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EP2597209A1 - Electronic-hydraulic hoisting gear regulation system - Google Patents

Electronic-hydraulic hoisting gear regulation system Download PDF

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Publication number
EP2597209A1
EP2597209A1 EP11190345.6A EP11190345A EP2597209A1 EP 2597209 A1 EP2597209 A1 EP 2597209A1 EP 11190345 A EP11190345 A EP 11190345A EP 2597209 A1 EP2597209 A1 EP 2597209A1
Authority
EP
European Patent Office
Prior art keywords
pressure
valve
pump
control
lifting
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.)
Granted
Application number
EP11190345.6A
Other languages
German (de)
French (fr)
Other versions
EP2597209B1 (en
Inventor
Recep Macit
Martin Ascherl
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.)
Hawe Hydraulik SE
Original Assignee
Hawe Hydraulik SE
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 Hawe Hydraulik SE filed Critical Hawe Hydraulik SE
Priority to EP11190345.6A priority Critical patent/EP2597209B1/en
Publication of EP2597209A1 publication Critical patent/EP2597209A1/en
Application granted granted Critical
Publication of EP2597209B1 publication Critical patent/EP2597209B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • 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
    • F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
    • F15B11/055—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive by adjusting the pump output or bypass
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—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
    • F15B2211/30575—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 in a Wheatstone Bridge arrangement (also half bridges)
    • 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
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional 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
    • F15B2211/30—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
    • F15B2211/50—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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/605—Load sensing circuits
    • F15B2211/6051—Load sensing circuits having valve means between output member and the load sensing circuit
    • F15B2211/6057—Load sensing circuits having valve means between output member and the load sensing circuit using directional control 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
    • F15B2211/70—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
    • F15B2211/7052—Single-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
    • F15B2211/77—Control of direction of movement of the output member
    • F15B2211/7741—Control of direction of movement of the output member with floating mode, e.g. using a direct connection between both lines of a double-acting cylinder

