CN105164415B - 液压泵组件 - Google Patents
液压泵组件 Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
- F04B1/30—Control of machines or pumps with rotary cylinder blocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/06—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis
- F03C1/0636—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis having rotary cylinder block
- F03C1/0644—Component parts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/06—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis
- F03C1/0636—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis having rotary cylinder block
- F03C1/0644—Component parts
- F03C1/0655—Valve means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/06—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis
- F03C1/0678—Control
- F03C1/0684—Control using a by-pass valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/06—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis
- F03C1/0678—Control
- F03C1/0697—Control responsive to the speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/20—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis having rotary cylinder block
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/20—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis having rotary cylinder block
- F04B1/2014—Details or component parts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/20—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis having rotary cylinder block
- F04B1/2014—Details or component parts
- F04B1/2042—Valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/34—Control not provided for in groups F04B1/02, F04B1/03, F04B1/06 or F04B1/26
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B53/00—Component parts, details or accessories not provided for in, or of interest apart from, groups F04B1/00 - F04B23/00 or F04B39/00 - F04B47/00
- F04B53/10—Valves; Arrangement of valves
- F04B53/1002—Ball valves
- F04B53/101—Ball valves having means for limiting the opening height
- F04B53/1012—Ball valves having means for limiting the opening height and means for controlling the opening height
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/01—Control of flow without auxiliary power
- G05D7/0173—Control of flow without auxiliary power using pivoting sensing element acting as a valve mounted within the flow-path
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Reciprocating Pumps (AREA)
