CN103403272B - 挖土机 - Google Patents
挖土机 Download PDFInfo
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- CN103403272B CN103403272B CN201280011055.1A CN201280011055A CN103403272B CN 103403272 B CN103403272 B CN 103403272B CN 201280011055 A CN201280011055 A CN 201280011055A CN 103403272 B CN103403272 B CN 103403272B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
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- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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Abstract
本发明提供一种挖土机。其通过回转用电动机(21)对回转体(3)进行回转驱动。将回转制动用液压马达(40)机械连结于回转体(3)或回转用电动机(21)。通过截断回转制动用液压马达(40)的吸入端口和吐出端口,使回转制动用液压马达(40)成为无法旋转的状态,对回转体(3)施加制动。
Description
技术领域
本发明涉及一种利用电动机对回转体进行电动驱动的挖土机。
背景技术
通常,在进行挖掘作业等的挖土机中设置回转体,用于进行挖掘作业的动臂、斗杆及铲斗设置于回转体。通过使回转体回转,将铲斗移动至挖土机周围的任意位置。将由回转用液压马达对回转体进行回转驱动的现象称为液压回转。并且,将由回转用电动马达对回转体进行回转驱动的现象称为电动回转。
采用电动回转的挖土机中,不驱动回转用电动马达时回转用电动马达处于能够自由旋转的状态,因此对回转体机械性地施加制动来固定。机械性地施加制动的制动装置利用摩擦力固定回转体,具有产生摩擦力的组件磨损的问题。挖土机工作时较大的外力作用于回转体,所以需抵抗该外力而维持制动力(摩擦力)。因此,存在施加于制动装置的负载较大,制动装置的产生摩擦力的部分在短时间内磨损而制动装置的寿命较短的问题。
因此,提出有通过对回转用电动马达进行零速控制来将回转体维持在停止状态的技术(例如,参考专利文献1)。零速控制为如下控制,将回转用电动马达始终设为驱动状态,回转用电动马达由于外力而欲旋转时为了使转速成为零,以向反方向旋转的方式进行驱动来将转速维持为零。将回转用电动马达的转速维持为零是指使回转用电动马达不旋转,由此回转体维持在恒定位置。
以往技术文献
专利文献
专利文献1:日本特开2005-299102号公报
发明的概要
发明要解决的技术课题
在通过对回转用电动马达进行零速控制来将回转体维持在停止状态的控制中,驱动回转用电动马达,产生抵消施加于回转体的外力的回转力。因此,必须始终驱动回转用电动马达,并且为了固定回转体而需要向回转用电动马达供给电力。因此,必须从蓄电装置向回转用电动马达供给大量电力,蓄电装置的充电率有可能急速下降。并且,仅为了施加制动而不是为了进行作业而利用回转用电动马达消耗电力,因此从节省电力的观点不优选。
本发明是鉴于上述问题点而完成的,其目的在于提供一种能够通过机械式制动器以外的制动装置将回转体维持在停止状态且为了产生制动力而不需要大量电力的挖土机。
用于解决技术课题的手段
根据本发明,可提供一种挖土机,其特征在于,具有对回转体进行回转驱动的回转用电动机及机械连结于该回转体或该回转用电动机的回转制动用液压马达。
上述挖土机优选进一步具有截断该回转制动用液压马达的吸入口与吐出口的液压回路。可设为,在用于对该回转体进行回转操作的回转操作构件未被操作的状态下,用于进行回转以外的操作的操作构件被操作时,利用该回转制动用液压马达对该回转体施加制动。另外,还可设为,在用于对该回转体进行回转操作的回转操作构件未被操作的状态下,用于进行回转以外的操作的操作构件被操作时,解除用于机械固定该回转体的机械式制动装置的制动动作。
另外,可设为,该液压回路始终截断该回转制动用液压马达的吐出侧,在该回转体与该回转制动用液压马达之间设置断续器。还可设为,该断续器在用于对该回转体进行回转操作的回转操作构件未被操作的状态下,将该回转制动用液压马达连结于该回转体或该回转用电动机。另外,可设为,该液压回路包含切换阀,通过该切换阀截断该回转制动用液压马达的吸入口与吐出口。另外,还可设为,用于进行该回转体的回转操作的回转操作构件被操作时,该回转制动用液压马达的吸入口与吐出口通过该切换阀连接而形成闭合回路,当用于进行该回转体的回转操作的回转操作构件成为未被操作的状态时,则通过该切换阀截断该回转制动用液压马达的吸入口与吐出口。
发明效果:
根据上述发明,能够通过机械式制动器以外的制动装置将回转体维持在停止状态且能够防止为了产生制动力而消耗大量电力的现象。
附图说明
图1是混合式挖土机的侧视图。
图2是表示基于第1实施方式的混合式挖土机的驱动系统的结构的框图。
图3是表示蓄电系统的结构的框图。
图4是表示具有用于产生基于液压的制动力的回转制动用液压马达的回转驱动系统的结构的框图。
图5是停止上部回转体的回转的同时进行作业时的控制处理的流程图。
图6是表示基于本发明的第2实施方式的具有回转制动用液压马达的回转驱动系统的结构的框图。
图7是表示串联型混合式挖土机的驱动系统的结构的框图。
图8是表示电动式挖土机的驱动系统的结构的框图。
具体实施方式
参考附图对本发明的实施方式进行说明。
图1是表示本发明所适用的混合式挖土机的侧视图。
混合式挖土机的下部行驶体1上经回转机构2搭载有上部回转体3。上部回转体3上安装有动臂4。动臂4的前端安装有斗杆5,斗杆5的前端安装有铲斗6。动臂4、斗杆5及铲斗6分别通过动臂缸7、斗杆缸8及铲斗缸9液压驱动。上部回转体3上设置有驾驶室10,且搭载有引擎等动力源。
另外,本发明可适用的挖土机不限于混合式挖土机。只要是采用电动回转的挖土机,则本发明例如也能够适用于从外部电源供给充电电力的电力驱动式挖土机中。
图2是表示基于本发明的第1实施方式的混合式挖土机的驱动系统的结构的框图。图2中,分别以双重线表示机械动力系统,以实线表示高压液压管路,以虚线表示先导管路,以实线表示电力驱动/控制系统。
作为机械式驱动部的引擎11和作为辅助驱动部的电动发电机12分别连接于变速器13的2个输入轴。变速器13的输出轴上连接有主泵14及先导泵15来作为液压泵。主泵14上经高压液压管路16连接有控制阀17。
控制阀17为进行混合式挖土机中的液压系统的控制的控制装置。下部行驶体1用液压马达1A(右用)及1B(左用)、动臂缸7、斗杆缸8及铲斗缸9经高压液压管路连接于控制阀17。
电动发电机12上经逆变器18A连接有包含作为蓄电器的电容器的蓄电系统(蓄电装置)120。蓄电系统120上经逆变器20连接有作为电动工作要件的回转用电动机21。回转用电动机21的旋转轴21A上连接有分解器22、机械制动器23及回转变速器24。另外,先导泵15上经先导管路25连接有操作装置26。由回转用电动机21、逆变器20、分解器22、机械制动器23及回转变速器24构成负载驱动系统。其中,回转用电动机21相当于用于对上部回转体3进行回转驱动的回转用电动马达,机械制动器23相当于机械地对上部回转体3施加制动的制动装置。
操作装置26包含操纵杆26A、操纵杆26B及踏板26C。操纵杆26A、操纵杆26B及踏板26C经液压管路27及28分别连接于控制阀17及压力传感器29。压力传感器29连接于进行电力系统的驱动控制的控制器30。
图3是表示蓄电系统120的结构的框图。蓄电系统120包含作为蓄电器的电容器19、升降压转换器100及DC母线110。作为第2蓄电器的DC母线110控制作为第1蓄电器的电容器19、电动发电机12及回转用电动机21之间的电力授受。电容器19上设置有用于检测电容器电压值的电容器电压检测部112和用于检测电容器电流值的电容器电流检测部113。通过电容器电压检测部112和电容器电流检测部113检测出的电容器电压值和电容器电流值供给至控制器30。
升降压转换器100根据电动发电机12及回转用电动机21的运行状态进行切换升压动作与降压动作的控制,以将DC母线电压值限制在恒定范围内。DC母线110配设于逆变器18A及20与升降压转换器100之间,并进行电容器19、电动发电机12及回转用电动机21之间的电力授受。
