JP4503272B2 - 移動式作業機械の液圧シリンダの作動減衰方法及び作動減衰装置 - Google Patents
移動式作業機械の液圧シリンダの作動減衰方法及び作動減衰装置 Download PDFInfo
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- 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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- 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
- E02F9/2214—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing the shock generated at the stroke end
-
- 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
- F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
- F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
- F15B2211/31588—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and multiple 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
- F15B2211/30—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
- F15B2211/60—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
-
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
- F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
-
- 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
- F15B2211/715—Output members, e.g. hydraulic motors or cylinders or control therefor having braking means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/755—Control of acceleration or deceleration of the output member
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
- Actuator (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
4〜6 切換弁
7〜9 圧力逃し弁
10,11 液圧シリンダ
12 変化形状部
13 形状変化部
14 タンク
15 制御装置
16 速度記録装置
17 位置記録装置
18 ピストンロッド
19 時間記録装置
20 回転式検出ディスク(検出送信器)
21 第1の標点
22 第2の標点
23 比較演算装置
S1〜S4 リミットスイッチ(リミット信号送信器)
Claims (12)
- 液圧シリンダ(10,11)のピストンロッド(18)が移動行程の限界のいずれかに到達する前に、その移動速度を低下させて、該液圧シリンダ(10,11)のピストンロッド(18)を低速度で各移動行程の限界まで移動させ、
上記液圧シリンダ(10,11)への圧液の流入及び/又は上記液圧シリンダ(10,11)からの圧液の流出を流量制御器(4〜6)を用いて調節することにより、上記移動速度を低下させて、移動式作業機械の液圧シリンダ(10,11)の作動を減衰する方法であって、
上記液圧シリンダ(10,11)のピストンロッド(18)が上記各移動行程の限界に到達する前にその移動速度を記録し、上記流量制御器(4〜6)による液圧シリンダ(10,11)に対する圧液の流入及び/又は圧液の流出の調節により上記液圧シリンダ(10,11)の作動減衰を開始する時点(P7,P7′)を上記記録移動速度の低下に伴って遅延されるように変化させ、
上記ピストンロッド(18)が各移動行程の限界に到達する前の移動速度の記録のために、上記液圧シリンダ(10,11)のピストンロッド(18)が各移動行程の限界に到達する前に、並置された2つのリミット信号送信器(S1,S2)を、ピストンロッド(18)及び/又は上記液圧シリンダ(10,11)に結合された検出送信器(20)が通過するときの通過時点間の期間(t k )を記録し、
上記記録期間(t k )と事前設定期間(t s )との比較から時間差( □ t)を測定して、
上記時間差( □ t)に基づいて、上記液圧シリンダ(10,11)の作動の減衰開始時点(P7′)の遅延期間(t F )を決定することを特徴とする移動式作業機械の液圧シリンダの作動減衰方法。 - 上記流量制御器(4〜6)の調節速度は、上記液圧シリンダ(10,11)のピストンロッド(18)の記録移動速度に関係なく、事前に設定される請求項1に記載の移動式作業機械の液圧シリンダの作動減衰方法。
- 上記記録移動速度が事前設定限界速度以上である場合、上記減衰の所定開始時点(P7)は常に事前に設定され、
上記記録移動速度が上記限界速度を下回る場合、上記減衰の開始時点(P7′)は、上記所定開始時点(P7)よりも遅延期間(tF)だけ遅延される上記請求項1又は2に記載の移動式作業機械の液圧シリンダの作動減衰方法。 - 上記記録移動速度に応じて変化する上記遅延期間(tF)は、上記記録移動速度に対して比例している請求項3に記載の移動式作業機械の液圧シリンダの作動減衰方法。