Definitions

  • the invention relates to an electronic-hydraulic hoist control system according to the preamble of patent claim 1.
  • a known Hubwerksregelsystem is a four-position four-way gate valve with two proportional solenoids and two Druckvorwinberichtungen provided for the purpose of load pressure independence on the pump side a supply regulator pressure compensator and on the side of the hoist lifting cylinder associated with a lifting pressure compensator and a lowering pressure compensator.
  • a float position function for the lift cylinder is adjustable in one of the four control positions of the 4/4 damper pressure control valve. For a single-acting lifting cylinder in this case the construction effort is enormous, especially with the leakage-laden four-position slide valve.
  • the invention is based on the object, an electronic-hydraulic Hubtechniksregelsystem of the type mentioned, i. with many different EHR functions, despite being a floating position function structurally simple and quickly appealing.
  • the float position function is set via the control unit on the 2/2-way pressure control valve, at which time the 2/2-black / white solenoid valve shuts off the load pressure signal circuit section in order to prevent unwanted reactions of the hoist control system and / or the pump due to load pressure signal influences. excluded.
  • the floating position function selectable in this way via the EHR control unit makes it possible, for example, to have an attachment on the hoist, such as a plow, snow plow or mower, follow ground unevenness in ground contact under all or part of its own weight, regardless of relative movements of the vehicle Vehicle body of the vehicle equipped with the hoist.
  • an attachment on the hoist such as a plow, snow plow or mower
  • the solenoid valve in the signal circuit section is designed as a seat valve and connected so that when energized black and white magnets, the passage position is adjusted and held by the closing spring.
  • the shut-off position results in selected via the control unit floating position function with energized black and white magnet. In the shut-off position leakage is given in one or both flow directions.
  • the solenoid valve could be reversed.
  • the 2/2-lift pressure control valve can be brought to an at least substantially unthrottled passage position at maximum current supply of the proportional magnet in order to have as little throttle loss as possible in the lifting control.
  • the 2/2-lowering pressure control valve can be brought into throttled passage positions with increasing energization of the proportional solenoid, for example, to produce a desirable hydraulic damping, or, preferably, in a regenerative operation from load movements fed back hydraulic pressure energy in a pressure accumulator or, preferably, one To achieve speed limit.
  • the pump in the pump / return arrangement may be a variable displacement pump or a fixed displacement pump.
  • the variable displacement pump is controlled from the load pressure signal circuit or load pressure signal circuit section so that a higher flow rate is provided with increasing load pressure signal and is regulated down to a minimum flow rate when the load pressure signal is absent.
  • the fixed displacement pump may contain a circulation circuit, optionally with a pressure compensator valve, as a supply control, which either directs the delivery rate to the return line can flow out or adapted to the needs of the flow or the pressure for the lifting cylinder provides.
  • a check valve blocking the direction of the pump is arranged to be able to charge the pressure accumulator not only by the pump but also by the load pressure, and is in the bypass line upstream of the node blocking towards the node
  • Check valve arranged to prevent the automatic discharge of the pressure accumulator or adjusting the lifting cylinder without influencing the electronic-hydraulic Hubtechnikregelsystems.
  • the 2/2-way pressure control valve acts as a suction check valve opening in the direction of the lifting side of the lifting cylinder. If there is a load reversal on the hoist, i. With a lift lifting the load acting on, then the lifting side of the lifting cylinder pressure medium from the return is sucked.
  • Fig. 1 illustrates a block diagram of a main part of an electronic-hydraulic Hubtechniksregelsystems E of a vehicle, not shown, which is equipped for example behind a rear axle or front of a front axle 2 with a hoist 1 (front or rear hitch).
  • the hoist 1 has, for example in the manner of a three-point lifting device upper link 3, lower link 4 and intermediate link 6, wherein the lower link 4 an attachment point 5 for example, an attachment, such as a plow, a mower or the like., Is provided.
  • the hoist 1 is operated with at least one single-acting hoist lifting cylinder Z, at the lifting side 8 a working line 7 is connected.
  • E u.a. perform multiple EHR control functions, which usually allow a position control, a draft control, a mixed control, a slip control, a pressure control, a force setting, a vibration damping, an external control, possibly a weighing function and the like in the vehicle, plus a floating position function, for example is needed so that an attachment on the hoist in ground contact uneven ground regardless of driving movements of the vehicle is able to follow, under the full dead weight or under an adjustable portion of its own weight.
  • the electronic-hydraulic Hubtechniksregelsystem E is supplied from a pump / return assembly 9 with a pump 10, in the embodiment of a variable, and a pressure medium vorhaltaltenden return 13.
  • the pump 10 is associated with a supply control 11 1, which can be incorporated into a load pressure signal circuit, not shown , and in the embodiment shown is connected to a load pressure signal circuit section 36 and, for example, the delivery rate or the pressure in a supply line 12 output of the pump 10 is adjusted depending on demand.
  • the pump 10 could be a constant-flow pump whose supply control 11 has, for example, a circulation control with a pressure compensator, which can either flow out into the return 13 depending on the load pressure signal or provide the delivery rate or the pressure as needed.
  • the electronic-hydraulic hoist control system E has at least one electronic control unit CU, which may have an input section 14, and is connected via lines 15 to various sensors (not shown) in the vehicle, hoist 1 or on the attachment.
  • the sensors may be speed or velocity sensors, force sensors, position sensors and the like.
  • the control unit CU is further connected to electrical components of the hydraulic control between the pump 10 and the lifting cylinder Z.
  • the supply line 12 from the output of the pump 10 leads to a node 17 in the working line 7.
  • a 2/2-lifting pressure control valve 18 is arranged in a poppet-type valve, which is actuated by a proportional solenoid 20, a has load-independent pressure feedforward control 21, and is held by a spring 19 in de-energized proportional solenoid 20 in the shut-off position shown, in which the supply line 12 is shut off leak-free in the direction of the node 17.
  • corresponding pressure-regulating passage positions can be set for the energization, with an at least substantially unthrottled passage position 28 given at maximum current flow.
  • a pilot line 22 indicated by dashed lines can branch off to the pressure pilot 21 in order to report the load pressure acting on the lifting side 8 upstream in the passage positions of the 2/2-lift pressure regulating valve 18.
  • the load pressure message can also be done without its own pilot control line 22 in the interior of the 2/2-lift pressure control valve 18, and serves, for example, to generate a load force proportional to the load pressure via a variable from the proportional solenoid 20 variable throttle against the actuating force of the proportional solenoid, the proportional solenoid 20th processed as a controlled variable to be able to control load pressure independent.
  • the load pressure signal circuit section 36 branches off from the branch 35 to the supply control 11.
  • the section 36 may for example be incorporated via a not shown shuttle valve in the load pressure signal circuit, not shown, and performs a load pressure signal as soon as the proportional solenoid 20 of the 2/2-lift pressure control valve 18 is energized.
  • system pressure limiting valve 25 (secondary pressure limiting) is included, the response pressure is adjustable.
  • a 2/2-way pressure control valve 27 is included in the seat valve design, which has a proportional solenoid 30 for actuating a load pressure independent pressure pilot control 31.
  • a proportional solenoid 30 for actuating a load pressure independent pressure pilot control 31.
  • the 2/2-way pressure control valve 27 although in the shut-off position set by a spring 29 when the proportional solenoid 30 is de-energized, leakage-free sealing at least in the direction of flow to the return 13 can prevail, but here e.g. paired with a Nachsaug-checkback function in the flow direction from the return line 13 to the node 17.
  • the 2/2-lowering pressure control valve 27, in contrast to the 2/2-lift pressure control valve 18 depending on the energization of the proportional solenoid 30 assume variable throttled passage positions 31.
  • a dashed line indicated pilot line 32 may be provided to report the load pressure on the lifting side 8 to the pressure pilot 31, so that, as mentioned, here also with the proportional solenoid 30 is controlled by a load pressure-dependent force strictly independent of the load pressure.
  • the load pressure can alternatively be tapped inside the valve 27 for generating the control force (elimination of pilot power 32).
  • a 2/2 black and white solenoid valve 37 having a black and white switching magnet 38 acting against a closing spring 39, e.g. is connected so that it holds when energized black / white magnet 38, the set by the closing spring 39 passage position, however, shuts off when energized the black / white switching magnet 38.
  • Fig. 2 shown embodiment of the electronic-hydraulic Hubtechniksregelsystems E differs from that of Fig. 1 in that a regenerative operation with energy recovery is possible because a 2/2-lifting pressure control valve 18 bypassing line 40 leads from the supply line 12 to node 17, to which a pressure accumulator 41 (eg with gas pressure bias or spring preload) is connected. Furthermore, here is the output of the pump 10 a blocking to the pump check valve 42 is disposed, and upstream of the node 17 in the direction of node 17 blocking check valve 43.
  • a 2/2-lifting pressure control valve 18 bypassing line 40 leads from the supply line 12 to node 17, to which a pressure accumulator 41 (eg with gas pressure bias or spring preload) is connected.
  • a blocking to the pump check valve 42 is disposed, and upstream of the node 17 in the direction of node 17 blocking check valve 43.
  • the load pressure on the lifting side 8 of the lifting cylinder Z can be used to load the pressure accumulator 41, or can be used, for example, resulting from driving movements or when terminating a lowering movement of a load for this purpose load pressure increases.
  • the recovered hydraulic pressure energy can be used to relieve the pressure of the pump 10 by first energizing the proportional solenoid 20 of the 2/2-lift pressure control valve 18, the stored energy the pressure accumulator 41 is used without the help of the pump 10.
  • the pressure accumulator 41 to be charged also by the pump 10 allows a predetermined hydraulic damping effect.
  • the proportional solenoid 20 is energized in a corresponding to the desired lifting speed corresponding extent to extend the lifting cylinder Z in de-energized proportional solenoid 30, the 2/2-black / white solenoid valve 37 is in the illustrated passage position and the load pressure at the junction 35 tapped and is transmitted to the supply control 11.
  • the lifting movement of the lifting cylinder Z takes place at the selected speed load pressure independent. If the hoist 1 to block hydraulically or stop, both proportional solenoids 20, 30 are de-energized.
  • the load pressure on the lifting side 8 can load the pressure accumulator 41.
  • the proportional solenoid 30 is energized to control the lowering movement with a proportional to the current speed, for example, a certain damping or speed limit can be adjusted and initially, if necessary, the pressure accumulator 40 is loaded.
  • the control unit CU switches the proportional solenoid 20 de-energized, the proportional solenoid 30 is optionally energized maximum, and at the same time the black / Neiss solenoid 38 is energized, so that in the shut-off position of the 2/2-lifting Pressure control valve 18, the 2/2-way pressure control valve 27 its throttling full passage position (or, if desired, a throttled intermediate passage position) adjusts and at the same time the load pressure signal circuit section 36 is shut off, so that no load pressure signals get to the supply control 11.
  • the pressure control valves 18, 27 are ideal load pressure independent work, for example, accordingly EP 10 195 693.6 or maybe even EP 2 270 340 A .
  • the 2/2-lowering pressure control valve 27 could work independently of load pressure, because the 2/2-lift pressure control valve 18 is optionally supported by the supply control 11 via the load pressure signal so that in the combination load pressure independence is achieved.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The system (E) has a 2/2-lifting-pressure regulating valve (18) provided between a pump (10) e.g. variable pump, and a node (17) of a working line (7) in a seat valve assembly with proportional magnets (20) and a load pressure-independent pressure control (21). A 2/2-black/white-magnetic valve (37) is arranged in a load pressure signal circuit portion (36) that branches between the pressure regulating valve and node. The magnetic valve is closed with adjusted float position function and energized proportional magnets (30) of a 2/2-lowering-pressure regulating valve (27).

Description

Die Erfindung betrifft ein elektronisch-hydraulisches Hubwerksregelsystem gemäß Oberbegriff des Patentanspruchs 1.The invention relates to an electronic-hydraulic hoist control system according to the preamble of patent claim 1.

Bei dem aus EP 2 031 256 A bekannten Hubwerksregelsystem ist ein Vierstellungs-Vierwege-Schieberventil mit zwei Proportionalmagneten und zwei Druckvorsteuerungen vorgesehen, dem zwecks Lastdruckunabhängigkeit pumpenseitig eine Zulaufregler-Druckwaage und auf der Seite des Hubwerks-Hubzylinders eine Heben-Druckwaage und eine Senken-Druckwaage zugeordnet sind. Im Falle eines einfach wirkenden Hubzylinders ist dessen Hebenseite ein durch einen Proportionalmagneten steuerbares Druckbegrenzungsventil zum Rücklauf zugeordnet. Neben multiplen EHR-Funktionen ist eine Schwimmstellungsfunktion für den Hubzylinder in einer der dafür vorgesehenen vier Steuerstellungen des 4/4-Schieber-Druckregelventils einstellbar. Für einen einfach wirkenden Hubzylinder ist hierbei der bauliche Aufwand insbesondere mit dem leckagebehafteten Vierstellungs-Schieberventil enorm.At the EP 2 031 256 A known Hubwerksregelsystem is a four-position four-way gate valve with two proportional solenoids and two Druckvorsteuerungen provided for the purpose of load pressure independence on the pump side a supply regulator pressure compensator and on the side of the hoist lifting cylinder associated with a lifting pressure compensator and a lowering pressure compensator. In the case of a single-acting lifting cylinder whose lifting side is assigned by a proportional solenoid controllable pressure relief valve to the return. In addition to multiple EHR functions, a float position function for the lift cylinder is adjustable in one of the four control positions of the 4/4 damper pressure control valve. For a single-acting lifting cylinder in this case the construction effort is enormous, especially with the leakage-laden four-position slide valve.