回到图2,控制器30为进行混合式挖土机的驱动控制的作为主控制部的控制装置。控制器30由包含CPU(Central Processing Unit)及内部存储器的运算处理装置构成,是通过CPU执行储存于内部存储器的驱动控制用程序来实现的装置。
控制器30将从压力传感器29供给的信号切换为速度指令,进行回转用电动机21的驱动控制。从压力传感器29供给的信号相当于表示为了使回转机构2回转而对操作装置26进行操作时的操作量的信号。
控制器30进行电动发电机12的运行控制(电动(辅助)运行或发电运行的切换),并且通过驱动控制作为升降压控制部的升降压转换器100而进行电容器19的充放电控制。控制器30根据电容器19的充电状态、电动发电机12的运行状态(电动(辅助)运行或发电运行)及回转用电动机21的运行状态(动力运行或再生运行)进行升降压转换器100的升压动作与降压动作的切换控制,并由此进行电容器19的充放电控制。另外,控制器30如后述那样还控制充电到电容器19的量(充电电流或充电电力)。
该升降压转换器100的升压动作与降压动作的切换控制根据通过DC母线电压检测部111检测出的DC母线电压值、通过电容器电压检测部112检测出的电容器电压值及通过电容器电流检测部113检测出的电容器电流值进行。
在如以上的结构中,作为辅助马达的电动发电机12所发电的电力经逆变器18A供给至蓄电系统120的DC母线110,并经升降压转换器100供给至电容器19。回转用电动机21进行再生运行而生成的再生电力经逆变器20供给至蓄电系统120的DC母线110,并经升降压转换器100供给至电容器19。
回转用电动机21的转速(角速度ω)通过分解器22检测。另外,动臂4的角度(动臂角度θB)通过设置于动臂4的支承轴的旋转编码器等动臂角度传感器7B检测。控制器30根据回转用电动机21的角速度ω通过运算求出推断回转再生电力(能量),并且根据动臂角度θB通过运算求出推断动臂再生电力(能量)。而且,控制器30根据通过运算求出的推断回转再生电力与推断动臂再生电力,通过运算求出SOC的再生估计目标值。控制器30对混合式挖土机的各部进行控制,以使电容器19的SOC接近所求出的再生估计目标值。
如上述结构的混合式挖土机的工作中,有时将上部回转体3保持在恒定回转位置的同时驱动动臂4、斗杆5及铲斗6来进行挖掘作业等。此时,为了避免上部回转体3由于外力而回转,通过机械制动器23施加制动。操作装置26的回转用操作杆(例如,操纵杆26A)一定时间未被操作时,机械制动器23自动运转,当回转用操作杆被操作时立即被解除。
本实施方式中,设为避免成为如下状态,即通过机械制动器23施加制动的同时进行基于动臂4、斗杆5及铲斗6的作业。即,停止上部回转体3的同时进行作业时解除机械制动器23,取而代之利用液压产生制动力来对上部回转体3施加制动而使之成为停止的状态。作为用于产生基于液压的制动力的液压设备,本实施方式中例如利用液压泵。
图4是表示具有用于产生基于液压的制动力的回转制动用液压马达的回转驱动系统的结构的框图。图4中,对与图2所示的构成组件相同的组件附加相同符号,并省略其说明。
本实施方式中,回转用电动机21的输出轴上机械连结有回转制动用液压马达40的驱动轴。回转制动用液压马达40为具有端口40a及端口40b的液压泵。若回转制动用液压马达40的驱动轴向单方向旋转驱动,则端口40a成为吸入端口而端口40b成为吐出端口,欲使工作油从端口40a向端口40b的方向流动。若回转制动用液压马达40的驱动轴被向反方向旋转驱动,则端口40b成为吸入端口而端口40a成为吐出端口,欲使工作油从端口40b向端口40a的方向流动。
在此,若事先封闭端口40a及端口40b来使工作油不流动,则回转制动用液压马达40的驱动轴无法旋转。回转制动用液压马达40的驱动轴机械连结于回转用电动机21的输出轴,因此若回转制动用液压马达40的驱动轴无法旋转,则回转用电动机21的输出轴也变得无法旋转,上部回转体3也变得无法旋转。因此,封闭回转制动用液压马达40的端口40a和端口40b以免工作油流动,由此成为对上部回转体3施加制动的状态,能够将上部回转体3维持为停止状态。
