EP4148192A1 - Machine hydraulique dotée d'une flèche pivotante autour d'un axe de pivotement - Google Patents

Machine hydraulique dotée d'une flèche pivotante autour d'un axe de pivotement Download PDF

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Publication number
EP4148192A1
EP4148192A1 EP22188901.7A EP22188901A EP4148192A1 EP 4148192 A1 EP4148192 A1 EP 4148192A1 EP 22188901 A EP22188901 A EP 22188901A EP 4148192 A1 EP4148192 A1 EP 4148192A1
Authority
EP
European Patent Office
Prior art keywords
lowering
load
boom
hydraulic
sensor
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
EP22188901.7A
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German (de)
English (en)
Inventor
Andreas Wizgall
Manuel Berger
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.)
Kramer Werke GmbH
Original Assignee
Kramer Werke 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 Kramer Werke GmbH filed Critical Kramer Werke GmbH
Publication of EP4148192A1 publication Critical patent/EP4148192A1/fr
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3058—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
    • 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
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/31552—Directional control characterised by the connections of the valve or valves in the circuit being connected to an output member and a return line
    • F15B2211/31558—Directional control characterised by the connections of the valve or valves in the circuit being connected to an output member and a return line having a single output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • 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
    • F15B2211/40—Flow control
    • F15B2211/41—Flow control characterised by the positions of the valve element
    • F15B2211/411—Flow control characterised by the positions of the valve element the positions being discrete
    • 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41527—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a 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
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow 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
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy

Definitions

  • the invention relates to a hydraulic machine, in particular a motor vehicle such as an excavator, wheel loader, tractor, telehandler or the like, with a boom that can be pivoted about a pivot axis in relation to a frame, according to the preamble of claim 1.
  • a motor vehicle such as an excavator, wheel loader, tractor, telehandler or the like
  • vehicles such as excavators, wheel loaders, telescopic handlers, snowcats, tractors, combine harvesters, forage harvesters, forestry/skid cranes, so-called “harvesters", front loaders, etc. have been in use for years, e.g. in structural and civil engineering, in recycling and waste management, Commonly used in gardening and landscaping as well as in forestry and agriculture, with different loads or tools being able to be attached to a boom or swivel arm.
  • other tools such as load hooks, concrete buckets, sweepers, work platforms, cable winches, clearing blades and grabs can also be used. So-called quick-change plates are available for quick tool changes.
  • Loading systems of telehandlers have, for example, a lifting arm with at least one extension stage, which is usually mounted in a pivoted manner at the rear of the vehicle.
  • the lifting and Lowering of the boom or lifting arm is carried out by a hydraulic lifting cylinder, which is controlled or actuated by the driver using a directional control valve.
  • a lowering brake valve is used in addition to the directional control valve.
  • control valve and the lowering brake valve are usually controlled with the same pilot pressure. This directs a flow of oil from a hydraulic pump to the rod side of the lift cylinder via the control valve. At the same time, the lowering brake valve opens and directs the oil displaced from the piston side to the tank via the control valve. This sets the lifting cylinder in motion and the load is lowered. Due to the joint control, the characteristics of the control valve and the lowering brake valve must be precisely matched to one another.
  • the lowering brake valve has been actuated via a hydraulic pilot signal.
  • the pilot pressure required for activation is provided by a pressure reducing valve, which provides a pressure that is proportional to the control current. Due to the geometric design, the lowering brake valve is load-compensated, i.e. the volume flow through the valve is approximately the same, regardless of the load.
  • regeneration can also be integrated, e.g.
  • EP 1 915 538 B1 EP 1 915 538 B1 .
  • the piston and rod side of the lifting cylinder are also connected to each other when lowering the load. Due to the unequal effective areas, part of the oil volume is routed from the piston to the rod side. The excess amount of oil flows to the tank via the control valve. As a result, the oil flow supplied to the pump can be reduced and energy can be saved to a certain extent.
  • non-mobile hydraulic machines with a hydraulically pivotable boom or a vertically adjustable mechanism are also known, with a pivoting mechanism being provided in order to vertically adjust a load or a tool, e.g. presses, punches, bending machines or the like.
  • the object of the invention is to propose a hydraulic machine, in particular a motor vehicle, which implements an improved or more efficient mode of operation compared to the prior art, in particular has improved pressurization or energy utilization of the hydraulic system.
  • a hydraulic machine in particular a motor vehicle, is characterized in that at least one lowering sensor generating a lowering signal is provided for detecting an actual lowering parameter of the lowering operation, in that an actual/target comparison unit generating at least one lowering control signal provided for comparing the actual lowering parameter with a target and/or limit parameter, with the case that the actual lowering parameter corresponds to the target and/or limit parameter, the lowering control signal for actuating the control unit and/or the pressure-generating device and/or or is provided/designed for switching over the controllable lifting cylinder control element, so that pressurization of the hydraulic oil/liquid of the piston rod space is provided.
  • the hydraulic system is designed to be significantly more flexible during the lowering process.
  • a particularly energy-saving and/or an automated and/or a "more flowing" or more evenly/continuous lowering operation can be implemented.
  • the lowering operation ran according to the switching positions of the actuators or control valves or the like set/actuated by the driver.
  • the hydraulic system could not and did not automatically intervene in the lowering operation.
  • an advantageous actual lowering parameter can now be detected during the lowering operation with the advantageous lowering sensor and used for an improved lowering operation. This enables previously unachievable improvements to the hydraulic system, in particular for an energy-saving and/or more continuous lowering mode of the boom.
  • the senor can record this actual state or the corresponding actual lowering parameter and for an advantageous adaptation and/or change of the lowering process or lowering operation.
  • This opens up completely new (more automated) operating options with significantly improved comfort and/or energy consumption.
  • the pressure generation unit can be operated less or for a shorter time, which can reduce the energy consumption.
  • a lowering sensor according to the invention is conceivable, for example, which is designed as a speed sensor for detecting a lowering speed, e.g.
  • the lowering sensor could also be designed, for example, as a contact sensor for detecting a contact of the boom and/or the load pick-up or the tool. It is conceivable that, for example, lying/standing on the ground, contact when loading onto a vehicle trailer or the like could be detected.
  • a distance sensor, an optical sensor, a capacitive or inductive sensor, a radar sensor or the like would be conceivable, in which case the distance and/or the contact and/or a reduction/change in the lowering process can be detected.
  • the lowering operation can be implemented much more quickly and/or more evenly and/or more energy-efficiently, with human errors also being avoidable.
  • the lowering sensor is preferably designed as a pressure sensor for detecting a pressure of the hydraulic oil/fluid, in particular the so-called "load pressure".
  • a change or falling below or exceeding the value of the hydraulic pressure in the hydraulic system or the hydraulic fluid or the hydraulic oil can be advantageously detected and used according to the invention, especially the advantageous target/actual comparison.
  • This measure enables a particularly cost-effective implementation, since a wide variety of pressure sensors for hydraulic systems are already commercially available and therefore inexpensive.
  • very small pressure differences/changes can also be detected and used advantageously according to the invention.
  • a particular advantage of the invention in the advantageous detection of the load pressure is that due to a recorded load and / or the dead weight of the loading system or the (entire) boom on the piston side of the Lifting cylinder forms a load pressure, whereby the load pressure is already present due to the dead weight of the boom or the loading system, even without tools/attachments.
  • This is also referred to as the holding pressure of the empty loading system.
  • this pressure is higher or increases further as long as the loading system is not in contact with the ground or another obstacle. If the boom or the loading system comes into contact with an obstacle, the boom or the loading system is supported by this and thus relieved.