Weiterer Stand der Technik zu elektronisch-hydraulischen Hubwerksregelsystemen ist zu finden in DE 10 2005 005 314 A und einem bereits im September 1999 veröffentlichten Katalog mit der Registriernummer 1 987 760 507/09.99 "EHR" der Firma Rexroth, Seiten 2/55 bis 8/55, wobei darin das mit zwei Proportionalmagneten betätigbare Druckregelventil für den jeweils einfach wirkenden Hubzylinder eines Front- und eines Heckhubwerks jeweils ein baulich aufwändiges, leckagebehaftetes Dreistellungs-Dreiwege-Schieberventil ist.Further state of the art for electronic-hydraulic hoist control systems can be found in DE 10 2005 005 314 A and a catalog already published in September 1999 with the registration number 1 987 760 507 / 09.99 "EHR" of the company Rexroth, pages 2/55 to 8/55, wherein therein the pressure control valve actuated by two proportional solenoids for the single-acting lifting cylinder of a front and a Heckhubwerks each a structurally complex, leak-prone three-position three-way gate valve.

In der europäischen Patentanmeldung mit dem Aktenzeichen 10 195 693.6 mit älterem Zeitrang wird für ein elektronisch-hydraulisches Hubwerksregelsystem für einen einfach wirkenden Hubzylinder vorgeschlagen, jeweils von einem Proportionalmagneten über eine Druckvorsteuerung betätigte, lastdruckunabhängig regelnde 2/2-Druckregelventile in Sitzventilbauweise für die EHR-Funktionen zu verwenden. Eine Schwimmstellungsfunktion wird nicht offenbart. Ein Lastdrucksignalkreis-Abschnitt ist direkt mit der Versorgungsregelung der Pumpe verbunden.In the European patent application with the file number 10 195 693.6 with older seniority is proposed for an electronic-hydraulic Hubwerksregelsystem for a single-acting lifting cylinder, each operated by a proportional solenoid via a pressure feedforward, to use pressure-independent regulating 2/2-pressure control valves in poppet design for the EHR functions. A floating position function is not disclosed. A load pressure signal circuit section is directly connected to the supply control of the pump.

Der Erfindung liegt die Aufgabe zugrunde, ein elektronisch-hydraulisches Hubwerksregelsystem der eingangs genannten Art, d.h. mit vielen verschiedenen EHR-Funktionen, trotz auch einer Schwimmstellungsfunktion baulich einfach und schnell ansprechend auszubilden.The invention is based on the object, an electronic-hydraulic Hubwerksregelsystem of the type mentioned, i. with many different EHR functions, despite being a floating position function structurally simple and quickly appealing.

Die gestellte Aufgabe wird mit den Merkmalen des Patentanspruchs 1 gelöst.The stated object is achieved with the features of claim 1.

Da die beiden Druckregelventile trotz leckagefreier Absperrstellung strikt lastdruckunabhängig regeln, lassen sich alle üblichen EHR-Funktionen ausführen, wobei der bauliche Aufwand gering ist und wegen weniger Drosselstellen und einfacher und direkter Strömungswege im System rasches Ansprechverhalten zumindest bei vom Steuergerät initiierten Funktionsänderungen sichergestellt ist. Die Schwimmstellungsfunktion wird über das Steuergerät am 2/2-Senken-Druckregelventil eingestellt, wobei dann gleichzeitig das 2/2-Schwarz/Weiß-Magnetventil den Lastdrucksignalkreis-Abschnitt absperrt, um unerwünschte Reaktionen des Hubwerksregelsystems und/oder der Pumpe, bedingt durch Lastdrucksignaleinflüsse, auszuschließen. Die auf diese Weise über das EHR-Steuergerät wählbare Schwimmstellungsfunktion ermöglicht es beispielsweise, ein Anbaugerät am Hubwerk, wie einen Pflug, Schneepflug oder ein Mähwerk, unter dem gesamten oder einem Teil des Eigengewichts Bodenunebenheiten in Bodenkontakt folgen zu lassen, und zwar unabhängig von Relativbewegungen des Fahrzeugkörpers des mit dem Hubwerk ausgestatteten Fahrzeugs.Since the two pressure control valves strictly regulate load pressure independent leak-free shut-off, all the usual EHR functions can be performed, the structural complexity is low and because of less restrictors and simple and direct flow paths in the system rapid response is ensured at least when initiated by the controller functional changes. The float position function is set via the control unit on the 2/2-way pressure control valve, at which time the 2/2-black / white solenoid valve shuts off the load pressure signal circuit section in order to prevent unwanted reactions of the hoist control system and / or the pump due to load pressure signal influences. excluded. The floating position function selectable in this way via the EHR control unit makes it possible, for example, to have an attachment on the hoist, such as a plow, snow plow or mower, follow ground unevenness in ground contact under all or part of its own weight, regardless of relative movements of the vehicle Vehicle body of the vehicle equipped with the hoist.

Zweckmäßig ist das Magnetventil im Signalkreis-Abschnitt als Sitzventil ausgebildet und so verschaltet, dass bei stromlosem Schwarz/Weiß-Magneten die Durchgangsstellung durch die Schließfeder eingestellt und gehalten wird. Die Absperrstellung ergibt sich bei über das Steuergerät gewählter Schwimmstellungsfunktion mit bestromtem Schwarz/Weiß-Magneten. In der Absperrstellung ist Leckagefreiheit in einer oder in beiden Strömungsrichtungen gegeben. Alternativ könnte das Magnetventil umgekehrt betätigt werden.Suitably, the solenoid valve in the signal circuit section is designed as a seat valve and connected so that when energized black and white magnets, the passage position is adjusted and held by the closing spring. The shut-off position results in selected via the control unit floating position function with energized black and white magnet. In the shut-off position leakage is given in one or both flow directions. Alternatively, the solenoid valve could be reversed.

Bei einer zweckmäßigen Ausführungsform ist das 2/2-Heben-Druckregelventil bei maximaler Bestromung des Proportionalmagneten bis in eine zumindest im Wesentlichen ungedrosselte Durchgangsstellung bringbar, um bei der Hebensteuerung so wenig Drosselverluste wie möglich zu haben. Hingegen ist das 2/2-Senken-Druckregelventil mit zunehmender Bestromung des Proportionalmagneten ausschließlich in gedrosselte Durchgangsstellungen bringbar, beispielsweise um eine wünschenswerte hydraulische Dämpfung zu erzeugen, oder, vorzugsweise, in einem Regenerativbetrieb aus Lastbewegungen hydraulische Druckenergie in einen Druckspeicher zurückzuspeisen oder, vorzugsweise, eine Geschwindigkeitsbegrenzung zu erzielen.In an expedient embodiment, the 2/2-lift pressure control valve can be brought to an at least substantially unthrottled passage position at maximum current supply of the proportional magnet in order to have as little throttle loss as possible in the lifting control. By contrast, the 2/2-lowering pressure control valve can be brought into throttled passage positions with increasing energization of the proportional solenoid, for example, to produce a desirable hydraulic damping, or, preferably, in a regenerative operation from load movements fed back hydraulic pressure energy in a pressure accumulator or, preferably, one To achieve speed limit.