回转制动用液压马达40上连接有液压回路50,通过液压回路50控制工作油的流动。液压回路50具有切换阀60。切换阀60是切换为连接与回转制动用液压马达40的端口40a相连的油路50a和与端口40b相连的油路50b的状态及截断油路50a与油路50b的状态的任一个的阀。切换阀60的动作通过来自控制器30的切换信号控制。图4中示出通过切换阀60截断油路50a与油路50b的状态。截断油路50a与油路50b相当于封闭回转制动用液压马达40的端口40a与端口40b。因此,通过由切换阀60截断油路50a与油路50b,能够对上部回转体3施加制动来保持为停止状态。
另一方面,若设为通过切换阀60连接油路50a与油路50b的状态,则从油路50a流向回转制动用液压马达40的端口40a的工作油被吸入到回转制动用液压马达40,并从端口40b吐出。从端口40b吐出的工作油流过油路50b重新返回到切换阀60,流过油路50a而被吸入到回转制动用液压马达40的端口40a。如此,通过切换阀60连接油路50a与油路50b来形成闭合回路,由此能够在使回转制动用液压马达40空转的状态下进行驱动。在该状态下,为解除基于回转制动用液压马达40的制动的状态,能够对上部回转体3进行回转驱动。即,使上部回转体3回转时,设为使切换阀60运转而连接油路50a与油路50b的状态。
液压回路50具有溢流阀52A、52B及止回阀54A、54B。溢流阀52A、52B及止回阀54A、54B为了放出液压(泄压)而设置,以免油路50a及油路50b内的液压变得过高。例如,若作用于上部回转体3的外力(回转力)变得非常大,油路50b内的液压过度上升而超过溢流阀52B的溢流压,则高压的工作油从溢流阀52B流出,通过止回阀54A,流向油路50a。由此,油路50b内的液压下降,保持在溢流阀52B的溢流压以下。油路50a内的液压过度上升时,也同样保持为溢流阀52A的溢流压以下。因此,能够防止构成回转驱动系统的组件的损伤。
接着,对停止上部回转体3的回转的同时进行作业时的控制进行说明。图5为停止上部回转体3的回转的同时进行作业时的控制处理的流程图。
首先,在步骤S1中,判定是否为所有操作杆(操作构件)未被操作的状态。若判定为不是所有操作杆(操作构件)未被操作的状态(步骤S1的否),则处理进入步骤S4。另一方面,若判定为是所有操作杆(操作构件)未被操作的状态(步骤S1的是),则处理进入步骤S2,判定是否已经过预定时间(例如,5秒钟)。挖掘作业或平整地面作业等作业期间,从步骤S1进入步骤S4。
若在步骤S2中判定为未经过预定时间(例如,5秒钟),则处理返回到步骤S1。另一方面,若在步骤S2中判定为已经过预定时间(例如,5秒钟),则处理进入到步骤S3,机械制动器23(停车制动器)成为ON。即,若用于对上部回转体3进行回转操作的操作杆未被操作预定时间(例如,5秒钟),则判断为事先停止上部回转体3,使机械制动器23运转来施加制动,将上部回转体3固定在该位置。
接着,在步骤S4中,判定用于对上部回转体3进行回转操作的操作杆以外的操作杆是否被操作。用于对上部回转体3进行回转操作的操作杆以外的操作杆未被操作时(步骤S4的否),结束此次处理。用于对上部回转体3进行回转操作的操作杆以外的操作杆未被操作表示在停止上部回转体3的状态下其他工作要件也未被操作,能够判断为挖土机未进行任何作业。因此,维持通过机械制动器23施加制动的状态。
另一方面,用于对上部回转体3进行回转操作的操作杆以外的操作杆被操作时(步骤S4的是),处理进入步骤S5,设为使切换阀6运转来截断油路50a与油路50b的状态(图4所示的状态)。即,在上部回转体3停止的状态下,进行上部回转体3的回转操作以外的操作时,判断为停止上部回转体3的同时进行基于铲斗6等的作业,设为回转制动用液压马达40的驱动轴无法旋转来对上部回转体3施加制动。通过设为截断油路50a与油路50b的状态,阻止工作油的流动,回转制动用液压马达40的驱动轴变得无法旋转,因此回转用电动机21的旋转被阻止,上部回转体3的回转也被阻止。