- Details Of Reciprocating Pumps (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
一种液压泵组件,该液压泵组件包括具有至少一个离心杆(23)的可旋转的活塞鼓(20),所述离心杆(23)可旋转地连接在活塞鼓上,以在所述活塞鼓旋转时使所述离心杆在离心力的作用下在径向凸缘(20’)之间径向运动所述离心杆(23)设置为控制在活塞鼓(20)的孔(21)的开口端的阀门构件的位置,所述阀门构件优选为球体(22)。在所述杆(23)和径向凸缘(20’)中的一个之间设置有限定的摩擦表面(28;32),并设置有用以弹性偏置所述杆使得所述杆顶在所述凸缘中的一个上的弹簧装置(29‑31;25,33)。
Description
技术领域
本发明涉及一种液压泵组件,该液压泵组件包括具有至少一个离心杆的可旋转的活塞鼓,离心杆可旋转地与活塞鼓连接以在活塞鼓旋转时离心力的作用下在径向凸缘之间径向运动,所述离心杆布置为控制阀门构件的位置,阀门构件优选为在活塞鼓的孔的开口端的球体。
背景技术
这样的液压泵组件可用在包括有湿式盘式离合器的系统中,湿式盘式离合器用于在全轮驱动车辆(AWD)的前轴和后轴之间和/或在两轮或四轮驱动车辆的左轮和右轮之间分配转矩。这种用于驱动湿式盘式离合器的液压泵组件是已知的,其在WO2010/019094中显示和描述,并以较进步的形式在WO 2011/043722中进行了描述。为更好地理解本发明的背景,请参阅这两个出版物,尤其是后者。
全轮驱动系统和它的致动器的所需要的性能是高动态。基于车辆动力学和牵引优化所需要的值,尽可能快地达到所希望的转矩是可能的。所得到的准确性也会尽可能地高,而没有产生重叠干扰,即基本信号的任何弦外之音(overtones)。
在上述的出版物中所说明的这种压力调整器和转矩调整器基本上具有高动态性能。存在有固有的风险,该风险以不期望的方式作用于过程干扰,该过程干扰由例如外部加速度、振动、温度改变和转速变化引起。结果在非期望的频率范围内可产生重叠的转矩变化。
因此,需要在限定的频率范围内引入对调整器的动力性能的控制,以不会被迫在对抗过程干扰的高动态和鲁棒性之间进行平衡。
发明内容
在上面所描述的这种液压泵组件中,根据本发明,可通过在杆和径向凸缘中的一个之间采用限定的摩擦表面以及通过用以偏置所述杆使得所述杆顶在所述凸缘中的一个上的弹簧装置弹性获得。
所述摩擦表面优选为所述杆的轴向侧面上的突起(konb)的形式。
在第一实施方式中,位于所述杆的轴向孔中的压缩弹簧可设置为推动球体顶在另一个径向凸缘上。
在已知的调整器中设置有环形弹簧,所述环形弹簧围绕活塞鼓并压在所述杆的轴向销上以控制所述杆的径向运动。在本发明的第二实施方式中,所述轴向销具有从所述杆朝向所述活塞鼓向下倾斜的表面。
附图说明
下面将参考附图进一步详细描述本发明,其中
图1为公路车辆中的AWD离合器的液压系统图,
图2为与本发明相关的AWD离合器的液压泵中的穿过离心调整器部分的横截面图,
图3为根据本发明的设备的第一实施方式的大体穿过图2所显示的部分的轴向截面图,
图4为根据图3的第一实施方式的径向截面图,
图5为根据本发明的设备的第二实施方式的大体穿过图2所显示的部分的轴向截面图,
图6为根据图5的第二实施方式的径向截面图,和
图7为根据图5的第二实施方式中所使用的典型的杆的等轴测视图。
具体实施方式
图1和图2源自专利WO 2011/043722,参阅图1和图2以全面理解液压泵组件,在其中可体现本发明。液压泵组件用于限滑离合器(limited slip coupling)以在例如全轮驱动(all wheel drive,简称AWD)车辆中分配转矩。
图1显示的液压系统包括电机1,电机1通过驱动轴3驱动泵2,还驱动离心调节器4。离心调节器4的位置控制压力溢流阀5的位置和经过压力溢流阀5的流量。
用于液压驱动系统的液压油保存在存储器6中,液压油通过液压管7被吸入泵2中并由此输送至液压缸8中以通过液压缸8中的活塞11驱动限滑离合器10的盘组件9。
根据离心调节器4和压力溢流阀5的位置,一部分(有时为全部)液压流通过液压线路12输送,经过溢流阀5并回到存储器6中。结果是输送至液压缸8的液压通过离心调节器4控制。
安全阀13通过液压线路14与液压缸8连接。安全阀13用于在压力超过一定值(例如40bar)时将来自液压缸8的液压油输送至存储器6。
电机1、泵2、驱动轴3、离心调节器4和溢流阀5包括在液压泵组件中。图2为穿过液压泵组件中的离心调节器4和溢流阀5的部件的横截面图。
图2显示的是活塞鼓20,该活塞鼓20为泵2的一部分并在运行中旋转。在整个说明书中,活塞鼓20的旋转轴限定为轴向方向,且垂直于该轴向方向的为径向方向。该活塞鼓20优选设置有三个用于液压油的径向孔21。在每个孔21的外围的端部有阀门构件,该阀门构件优选为球体22的形式。
为控制每个球体22靠在孔21的开口端以及由此控制液压油流经过球体22的实施,设置有离心杆23。离心杆23相对靠近它的端部的第一端通过杆销24枢转地连接到活塞鼓20上。在活塞鼓20旋转过程中,杆40的另一端或第二端将通过离心力径向偏离于活塞鼓20。该趋势通过以环形弹簧25形式的弹性装置被抵消,弹性装置围绕杆23上的弹簧销26设置。球体22优选通过弹簧夹27的方式与所述杆的端部连接,弹簧夹允许球体22在孔21的孔端或开口密封地配合。
在图2中,显示出杆23在离心力的作用下径向向外摆出,球体22封闭径向孔21。
关于液压泵组件的设计和功能的进一步的信息参阅上述的WO2011/043722。
如上面已较详细地描述的,本发明的主要目的是改进离心调整器的动力控制,实际包括杆23控制球体22。