- 液圧シリンダ(10,11)のピストンロッド(18)が各移動行程の限界に到達する前であって減衰開始時点を設定するための2つの減衰開始設定位置にあることを記録する位置記録装置(17)と、
上記液圧シリンダ(10,11)への圧液の流入及び/又は上記液圧シリンダ(10,11)からの圧液の流出を調節する流量制御器(4〜6)と、
上記ピストンロッド(18)の上記減衰開始設定位置への到達時に上記流量制御器(4〜6)を制御する制御装置(15)とを備え、
上記請求項1〜4のいずれか1つに記載の方法に基づく、移動式作業機械の液圧シリンダの作動を減衰する装置であって、
上記液圧シリンダ(10,11)のピストンロッド(18)の減衰開始設定位置への到達時にその移動速度を記録する速度記録装置(16)をさらに備えており、
上記制御装置(15)は、上記記録移動速度に応じて、上記流量制御器(4〜6)の駆動を遅延させる遅延装置を備えていることを特徴とする移動式作業機械の液圧シリンダの作動減衰装置。 - 上記速度記録装置(16)は、並置された2つのリミット信号送信器(S1,S2)を備えており、
上記2つのリミット信号送信器(S1,S2)の信号間の期間(tk)を記録する時間記録装置(19)をさらに備えている請求項5に記載の移動式作業機械の液圧シリンダの作動減衰装置。 - 上記2つのリミット信号送信器(S1,S2)のいずれか一方は、上記位置記録装置(17)も構成している請求項6に記載の移動式作業機械の液圧シリンダの作動減衰装置。
- 上記液圧シリンダ(10,11)のピストンロッド(18)及び/又は上記液圧シリンダ(10,11)に結合された検出送信器(20)には、第1及び第2の標点(21,22)が設けられており、
上記第1及び第2の標点(21,22)は、上記2つの減衰開始設定位置と対応しており、
上記両標点は、上記位置記録装置(17)及び/又は上記速度記録装置(16)により記録可能になっている請求項5〜7のいずれか1つに記載の移動式作業機械の液圧シリンダの作動減衰装置。 - 上記速度記録装置(16)は、上記液圧シリンダ(10,11)に組み込まれている請求項5〜8のいずれか1つに記載の移動式作業機械の液圧シリンダの作動減衰装置。
- 上記速度記録装置(16)は、上記液圧シリンダ(10,11)から離間して配置されているとともに、上記検出送信器(20)に対応付けられている請求項5〜8のいずれか1つに記載の移動式作業機械の液圧シリンダの作動減衰装置。
- 上記制御装置(15)は、上記記録期間(tk)と事前設定期間(ts)とを比較し、上記2つの期間(tk,ts)の差を測定する比較装置(23)をさらに備えており、
上記遅延装置は、上記流量制御器(4〜6)の駆動の遅延期間(tF)を事前に設定するための遅延送信器を備えており、
上記遅延期間(tF)は、上記測定された差に応じて事前に設定され、上記差に比例している請求項5〜10のいずれか1つに記載の移動式作業機械の液圧シリンダの作動減衰装置。 - 上記位置記録装置(17)は、上記液圧シリンダ(10,11)により駆動される移動系における2つの構成要素のヒンジ点に対応しており、上記2つの構成要素の相対位置を記録する請求項5〜11のいずれか1つに記載の移動式作業機械の液圧シリンダの作動減衰装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE10256923A DE10256923B4 (de) | 2002-12-05 | 2002-12-05 | Verfahren und Vorrichtung zur Bewegungsdämpfung von Hydraulikzylindern mobiler Arbeitsmaschinen |
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JP2004183899A JP2004183899A (ja) | 2004-07-02 |
JP4503272B2 true JP4503272B2 (ja) | 2010-07-14 |
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US (1) | US7318292B2 (ja) |
EP (1) | EP1426499B1 (ja) |
JP (1) | JP4503272B2 (ja) |
KR (1) | KR101073202B1 (ja) |
CN (1) | CN100353078C (ja) |
AT (1) | ATE349578T1 (ja) |
DE (2) | DE10256923B4 (ja) |
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EP1426499B1 (de) | 2006-12-27 |
DE10256923B4 (de) | 2013-10-24 |
DE10256923A1 (de) | 2004-06-17 |
ATE349578T1 (de) | 2007-01-15 |
EP1426499A1 (de) | 2004-06-09 |
US20040128868A1 (en) | 2004-07-08 |
DE50306094D1 (de) | 2007-02-08 |
CN100353078C (zh) | 2007-12-05 |
US7318292B2 (en) | 2008-01-15 |
CN1566717A (zh) | 2005-01-19 |
KR101073202B1 (ko) | 2011-10-12 |
JP2004183899A (ja) | 2004-07-02 |
KR20040049277A (ko) | 2004-06-11 |
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