  • the holding pressure is used/defined as a limit/setpoint/reference value for advantageous control or switching according to the invention, e.g. for a transition from passive to active lowering, a switchover to active lowering always takes place when the boom or The loading system is supported by an obstacle from below and is thus relieved. As a result, the load pressure or "actual pressure” falls to a value that is lower than the holding pressure or "target pressure".
  • the resulting lowering speed without a load may be too low. This can be counteracted in an advantageous manner, for example by selecting the reference value higher than the holding pressure of the empty loading system. In this case, the active lowering takes place advantageously when the driving weight of the load and loading system is too low. High loads, on the other hand, continue to be lowered passively or in an energy-saving manner.
  • At least one regeneration connection line is provided/designed between the piston chamber and the piston rod chamber when the boom is being lowered, so that hydraulic oil/fluid can flow/flow from the piston chamber to the piston rod chamber, with the regeneration connection line having at least one lowering brake element. This is part of the oil not fed to the tank, but is fed back directly to the piston rod side.
  • the pressure sensor is arranged in the regeneration connecting line and between the piston space and the lowering brake element or in/on the piston space.
  • the pressure of the piston chamber or correspondingly hydraulically connected lines/sections can be detected in an advantageous manner and used in an advantageous manner, especially in the event of changes in the actual pressure according to the invention.
  • the invention can be implemented in a very compact/space-saving manner.
  • the pressure in the piston chamber and/or at least in an adjacent section of the regeneration connection line falls when the boom and/or tool or the load pick-up comes into contact with the ground, an object such as a vehicle trailer, dump truck or the like, which can be detected according to the invention and for a advantageous control can be used.
  • the lowering sensor is designed as a load sensor for detecting a load/stress on the boom and/or the load receiver and/or the frame.
  • contact or resting of the boom and/or the load-receiving device or the tool can be used to change the actual parameters according to the invention.
  • the lowering/load sensor is preferably designed as a frame sensor for detecting a frame load/load.
  • the frame sensor is used as an axle load sensor for detecting an axle load/load on a vehicle axle, in particular Rear axle, designed, esp.
  • a strain gauge (DMS) for detecting a bend / change in length of the vehicle axle.
  • the existing sensor can be evaluated or used for other purposes, such as detecting a dangerous tipping situation, etc., for the advantageous actual parameter comparison according to the invention without great effort for retrofitting and/or by means of software programming . This further reduces the cost of the invention.
  • the weight of the load picked up advantageously generates a moment about the contact area of a first wheel / Drive axle, esp.
  • the front axle is generated, which, for example, in the case of telescopic loaders, usually acts in a forward-tilting direction.
  • the other or The load on the second wheel/drive axle or, for example, the rear axle of telehandlers is relieved the more the load is heavier.
  • the weight of the machine counteracts this tilting moment in its center of gravity.
  • the tilting moment around the first axle or, in the case of telescopic loaders, around the front axle is reduced and the load acting on the second axle or, in the case of telescopic loaders, the rear axle increases.
  • the load on the second axle or e.g. on the rear axle in the case of telehandlers which is recorded for example by means of strain gauges or so-called “DMS measurement” or the like, can also be used to detect whether the boom or .
  • the loading system is in contact with an obstacle or the load taken up is too small to cause a fast enough lowering movement.
  • a control device for controlling the lowering brake element is provided, the control device being designed at least partially separately from the control unit of the controllable lifting cylinder control element, so that the lowering brake element can be controlled separately from the lifting cylinder control element.
  • the control device and the control unit or the controllable lifting cylinder control element can (largely) be operated independently of one another. This opens up completely new possibilities for controlling the hydraulic system or the lifting cylinder and/or the controllable lifting cylinder control element, etc.
  • At least one relief element/valve is preferably provided, with at least one branching unit being arranged between the lowering brake element and the lifting cylinder control element, and the relief element/valve between the branching unit and a hydraulic accumulator/tank is arranged so that excess hydraulic oil / fluid of the piston chamber can be fed to the hydraulic accumulator / tank during lowering operation.
  • at least one branching unit being arranged between the lowering brake element and the lifting cylinder control element
  • the relief element/valve between the branching unit and a hydraulic accumulator/tank is arranged so that excess hydraulic oil / fluid of the piston chamber can be fed to the hydraulic accumulator / tank during lowering operation.
  • the principle according to the invention depending on given measured variables or recorded actual lowering parameters, usually offers the load pressure on the lifting cylinder, which can advantageously be switched automatically between load-induced lowering movement and active lowering of loads, can advantageously be used in hydraulic machines, where loads are lifted with the help of hydraulic cylinders and a lowering of these is not possible without restrictions due to their own weight or where active forces have to be applied in the lowering direction at times.
  • the boom or the loading system is advantageously lowered in a controlled manner by using gravity, which leads to a saving in pumping energy and/or an improvement in comfort and/or a more continuous lowering movement.
  • FIGs 2 to 4 are various schematic hydraulic systems according to the invention of a mobile hydraulic machine or a motor vehicle such as a telehandler 1 according to FIG figure 1 sketched.
  • the telescopic handler 1 includes, inter alia, a boom 1.1 or a telescoping lifting arm 1.1, which is about a first pivot axis 1.8 by means of a pivot cylinder 2.1 or lifting cylinder 2.1 having a piston 22 and a piston rod 23 in relation to a Vehicle frame 1.6 is adjustable / pivotable.
  • the extension arm 1.1 can be adjusted in height.
  • the length adjustment can be implemented in a known manner in one or more stages and is not shown or explained in detail here.
  • the telescopic loader 1 also has, in a known manner, a driver's cab 1.7 in which one or two or more control elements for driving and for actuating the hydraulic system are advantageously present.
  • wheels 5 or drive chains (not shown), e.g. of an excavator or the like, are provided in a known manner, which can be driven and/or steered by the driver, preferably by means of a drive motor, e.g. diesel engine and/or electric motor and/or hydraulic motor.
  • a load receptacle 1.3 or tool carrier 1.3 is arranged on the boom 1.1 or telescoping boom arm 1.1 so that it can be pivoted about a second pivot axis 1.9.
