WO2006110068A1 - Dispositif de manutention mobile - Google Patents

Dispositif de manutention mobile Download PDF

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Publication number
WO2006110068A1
WO2006110068A1 PCT/SE2005/000532 SE2005000532W WO2006110068A1 WO 2006110068 A1 WO2006110068 A1 WO 2006110068A1 SE 2005000532 W SE2005000532 W SE 2005000532W WO 2006110068 A1 WO2006110068 A1 WO 2006110068A1
Authority
WO
WIPO (PCT)
Prior art keywords
pressure
lifting cylinder
accumulator
valve
hydraulic
Prior art date
Application number
PCT/SE2005/000532
Other languages
English (en)
Inventor
Lars Bruun
Original Assignee
Lars Bruun
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 Lars Bruun filed Critical Lars Bruun
Priority to PCT/SE2005/000532 priority Critical patent/WO2006110068A1/fr
Publication of WO2006110068A1 publication Critical patent/WO2006110068A1/fr

Links

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
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • 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
    • F15B2211/20561—Type of pump reversible
    • 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
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
    • 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 present invention relates to a mobile handling device which hydraulic circuit comprises a lifting cylinder arranged in a lifting device suitable for handling a variable load and an accumulator for recovering or recycling lowering load energy, the hydraulic circuit also comprising a variable hydraulic machine with two ports, which hydraulic machine is capable via a drive unit of emitting full system pressure in two flow directions to said ports, one port being connected to said accumulator and the other port being connected to said lifting cylinder, wherein the hydraulic circuit comprises a first stop valve arranged in the line between one port of the hydraulic motor and the lifting cylinder, and a second stop valve arranged in the line between the second port and the accumulator, and wherein the hydraulic circuit comprises a second accumulator, which is connected via at least one non-return valve to the line between the hydraulic machine and the lifting cylinder.
  • Excavators, trucks, container handlers etc. and a large number of other mobile handling machines made to handle variable loads have one or more lifting cylinders in order to lift the load for which the unit is designed.
  • the majority of mobile handling arrangements in use today have no form whatsoever of energy recovery for the lowered load, which means that the lowered load energy, very often in the passage through an operating valve that determines the lifting and lowering movement, is converted into heat which then has to be dissipated.
  • PCT/SE99/01131 and WO 03/023234 disclose mobile handling arrangements having a hydraulic circuit, including an accumulator system, by means of which a large amount of energy can be recovered from the lowered load.
  • the system has proved capable of yielding energy savings of almost 50% in particularly favourable instances.
  • the known hydraulic circuit disclosed in the documents mentioned above may not fulfil high demands concerning smoothness in movements and may also in certain situations lead to an excessive drainage of hydraulic oil out from the hydraulic circuit.
  • a first stop valve in the form of a first proportional valve arranged to enable small lowering motions by means of leakage through the hydraulic machine
  • said first proportional valve is arranged to be activated if the pressure difference between the pressure in the lifting cylinder and the pressure in the line between the proportional valve and the hydraulic machine is above a predetermined level
  • control unit a control unit, a first pressure sensor for the lifting cylinder and a second pressure sensor for the line between the hydraulic machine and the proportional valve, wherein said control unit is arranged to control the proportional valve by means of input data from said pressure sensors,
  • said control unit activates said hydraulic machine to assist in performing a lowering motion upon sensing a pressure difference that is below said predetermined level and that said control unit at a certain lowering speed of the lifting cylinder fully opens up said proportional valve and said stop valve,
  • said hydraulic circuit comprises a partial circuit, which can be connected into communication with said pressure source by means of a first valve element and said lifting cylinder by means of a second valve element, wherein said partial circuit further comprises a pressure reducing/relieving unit, which is arranged between said valve elements and that said pressure reducing/relieving unit is controlled by a pressure controlling unit in order to facilitate float control of a tool attached to an arm system powered by said lifting cylinder, whereby a controlled ground pressure is obtained during a floating motion,
  • a said second valve element is arranged to be activated to open up said line if the pressure in the lifting cylinder is substantially the same as the pressure within the second accumulator,
  • the maximal flow capacity for said hydraulic machine is the same as the maximal output flow from said lifting cylinder at a rapid lowering motion
  • Fig. 1 shows a preferred embodiment of a hydraulic circuit according to the invention
  • Fig. 2 shows such a hydraulic circuit having connected thereto a partial circuit for improved floating control.
  • Figure 1 shows a hydraulics diagram for a lifting cylinder in a hydraulic circuit, which substantially corresponds to what is shown in PCT/SE00/02360 and EP 1 423 616 supplemented in accordance with the invention.
  • a double-acting hydraulic cylinder 1 a variable piston pump 3 (hereinafter referred to as hydraulic machine) and an accumulator arrangement 6, which will be described in more detail below, are shown.
  • the hydraulic circuit is arranged in a mobile handling arrangement, such as a truck or excavator, the lifting cylinder 1 therefore being designed to perform vertical work in the lifting arrangement of the handling arrangement, for example the arm which supports the shovel on an excavator.
  • valve 2 Arranged between the lifting cylinder 1 and the hydraulic machine 3 is a valve 2, which preferably is in the form of a proportional valve and which in its inactivated condition interrupts the connection between hydraulic machine 3 and lifting cylinder 1. In its activated position the valve arrangement 2 opens the connection between the hydraulic machine 3 and the lifting cylinder 1. This valve 2 may possible also function as hose break element.
  • a valve 5 is also arranged between the accumulator arrangement 6 and the hydraulic motor 3, which preferably is in the form of a spring-loaded shut-off valve.
  • the hydraulic machine is operated in a manner known in the art via a suitable transmission, and preferably by means of a fuel-powered engine D.
  • the hydraulic machine 3 is a variable piston pump which can both take in and deliver oil to the ports 10, 11.
  • the pump is of a type known in the art, which permits full system pressure at both of the outlet ports and in which the flow can be adjusted from 0 to max by means of the variable adjustment setting, as is usually achieved by means of a so-called swashplate.
  • the use of such a pump eliminates the need to control the circuit by way of an operating valve, thereby achieving a considerable simplification and reducing control losses.
  • a safety valve 8 may be arranged in the system between the accumulator arrangement 6 and a tank 42, to ensure that a certain maximum circuit pressure is not exceeded.
  • a pressure-sensing element 17 is designed to register the pressure in the line between the lifting cylinder 1 and the valve 2. In a lowering movement requiring power, the pressure-sensing element 17 will register the fact that the pressure is below that needed for the function and as a consequence a control system 94 will ensure that oil is supplied to the rod side of the lifting cylinder.
  • a function of the pressure-sensing element 17 is to ensure that the hydraulic machine 3 reduces the flow to 0 when the hydraulic cylinder no longer has any pressure, for example when the bucket has come into contact with the ground.
  • the system that includes a control unit 94 functions on the principle that in a lifting movement the driver will transmit an operating signal, which will ensure that the valves 2 and 5 open.
  • the connection between accumulator arrangement 6, hydraulic machine 3 and lifting cylinder 1 is thereby fully open.
  • the pressurised oil in the accumulator arrangement 6 then flows to the variable hydraulic machine 3, which passes the oil onto the lifting cylinder 1. If the pressure in the accumulator is then higher than is needed to perform the work with the lifting cylinder 1, some excess energy may be delivered to the drive system via the hydraulic machine 3. If the accumulator pressure would not be entirely sufficient, the variable hydraulic machine 3 delivers a pressure boost in order to attain the necessary pressure level, which is produced by means of power supplied via the engine D of the handling machine.
  • a first by-pass line 50 in parallel with the proportional valve 2.
  • a non-return valve 51 arranged to prevent the occurrence of a "dip" during lifting.
  • a by-pass line 52 in parallel with the second stop valve 5.
  • the reason for this by-pass line 52 is that there may be a large pressure difference between the oil in the accumulator 6 and the pressure that initially is provided by the hydraulic machine 3. In such a situation there will occur a pressure peak once the stop valve 5 is activated to open up. Even if such a pressure peak (which transmits through the hydraulic machine 3 to the lifting cylinder 1) does not in any way drastically effect the positioning of the tool of the arm system powered by the lifting cylinder 1, it may still be sensed as an undesirable disturbance by experienced operators.
  • a safety valve 63 that is connected to the line 60 between the lifting cylinder and the valve 2, which line 60, leads to a drainage tank 42.
  • the safety valve 63 has the function of an overflow valve, e.g. by permitting pressurisation of the hydraulic machine 3 before the stop valves 2 and 5 are opened in connection with a lifting operation
  • the system as described above is monitored by the computer system 94, which suitably receives information from suitable sensors, e.g. including pressure sensors 17, 110, 91 and 92, position sensor 90 and engine speed sensor.
  • suitable sensors e.g. including pressure sensors 17, 110, 91 and 92, position sensor 90 and engine speed sensor.
  • the accumulator circuit is provided with pressure sensors 91, 92 both on the oil side and on the gas side, with the object of being able to optimise the process of charging the accumulator arrangement 6 by means of the pump 71, as disclosed in WO 02/095243.
  • Fig. 2 shows that the hydraulic circuit L may be supplemented with a partial circuit L2 for automatic floating control of the bucket, which implies that the operator in an automatic manner with a in principle constant, chosen ground pressure shall be able to move the bucket along the ground.
  • This partial circuit may preferably be designed to include a reducing/relieving valve 4, a further proportional valve 62A, and two logic elements 43 and 44, respectively.
  • the reducing/relieving valve 4 is via a first line 45A and its logic element 43 connected to a line between the lifting cylinder 1 and the first mentioned proportional valve 2.
  • this line 45 A is in constant communication with the piston side of the lifting cylinder 1.
  • the reducing/ relieving valve 4 is via a second line 45B and its logic element 44 connected to a line between the accumulator 6 and the logic element 5. Accordingly, this line 45B is constant communication with the accumulator 6.
  • the reducing/relieving valve 4 works in such a manner that it provides for a chosen pressure level independent of flow direction therethrough. When the lifting cylinder 1 moves upwardly, only a pressure reduction takes place, when the oil flows through the valve 4, whereas in the opposition direction, when oil is evacuated out of the lifting cylinder 1, a relieving flow of oil out of reducing/relieving valve 4 to the tank 42C takes place.
  • the proportional valve 62A is via a line 4A connected to the reducing/relieving valve 4 in such a manner that it provides for an additional force that is controllable/adjustable acting together with the resilient device 4B.
  • the proportional valve 62 A has an outlet that leads to a tank 42B. This outlet is merely intended to handle the extremely small flows which are caused by the proportional valve 62A per se.
