The invention relates to a method (19) of operating a hydraulic arrangement (1) including a mounting base (5), a boom (3) that is pivotably arranged on the mounting base (5), and a Z-kinematics (2) that is arranged on the boom (3). The Z-kinematics (2) tilts a tool attachment device (10), that is pivotably arranged on the boom (3). The boom (3) is moved by a lifting hydraulic piston (7) that is connected to the boom (3) and to the mounting base (5). The Z-kinematics (2) is moved by at least a tilting hydraulic piston (11) that is connected to a lever of the Z-kinematics (2) and to the mounting base (5). On application of an input control command for changing the position of the lifting hydraulic piston (7), a compensation command is automatically generated and applied to the tilting hydraulic piston (11), to essentially maintain the attitude of the tool attachment device (10). The compensation command is generated based on the input control command for the lifting hydraulic piston (7), using a mathematical model of the hydraulic arrangement (1).
本发明涉及一种操作液压装置(1)的方法(19),液压装置(1)包括安装基座(5)、可枢转地布置在安装基座(5)上的吊臂(3)以及布置在吊臂(3)上的Z型运动机构(2)。Z型运动机构(2)使可枢转地布置在吊臂(3)上的工具附接设备(10)倾斜。通过连接到吊臂(3)和安装基座(5)的提升液压活塞(7)使吊臂(3)移动。至少通过连接到Z型运动机构(2)的杠杆和安装基座(5)的倾斜液压活塞(11)使Z型运动机构(2)移动。在施加用于改变提升液压活塞(7)的位置的输入控制信号时,补偿信号被自动生成并施加到倾斜液压活塞(11),以基本上保持工具附接设备(10)的姿态。使用液压装置(1)的数学模型基于用于提升液压活塞(7)的输入控制信号生成补偿信号。
HYDRAULIC ARRANGEMENT
改进的液压装置
2021-10-22
Patent
Electronic Resource
Chinese
IPC: | 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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |