EP0528103B1 - Electrohydraulic actuator - Google Patents
Electrohydraulic actuator Download PDFInfo
- Publication number
- EP0528103B1 EP0528103B1 EP92104566A EP92104566A EP0528103B1 EP 0528103 B1 EP0528103 B1 EP 0528103B1 EP 92104566 A EP92104566 A EP 92104566A EP 92104566 A EP92104566 A EP 92104566A EP 0528103 B1 EP0528103 B1 EP 0528103B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- piston
- travel
- main piston
- force
- control
- 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.)
- Expired - Lifetime
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Classifications
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0435—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being sliding 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B13/0402—Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
Definitions
- the invention relates to an electro-hydraulic control unit, in particular for controlling construction machines, according to the generic part of the first claim.
- a generic electro-hydraulic actuating unit which has a displaceable piston-like part, in particular a control slide, on the two end faces of which a control chamber is arranged, which can be acted upon by pressure means via control means for moving the part or is relieved.
- the control means is an electromagnetically actuated control valve which is assigned to each control chamber and which acts on the control valve via a mechanical return.
- the mechanical return is designed here as a spring, which is supported on the mutually facing end faces of the displaceable part and control valve. Further centering springs are provided for the piston-like part.
- This setting unit is intended to provide feedback for the position control of the displaceable part, the setting being intended to be particularly precise.
- the control valves are designed as 3/2-way valves.
- a disadvantage of this control unit is that due to the interaction of magnetic force and spring force at the valve, a pressure is set (according to the current divider principle), which acts as an adjusting force over the surface of the displaceable part. It follows that with constant proportional magnetic force, the control pressure is only adjusted depending on the spool position, i.e. there is only one setting value for a slide position. However, since the disturbances which occur which adjust the piston slide occur in a wide range, the control pressure must also be adjustable in a wide range with constant magnetic force in order to be able to position the piston in a position-controlled manner. In addition, this control unit has a poor efficiency because the control oil volume flow requirement is high due to the flow divider function for generating control pressure. Furthermore, a high control pressure requirement is required, since the main piston is moved against a spring. As a result of the constant pressure, high losses in performance due to the circulating oil can be expected.
- DE-C 28 35 771 shows a cartridge valve with a device for actuating it by means of a hydraulic follow-up system, consisting of a cartridge element for regulating a hydraulic volume flow flowing through valve main flow connections, with an inlet throttle between the inflow main flow connection and the control side of the cartridge element and with a pilot piston of a pilot valve interacting via a linkage with an adjustable discharge throttle and with a control valve for actuating the pilot piston.
- the control valve in this case forms an independent control device for connecting the flow of the main flow connection to the top or bottom of the pilot piston with a return line which moves the pilot piston in proportion to a control signal, the control device having a connection via a pipe to the top or bottom of the pilot piston and is connected to the other side of the pilot piston by a further connection via a pipeline.
- a disadvantage of this embodiment is that only two positions can be achieved by this cartridge valve and that the main piston cannot be positioned within the housing independently of disturbance variables.
- the object of the invention is, based on DE-A 35 27 026, the further development of the electrohydraulic actuating unit in such a way that a closed position control loop is formed, which also with high disturbance, such as flow forces, pressure changes and the like. With high setting accuracy or reproducibility of position and speed of the components to be controlled can be maintained.
- the field of application of the subject matter of the invention essentially relates to the control of hydraulic cylinders and hydraulic motors in the stationary industrial sector, a preferred field of application being formed by the mobile construction machinery sector.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Servomotors (AREA)
- Fluid-Pressure Circuits (AREA)
Description
Die Erfindung betrifft eine elektro-hydraulische Stelleinheit, insbesondere zur Steuerung von Baumaschinen, gemäß gattungsbildendem Teil des ersten Patentanspruches.The invention relates to an electro-hydraulic control unit, in particular for controlling construction machines, according to the generic part of the first claim.