  • an adjustable control device (not shown, e.g. a field regulator, an inductive gauge, a dielectric detector or the like, which is suitably mounted on the switch panel), which may be handled by the operator in order control the level of the proportional valve 62 A by means of the computer 94, which valve 62 A in turn determines the pressure level for the floating motion. Accordingly, if a high ground pressure is desired during the floating motion, the control device is set on a high level, whereas, if a low ground pressure is desired, it will be set on a low level.
  • a pressure sensor 17 and a position sensor 90 are provided on the lifting cylinder, which sensors continuously emit the pressure and the position, respectively, of the lifting cylinder to the computer 94.
  • the computer 94 may approximately estimate the position of the arm system, and hence also the moment the dead weight of the arm exerts on the lifting cylinder 1.
  • it will be possible to approximately calculate the static pressure, by means of which the dead weight of the arm effects the pressure in the lifting cylinder 1 , whereby the prerequisites for achieving continuous automatic floating control are fulfilled.
  • the pressure sensed by the pressure sensor 17 at the lifting cylinder 1 is substantially the same (indeed at least momentarily the same, except for minor pressure losses) as the pressure in the second accumulator 20, since at this very instance (as described above) the hydraulic flow to the hydraulic machine 3 will be instantaneously interrupted, leading to a drastic pressure drop in the line between the hydraulic machine and the lifting cylinder and as a consequence the one way valve 31 will open up and allow hydraulic fluid to be supplied from the second pressured accumulator 20.
  • the pressure sensor 21 at the second accumulator 20 will then register substantially the same pressure as the other pressure sensor 17.
  • the control unit 94 will then register these signals and accordingly will allow for the valve 43 to open up for activation of the partial floating control circuit L2.
  • this valve 43 eliminates the possibility of connecting the partial circuit L2 to the main circuit L if not the bucket has contacted ground.
  • the operator may activate an automatic floating control, (not shown), e.g. via a push button, which directly or indirectly emits a signal to the computer 94, whereby both of the logic units 43, 44 open (the logic units 2, 5 of the basic circuit then have to be closed), such that the reducing/relieving valve 4 via the lines 45 A, 45B is connected to the hydraulic system.
  • an automatic floating control e.g. via a push button
  • the operator may choose the desired ground pressure for the floating motion.
  • the oil will have to be evacuated out of the lifting cylinder 1 via the line 45 A.
  • the oil entering into the reducing/relieving valve 4 has to be drained to the tank 42C, which takes place through line 4C.
  • the proportional valve 62A (controlled by the computer 94 which receives signals by the position sensor 90 and by the operator's control device), which controls the reducing/relieving valve 4 to provide the desired pressure level within the lifting cylinder 1.
  • the invention is not limited to the above description but may varied within the scope of the appending claims.
  • further sensors may be included in the system, e.g. position sensors which also sense the position of the stick in relation to the boom, so that moment from the dead weight of the arm may be monitored with still greater precision in order to achieve automatic floating control by means of reducing/ relieving valve 4 within the hydraulic circuit.
  • the invention is not limited to excavators but that it may be used in conjunction with all kinds of hydraulic machines having an arm systems consisting of two (or possibly more) parts, i.e. according to the principle boom/stick existing on excavators.
  • the invention is not limited to the above described integrated reducing/relieving valve 4 but that the described function may be obtained by means of corresponding valve parts which are not integrated, and that this kind of functionality may be achieved by other types of valve elements which are interconnected in order to achieve the same kind of function.
  • the pressure source may vary, e.g. to be in the form of a hydraulic pump instead of an accumulator 6.
  • stop valve should be construed in a broad manner, including any valve that may provide the function of stopping flow, e.g. a proportional valve and that many of the shown functions that are achieved by separate elements may be achieved by integrated elements, e.g. to exchange valve 5 and eliminate by pass line 52 by arranging a valve element 5 having both these functions integrated therein.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention a trait à un dispositif de manutention mobile avec un circuit hydraulique, ledit circuit hydraulique comportant un vérin de levage disposé dans un dispositif de levage apte à la manutention de charge variable et un accumulateur pour la récupération ou le recyclage d'énergie d'abaissement de charge, le circuit hydraulique comportant également une machine hydraulique variable avec deux ports, ladite machine hydraulique étant capable grâce à une unité de commande d'émettre un système de pression complet dans deux directions d'écoulement vers lesdits ports, un port étant relié au dit accumulateur et l'autre port étant relié au dit vérin de levage. Le circuit hydraulique comporte une première soupape d'arrêt disposé dans le conduit entre un port du moteur hydraulique et le vérin de levage, et une deuxième soupape d'arrêt disposée dans le conduit entre le deuxième port et l'accumulateur, et ledit circuit hydraulique comporte un deuxième accumulateur, qui est relié via au moins un clapet anti-retour au conduit entre la machine hydraulique et le vérin de levage, un conduit de déviation étant disposé parallèle avec ladite deuxième soupape d'arrêt, ledit conduit de déviation comportant un clapet agencé pour maintenir constamment la communication ouverte entre la machine hydraulique et l'accumulateur dans une direction, pour permettre un mouvement d'abaissement assisté par ladite machine hydraulique indépendamment de la position de ladite deuxième soupape d'arrêt.
PCT/SE2005/000532 2005-04-14 2005-04-14 Dispositif de manutention mobile WO2006110068A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SE2005/000532 WO2006110068A1 (fr) 2005-04-14 2005-04-14 Dispositif de manutention mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2005/000532 WO2006110068A1 (fr) 2005-04-14 2005-04-14 Dispositif de manutention mobile