Die Pumpe in der Pumpe/Rücklauf-Anordnung kann eine Verstellpumpe oder eine Konstantpumpe sein. Die Verstellpumpe wird aus dem Lastdrucksignalkreis bzw. Lastdrucksignalkreis-Abschnitt so geregelt, dass mit steigendem Lastdrucksignal eine höhere Fördermenge bereitgestellt und bei Ausbleiben des Lastdrucksignals bis auf eine minimale Fördermenge abgeregelt wird. Die Konstantpumpe kann als Versorgungsregelung eine Umlaufschaltung gegebenenfalls mit einem Druckwaagenventil enthalten, die die Fördermenge entweder direkt zum Rücklauf abströmen lässt oder an den Bedarf angepasst die Fördermenge bzw. den Druck für den Hubzylinder bereitstellt.The pump in the pump / return arrangement may be a variable displacement pump or a fixed displacement pump. The variable displacement pump is controlled from the load pressure signal circuit or load pressure signal circuit section so that a higher flow rate is provided with increasing load pressure signal and is regulated down to a minimum flow rate when the load pressure signal is absent. The fixed displacement pump may contain a circulation circuit, optionally with a pressure compensator valve, as a supply control, which either directs the delivery rate to the return line can flow out or adapted to the needs of the flow or the pressure for the lifting cylinder provides.

Um den Hubzylinder hydraulisch blockieren zu können, beispielsweise bei abgeschalteter Pumpe, ist es zweckmäßig, wenn stromab des 2/2-Heben-Druckregelventils ein in Richtung zur Pumpe sperrendes Rückschlagventil angeordnet ist.In order to block the lifting cylinder hydraulically, for example when the pump is switched off, it is expedient if downstream of the 2/2-lifting pressure control valve in the direction of the pump blocking check valve is arranged.

Um die Energiebilanz des Systems zu verbessern, ist ferner zweckmäßig an eine Umgehungsleitung des 2/2-Heben-Druckregelventils zwischen der Pumpe und dem Knoten ein Druckspeicher angeschlossen, der durch eine Feder oder durch Gasdruck vorgespannt ist, ein bestimmtes unter Druck gesetztes Entnahmevolumen bereitstellt und Energie rückgewinnen lässt, wenn er bei abgeschalteter oder abgeregelter Pumpe mit dem Lastdruck geladen wird. Gespeicherte hydraulische Druckenergie entlastet die Pumpe.In order to improve the energy balance of the system, it is also appropriate to a bypass of the 2/2-lifting pressure control valve between the pump and the node connected to a pressure accumulator, which is biased by a spring or by gas pressure, provides a certain pressurized removal volume and Recover energy when it is charged with the load pressure when the pump is shut down or regulated. Stored hydraulic pressure energy relieves the pump.

Im Falle eines Druckspeichers ist zweckmäßig stromauf der Umgehungsleitung ein in Richtung zur Pumpe sperrendes Rückschlagventil angeordnet, um den Druckspeicher nicht nur durch die Pumpe, sondern auch aus dem Lastdruck laden zu können, und ist in der Umgehungsleitung stromauf des Knotens ein in Richtung zum Knoten sperrendes Rückschlagventil angeordnet, um das selbsttätige Entladen des Druckspeichers bzw. Verstellen des Hubzylinders ohne Einflussnahme des elektronisch-hydraulischen Hubwerkregelsystems zu vermeiden.In the case of a pressure accumulator, upstream of the bypass line, a check valve blocking the direction of the pump is arranged to be able to charge the pressure accumulator not only by the pump but also by the load pressure, and is in the bypass line upstream of the node blocking towards the node Check valve arranged to prevent the automatic discharge of the pressure accumulator or adjusting the lifting cylinder without influencing the electronic-hydraulic Hubwerkregelsystems.

Da bei eingestellter Schwimmstellungsfunktion eine Lastrichtungsumkehr am Hubwerk nicht ausgeschlossen werden kann, ist es zweckmäßig, wenn das 2/2-Senken-Druckregelventil als in Richtung zur Hebenseite des Hubzylinders öffnendes Nachsaug-Rückschlagventil fungiert. Kommt es zu einer Lastrichtungsumkehr am Hubwerk, d.h. mit einer das Hubwerk hebend beaufschlagenden Last, dann wird zur Hebenseite des Hubzylinders Druckmittel aus dem Rücklauf nachgesaugt.Since a load direction reversal on the hoist can not be excluded when the float position function is set, it is expedient if the 2/2-way pressure control valve acts as a suction check valve opening in the direction of the lifting side of the lifting cylinder. If there is a load reversal on the hoist, i. With a lift lifting the load acting on, then the lifting side of the lifting cylinder pressure medium from the return is sucked.

Da für unterschiedlichste EHR-Regelfunktionen und deren einwandfreie Regelung eine weitestgehend ideale Lastdruckunabhängigkeit wichtig ist, ist es zweckmäßig, wenn in der jeweiligen Druckvorsteuerung bei Bestromen des zugeordneten Proportionalmagneten aus dem Lastdruck an der Hebenseite des Hubzylinders eine dem Lastdruck proportionale und gegen die Betätigungskraft des Proportionalmagneten wirkenden Stellkraft hydraulisch erzeugbar ist, die dem Proportionalmagneten eine Rückmeldung über die tatsächlich vorliegende Lastdrucksituation gibt, so dass das Druckregelventil im Zusammenspiel der Druckvorsteuerung und der Stellkraft lastdruckunabhängig wirkt. Die Stellkraft kann in der Druckvorsteuerung beispielsweise über eine vom Proportionalmagneten verstellbare Verstelldrossel direkt am Proportionalmagneten erzeugt werden, wobei die Verstelldrossel baulich einfach in die Druckvorsteuerung eingegliedert werden kann. Solche lastunabhängig arbeitenden 2/2-Druckregelventile in Sitzventilbauweise sind beispielsweise bekannt aus EP 2 270 340 A , deren Gesamtoffenbarung hiermit durch Rückbeziehung inkorporiert wird.Since a largely ideal load pressure independence is important for a wide variety of EHR control functions and their perfect control, it is expedient if, in the respective pressure pilot control when the associated proportional magnet is energized, a load pressure proportional to the load pressure acting on the actuating force of the proportional solenoid acts from the load pressure on the lift side of the lift cylinder Adjusting force can be generated hydraulically, which gives the proportional solenoid feedback on the actual present load pressure situation, so that the pressure control valve in the interaction of the pressure precontrol and the actuating force acts load pressure independent. The actuating force can be generated in the pressure pilot control, for example, via an adjustable by the proportional variable throttle directly on the proportional solenoid, the variable throttle structurally incorporated easily into the pressure feedforward can be. Such load-independent working 2/2-pressure control valves in poppet design, for example, are known from EP 2 270 340 A whose overall disclosure is hereby incorporated by reference.

Ausführungsformen des Erfindungsgegenstandes werden anhand der Zeichnungen erläutert. Es zeigen:

Fig. 1
eine Schemadarstellung eines Hubwerks, kombiniert mit einem Blockschaltbild eines Hauptteiles eines elektronisch-hydraulischen Hubwerksregelsystems EHR, in stromlosem Zustand, und
Fig. 2
eine durch einen integrierten Druckspeicher mit Energierückgewinnung betreibbare Ausführungsform.
Embodiments of the subject invention will be explained with reference to the drawings. Show it:
Fig. 1
a schematic representation of a hoist, combined with a block diagram of a main part of an electronic-hydraulic hoist control system EHR, in the de-energized state, and
Fig. 2
an embodiment operable by an integrated pressure accumulator with energy recovery.

