EP1754836A2 - Chargeur - Google Patents

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Publication number
EP1754836A2
EP1754836A2 EP06118089A EP06118089A EP1754836A2 EP 1754836 A2 EP1754836 A2 EP 1754836A2 EP 06118089 A EP06118089 A EP 06118089A EP 06118089 A EP06118089 A EP 06118089A EP 1754836 A2 EP1754836 A2 EP 1754836A2
Authority
EP
European Patent Office
Prior art keywords
hydraulic
boom
charger
pressure
hydraulic cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP06118089A
Other languages
German (de)
English (en)
Other versions
EP1754836A3 (fr
Inventor
Marcus Bitter
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.)
Deere and Co
Original Assignee
Deere and Co
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 Deere and Co filed Critical Deere and Co
Publication of EP1754836A2 publication Critical patent/EP1754836A2/fr
Publication of EP1754836A3 publication Critical patent/EP1754836A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • 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
    • F15B21/008—Reduction of noise or vibration
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/51—Pressure control characterised by the positions of the valve element
    • F15B2211/513—Pressure 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
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations

Definitions

  • the invention relates to a charger with a hydraulic arrangement for suspension of a boom, wherein the hydraulic arrangement at least one hydraulic conveying means, a hydraulic tank, a first hydraulic cylinder and a control device for raising and lowering the boom, as well as a controllable pressure limiting device arranged and designed is that Auslenkterrorismen the first hydraulic cylinder are compensated, and having a control unit for controlling the pressure limiting device.
  • hydraulic arrangements which are used for the hydraulic suspension of a boom of a charger, such as a front loader, wheel loader, telescopic loader, excavator, crane truck or similar charger.
  • Such hydraulic arrangements are based on a so-called passive hydraulic suspension system with a pressure-loaded hydraulic accumulator or on a so-called active or semi-active hydraulic suspension system, in which a controllable or controllable pressure limiting devices is used.
  • a semi-active hydraulic suspension system is used for example in the EP 1496009 A1 disclosed.
  • a hydraulic suspension is described, in particular for a boom of a charger, with a hydraulic cylinder, which has at least one chamber, and a control unit which selectively connects via at least one hydraulic line to the at least one chamber to a hydraulic oil pump and a hydraulic oil tank.
  • a connecting line is included which allows a connection of the at least one chamber to the hydraulic oil tank and contains a first shut-off valve.
  • a pressure limiting unit which is controllable via a control unit in response to a position sensor signal.
  • the disadvantage is that if the pressure of the hydraulic cylinder decreases when the suspension is activated, this can not be detected by the suspension system. Inevitably, then, the hydraulic suspension is adversely affected because the suspension behavior would be much stiffer. This has the effect that only strong or even very strong shocks would cause the pressure relief device to open. In an extreme case, the boom would not deflect at all. Such a case may occur, for example, when the tool carrier is unloaded by hand while the machine is running and the suspension is activated, while the bucket is being dumped, the boom is being retracted, or the bucket is being emptied laterally while driving.
  • the problem underlying the invention is seen to provide a charger with a hydraulic arrangement for suspension of a boom, in which a reduction in the pressure of the first hydraulic cylinder does not adversely affect the suspension behavior of the hydraulic arrangement.
  • a charger of the type mentioned above is provided with means by which changes in the load condition of the boom can be detected and a signal representing the load condition can be generated.
  • the signal representing the load state is processed by the control unit for controlling or regulating the pressure limiting device and used to correct a pressure threshold value determining the suspension behavior for the pressure limiting device.
  • the means for detecting changes in the load state of the boom comprise both means for detecting changes due to geometric changes on the boom, for example by changing a pitch angle or an extended length, as well as means for detecting changes due to loading conditions, for example by emptying a loading bucket.
  • the load states or load changes which relate in the following to the boom should accordingly also include load states or load changes relating to the boom.
  • a load change or a load state should also include a change in load or a load state.