Durch die DE-A 35 27 026 ist eine gattungsbildende elektro-hydraulische Stelleinheit bekannt, die ein verschiebbares kolbenartiges Teil, insbesondere einen Steuerschieber aufweist, an dessen beiden Stirnseiten je eine Steuerkammer angeordnet ist, die über Steuermittel zwecks Verschieben des Teiles mit Druckmittel beaufschlagbar bzw. entlastbar ist. Das Steuermittel ist ein jeder Steuerkammer zugeordnetes, elektromagnetisch betätigbares Steuerventil, das über eine mechanische Rückführung auf das Steuerventil einwirkt. Die mechanische Rückführung ist hierbei als Feder ausgebildet, die sich jeweils an den einander zugewandten Stirnseiten von verschiebbarem Teil und Steuerventil abstützt. Für den kolbenartigen Teil sind weitere Zentrierfedern vorgesehen. Durch diese Stelleinheit soll eine Rückführung zur Lageregelung des verschiebbaren Teiles erzielt werden, wobei die Einstellung besonders genau sein soll. Die Steuerventile sind hierbei als 3/2-Wegeventile ausgebildet.From DE-A 35 27 026 a generic electro-hydraulic actuating unit is known which has a displaceable piston-like part, in particular a control slide, on the two end faces of which a control chamber is arranged, which can be acted upon by pressure means via control means for moving the part or is relieved. The control means is an electromagnetically actuated control valve which is assigned to each control chamber and which acts on the control valve via a mechanical return. The mechanical return is designed here as a spring, which is supported on the mutually facing end faces of the displaceable part and control valve. Further centering springs are provided for the piston-like part. This setting unit is intended to provide feedback for the position control of the displaceable part, the setting being intended to be particularly precise. The control valves are designed as 3/2-way valves.
Nachteilig ist an dieser Stelleinheit festzustellen, daß aufgrund der Wechselwirkung von Magnetkraft und Federkraft am Ventil ein Druck eingestellt wird (nach dem Stromteilerprinzip), der über die Fläche des verschiebbaren Teiles als Verstellkraft wirkt. Daraus folgt, daß bei konstanter proportionaler Magnetkraft der Steuerdruck nur noch in Abhängigkeit der Kolbenschieberstellung eingestellt wird, d.h. es gibt bei einer Schieberstellung nur genau einen Einstellwert. Da aber die auftretenden Störgrößen, welche den Kolbenschieber verstellen in großer Bandbreite auftreten, muß bei konstanter Magnetkraft auch der Steuerdruck in großer Bandbreite einstellbar sein, um den Kolben lagegeregelt positionieren zu können. Darüber hinaus weist diese Stelleinheit einen schlechten Wirkungsgrad auf, da der Steuerölvolumenstrombedarf hoch ist aufgrund der Stromteilerfunktion zur Steuerdruckerzeugung. Ferner ist ein hoher Steuerdruckbedarf vonnöten, da der Hauptkolben gegen eine Feder verstellt wird. Infolge des ständig anstehenden Druckes ist mit hohen Leistungsverlusten durch das umlaufende Öl zu rechnen.A disadvantage of this control unit is that due to the interaction of magnetic force and spring force at the valve, a pressure is set (according to the current divider principle), which acts as an adjusting force over the surface of the displaceable part. It follows that with constant proportional magnetic force, the control pressure is only adjusted depending on the spool position, i.e. there is only one setting value for a slide position. However, since the disturbances which occur which adjust the piston slide occur in a wide range, the control pressure must also be adjustable in a wide range with constant magnetic force in order to be able to position the piston in a position-controlled manner. In addition, this control unit has a poor efficiency because the control oil volume flow requirement is high due to the flow divider function for generating control pressure. Furthermore, a high control pressure requirement is required, since the main piston is moved against a spring. As a result of the constant pressure, high losses in performance due to the circulating oil can be expected.
Der DE-C 28 35 771 ist ein Cartridge-Ventil zu entnehmen, mit einer Einrichtung zu dessen Ansteuerung mittels eines hydraulischen Folgesystems, bestehend aus einem Cartridge-Element zur Regelung eines Ventil-Hauptstromanschlüsse durchströmenden hydraulischen Volumenstromes, mit einer Zulaufdrossel zwischen dem angeströmten Hauptstromanschluß und der Steuerseite des Cartridge-Elementes und mit einem über ein Gestänge mit einer verstellbaren Ablaufdrossel zusammenwirkenden Vorsteuerkolben eines Vorsteuerventils sowie mit einem Steuerventil zum Betätigen des Vorsteuerkolbens. Das Steuerventil bildet hierbei eine selbständige Regeleinrichtung zum Verbinden des angeströmten Hauptstromanschlusses mit der Ober-oder Unterseite des Vorsteuerkolbens mit einer Rücklaufleitung, die den Vorsteuerkolben proportional zu einem Steuersignal bewegt, wobei die Regeleinrichtung mit einem Anschluß über eine Rohrleitung mit der Ober-oder Unterseite des Vorsteuerkolbens und mit einem weiteren Anschluß über eine Rohrleitung mit der anderen Seite des Vorsteuerkolbens verbunden ist. Nachteilig an dieser Ausführung ist festzustellen, daß lediglich zwei Stellungen durch dieses Cartridge-Ventil realisierbar sind und eine von Störgrößen unabhängige Positionierung des Hauptkolbens innerhalb des Gehäuses nicht realisierbar ist.DE-C 28 35 771 shows a cartridge valve with a device for actuating it by means of a hydraulic follow-up system, consisting of a cartridge element for regulating a hydraulic volume flow flowing through valve main flow connections, with an inlet throttle between the inflow main flow connection and the control side of the cartridge element and with a pilot piston of a pilot valve interacting via a linkage with an adjustable discharge throttle and with a control valve for actuating the pilot piston. The control valve in this case forms an independent control device for connecting the flow of the main flow connection to the top or bottom of the pilot piston with a return line which moves the pilot piston in proportion to a control signal, the control device having a connection via a pipe to the top or bottom of the pilot piston and is connected to the other side of the pilot piston by a further connection via a pipeline. A disadvantage of this embodiment is that only two positions can be achieved by this cartridge valve and that the main piston cannot be positioned within the housing independently of disturbance variables.
Ziel des Erfindungsgegenstandes ist, ausgehend von der DE-A 35 27 026, die Weiterbildung der elektrohydraulischen Stelleinheit dahingehend, daß ein geschlossener Lageregelkreis gebildet wird, der auch bei auftretenden Störgrößen, wie Strömungskräften, Druckänderungen und dgl. bei hoher Einstellgenauigkeit bzw. Reproduzierbarkeit von Position und Geschwindigkeit der zu steuernden Bauteile aufrecht erhalten werden kann.The object of the invention is, based on DE-A 35 27 026, the further development of the electrohydraulic actuating unit in such a way that a closed position control loop is formed, which also with high disturbance, such as flow forces, pressure changes and the like. With high setting accuracy or reproducibility of position and speed of the components to be controlled can be maintained.
Dieses Ziel wird erfindungsgemäß durch die im Kennzeichen des ersten Patentanspruches angeführten Merkmale erreicht.This aim is achieved according to the invention by the features stated in the characterizing part of the first claim.
Vorteilhafte Weiterbildungen des Erfindungsgegenstandes sind den gegenständlichen Unteransprüchen zu entnehmen.Advantageous further developments of the subject matter of the invention can be found in the subject subclaims.
Gegenüber dem Stand der Technik werden durch den Erfindungsgegenstand folgende Vorteile erzielt:
- - hohe Stellgenauigkeitvon Hydrauliksystemen bei robuster, unempfindlicher Ausführung des Regelkreises
- - Optimierung des Energiehaushaltes
- - Verwendung geringerer Anzahl von Steuermitteln
- - kein Ölumlauf im ausgeregelten Zustand
- - störgrößenunabhängige Positioniergenauigkeit des Hauptkolbens
- - Erhöhung der Feinsteuerbarkeit.
- - High positioning accuracy of hydraulic systems with a robust, insensitive design of the control circuit
- - Optimization of the energy balance
- - Use of a smaller number of tax funds
- - no oil circulation in the regulated state
- - Positioning accuracy of the main piston independent of interference
- - Increase in fine controllability.
Der Einsatzbereich des Erfindungsgegenstandes betrifft im wesentlichen die Ansteuerung von Hydro-Zylindern und Hydro-Motoren im stationären Industriebereich, wobei ein bevorzugtes Anwendungsgebiet durch den mobilen Baumaschinenbereich gebildet wird.The field of application of the subject matter of the invention essentially relates to the control of hydraulic cylinders and hydraulic motors in the stationary industrial sector, a preferred field of application being formed by the mobile construction machinery sector.