Fig. 1 verdeutlicht als Blockschaltbild einen Hauptteil eines elektronisch-hydraulischen Hubwerksregelsystems E eines nicht näher dargestellten Fahrzeugs, das beispielsweise hinter einer Hinterachse oder vor einer Vorderachse 2 mit einem Hubwerk 1 ausgestattet ist (Fronthubwerk oder Heckhubwerk). Das Hubwerk 1 weist z.B. nach Art einer Dreipunkthebevorrichtung Oberlenker 3, Unterlenker 4 und Zwischenlenker 6 auf, wobei am Unterlenker 4 eine Anbringungsstelle 5 für beispielsweise ein Anbaugerät, wie einen Pflug, ein Mähwerk oder dgl., vorgesehen ist. Das Hubwerk 1 wird mit wenigstens einem einfach wirkenden Hubwerks-Hubzylinder Z betrieben, an dessen Hebenseite 8 eine Arbeitsleitung 7 angeschlossen ist. Fig. 1 illustrates a block diagram of a main part of an electronic-hydraulic Hubwerksregelsystems E of a vehicle, not shown, which is equipped for example behind a rear axle or front of a front axle 2 with a hoist 1 (front or rear hitch). The hoist 1 has, for example in the manner of a three-point lifting device upper link 3, lower link 4 and intermediate link 6, wherein the lower link 4 an attachment point 5 for example, an attachment, such as a plow, a mower or the like., Is provided. The hoist 1 is operated with at least one single-acting hoist lifting cylinder Z, at the lifting side 8 a working line 7 is connected.

Mit dem elektronisch-hydraulischen Hubwerksregelsystem E sind u.a. multiple EHR-Regelfunktionen ausführbar, die üblicherweise eine Lageregelung, eine Zugkraftregelung, eine Mischregelung, eine Schlupfregelung, eine Druckregelung, eine Anpresskrafteinstellung, eine Schwingungsdämpfung, eine externe Regelung, gegebenenfalls eine Wiegefunktion und dgl. in dem Fahrzeug ermöglichen, zuzüglich einer Schwimmstellungsfunktion, die beispielsweise gebraucht wird, damit ein Anbaugerät am Hubwerk in Bodenkontakt Bodenunebenheiten unabhängig von Fahrbewegungen des Fahrzeuges problemlos zu folgen vermag, und zwar unter dem vollen Eigengewicht oder unter einem einstellbaren Anteil des Eigengewichts.With the electronic-hydraulic hoist control system E u.a. perform multiple EHR control functions, which usually allow a position control, a draft control, a mixed control, a slip control, a pressure control, a force setting, a vibration damping, an external control, possibly a weighing function and the like in the vehicle, plus a floating position function, for example is needed so that an attachment on the hoist in ground contact uneven ground regardless of driving movements of the vehicle is able to follow, under the full dead weight or under an adjustable portion of its own weight.

Das elektronisch-hydraulische Hubwerksregelsystem E wird versorgt aus einer Pumpe/Rücklaufanordnung 9 mit einer Pumpe 10, im Ausführungsbeispiel einer Verstellpumpe, und einem Druckmittel bereithaltenden Rücklauf 13. Der Pumpe 10 ist eine Versorgungsregelung 11 1 zugeordnet, die in einen nicht dargestellten Lastdrucksignalkreis eingegliedert sein kann, und in der gezeigten Ausführungsform an einen Lastdrucksignalkreis-Abschnitt 36 angeschlossen ist und z.B. die Fördermenge bzw. den Druck in einer Versorgungsleitung 12 ausgangs der Pumpe 10 bedarfsabhängig einstellt.The electronic-hydraulic Hubwerksregelsystem E is supplied from a pump / return assembly 9 with a pump 10, in the embodiment of a variable, and a pressure medium vorhaltaltenden return 13. The pump 10 is associated with a supply control 11 1, which can be incorporated into a load pressure signal circuit, not shown , and in the embodiment shown is connected to a load pressure signal circuit section 36 and, for example, the delivery rate or the pressure in a supply line 12 output of the pump 10 is adjusted depending on demand.

Alternativ könnte die Pumpe 10 eine Konstantpumpe sein, deren Versorgungsregelung 11 beispielsweise eine Umlaufsteuerung mit einer Druckwaage aufweist, die abhängig vom Lastdrucksignal Fördermenge entweder in den Rücklauf 13 abströmen lässt oder die Fördermenge bzw. den Druck bedarfsabhängig bereitstellt.Alternatively, the pump 10 could be a constant-flow pump whose supply control 11 has, for example, a circulation control with a pressure compensator, which can either flow out into the return 13 depending on the load pressure signal or provide the delivery rate or the pressure as needed.

Das elektronisch-hydraulische Hubwerksregelsystem E weist wenigstens ein elektronisches Steuergerät CU auf, das eine Eingabesektion 14 besitzen kann, und über Leitungen 15 an diverse Sensoren (nicht gezeigt) im Fahrzeug, Hubwerk 1 oder am Anbaugerät angeschlossen ist. Die Sensoren können Drehzahl- oder Geschwindigkeitssensoren, Kraftsensoren, Lagesensoren und dgl. sein. Über Leitungen 16 ist ferner das Steuergerät CU mit elektrischen Komponenten der Hydrauliksteuerung zwischen der Pumpe 10 und dem Hubzylinder Z verbunden.The electronic-hydraulic hoist control system E has at least one electronic control unit CU, which may have an input section 14, and is connected via lines 15 to various sensors (not shown) in the vehicle, hoist 1 or on the attachment. The sensors may be speed or velocity sensors, force sensors, position sensors and the like. Via lines 16, the control unit CU is further connected to electrical components of the hydraulic control between the pump 10 and the lifting cylinder Z.

Die Versorgungsleitung 12 vom Ausgang der Pumpe 10 führt zu einem Knoten 17 in der Arbeitsleitung 7. Stromauf des Knotens 17 und stromauf einer Abzweigung 35 ist ein 2/2-Heben-Druckregelventil 18 in Sitzventilbauweise angeordnet, das durch einen Proportionalmagneten 20 betätigbar ist, eine lastdruckunabhängige Druckvorsteuerung 21 aufweist, und durch eine Feder 19 bei stromlosem Proportionalmagneten 20 in der gezeigten Absperrstellung gehalten wird, in der die Versorgungsleitung 12 in Richtung zum Knoten 17 leckagefrei abgesperrt ist. Bei Bestromung des Proportionalmagneten 20 sind der Bestromung entsprechende Druckregel-Durchgangsstellungen einstellbar, wobei bei maximaler Bestromung eine zumindest im Wesentlichen ungedrosselte Durchgangsstellung 28 gegeben ist. Von der Abzweigung 35 kann eine gestrichelt angedeutete Vorsteuerleitung 22 zur Druckvorsteuerung 21 abzweigen, um den in Durchgangsstellungen des 2/2-Heben-Druckregelventils 18 stromauf eines in Richtung zur Pumpe 10 sperrenden Rückschlagventils 23 an der Hebenseite 8 wirkenden Lastdruck zu melden. Die Lastdruckmeldung kann auch ohne eigene Vorsteuerleitung 22 im Inneren des 2/2-Heben-Druckregelventils 18 erfolgen, und dient z.B. dazu, über eine vom Proportionalmagneten 20 verstellbare Verstelldrossel gegen die Betätigungskraft des Proportionalmagneten eine dem Lastdruck proportionale Stellkraft zu erzeugen, die der Proportionalmagnet 20 als Regelgröße verarbeitet, um lastdruckunabhängig regeln zu können. Ferner zweigt von der Abzweigung 35 der Lastdrucksignalkreis-Abschnitt 36 zur Versorgungsregelung 11 ab. Der Abschnitt 36 kann beispielsweise über ein nicht gezeigtes Wechselventil in den nicht gezeigten Lastdrucksignalkreis eingegliedert sein und führt ein Lastdrucksignal sobald der Proportionalmagnet 20 des 2/2-Heben-Druckregelventils 18 bestromt ist.The supply line 12 from the output of the pump 10 leads to a node 17 in the working line 7. Upstream of the node 17 and upstream of a branch 35, a 2/2-lifting pressure control valve 18 is arranged in a poppet-type valve, which is actuated by a proportional solenoid 20, a has load-independent pressure feedforward control 21, and is held by a spring 19 in de-energized proportional solenoid 20 in the shut-off position shown, in which the supply line 12 is shut off leak-free in the direction of the node 17. When current is supplied to the proportional magnet 20, corresponding pressure-regulating passage positions can be set for the energization, with an at least substantially unthrottled passage position 28 given at maximum current flow. From the branch 35, a pilot line 22 indicated by dashed lines can branch off to the pressure pilot 21 in order to report the load pressure acting on the lifting side 8 upstream in the passage positions of the 2/2-lift pressure regulating valve 18. The load pressure message can also be done without its own pilot control line 22 in the interior of the 2/2-lift pressure control valve 18, and serves, for example, to generate a load force proportional to the load pressure via a variable from the proportional solenoid 20 variable throttle against the actuating force of the proportional solenoid, the proportional solenoid 20th processed as a controlled variable to be able to control load pressure independent. Furthermore, the load pressure signal circuit section 36 branches off from the branch 35 to the supply control 11. The section 36 may for example be incorporated via a not shown shuttle valve in the load pressure signal circuit, not shown, and performs a load pressure signal as soon as the proportional solenoid 20 of the 2/2-lift pressure control valve 18 is energized.

In einer vom Knoten 17 zum Rücklauf 13 verlaufenden Leitung 24 ist ein Systemdruckbegrenzungsventil 25 (Sekundärdruckbegrenzung) enthalten, dessen Ansprechdruck einstellbar ist.In a running from node 17 to the return line 13 a system pressure limiting valve 25 (secondary pressure limiting) is included, the response pressure is adjustable.

In einer weiteren, vom Knoten 17 zum Rücklauf 13 verlaufenden Leitung 26 ist ein 2/2-Senken-Druckregelventil 27 in Sitzventilbauweise enthalten, das einen Proportionalmagneten 30 zur Betätigung einer lastdruckunabhängigen Druckvorsteuerung 31 aufweist. In dem 2/2-Senken-Druckregelventil 27 kann in der von einer Feder 29 bei stromlosem Proportionalmagneten 30 eingestellten Absperrstellung zwar leckagefreie Dichtheit zumindest in Strömungsrichtung zum Rücklauf 13 herrschen, dies jedoch hier z.B. gepaart mit einer Nachsaug-Rückschlagfunktion in Strömungsrichtung vom Rücklauf 13 zum Knoten 17. Ferner kann das 2/2-Senken-Druckregelventil 27 im Unterschied zum 2/2-Heben-Druckregelventil 18 abhängig von der Bestromung des Proportionalmagneten 30 variabel gedrosselte Durchgangsstellungen 31 einnehmen. Eine gestrichelt angedeutete Vorsteuerleitung 32 kann vorgesehen sein, um den Lastdruck an der Hebenseite 8 an die Druckvorsteuerung 31 zu melden, damit, wie erwähnt, auch hier mit dem Proportionalmagneten 30 durch eine vom Lastdruck abhängige Stellkraft strikt lastdruckunabhängig geregelt wird. Der Lastdruck kann alternativ innen im Ventil 27 zum Erzeugen der Steuerkraft abgegriffen werden (Entfall der Vorsteuerleistung 32).In a further, from the node 17 to the return line 13 extending line 26 is a 2/2-way pressure control valve 27 is included in the seat valve design, which has a proportional solenoid 30 for actuating a load pressure independent pressure pilot control 31. In the 2/2-way pressure control valve 27, although in the shut-off position set by a spring 29 when the proportional solenoid 30 is de-energized, leakage-free sealing at least in the direction of flow to the return 13 can prevail, but here e.g. paired with a Nachsaug-checkback function in the flow direction from the return line 13 to the node 17. Further, the 2/2-lowering pressure control valve 27, in contrast to the 2/2-lift pressure control valve 18 depending on the energization of the proportional solenoid 30 assume variable throttled passage positions 31. A dashed line indicated pilot line 32 may be provided to report the load pressure on the lifting side 8 to the pressure pilot 31, so that, as mentioned, here also with the proportional solenoid 30 is controlled by a load pressure-dependent force strictly independent of the load pressure. The load pressure can alternatively be tapped inside the valve 27 for generating the control force (elimination of pilot power 32).

In dem Lastdrucksignalkreis-Abschnitt 36 ist schließlich ein 2/2-Schwarz/Weiß-Magnetventil 37 mit einem gegen eine Schließfeder 39 wirkenden Schwarz/Weiß-Schaltmagneten 38 enthalten, das z.B. so verschaltet ist, dass es bei stromlosem Schwarz/Weiß-Magneten 38 die von der Schließfeder 39 eingestellte Durchgangsstellung hält, hingegen bei Bestromen des Schwarz/Weiß-Schaltmagneten 38 absperrt.Lastly, in the load pressure signal circuit section 36 is included a 2/2 black and white solenoid valve 37 having a black and white switching magnet 38 acting against a closing spring 39, e.g. is connected so that it holds when energized black / white magnet 38, the set by the closing spring 39 passage position, however, shuts off when energized the black / white switching magnet 38.

Die in Fig. 2 gezeigte Ausführungsform des elektronisch-hydraulischen Hubwerksregelsystems E unterscheidet sich von der der Fig. 1 dadurch, dass ein Regenerativbetrieb mit Energierückgewinnung möglich ist, da eine das 2/2-Heben-Druckregelventil 18 umgehende Leitung 40 von der Versorgungsleitung 12 zum Knoten 17 führt, an welche ein Druckspeicher 41 (z.B. mit Gasdruckvorspannung oder Federvorspannung) angeschlossen ist. Ferner ist hier ausgangs der Pumpe 10 ein zur Pumpe sperrendes Rückschlagventil 42 angeordnet, und stromauf des Knotens 17 ein in Richtung zum Knoten 17 sperrendes Rückschlagventil 43. Über das Rückschlagventil 43 kann, beispielsweise bei abgeschalteter Pumpe 10, der Lastdruck an der Hebenseite 8 des Hubzylinders Z zum Laden des Druckspeichers 41 genutzt werden, oder können Lastdrucksteigerungen beispielsweise resultierend aus Fahrbewegungen oder beim Beenden einer Absenkbewegung einer Last hierfür genutzt werden. Die rückgewonnene hydraulische Druckenergie kann zur Entlastung der Pumpe 10 genutzt werden, indem bei Bestromen des Proportionalmagneten 20 des 2/2-Heben-Druckregelventils 18 zunächst die gespeicherte Energie aus dem Druckspeicher 41 ohne Hilfe der Pumpe 10 benutzt wird. Außerdem ermöglicht der auch von der Pumpe 10 zu ladende Druckspeicher 41 eine vorbestimmte hydraulische Dämpfwirkung.In the Fig. 2 shown embodiment of the electronic-hydraulic Hubwerksregelsystems E differs from that of Fig. 1 in that a regenerative operation with energy recovery is possible because a 2/2-lifting pressure control valve 18 bypassing line 40 leads from the supply line 12 to node 17, to which a pressure accumulator 41 (eg with gas pressure bias or spring preload) is connected. Furthermore, here is the output of the pump 10 a blocking to the pump check valve 42 is disposed, and upstream of the node 17 in the direction of node 17 blocking check valve 43. About the check valve 43, for example, when the pump 10 is switched off, the load pressure on the lifting side 8 of the lifting cylinder Z can be used to load the pressure accumulator 41, or can be used, for example, resulting from driving movements or when terminating a lowering movement of a load for this purpose load pressure increases. The recovered hydraulic pressure energy can be used to relieve the pressure of the pump 10 by first energizing the proportional solenoid 20 of the 2/2-lift pressure control valve 18, the stored energy the pressure accumulator 41 is used without the help of the pump 10. In addition, the pressure accumulator 41 to be charged also by the pump 10 allows a predetermined hydraulic damping effect.