设备的这种改进的第一个实施方式如图3和图4所示。其中显示了活塞鼓20、一个球体22和一个具有枢转销24的离心杆23。还显示了活塞鼓20设置有径向的引导凸缘20’,引导凸缘20’彼此之间的轴向距离稍大于杆23的宽度。引导凸缘20’主要用于引导所述杆23而没有干涉它们的径向运动。
根据该改进,现在对杆23与鼓凸缘20’配合的一定控制进行介绍。
在杆24的一个轴向表面,也就是图3中的左手侧表面,设置有限定的摩擦表面28,优选为小的突起(knob)的形式,用于与左手侧凸缘20’配合。
通常在与所述摩擦表面相对的一面,杆23设置有孔29,孔29容纳压缩弹簧30和与右手侧凸缘20’接触的球体31。所述弹簧和球体的布置将产生轴向力,所述轴向力使摩擦表面28偏置以与左手侧凸缘20’接合。在球体31和右手侧凸缘20’之间也会有较小的摩擦。可通过设置任何可供选择的弹簧布置以提供所需的轴向力,这对本领域技术人员来说是显然的。
设备的上面所提到的改进的第二个实施方式如图5-7所示。图5中显示了具有径向凸缘20’的活塞鼓20和离心杆23。图5中还显示了上面结合图2所提到的环形弹簧25。图6显示了活塞鼓20、杆23、环形弹簧25,还有枢转销或杆销24。
参阅图5,在该实例中,杆23在它的一个轴向表面也设置有限定的摩擦表面32,也就是右手侧表面。摩擦表面32优选为与右手侧凸缘20’配合的小的突起(knob)的形式。
环形弹簧25在图2所显示的现有技术设备中是现有的,在此还用于提供偏置摩擦表面28使摩擦表面28与右手侧凸缘20’接合的轴向力。为达到该目的,图2中的杆23上的直弹簧销26通过倾斜销33代替,倾斜销33具有从杆23向活塞鼓20向下倾斜的表面。
如在图6中最明显地显示出,环形弹簧25不仅围绕杆销24而且围绕杆23上的倾斜销33。
在根据图2的已知的版本中,弹簧环25在杆23上产生径向力,但是通过使用倾斜销33也产生用于偏置摩擦表面32以使摩擦表面32与右手侧凸缘20’接合的轴向力。销33的倾斜表面开始轴向偏置环形弹簧25使环形弹簧25顶在活塞鼓20上,结果该轴向力通过环形弹簧25和活塞鼓20之间的反作用力产生。
图7显示了杆23。在此显示了用于杆销24的杆孔24’和倾斜销33。
本发明不限于在所参阅的出版物中所显示和描述的液压泵组件中使用。
在所附的权利要求的范围内可修改。所述摩擦表面可例如布置在凸缘上而不是杆上。
Claims (5)
1.一种液压泵组件,该液压泵组件包括具有至少一个离心杆(23)的可旋转的活塞鼓(20),所述离心杆(23)可旋转地连接在活塞鼓上,以在所述活塞鼓旋转时使所述离心杆在离心力的作用下在径向凸缘(20’)之间径向运动,所述离心杆(23)设置为控制在活塞鼓(20)的孔(21)的开口端的阀门构件的位置,其特征在于,通过在离心杆(23)和径向凸缘(20’)中的一个之间限定的摩擦表面(28;32)以及通过弹簧装置(29-31;25,33),用以弹性偏置所述杆使得所述离心杆顶在所述凸缘中的一个上。
2.根据权利要求1所述的组件,其中,所述阀门构件为第一球体(22)。
3.根据权利要求1所述的组件,其中,所述摩擦表面为在所述离心杆(23)的轴向侧面上的突起(28;32)的形式。
4.根据权利要求1所述的组件,其中,位于所述离心杆(23)的轴向孔(29)中的压缩弹簧(30)设置为推动第二球体(31),使第二球体(31)顶靠另外的径向凸缘(20’)。
5.根据权利要求1所述的组件,其中,该组件具有围绕所述活塞鼓(20)并压在所述离心杆(23)的轴向销(33)上的环形弹簧(25),以控制所述离心杆的径向运动,其中,所述轴向销(33)具有从所述离心杆(23)朝向所述活塞鼓(20)向下倾斜的表面。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE1350384-2 | 2013-03-26 | ||
SE1350384 | 2013-03-26 | ||
PCT/SE2014/050168 WO2014158070A1 (en) | 2013-03-26 | 2014-02-11 | A hydraulic pump assembly |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105164415A CN105164415A (zh) | 2015-12-16 |
CN105164415B true CN105164415B (zh) | 2017-12-08 |
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US (1) | US10317916B2 (zh) |
EP (1) | EP2978969B1 (zh) |
JP (1) | JP6434490B2 (zh) |
KR (1) | KR102164237B1 (zh) |
CN (1) | CN105164415B (zh) |
BR (1) | BR112015024350B1 (zh) |
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CN113606104B (zh) * | 2021-09-08 | 2022-12-06 | 河南科技大学 | 一种斜轴泵浮动缸体配流机构 |
CN117570236B (zh) * | 2024-01-19 | 2024-03-19 | 成都成高阀门股份有限公司 | 一种用于阀门的导向结构 |
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CN102575666A (zh) * | 2009-10-06 | 2012-07-11 | 博格华纳扭矩输出系统公司 | 液压泵组件 |