Die Erfindung ist anhand eines Ausführungsbeispieles in der Zeichnung dargestellt und wird wie folgt beschrieben. Es zeigen:
- Figur 1 - Blockschaltbild
- Figur 2 - Prinzipskizze der Anordnung bzw. Verknüpfung der erfindungsgemäßen Stelleinheit.
- Figure 1 - Block diagram
- Figure 2 - schematic diagram of the arrangement or linkage of the actuating unit according to the invention.
In Figur 1 ist anhand eines Blockschaltbildes der geschlossene Regelkreis dargestellt. Die eingefügten Buchstaben werden nachstehend aufgelistet:
- s = Weg des Hauptkolbens
- A = Additionsstelle Magnet + Feder
- FStör = Störkräfte auf den Hauptkolben
- Fst = Stellkräfte
- PSt = Steuerdruck
- F = Kraftdifferenz am Steuerkolben
- FR = Kraft der Regelfeder
- F = Kraft des Proportionalmagneten
- s = path of the main piston
- A = addition point magnet + spring
- F Stör = interference forces on the main piston
- F st = actuating forces
- P St = control pressure
- F = force difference at the control piston
- F R = force of the control spring
- F = force of the proportional magnet
Die Funktion des Lageregelkreises stellt sich wie folgt dar:
- der Sollwert wird über den Wandler I/F auf die Additionsstelle A in physikalischer Form der Kraft F geführt und wird mit der Kraft FR des Wandlers s/FR verrechnet. Ergibt sich aus dieser Rechnung eine Regeldifferenz, so wird über den Wandler F/pst und den Wandler pst/Fst der Kolben verstellt, so daß dieser einen Weg s zurücklegt, bis der Wandler s/FR eine Kraft eingestellt hat, welche die gleiche absolute Größe besitzt, wie die des Wandlers I/F1, was aufgrund der verschiedenen Vorzeichen der Kräfte F und FR als Ergebnis die Kraft F = 0 ergibt und somit der Kolben lagegeregelt positioniert ist.
- the setpoint is fed via the converter I / F to the addition point A in physical form of the force F and is offset against the force F R of the converter s / F R. If a control difference results from this calculation, then the piston is adjusted via the converter F / p st and the converter p st / F st , so that the piston covers a distance s until the converter s / F R has set a force which has the same absolute size as that of the converter I / F 1 , which as a result of the different signs of the forces F and F R results in the force F = 0 and the piston is thus positioned in a position-controlled manner.
Wirken Kräfte FStör auf den Kolben ein, so legt dieser den Weg s zurück und verändert über den Wandler s/FR die Werte an der Additionsstelle A in der Form, daß über die Wandler F/pst und pst/Fst eine Kraft erzeugt wird, welche der Kraft FStör in gleicher absoluter Größe entgegenwirkt, bis der Kolben wieder positioniert ist.If forces F disturb act on the piston, it moves the distance s and changes the values at the addition point A via the converter s / F R in such a way that via the converters F / p st and p st / F st one Force is generated which counteracts the force F Stör in the same absolute size until the piston is positioned again.
Anhand des Blockschaltbildes wird klar, daß unabhängig von den Störgrößen (Fstör) der Stellweg des Kolbens lagegeregelt nachgeführt werden kann.On the basis of the block diagram it becomes clear that the travel of the piston can be tracked in a position-controlled manner regardless of the disturbance variables (F disturb ).