  • the signal representing the load condition of the boom is directly connected with the load state of the first hydraulic cylinder because the boom is lifted, lowered, and held by the hydraulic cylinder. If the load condition of the boom changes, either by length change (extension / retraction) or change in angle of attack (raising / lowering) of the boom or by direct loading change on the tool or on the tool holder, this directly affects the load condition of the first hydraulic cylinder.
  • the Boom or the hydraulic cylinder is also connected to the frame of the charger stationary with the frame, changes in load conditions on the boom also affect the entire weight distribution on the charger and thus also on the frame and the axes, etc. from.
  • the control unit would then react with a control signal to reduce the decisive for the pressure limiting device pressure threshold, so that the suspension behavior is adjusted to the original suspension behavior again.
  • the means for detecting changes in the loading state of the loader or cantilever for example, comprise strain gauges which are arranged on one or more axes of the charger, but preferably on a rear axle.
  • strain gauges By using strain gauges, the deflection of one axle can be measured and used as a measure of the load on another axle, for example the front axle.
  • the load condition of the charger and thus the load condition of the boom can be detected with or without load.
  • the deflection of the rear axle can be measured by means of a strain gauge ("DMS") and it can be deduced how much weight is placed on the boom.
  • DMS strain gauge
  • corresponding signals from the control unit can then be generated to adjust the suspension behavior of the boom to the new load conditions.
  • cantilever and strain gauges can be used which are arranged on the boom of the charger.
  • the deflection of the boom is measured at a suitable location and used as a measure of the load condition. The more the boom flexes, the stronger the load on the boom must be or the load on the hydraulic cylinder. If the boom is variable in length, ie telescopic, a change in the load condition of the boom can be determined starting from a predeterminable length, since normally changing with boom length due to the changing leverage changes in the load of the hydraulic cylinder.
  • position sensors can further be used by means of which the exact position or position of the boom with respect to the angle of attack (swivel angle) and / or the extension length can be determined.
  • the signals of the position sensors then by manipulation of the boom (extending / retracting, lifting / lowering) varying lever and balance of power, which affect the load of the hydraulic cylinder and on the determination of changes in the load condition of the boom, are taken into account.
  • the means may comprise one or more pressure sensors, which are arranged directly on the hydraulic cylinder.
  • the pressure on the lifting side of the lifting cylinder used for raising and lowering the boom is measured.
  • the pressure acting in the lifting cylinder pressure can be used as a direct measure of the change in the load of the boom or the change in the load of the hydraulic cylinder, wherein the force acting in the lift cylinder pressure is really the value that directly the suspension behavior of the boom or the Charger influenced.
  • the means may comprise pressure sensors arranged on one or more hydraulic or pneumatic actuators, preferably hydraulic cylinders, which are preferably located between a frame and the axles of the charger.
  • hydraulic cylinders can be used to maintain or change an adjustable position of the frame with respect to heeling relative to the charger base or to the axles.
  • these hydraulic cylinders can also be used to spring the axles of the vehicle to increase the ride comfort.
  • the pressure in the hydraulic cylinders can be measured with which, for example, the front axle of the vehicle is held in position.
  • the pressure acting on the stroke side of the cylinder can also be used as a measure for the determination of changes in the load state, wherein, where appropriate, the pressure on the lowering side of the cylinder can be measured to a falsification of the measurement result by a possible tension of the cylinder to compensate.
  • switches in particular pressure switch and / or position switch
  • the actuation emit a corresponding signal to determine a load condition of the boom by a self-adjusting limit pressure or by mechanical release by a moving part.
  • FIG. 1 shows a hydraulic cylinder 10 with a hydraulic piston 12 which serves to raise and lower a boom 70 of a charger 61 (both shown in FIG. 2).
  • the hydraulic cylinder 10 has a lifting-side chamber 14 and a lowering-side chamber 16.
  • the lift-side chamber 14 is is connected via a stroke-side hydraulic line 18 and the lower-side chamber 16 via a vertical hydraulic line 20 with an electrically switchable control unit 22.
  • the control unit 22 is connected via a drain line 24 and via a pressure limiting line 26 with a hydraulic oil tank 28.
  • a hydraulic oil pump 30 delivers hydraulic oil via the control unit 22 into the respective hydraulic lines 18, 20.
  • the control unit 22 is switchable in three positions, in a closed position, in which no flow takes place for both hydraulic lines 18, 20, in a stroke position in which the lift-side hydraulic line 18 is supplied with hydraulic oil, wherein the vertical-side hydraulic line 20 hydraulic oil to the hydraulic tank 28th emits, and in a lowering position, in which the vertical-side hydraulic line 20 is supplied with hydraulic oil, wherein the stroke-side hydraulic line 18 emits hydraulic oil to the hydraulic tank 28.
  • the pressure limiting line 26 contains a pressure limiting valve 32 which opens when a limiting pressure is reached and allows a flow from the hydraulic oil pump 30 to the hydraulic oil tank 28.
  • the hydraulic oil pump 30 can in this way even with the control unit 22 hydraulic oil.
  • the lift-side hydraulic line 18 contains a load-holding valve 34, which allows a hydraulic oil flow in the direction of the hydraulic cylinder 10 via a bypass line 36.
  • a load-holding valve 34 which allows a hydraulic oil flow in the direction of the hydraulic cylinder 10 via a bypass line 36.
  • the load-holding valve 34 in the direction of Hydraulic oil tanks 28 open, so that a hydraulic oil flow to the hydraulic oil tank 28 can take place.
  • a connecting line 40 which contains an electrically switchable first check valve 42.
  • the first check valve 42 includes a blocking position in which no flow takes place in both directions and an open position in which a flow is allowed in both directions.
  • the connecting line 40 contains a controllable pressure limiting device 43 with a pressure limiting valve 44, which opens via a control line 46 in the direction of the vertical hydraulic line 20.
  • the control pressure or pressure threshold value for opening the pressure-limiting valve 44 can be regulated via a regulator 48 of the pressure-limiting device 43.
  • a position sensor 50 is connected to a piston rod 52 of the hydraulic cylinder 10 and provides a sensor signal representing the position of the hydraulic piston 12 to a control unit 54.
  • the control unit 54 is connected to a switching device 56, via which the control unit 54 and thus the hydraulic suspension are activated can.
  • a second vertical hydraulic line 58 is provided which leads from the first vertical hydraulic line 20 to the hydraulic tank 28 and is provided with a second shut-off valve 60, wherein the first and the second shut-off valve 42, 60 may be identical in construction.
  • the hydraulic semi-active suspension is designed as an on-demand suspension system, in which at Need a volume flow from the control unit 22 via a load-holding valve 34 to the hydraulic cylinder 10 of the boom 70 flows.
  • the controller 22 is thus in the closed position and is switched as needed by the control unit 54 in the corresponding other positions.
  • control for semi-active suspension by the switching unit 56 is activated, the original position of the boom 70 is maintained as the reference variable to be observed and the control unit determines from this reference variable and the current, measured position (controlled variable) the deviation (control difference) from each other to perform on this basis, the regulation of the pressure relief valve 44 and adjust the height of the flow rate of the control unit 22 by means of further control variables.
  • the pressure which is to act on the lifting side of the hydraulic cylinder 10 is regulated by the control unit 54 as required via the electrically controllable pressure limiting valve 44.
  • the pressure limiting valve 44 is set to a higher value and the control unit 22 is opened, so that the pressure on the. By the flowing volume flow Lifting side of the hydraulic cylinder 10 is increased and the hydraulic cylinder 10 is extended.
  • the pressure limiting valve 44 is set to a lower value, so that the pressure on the lifting side of the hydraulic cylinder 10 is reduced and the hydraulic piston 12 is retracted.
  • the hydraulic oil which then flows from the lifting side of the hydraulic cylinder 10 via the pressure-limiting valve 44 and the first shut-off valve 42 to the lowering side of the hydraulic cylinder 10, flows from there via the second shut-off valve 60 to the hydraulic tank 28.
  • the hydraulic oil from the stroke side of the hydraulic cylinder 10 is displaced by the hydraulic piston 12 and flows through the pressure relief valve 44 and via the check valves 42, 60 from. Due to the displaced oil volume of the boom 70 decreases, which in turn is detected by the control unit 54 as a control difference, whereupon the control unit 54 increases the opening pressure of the pressure relief valve 44 and the control unit 22 brings into the stroke position, so that a volume flow to the stroke side of the hydraulic cylinder 10 flows wherein the manipulated variables are determined by the control unit 54 according to the control difference. Due to the increase in the opening pressure and the volume flow flowing from the control unit 22, the boom 70 is raised again until the control difference has reduced again to zero or to a presettable threshold value.
  • control unit 54 switches the control unit 22 back into the closed position. Due to the reduction in the opening pressure, hydraulic oil flows from the lift side of the hydraulic cylinder 10 via the pressure relief valve 44, and the boom 70 descends until the control difference has decreased to zero or to a presettable threshold.
  • control devices 22 and check valves 42, 60 shown in FIG. 1 are shown as electrically switchable, but may also be actuated pneumatically, hydraulically or in another manner.
  • FIG. 2 shows a charging device 61 in the form of a telescopic loader.
  • the charger 61 has a frame 62 which is supported by a front axle 64 provided with front drive wheels 63 and by a rear axle 68 provided with rear drive wheels 66.
  • the charger 61 has a boom 70, which is pivotally hinged about a parallel to the drive axles 64, 68 arranged pivot axis 72 on the frame 62.
  • the boom 70 is designed as a telescopic boom and has at its free end 74 on a working head 76, by means of a pivotally mounted on the working head 76 tool holder 78, a loading tool 80 is receivable.
  • the boom 70 can be telescopically extended or extended via adjusting cylinders (not shown) arranged in the interior of the boom 70.
  • adjusting cylinders (not shown) arranged in the interior of the boom 70.
  • the hydraulic cylinder 10 is pivotally connected to the frame 62 at a first end, preferably on the piston crown side, about a pivot axis 82 and to the boom 70 pivotably about a pivot axis 84 at a second end, preferably rod side.
  • a further hydraulic cylinder 86 arranged in the interior of the arm 70 is formed.
  • the hydraulic cylinder 86 serves as a tipping cylinder for the pivotally mounted on the working head 76 tool holder 78, wherein the tool holder 78 by means of a working head 76th arranged and connected to the hydraulic cylinder 86 KippgestShes 88 is pivotable.
  • the hydraulic cylinder 10 arranged for pivoting the arm 70 is provided on its lifting side with a pressure sensor 90, by means of which a pressure prevailing in the stroke-side chamber of the hydraulic cylinder 10 can be detected. Furthermore, the hydraulic cylinder 10 is provided on the rod side with a position sensor 50, by means of which an extended position of the hydraulic cylinder 10 can be detected. By way of the extended position detected by the position sensor 50, the pivot position (swivel angle) of the arm 70 can be determined. Alternatively, a position sensor (not shown) designed as a rotary encoder can also be arranged on the pivot axis 72 of the arm 70 in order to detect the pivot position of the arm 70.
  • the arranged for pivoting the tool holder 76 hydraulic cylinder 86 is provided on its lifting side with a pressure sensor 94, by means of which in the stroke-side chamber of the hydraulic cylinder 86 prevailing pressure can be detected.
  • the hydraulic cylinder 86 can also be provided on its rod side with a pressure sensor 94, by means of which a pressure prevailing in the rod-side chamber pressure can be detected. The key is that the pressure is detected, which must be applied in the hydraulic cylinder 86 in order to hold a load acting on the supercharger 80.
  • the boom 70 has a first and a second boom section 96, 98, wherein the second boom section 98 in the interior of the first boom section 96 on or is stored extendable.
  • a further position sensor 100 is arranged, by means of which an extended position of the second boom section 98 can be detected.
  • the boom 70 is provided with a strain gauge 102, by means of which the deflection of the boom 70 can be detected.
  • the strain gauge 102 is arranged, for example, at the top of the first boom section 96 at the level of the pivot axis 84, since there the highest deflection under load is to be expected.
  • a further strain gauge 104 is provided, as shown in the figure 3.
  • the rear axle 68 is preferably connected to the frame 62 by means of a self-aligning bearing 106 (FIG. 3).
  • the strain gauge 104 is preferably arranged centrally relative to the rear axle 68, since the highest deflection under load is to be expected there for a pendulum-mounted rear axle 68.
  • the frame 62 is connected to the front and rear axles 68 via hydraulically operated actuators 108.
  • the hydraulic actuators 86 are designed as double-acting hydraulic cylinders and provided both on the vertical side and on the lift side with pressure sensors 110, 112, by means of which the pressure on the lowering or lifting side of the actuators 108 can be determined.
  • the previously described means for detecting the loading state of the boom 70 of the charger 61 such as pressure sensors 90, 94, 110, 112, position sensors 50, 100 and strain gauges 102, 104, are intended to represent a selection of different possibilities. All of the illustrated means 50, 90, 94, 100, 102, 104, 110, 112 are electronically connected to the control unit 54 in response to the signals sent by the means 50, 90, 94, 100, 102, 104, 110, 112 generates a control signal for correcting the pressure limit for the pressure limiting device 43.