  • a load 1.4 or a tool 1.4 is arranged at an end of the arm 1.5, with the tool carrier 1.3 being able to be adjusted/pivoted with the aid of a tilting cylinder 3.1 or tilting cylinder 3.1 in relation to the end of the arm 1.5.
  • the tilt cylinder 3.1 can advantageously be hydraulically connected to a compensation cylinder 4.1 via a first connecting line and a second connecting line (without further representation), i.e. hydraulic fluid/oil can be exchanged via the two connecting lines and hydraulic fluid/oil are integrated in a common hydraulic circuit.
  • this ensures that the load 1.4 or the tool 1.4 is in a predetermined position or Orientation, for example in a horizontal position, remains, which is usually of great advantage in practice.
  • FIG 2 a first, schematic hydraulic circuit diagram for the swivel cylinder 2.1 of the telescopic loader 1 is shown with a lowering sensor 6 designed as a pressure sensor 6 according to the invention.
  • the lowering movement of the boom 1.1 is initially controlled solely by a lowering brake valve 13.
  • a regeneration valve 14 and a relief valve 15.1 or, as an alternative 15.2, a lifting arm damping are opened.
  • the piloting of the lowering brake valve 13 opens it and the oil Q2 displaced from a piston side or a piston chamber 20 is routed through the regeneration valve 14 to the rod side or a piston rod chamber 21 .
  • Switching takes place (automatically/automatically) on the basis of the load pressure or actual pressure of the oil quantity Q2 or the oil flow Q2, which is detected by the pressure sensor 6 according to the invention. This is advantageously done in such a way that the pressure sensor 6 sends/transmits a sensor signal 8 to a controller 7 and that this controller 7 uses a comparison unit 9 to compare the transmitted actual/sensor signal 8 or actual parameter within the meaning of the invention with a stored/or .
  • the controller 7 or the comparison unit 9 advantageously sends a lowering control signal 16 to the pump P and/or a control signal 17 dem Control valve 12, so that the latter switches over to the lowering position and so that, if required, the pump P maintains the operating pressure or pumps oil Q1 to the rod side or into the piston rod chamber 21.
  • a lowering control signal 16 to the pump P and/or a control signal 17 dem Control valve 12, so that the latter switches over to the lowering position and so that, if required, the pump P maintains the operating pressure or pumps oil Q1 to the rod side or into the piston rod chamber 21.
  • valves 12 and 13 Due to the advantageous separate activation of the valves 12 and 13, i.e. control signal 17 and a separate or second control signal 18, and thus independent parameterizable characteristic curves in software, even with previously known or so-called conventional lowering operation, there are advantageously reductions in throttle losses and thus energy consumption be additionally reduced.
  • a characteristic stored in software (valve energization as a function of the required lowering speed) for the lowering brake valve 13 can be replaced by a characteristic map (valve energization as a function of the required lowering speed and the measured load pressure).
  • a characteristic map (valve energization as a function of the required lowering speed and the measured load pressure).
  • an advantageous retrofitting of hitherto customary hydraulic systems can be implemented in an advantageous manner without great structural and/or economic as well as control-related outlay.
  • the relief valve 15.1 can be used as in figure 2 shown alternatively on the piston side of the lifting cylinder 2.1. or be installed, ie as a relief valve 15.2.
  • the volume flow through the regeneration valve 14 is reduced in an advantageous manner and associated therewith Throttle losses, which have a negative effect on the lowering speed, are minimized.
  • valve 15.2 can no longer be used to relieve the rod side when the lift arm damping is switched on.
  • the so-called "gravity lowering” function described can be used as in figure 3 shown can be implemented with a switchable lowering brake valve 13 or a lowering brake unit, which includes various check valves and/or load-holding valves (cf. figure 3 ).
  • a switchable lowering brake valve 13 or a lowering brake unit which includes various check valves and/or load-holding valves (cf. figure 3 ).
  • the relief valve 15.1 can alternatively be arranged on the piston head side (no detailed illustration).
  • the so-called "gravity lowering” function described can also be used as in figure 4 shown with another, switchable lowering brake valve 13 or another lowering brake unit, which in turn comprises various check valves and/or load-holding valves (cf. figure 4 ).
  • the individual, separate and switchable regeneration valve 14 can be used according to FIG figure 2 be waived.
  • the excess volume flow Q3 can also be discharged via the control valve 12 when lowering.
  • the control valve 12 should/must be implemented in an alternative manner with a switching position which relieves the working connections towards the tank T and keeps the supply connection closed. This can be implemented via the so-called neutral position of the valve slide or an additional switching position, which is known to those skilled in the art.
  • a further advantageous optimization of the operating behavior is possible, for example, by measuring/detecting the pressure difference at the lowering brake valve 13.
  • another pressure measuring point is advantageously to be provided or implemented, e.g. with a second pressure sensor and/or a pressure difference sensor.
  • the actual parameter or current value that is advantageous for controlling the valve then advantageously results as a function of the required or specified lowering speed and the pressure difference present at the lowering brake valve 13 .
  • a geometric parameter such as the lifting angle of the lifting arm or boom 1.1 and/or the stroke of the lifting cylinder 2.1 and/or feedback of the signal to a controller (Control circuit) of the controller 7, interference in the system are corrected.
  • the lowering brake valve 13 can optionally be actuated via a first, hydraulic pilot signal or via the control line 18 and/or the control valve 12 optionally via a (separate) second hydraulic pilot signal or via the control line 17 .
  • Direct electromagnetic actuation of the valves 12 and/or 13, e.g. by means of electrical control lines 17, 18, is also possible, as is electrical control of the pump P by means of an electrical control line 16. It is of great advantage if the lowering brake valve 13 and the directional control valve 12 or Control valve 12 can be controlled independently of one another.
  • the invention leads to particular advantages or effects if, for example, the loading system or the boom 1.1 can be lowered in a controlled manner without the support of the motor or the pump P if there is sufficient weight (load pressure), which saves energy.
  • the advantageous variants of the invention can be retrofitted very easily and thus as options for the customer offer what increases the flexibility and convenience for the customer in an advantageous manner.
  • the invention can be flexibly optimized/changed, above all via advantageous software parameters, without major design and economic outlay and can thus be adapted to different operating conditions and machines or vehicles and/or applications/areas.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
EP22188901.7A 2021-09-08 2022-08-04 Machine hydraulique dotée d'une flèche pivotante autour d'un axe de pivotement Pending EP4148192A1 (fr)