通过回转制动用液压马达40施加制动之后,在步骤S6中解除机械制动器(停车制动器)23的动作。即,由于通过回转制动用液压马达40施加了制动,因此即使解除基于机械制动器23的制动也能够事先停止上部回转体3。因此,能够抑制机械制动器23的摩擦组件(例如,制动衬面等)的磨损,并能够防止机械制动器23的摩擦组件提前磨损。由此,能够延长机械制动器23的使用年限。并且,在步骤S6中解除机械制动器之后,再次从步骤S1开始处理。
接着,对第2实施方式进行说明。图6是表示基于本发明的第2实施方式的具有回转制动用液压马达的回转驱动系统的结构的框图。图6中,对于与图4所示的构成组件相同的组件附加相同符号,并省略其说明。
如图6所示,本实施方式中液压回路50不具有切换阀60。因此,在图7所示的液压回路50中无法从回转制动用液压马达40的端口40a与端口40b吐出工作油,而始终成为封闭状态。即,回转制动用液压马达40成为始终施加有制动的状态,在此状态下无法对上部回转体3进行回转驱动。因此,本实施方式中,代替切换阀60,在回转制动用液压马达40与回转用电动机21之间设置有断续器70。
断续器70例如如离合器那样,设为相互卡合2个组件来传递旋转力的状态及解除2个组件的卡合而无法传递旋转力的状态。即,断续器70能够通过来自控制器30的信号,设为连结回转制动用液压马达40的驱动轴与回转用电动机21的输出轴的状态及切断它们的状态。因此,以回转制动用液压马达40施加制动时,设为通过断续器70连结回转制动用液压马达40的驱动轴与回转用电动机21的输出轴的状态。另一方面,驱动回转用电动机21来对上部回转体3进行回转驱动时,设为通过断续器70切断回转制动用液压马达40的驱动轴与回转用电动机21的输出轴的状态。
如以上内容,本实施方式中,事先将回转制动用液压马达40设为始终施加有制动的状态,不需要基于回转制动用液压马达40的制动时,通过从回转用电动机21断开回转制动用液压马达40来对应。
上述第1及第2实施方式中,通过将回转制动用液压马达40连结于回转用电动机21来对回转用电动机21施加制动,其结果对上部回转体3施加制动,但是也可将回转制动用液压马达40直接连结于上部回转体3或回转机构2。
上述实施方式中,对将本发明应用于将引擎11及电动发电机12连接于液压泵即主泵14来驱动主泵的所谓并联型混合式挖土机的例子进行了说明。本发明还可适用于如图7所示那样用引擎11驱动电动发电机12并将电动发电机12所生成的电力蓄积在蓄电系统120之后仅通过所蓄积的电力驱动主泵14的所谓串联型混合式挖土机。此时,电动发电机12具备作为仅进行基于通过引擎11驱动的发电运行的发电机的功能。蓄积在蓄电系统120的电力经逆变器18B供给至驱动主泵14的电动机400。若供给电力则电动机400被驱动,由此主泵14被驱动。
另外,本发明还能够适用于未搭载引擎而仅用电动机驱动液压泵的电动式挖土机。图8是表示电动式挖土机的驱动系统的结构的框图。作为电动机发挥作用的电动发电机12连接于主泵14,主泵14仅通过电动发电机12被驱动。蓄电系统120上经转换器410连接有外部电源500,蓄电系统120的蓄电部(电容器19)上从外部电源500供给有电力,电容器19被充电。
本发明并不限定于具体公开的上述实施方式,在不脱离本发明的范围内,可完成各种变形例及改良例。
本申请主张基于2011年3月30日申请的日本专利申请第2011-076254号的优先权,其全部内容援用于本申请。
产业上的可利用性
本发明可应用于利用电动机电动驱动回转体的挖土机。
符号说明
1-下部行驶体,1A、1B-液压马达,2-回转机构,3-上部回转体,4-动臂,5-斗杆,6-铲斗,7-动臂缸,7A-液压配管,7B-动臂角度传感器,8-斗杆缸,9-铲斗缸,10-驾驶室,11-引擎,12-电动发电机,13-变速器,14-主泵,15-先导泵,16-高压液压管路,17-控制阀,18A、18B、20-逆变器,19-电容器,21-回转用电动机,22-分解器,23-机械制动器,24-回转变速器,25-先导管路,26-操作装置,26A、26B-操纵杆,26C-踏板,26D-按钮开关,27-液压管路,28-液压管路,29-压力传感器,30-控制器,35-显示装置,40-回转制动用液压马达,40a、40b-端口,50-液压回路,50a、50b-油路,52A、52B-溢流阀,54A、54B-止回阀,60-切换阀,70-断续器,100-升降压转换器,110-DC母线,111-DC母线电压检测部,112-电容器电压检测部,113-电容器电流检测部,120-蓄电系统,400-电动机,410-转换器,500-外部电源。
