der Versorgungsdruck auf den Wert des höchsten Drucks oder einen um einen vorgegebenen Betrag darüberliegenden Wert eingestellt wird. 9. The method according to any one of claims 1 to 8, characterized marked, that the supply pressure to the value of the highest pressure or a value set by a predetermined amount is set.
10. Verfahren nach einem der Ansprüche 1 bis 9, dadurch gekennzeich- net, dass der jeweilige Druck in den Antriebszylindern (18) durch die momentane Stellung der Mastarme (16) beeinflusst wird. 10. The method according to any one of claims 1 to 9, characterized marked, that the respective pressure in the drive cylinders (18) by the instantaneous position of the mast arms (16) is influenced.
11. Verfahren nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass der Versorgungsdruck nach einer Anfahrphase des Betonverteilermasts (14) insbesondere durch einen Load-Sensing- Regler (66,68) unabhängig von den Drucksignalen der Druckaufneh- mer (38) eingestellt wird. 11. The method according to any one of claims 1 to 10, characterized in that the supply pressure after a starting phase of the concrete distributor mast (14) in particular by a load-sensing controller (66,68) regardless of the pressure signals of the Druckaufneh- mer (38) set becomes.
12. Verfahren nach einem der Ansprüche 1 bis 11 , dadurch gekennzeichnet, dass die Antriebszylinder (18) über jeweils ein zugeordnetes Stellglied der Hydraulikschaltung (34), insbesondere ein Proportional- Wegeventil (26) mit einem von dem Versorgungsdruck abgeleiteten12. The method according to any one of claims 1 to 11, characterized in that the drive cylinder (18) via in each case an associated actuator of the hydraulic circuit (34), in particular a proportional directional control valve (26) with a derived from the supply pressure
Arbeitsdruck beaufschlagt werden. Working pressure to be applied.
13. Verfahren nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass die Bewegung der Mastarme (16) des Betonverteiler- masts (14) nach Vorgabe von Fahrbefehlen rechnerunterstützt koordi- niert wird. 13. The method according to any one of claims 1 to 12, characterized in that the movement of the mast arms (16) of the concrete distributor mast (14) is coordinated according to the specification of driving commands computer-aided.
14. Verfahren nach einem der Ansprüche 1 bis 13, dadurch gekennzeichnet, dass am Anfang einer Bewegungsphase, insbesondere beim Anfahren des Betonverteilermasts (14) aus den Drucksignalen der höchste Druck ermittelt wird. 14. The method according to any one of claims 1 to 13, characterized in that at the beginning of a movement phase, in particular when starting the Betonverteilermasts (14) from the pressure signals, the highest pressure is determined.
15. System zur hydraulischen Steuerung eines mehrere Mastarme (16) umfassenden Betonverteilermasts (14), mit jeweiligen hydraulischen Antriebszylindern (18) für die gelenkig miteinander verbundenen Mast- arme (16) und einer eine Hydraulikpumpe (32) umfassenden Hydrau- likschaltung (34) zur Ansteuerung der Antriebszylinder (18), wobei durch jeweils mindestens einen Druckaufnehmer (38) in den Antriebs- zylindern (18) ein Drucksignal erfassbar ist, wobei der jeweilige Druck in den Antriebszylindern (18) von der momentanen Stellung der Mast- arme (16) abhängig ist, dadurch gekennzeichnet, dass eine elektro- nische Steuereinheit (36) dazu ausgebildet ist, aus den Drucksignalen einen höchsten Druck zu ermitteln und den Versorgungsdruck nach Maßgabe des höchsten Drucks anzupassen. 15. System for the hydraulic control of a concrete boom (14) comprising a plurality of mast arms (16), with respective hydraulic drive cylinders (18) for the articulated mast arms (16) and a hydraulic circuit (34) comprising a hydraulic pump (32). for controlling the drive cylinder (18), wherein by a respective pressure sensor (38) in the drive cylinders (18) a pressure signal can be detected, wherein the respective pressure in the drive cylinders (18) of the current position of the boom arms (16) depends, characterized in that a electronic control unit (36) is adapted to determine from the pressure signals a maximum pressure and to adjust the supply pressure in accordance with the highest pressure.
16. System nach Anspruch 15, dadurch gekennzeichnet, dass die Druckaufnehmer (38) ausgangsseitig über elektrische Signalleitungen16. System according to claim 15, characterized in that the pressure transducer (38) on the output side via electrical signal lines
(40) an die elektronische Steuereinheit (36) angeschlossen sind. (40) are connected to the electronic control unit (36).
17. System nach Anspruch 15 oder 16, dadurch gekennzeichnet, dass die Steuereinheit (36) einen mit den Drucksignalen beaufschlagten Vergleicher (42) zur Ermittlung des höchsten Drucks aufweist. 17. System according to claim 15 or 16, characterized in that the control unit (36) has a pressure applied to the pressure comparator (42) for determining the highest pressure.
18. System nach einem der Ansprüche 15 bis 17, dadurch gekennzeichnet, dass die Steuereinheit (36) eine Auswertestufe (44) zur Ermittlung eines Sollwerts des Versorgungsdrucks in Abhängigkeit von dem höchsten Druck aufweist. 18. System according to one of claims 15 to 17, characterized in that the control unit (36) has an evaluation stage (44) for determining a desired value of the supply pressure as a function of the highest pressure.
19. System nach einem der Ansprüche 15 bis 18, dadurch gekennzeichnet, dass die Steuereinheit (36) einen hydraulischen oder elektrischen Pumpenregler oder ein an einer Speiseleitung der Hydraulikpumpe (32) angeschlossenes, regelbares Druckbegrenzungsventil (50) zur19. System according to one of claims 15 to 18, characterized in that the control unit (36) has a hydraulic or electrical pump regulator or a feed line of the hydraulic pump (32) connected, controllable pressure relief valve (50) for
Anpassung des Versorgungsdrucks aufweist. Adapting the supply pressure has.
EP19720818.4A 2018-04-24 2019-04-24 Method and system for the hydraulic control of a concrete placing boom Withdrawn EP3784850A1 (en)

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DE102018109789.1A DE102018109789A1 (en) 2018-04-24 2018-04-24 Method and system for the hydraulic control of a concrete distributor mast
PCT/EP2019/060499 WO2019206988A1 (en) 2018-04-24 2019-04-24 Method and system for the hydraulic control of a concrete placing boom

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JP (1) JP2021518896A (en)
KR (1) KR20210005874A (en)
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US20210017776A1 (en) 2021-01-21
KR20210005874A (en) 2021-01-15
CN112272725A (en) 2021-01-26
DE102018109789A1 (en) 2019-10-24
CN112272725B (en) 2022-04-19
US11118362B2 (en) 2021-09-14
WO2019206988A1 (en) 2019-10-31

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