Publications (1)

Publication Number Publication Date
WO2006110068A1 true WO2006110068A1 (fr) 2006-10-19

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PCT/SE2005/000532 WO2006110068A1 (fr) 2005-04-14 2005-04-14 Dispositif de manutention mobile

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Country Link
WO (1) WO2006110068A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102183700A (zh) * 2011-02-23 2011-09-14 河南科技大学 可控载荷谱液压加载方法及其加载装置
US8209975B2 (en) 2008-04-29 2012-07-03 Parker-Hannifin Corporation Arrangement for operating a hydraulic device
CN105114370A (zh) * 2015-08-21 2015-12-02 浙江大学舟山海洋研究中心 超高速大行程大吨位冲床液压系统及其工作方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001048387A1 (fr) * 1999-12-27 2001-07-05 Brunn Ecomate Aktiebolag Dispositif de manipulation mobile
WO2002095243A1 (fr) * 2001-05-22 2002-11-28 Lars Bruun Machine de travail mobile
WO2003023234A1 (fr) * 2001-09-07 2003-03-20 Bruun Ecomate Aktiebolag Systeme de bras a commande hydraulique et a flottement commande

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001048387A1 (fr) * 1999-12-27 2001-07-05 Brunn Ecomate Aktiebolag Dispositif de manipulation mobile
WO2002095243A1 (fr) * 2001-05-22 2002-11-28 Lars Bruun Machine de travail mobile
WO2003023234A1 (fr) * 2001-09-07 2003-03-20 Bruun Ecomate Aktiebolag Systeme de bras a commande hydraulique et a flottement commande

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8209975B2 (en) 2008-04-29 2012-07-03 Parker-Hannifin Corporation Arrangement for operating a hydraulic device
CN102183700A (zh) * 2011-02-23 2011-09-14 河南科技大学 可控载荷谱液压加载方法及其加载装置
CN105114370A (zh) * 2015-08-21 2015-12-02 浙江大学舟山海洋研究中心 超高速大行程大吨位冲床液压系统及其工作方法

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