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DE102021123223.6A DE102021123223A1 (de) 2021-09-08 2021-09-08 Hydraulikmaschine mit einem um eine Schwenkachse verschwenkbaren Ausleger

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4350088A1 (fr) * 2022-10-07 2024-04-10 Kramer-Werke GmbH Machine hydraulique avec bras pivotant autour d'un axe de pivotement

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US20050051024A1 (en) * 2003-09-03 2005-03-10 Sauer-Danfoss Aps Valve arrangement and hydraulic drive
EP1915538B1 (fr) 2005-08-19 2012-04-04 Bucher Hydraulics AG Montage pour commander un cylindre d'entrainement hydraulique a double effet
US20150059568A1 (en) * 2013-08-29 2015-03-05 Caterpillar Global Mining Llc Hydraulic control circuit with regeneration valve
US20180112686A1 (en) 2016-10-26 2018-04-26 Hydraforce, Inc. Hydraulic actuator system of vehicle having secondary load-holding valve with tank connection

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Publication number Priority date Publication date Assignee Title
DE102005039251A1 (de) 2005-08-19 2007-02-22 Deere & Company, Moline Ladegerät
DE102019129300A1 (de) 2019-10-30 2021-05-06 Kramer-Werke Gmbh Kraftmaschine mit einem Rahmen und einem verschwenkbaren Ausleger

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US20050051024A1 (en) * 2003-09-03 2005-03-10 Sauer-Danfoss Aps Valve arrangement and hydraulic drive
EP1915538B1 (fr) 2005-08-19 2012-04-04 Bucher Hydraulics AG Montage pour commander un cylindre d'entrainement hydraulique a double effet
US20150059568A1 (en) * 2013-08-29 2015-03-05 Caterpillar Global Mining Llc Hydraulic control circuit with regeneration valve
US20180112686A1 (en) 2016-10-26 2018-04-26 Hydraforce, Inc. Hydraulic actuator system of vehicle having secondary load-holding valve with tank connection

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SCHRAEGER K: "SYSTEMINTEGRATION VON HYDRAULISCHEN KOMPONENTEN UND ELEKTRONISCHEN STEUERUNGEN IN MOBILEN ARBEITSMASCHINEN", O & P - OELHYDRAULIK UND PNEUMATIK: ZEITSCHRIFT FUER FLUIDTECHNIK, AKTORIK, STEUERELEKTRONIK UND SENSORIK, VEREINIGTE FACHVERLAGE GMBH, DE, vol. 45, no. 7, 1 July 2001 (2001-07-01), pages 486 - 489, XP001043668, ISSN: 0341-2660 *

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4350088A1 (fr) * 2022-10-07 2024-04-10 Kramer-Werke GmbH Machine hydraulique avec bras pivotant autour d'un axe de pivotement

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