Claims (6)
1.一种挖土机,其特征在于,具有:
行驶体;
所述行驶体之上的回转体;
所述回转体之上的动臂;
与所述动臂连接的斗杆;
与所述斗杆连接的铲斗;
回转用电动机,对所述回转体进行回转驱动;
用于对所述回转体施加机械固定的机械式制动装置;及
回转制动用液压马达,机械连结于所述回转体或所述回转用电动机,
在用于对所述回转体进行回转操作的回转操作构件未被操作的状态下,用于进行回转以外的操作的操作构件被操作时,利用所述回转制动用液压马达对所述回转体施加制动,并解除用于机械固定所述回转体的机械式制动装置的制动动作。
2.根据权利要求1所述的挖土机,其特征在于,
进一步具有截断所述回转制动用液压马达的吸入口和吐出口的液压回路。
3.根据权利要求2所述的挖土机,其特征在于,
所述液压回路始终截断所述回转制动用液压马达的吐出侧,在所述回转体与所述回转制动用液压马达之间设置有断续器。
4.根据权利要求3所述的挖土机,其特征在于,
所述断续器在用于对所述回转体进行回转操作的回转操作构件未被操作的状态下,将所述回转制动用液压马达连结于所述回转体或所述回转用电动机。
5.根据权利要求2所述的挖土机,其特征在于,
所述液压回路包含切换阀,通过该切换阀截断所述回转制动用液压马达的吸入口与吐出口。
6.根据权利要求5所述的挖土机,其特征在于,
用于进行所述回转体的回转操作的回转操作构件被操作时,所述回转制动用液压马达的吸入口与吐出口通过所述切换阀连接而形成闭合回路,
当用于进行所述回转体的回转操作的回转操作构件成为未被操作的状态时,通过所述切换阀截断所述回转制动用液压马达的吸入口与吐出口。
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JP2005344431A (ja) * | 2004-06-04 | 2005-12-15 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 旋回電動モータ装置 |
CN101153496A (zh) * | 2006-09-29 | 2008-04-02 | 神钢建设机械株式会社 | 作业机械的旋转控制装置 |
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JP4311478B2 (ja) * | 2007-05-30 | 2009-08-12 | ダイキン工業株式会社 | 旋回体の駆動装置 |
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JP5347878B2 (ja) | 2009-09-29 | 2013-11-20 | 富士通株式会社 | 文献間関係解析装置、該プログラム、及び該方法 |
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JP2005344431A (ja) * | 2004-06-04 | 2005-12-15 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 旋回電動モータ装置 |
CN101153496A (zh) * | 2006-09-29 | 2008-04-02 | 神钢建设机械株式会社 | 作业机械的旋转控制装置 |
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EP2692953B1 (en) | 2018-05-02 |
WO2012133705A1 (ja) | 2012-10-04 |
JPWO2012133705A1 (ja) | 2014-07-28 |
EP2692953A1 (en) | 2014-02-05 |
JP5792285B2 (ja) | 2015-10-07 |
CN103403272A (zh) | 2013-11-20 |
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