  • One embodiment takes into account the deflection of the rear axle 68 as a measure of the load of the boom 70. This deflection of the pendulum-mounted rear axle 68 is measured by means of the strain gauge 104. As soon as changes in the load state of the boom 70 occur, this affects the deflection of the rear axle 68. By means of a predefinable threshold value setting implemented in the control unit 54, it is thus possible to send it to the control unit 54 as a function of the voltage from the strain gauge 104 Signal a control signal to be generated.
  • the control signal is generated by the control unit 54 by suitable software and hardware, as can be easily installed by a person skilled in the art, and supplied to the pressure limiting device 43 in order to correct the pressure limiting threshold value which determines the opening of the pressure limiting valve 44. This realizes an adaptation of the suspension behavior to the new load situation on the arm 70. This procedure of thresholding is followed in an analogous manner in the following embodiments.
  • Another possibility is obtained by detecting the pressure on the lifting side of the hydraulic cylinder 10 by means of the pressure sensor 90.
  • the measured pressure to be applied for lifting a load on the loading tool 80 load can be used as a measure of the load of the boom 70 and for the Loading the hydraulic cylinder 10 are used.
  • the generation of a control signal for the pressure limiting device 43 can take place analogously to the previous exemplary embodiments by a further predefinable threshold value implementation implemented in the control unit 54 and, as already mentioned, depending on the signal sent by the pressure sensor 90 to the control unit 54.
  • Another possibility is obtained by detecting the pressure on the lifting side of the actuator hydraulic cylinder 86 by means of the pressure sensor 94, optionally in combination with a determination of the boom position or position by means of the position sensors 50, 100.
  • the measured pressure for lifting or holding or tipping a load bearing on the loading tool 80 is also a direct measure of the change in loading condition.
  • signals from the position sensors 50, 100 not only load conditions of the boom 70 in dependence on the load on the loading tool 80 but also in dependence on geometric changes to the boom 70, which affect the load of the hydraulic cylinder 10, are taken into account.
  • the generation of a control signal for the pressure limiting device 43 can take place in a manner analogous to the previous exemplary embodiments by means of a further predefinable threshold value implementation implemented in the control unit 54.
  • actuators 108 may be used inter alia to allow tilting of the frame 62 laterally to the charger longitudinal direction (heeling). Furthermore, these actuators 108 may also be used to spring one or more drive axles 64, 68 of the charger 61 to increase ride comfort.
  • the pressure determined by the pressure sensors 112 on the lifting side of the actuators 108 can also be used as a measure of the change in a load state of the boom 70, wherein optionally at the same time the pressure determined by the pressure sensors 110 on the lowering side of the actuators 108 pressure can be considered to compensate for a falsification of the measurement result by a possible tension of the actuators 108.
  • a control signal for the pressure limiting device 43 can thus be carried out analogously to the previous exemplary embodiments by a further predefinable threshold value implemented in the control unit 54 and depending on the signals sent by the pressure sensors 112 to the control unit 54 and possibly also in dependence on the pressure sensors 110 sent to the control unit 54 signals occur.
  • the correction of the pressure limiting device 43 preferably takes place in that the controller 48 is actuated by the control signal generated by the control unit 54, and as a result the pressure limiting value or the pressure threshold value is changed.
  • the pressure limiting value is changed such that upon a decrease in the load condition of the boom, the pressure limiting value or pressure threshold is reduced, so that the hydraulic suspension can respond to minor shocks and thus the stiffened by the change in the load state of the boom 70 suspension behavior is corrected.
  • This can be a simple control or a closed loop.
  • the charger 61 can be equipped with further means which enable a detection of the load state of the boom 70.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Fluid Mechanics (AREA)
  • Combustion & Propulsion (AREA)
  • Mining & Mineral Resources (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Catching Or Destruction (AREA)
  • Jib Cranes (AREA)
  • Operation Control Of Excavators (AREA)
EP06118089A 2005-08-19 2006-07-28 Chargeur Withdrawn EP1754836A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005039251A DE102005039251A1 (de) 2005-08-19 2005-08-19 Ladegerät