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US2405600A (en) * | 1942-08-14 | 1946-08-13 | Thomas L Morris | Fluid transmission |
US3730428A (en) * | 1969-12-15 | 1973-05-01 | Robertshaw Controls Co | Condition responsive parameter control means |
US4034625A (en) * | 1975-12-24 | 1977-07-12 | Taintor Oliver E | Manually controlled semi-automatic step gear transmission |
SU978644A1 (ru) * | 1981-04-24 | 1995-02-20 | В.И. Левин | Объемный насос |
JPS58177775A (ja) * | 1982-04-14 | 1983-10-18 | Tokai T R W Kk | パワ−ステアリング装置 |
JPH04254021A (ja) * | 1991-01-31 | 1992-09-09 | Mazda Motor Corp | 4輪駆動車の駆動連結装置 |
JPH0579106U (ja) * | 1992-03-31 | 1993-10-26 | 栃木富士産業株式会社 | 遠心カム |
US5638866A (en) * | 1996-03-01 | 1997-06-17 | Dana Corporation | Detent arrangement for holding hydraulic valve members stroked |
WO2004102043A1 (ja) * | 2003-04-14 | 2004-11-25 | Kanzaki Kokyukoki Mfg. Co., Ltd. | 作業車輌用油圧伝動装置の負荷制御装置 |
US7216681B2 (en) * | 2004-03-05 | 2007-05-15 | Clean Diesel Technologies, Inc. | Gravity feed ball-in-seat valve with extension unit for dosing fuel additives |
JP4171467B2 (ja) * | 2005-01-20 | 2008-10-22 | 株式会社小松製作所 | 建設機械の制御モード切換装置および建設機械 |
JP2007278239A (ja) * | 2006-04-11 | 2007-10-25 | Mikasa Sangyo Co Ltd | 振動締固め機のスロットル調整装置 |
JP4290192B2 (ja) * | 2006-12-25 | 2009-07-01 | 小島プレス工業株式会社 | 可動部材のスライド機構 |
SE532772C2 (sv) * | 2008-08-14 | 2010-04-06 | Haldex Traction Ab | Hydraulaktuator kontrollerande en eller flera slirkopplingar hos ett fördelningssystem |
EP2686569A1 (en) * | 2011-03-17 | 2014-01-22 | BorgWarner TorqTransfer Systems AB | A method for operating a hydraulic disc coupling in an awd vehicle and a coupling herefore |
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- 2014-02-11 RU RU2015145028A patent/RU2665376C2/ru active
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Publication number | Publication date |
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CN105164415A (zh) | 2015-12-16 |
EP2978969B1 (en) | 2020-04-29 |
EP2978969A1 (en) | 2016-02-03 |
BR112015024350A2 (pt) | 2017-07-18 |
US10317916B2 (en) | 2019-06-11 |
KR102164237B1 (ko) | 2020-10-12 |
WO2014158070A1 (en) | 2014-10-02 |
JP2016519240A (ja) | 2016-06-30 |
EP2978969A4 (en) | 2016-11-09 |
KR20150133811A (ko) | 2015-11-30 |
RU2015145028A (ru) | 2017-05-02 |
BR112015024350B1 (pt) | 2022-06-28 |
JP6434490B2 (ja) | 2018-12-05 |
RU2665376C2 (ru) | 2018-08-29 |
US20160048133A1 (en) | 2016-02-18 |
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