In beiden Ausführungsformen wird zum Ausfahren des Hubzylinders Z bei stromlosem Proportionalmagneten 30 der Proportionalmagnet 20 in einem der gewünschten Hebegeschwindigkeit entsprechenden Ausmaß bestromt, wobei das 2/2-Schwarz/Weiß-Magnetventil 37 in der gezeigten Durchgangsstellung ist und der Lastdruck an der Abzweigung 35 abgegriffen und an die Versorgungsregelung 11 übertragen wird. Die Hebebewegung des Hubzylinders Z erfolgt mit der gewählten Geschwindigkeit lastdruckunabhängig. Ist das Hubwerk 1 hydraulisch zu blockieren oder anzuhalten, werden beide Proportionalmagneten 20, 30 stromlos geschaltet. In Fig. 2 kann der Lastdruck an der Hebenseite 8 den Druckspeicher 41 laden. Ist das Hubwerk 1 abzusenken, wird bei stromlosem Proportionalmagneten 20 und unbestromtem Schwarz/Weiß-Schaltmagneten 38 der Proportionalmagnet 30 bestromt, um die Senken-Bewegung mit einer mit dem Stromwert proportionalen Geschwindigkeit zu steuern, wobei z.B. eine bestimmte Dämpfung oder Geschwindigkeitsbegrenzung eingestellt werden kann und zunächst gegebenenfalls der Druckspeicher 40 geladen wird.In both embodiments, the proportional solenoid 20 is energized in a corresponding to the desired lifting speed corresponding extent to extend the lifting cylinder Z in de-energized proportional solenoid 30, the 2/2-black / white solenoid valve 37 is in the illustrated passage position and the load pressure at the junction 35 tapped and is transmitted to the supply control 11. The lifting movement of the lifting cylinder Z takes place at the selected speed load pressure independent. If the hoist 1 to block hydraulically or stop, both proportional solenoids 20, 30 are de-energized. In Fig. 2 For example, the load pressure on the lifting side 8 can load the pressure accumulator 41. If the hoist 1 lower, energized proportional solenoid 20 and de-energized black / white switching magnet 38, the proportional solenoid 30 is energized to control the lowering movement with a proportional to the current speed, for example, a certain damping or speed limit can be adjusted and initially, if necessary, the pressure accumulator 40 is loaded.

Um eine Schwimmstellungsfunktion für das Hubwerk 1 einzustellen, schaltet das Steuergerät CU den Proportionalmagneten 20 stromlos, wird der Proportionalmagnet 30 gegebenenfalls maximal bestromt, und wird gleichzeitig der Schwarz/Neiß-Schaltmagnet 38 bestromt, so dass in der Absperrstellung des 2/2-Heben-Druckregelventils 18 das 2/2-Senken-Druckregelventil 27 seine drosselnde volle Durchgangsstellung (oder falls gewünscht, eine gedrosselte Zwischendurchgangsstellung) einstellt und gleichzeitig der Lastdrucksignalkreis-Abschnitt 36 abgesperrt ist, so dass keine Lastdrucksignale zur Versorgungsregelung 11 gelangen.To set a floating position function for the hoist 1, the control unit CU switches the proportional solenoid 20 de-energized, the proportional solenoid 30 is optionally energized maximum, and at the same time the black / Neiss solenoid 38 is energized, so that in the shut-off position of the 2/2-lifting Pressure control valve 18, the 2/2-way pressure control valve 27 its throttling full passage position (or, if desired, a throttled intermediate passage position) adjusts and at the same time the load pressure signal circuit section 36 is shut off, so that no load pressure signals get to the supply control 11.

Zu beiden Ausführungsformen in Fig. 1 und 2 ist angegeben, dass die Druckregelventile 18, 27 ideal lastdruckunabhängig arbeiten, z.B. entsprechend EP 10 195 693.6 oder gegebenenfalls sogar EP 2 270 340 A . Bei einer nicht gezeigten Alternative könnte nur das 2/2-Senken-Druckregelventil 27 lastdruckunabhängig arbeiten, weil das 2/2-Heben-Druckregelventil 18 gegebenenfalls durch die Versorgungsregelung 11 über das Lastdrucksignal so unterstützt wird, dass in der Kombination Lastdruckunabhängigkeit erzielt wird.To both embodiments in Fig. 1 and 2 is indicated that the pressure control valves 18, 27 are ideal load pressure independent work, for example, accordingly EP 10 195 693.6 or maybe even EP 2 270 340 A , In an alternative, not shown, only the 2/2-lowering pressure control valve 27 could work independently of load pressure, because the 2/2-lift pressure control valve 18 is optionally supported by the supply control 11 via the load pressure signal so that in the combination load pressure independence is achieved.

Claims (9)