Publications (2)

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EP1754836A2 true EP1754836A2 (fr) 2007-02-21
EP1754836A3 EP1754836A3 (fr) 2008-07-16

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EP06118089A Withdrawn EP1754836A3 (fr) 2005-08-19 2006-07-28 Chargeur

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US (1) US20070059146A1 (fr)
EP (1) EP1754836A3 (fr)
DE (1) DE102005039251A1 (fr)

Cited By (2)

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WO2021244031A1 (fr) * 2020-06-04 2021-12-09 博鼎精工智能科技(山东)有限公司 Système hydraulique à commande électronique de dispositif de suspension hydraulique, tracteur et procédé de commande d'amortissement actif
DE102021123223A1 (de) 2021-09-08 2023-03-09 Kramer-Werke Gmbh Hydraulikmaschine mit einem um eine Schwenkachse verschwenkbaren Ausleger

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GB2451244B (en) * 2007-07-21 2011-09-28 Bamford Excavators Ltd Working machine
JP4953325B2 (ja) * 2009-03-12 2012-06-13 キャタピラー エス エー アール エル 作業機械
US20150336776A1 (en) * 2014-05-21 2015-11-26 Posi-Plus Technologies Inc. Utility truck with boom and deformation monitoring sensors
DE202016004580U1 (de) * 2016-07-25 2016-10-27 Liebherr-Werk Ehingen Gmbh Achsaufhängung
US10889962B2 (en) * 2019-02-20 2021-01-12 Deere & Company Intelligent mechanical linkage performance system
WO2021006349A1 (fr) * 2019-07-11 2021-01-14 住友重機械工業株式会社 Excavateur
GB2627134A (en) * 2020-03-31 2024-08-14 Bamford Excavators Ltd A controller
USD1001412S1 (en) * 2022-10-11 2023-10-10 Manitou Bf Forklift truck

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EP1496009A1 (fr) 2003-07-05 2005-01-12 Deere & Company Suspension hydraulique

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USRE39477E1 (en) * 1992-12-04 2007-01-23 Jlg Omniquip, Inc. Forklift stabilizing apparatus
US5810095A (en) * 1996-07-25 1998-09-22 Case Corporation System for controlling the position of an implement attached to a work vehicle
DE10006908A1 (de) * 2000-02-16 2001-08-23 Caterpillar Sarl Genf Geneva Hydraulische Kolbenzylindereinheit für landwirtschaftliche Arbeitsmaschinen
US6422804B1 (en) * 2000-02-18 2002-07-23 Deere & Company Inertia load dampening hydraulic system
DE10163066A1 (de) * 2001-12-21 2003-07-03 Bosch Rexroth Ag Verfahren zur aktiven Schwingungsdämpfung für eine mobile Arbeitsmaschine
US20040200644A1 (en) * 2003-04-08 2004-10-14 Alan Paine Safe load lifting measurement device
DE102004031248A1 (de) * 2004-06-29 2006-02-09 Plustech Oy Ladegerät

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EP1496009A1 (fr) 2003-07-05 2005-01-12 Deere & Company Suspension hydraulique

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021244031A1 (fr) * 2020-06-04 2021-12-09 博鼎精工智能科技(山东)有限公司 Système hydraulique à commande électronique de dispositif de suspension hydraulique, tracteur et procédé de commande d'amortissement actif
DE102021123223A1 (de) 2021-09-08 2023-03-09 Kramer-Werke Gmbh Hydraulikmaschine mit einem um eine Schwenkachse verschwenkbaren Ausleger

Also Published As

Publication number Publication date
DE102005039251A1 (de) 2007-02-22
US20070059146A1 (en) 2007-03-15
EP1754836A3 (fr) 2008-07-16

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