Elektronisch-hydraulisches Hubwerksregelsystem (E) für wenigstens einen einfach wirkenden Hubwerks-Hubzylinder (Z), mit einem EHR-Steuergerät (CU), einem Lastdrucksignalkreis, und wenigstens einem vom Steuergerät (CU) über einen Proportionalmagneten (20, 30) betätigbaren Druckregelventil zwischen einer Pumpe/Rücklauf-Anordnung (9) und einer Hubwerks-Hubzylinder-Hebenseite (8), wobei die Pumpe (10) zur Versorgung einer zur Hebenseite (8) verlaufenden Arbeitsleitung (7) aus dem Lastdrucksignatkreis steuerbar und neben multiplen EHR-Regelfunktionen auch eine Hubzylinder-Schwimmstellungsfunktion über das EHR-Steuergerät (CU) einstellbar sind, dadurch gekennzeichnet, dass zwischen der Pumpe (10) und einem Knoten (17) der Arbeitsleitung (7) ein 2/2-Heben-Druckregelventil (18) in Sitzventilbauweise mit Proportionalmagneten (20) und einer lastdruckunabhängigen Druckvorsteuerung (21) und zwischen dem Knoten (17) und dem Rücklauf (13) ein 2/2-Senken-Druckregelventil (27) in Sitzventilbauweise mit Proportionalmagneten (30) und einer lastdruckunabhängigen Druckvorsteuerung (31) vorgesehen sind, und dass in einem zwischen dem 2/2-Heben-Druckregelventil (18) und dem Knoten (17) abzweigenden und an eine Versorgungs-Regeleinrichtung (11) der Pumpe (10) angeschlossenen Lastdrucksignalkreis-Abschnitt (36) ein 2/2-Schwarz/Weiß-Magnetventil (37) angeordnet ist, das bei eingestellten EHR-Regelfunktionen offen ist und bei eingestellter Schwimmstellungsfunktion und bestromtem Proportionalmagneten (30) des 2/2-Senken-Druckregelventils (27) absperrt.Electronic-hydraulic hoist control system (E) for at least one single-acting hoist lifting cylinder (Z), with an EHR control unit (CU), a load pressure signal circuit, and at least one pressure control valve operable by the control unit (CU) via a proportional solenoid (20, 30) a pump / return arrangement (9) and a hoist lifting cylinder lifting side (8), wherein the pump (10) for supplying a lift to the side (8) extending working line (7) from the load pressure control circuit controllable and in addition to multiple EHR control functions also a lifting cylinder floating position function via the EHR control unit (CU) are adjustable, characterized in that between the pump (10) and a node (17) of the working line (7) a 2/2-lifting pressure control valve (18) in the seat valve design Proportional magnet (20) and a load pressure independent Druckvorsteuerung (21) and between the node (17) and the return (13) a 2/2-way pressure control valve (27) in Sitzventilb are provided with proportional solenoids (30) and a load pressure independent pressure pilot (31), and that in a branching between the 2/2-lifting pressure control valve (18) and the node (17) and to a supply control device (11) of the pump (10) connected to the load pressure signal circuit section (36) a 2/2-black / white solenoid valve (37) is arranged, which is open at set EHR control functions and with set floating position and energized proportional solenoid (30) of the 2/2-lowering Pressure control valve (27) shuts off. Elektronisch-hydraulisches Hubwerksregelsystem nach Anspruch 1, dadurch gekennzeichnet, dass das 2/2-Schwarz/Weiß-Magnetventil (37) ein Sitzventil mit einer bei stromlosem Schwarz/Weiß-Magneten (38) die Durchgangsstellung einstellenden Schließfeder (39) ist, das bei über das Steuergerät (CU) gewählter Schwimmstellungsfunktion unter Bestromen des Schwarz/Weiß-Magneten (38) in Absperrstellung bringbar ist.Electronohydraulic hoist control system according to claim 1, characterized in that the 2/2-black / white solenoid valve (37) is a poppet valve with a normally energized black / white magnet (38) the passage position adjusting closing spring (39), at via the control unit (CU) selected floating position function while energizing the black / white magnet (38) can be brought into shut-off. Elektronisch-hydraulisches Hubwerksregelsystem nach Anspruch 1, dadurch gekennzeichnet, dass das 2/2-Heben-Druckregelventil (18) mit maximaler Bestromung des Proportionalmagneten (20) bis in eine im Wesentlichen ungedrosselte Durchgangsstellung (28) bringbar ist, und dass das 2/2-Senken-Druckregelventil (27) mit zunehmender Bestromung des Proportionalmagneten (30) in nur gedrosselte Durchgangsstellungen (34) bringbar ist, vorzugsweise in proportional variabel gedrosselte Durchgangsstellungen.Electro-hydraulic hoist control system according to claim 1, characterized in that the 2/2-lifting pressure control valve (18) with maximum energization of the proportional solenoid (20) can be brought into a substantially unthrottled passage position (28), and that the 2/2 Lowering-pressure control valve (27) with increasing energization of the proportional solenoid (30) in only throttled passage positions (34) can be brought, preferably in proportionally variable throttled passage positions. Elektronisch-hydraulisches Hubwerksregelsystem nach Anspruch 1, dadurch gekennzeichnet, dass die Pumpe (10) eine Verstellpumpe oder eine Konstantpumpe ist, jeweils mit zumindest an den das 2/2-Schwarz/Weiß-Magnetventil (37) enthaltenden Lastdrucksignalkreis-Abschnitt (36) angeschlossener Versorgungsregelung (11) für die Arbeitsleitung (7).Electronohydraulic hoist control system according to claim 1, characterized in that the pump (10) is a variable displacement pump or a fixed displacement pump, each with at least to the supply control (11) for the working line (7) connected to the load pressure signal circuit section (36) containing the 2/2 black / white solenoid valve (37). Elektronisch-hydraulisches Hubwerksregelsystem nach Anspruch 1, dadurch gekennzeichnet, dass zwischen der Abzweigung (35) des Lastdrucksignalkreis-Abschnittes (36) und dem Knoten (17) ein in Richtung zur Pumpe (10) sperrendes Rückschlagventil (23) angeordnet ist.Electronic-hydraulic hoist control system according to claim 1, characterized in that between the branch (35) of the load pressure signal circuit section (36) and the node (17) in the direction of the pump (10) blocking check valve (23) is arranged. Elektronisch-hydraulisches Hubwerksregelsystem nach Anspruch 1, dadurch gekennzeichnet, dass an eine Umgehungsleitung (40) des 2/2-Heben-Druckregelventils (18) zwischen der Pumpe (10) und dem Knoten (17) ein Druckspeicher (41) mit Feder- oder Gasdruck-Vorspannung angeordnet ist.Electronohydraulic hoist control system according to claim 1, characterized in that to a bypass line (40) of the 2/2-lifting pressure control valve (18) between the pump (10) and the node (17) a pressure accumulator (41) with spring or Gas pressure bias is arranged. Elektronisch-hydraulisches Hubwerksregelsystem nach Anspruch 6, dadurch gekennzeichnet, dass stromauf der Umgehungsleitung (40) ein in Richtung zur Pumpe (10) sperrendes Rückschlagventil (42) und in der Umgehungsleitung (40) stromauf des Knotens (17) ein in Richtung zum Knoten (17) sperrendes Rückschlagventil (43) angeordnet sind.Electronohydraulic hoist control system according to claim 6, characterized in that upstream of the bypass line (40) in the direction of the pump (10) blocking check valve (42) and in the bypass line (40) upstream of the node (17) towards the node ( 17) blocking check valve (43) are arranged. Elektronisch-hydraulisches Hubwerksregelsystem nach Anspruch 1, dadurch gekennzeichnet, dass das 2/2-Senken-Druckregelventil (27), zumindest bei stromlosem Proportionalmagneten (30), als in Richtung zur Hebenseite (8) öffnendes Nachsaug-Rückschlagventil (33) fungiert.Electronic-hydraulic hoist control system according to claim 1, characterized in that the 2/2-lowering pressure control valve (27), at least when de-energized proportional solenoid (30), as in the direction of the lifting side (8) opening Nachsaug-check valve (33) acts. Elektronisch-hydraulisches Hubwerksregelsystem nach wenigstens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass in oder bei der jeweiligen Druckvorsteuerung (21, 31) bei Bestromen des Proportionalmagneten (20, 30) aus dem jeweiligen Lastdruck an der Hebenseite (8) eine dem Lastdruck proportionale, gegen die Betätigungskraft des Proportionalmagneten wirkende Stellkraft hydraulisch erzeugbar ist, vorzugsweise über eine vom Proportionalmagneten (20, 30) betätigbare, in die Druckvorsteuerung (21, 31) eingegliederte Verstelldrossel.Electronohydraulic hoist control system according to at least one of the preceding claims, characterized in that in or at the respective pressure pilot control (21, 31) when the proportional solenoid (20, 30) is energized from the respective load pressure on the lifting side (8) a load pressure proportional, against the actuating force of the proportional solenoid acting force is hydraulically generated, preferably via a proportional solenoid (20, 30) operable in the pressure pilot control (21, 31) incorporated adjusting throttle.
EP11190345.6A 2011-11-23 2011-11-23 Electronic-hydraulic hoisting gear regulation system Not-in-force EP2597209B1 (en)

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US11624377B1 (en) * 2022-03-08 2023-04-11 Turk Traktor Ve Ziraat Makineleri A.S. Single solenoid-controlled electro-hydraulic liftomatic system

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US20040188113A1 (en) * 2002-09-27 2004-09-30 Paolo Casali Hitch device for attaching farm implements to a tractor
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US11624377B1 (en) * 2022-03-08 2023-04-11 Turk Traktor Ve Ziraat Makineleri A.S. Single solenoid-controlled electro-hydraulic liftomatic system

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