Figur 2 zeigt als Prinzipskizze die erfindungsgemäße elektro-hydraulische Stelleinheit, die im wesentlichen folgende Bauteile beinhaltet:
- einen innerhalb eines Gehäuses 1 in Längsrichtung bewegbaren Hauptkolben 2,
ein Vorsteuerventil 3 samt Kolben 4, Elektro- 5,6 sowie eine Spiralfeder 7 (kann auch eine andersgeartete Feder sein) als Weg-Kraft-Wandler.Magnete Das Vorsteuerventil 3 ist ein wege-proportionales 4/3-Ventil. Durch die elektronische Ansteuerung beispielsweise desMagneten 6öffnet das Ventil 3 die Verbindung P nach A und B nach T. Hierbei bewegt der Kolben 4 sich in Richtung des Hauptkolbens 2 und das Steueröl fließt indie Steuerkammer 8 und bewegt den Hauptkolben 2 in Richtung des Kolbens 4. Der Hauptkolben 2 ist über die alsDruckfeder ausgebildete Spiralfeder 7 mit dem Kolben 4 desVorsteuerventils 3 verbunden, dergestalt, daß sie an den einander zugewandten Stirnseiten 9,10 der beiden Kolben 2,4 befestigt ist. Der Hauptkolben 2 wird solange verstellt, bis sich dieDruckfeder 7 aufgrund ihrer Kennlinie so eingestellt hat, daß dieFederkraft der Druckfeder 7 und die magnetische Kraft desMagneten 6 im Gleichgewicht befinden. Dies bedeutet, daß der Hauptkolben 2 über dieDruckfeder 7 den Kolben 4 desVorsteuerventils 3 schließt. Jede positive oder negative Positionsabweichung des Hauptkolbens 2 bedingt einKräfteungleichgewicht zwischen Druckfeder 7 und elektronischer Magnetkraft, so daß der Kolben 4 in Regelstellung geht, bis der Hauptkolben 2 wieder positioniert ist.
- a longitudinally movable main piston 2 within a housing 1, a
pilot valve 3 together with piston 4, 5, 6 and a spiral spring 7 (can also be a different type of spring) as a displacement-force converter. Theelectromagnets pilot valve 3 is a directionally proportional 4/3 valve. Through the electronic control of themagnet 6, for example, thevalve 3 opens the connection P to A and B to T. Here, the piston 4 moves in the direction of the main piston 2 and the control oil flows into thecontrol chamber 8 and moves the main piston 2 in the direction of the piston 4. The main piston 2 is connected via thespiral spring 7 designed as a compression spring to the piston 4 of thepilot valve 3, in such a way that it is attached to the mutually facing end faces 9, 10 of the two pistons 2, 4. The main piston 2 is adjusted until thecompression spring 7 has adjusted due to its characteristic curve so that the spring force of thecompression spring 7 and the magnetic force of themagnet 6 are in equilibrium. This means that the main piston 2 closes the piston 4 of thepilot valve 3 via thecompression spring 7. Any positive or negative positional deviation of the main piston 2 causes a force imbalance between thecompression spring 7 and the electronic magnetic force, so that the piston 4 moves into the control position until the main piston 2 is positioned again.
Der gleiche Vorgang funktioniert in umgekehrter Weise, indem der Elektro-Magnet 5 betätigt wird und die Verbindung P nach B sowie A nach T hergestellt wird, was zu eine Druckerhöhung in der Steuerkammer 11 mit entsprechender Verschiebung des Hauptkolbens 2 führt.The same process works in reverse, in that the
Claims (7)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4124140A DE4124140C2 (en) | 1991-07-20 | 1991-07-20 | Device for the correct positioning of the main piston of an electro-hydraulic actuator |
DE4124140 | 1991-07-20 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0528103A1 EP0528103A1 (en) | 1993-02-24 |
EP0528103B1 true EP0528103B1 (en) | 1995-10-11 |
EP0528103B2 EP0528103B2 (en) | 2000-06-28 |
Family
ID=6436652
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP92104566A Expired - Lifetime EP0528103B2 (en) | 1991-07-20 | 1992-03-17 | Electrohydraulic actuator |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0528103B2 (en) |
DE (2) | DE4124140C2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4302130C2 (en) * | 1993-01-27 | 1995-04-13 | Orenstein & Koppel Ag | Electro-hydraulic control unit |
US5921279A (en) * | 1998-04-29 | 1999-07-13 | Husco International, Inc. | Solenoid operated dual spool control valve |
DE19823529A1 (en) * | 1998-05-26 | 1999-12-09 | Mannesmann Rexroth Ag | Route determination system |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2213439C3 (en) † | 1972-03-20 | 1978-12-07 | Robert Bosch Gmbh, 7000 Stuttgart | Electro-hydraulic control device |
US4201116A (en) † | 1977-07-11 | 1980-05-06 | The Cessna Aircraft Company | Electro-hydraulic proportional control servo valve |
DE2835771A1 (en) * | 1978-08-16 | 1980-02-28 | Schwelm & Towler Hydraulics | ARRANGEMENT FOR CONTROLLING A CARTRIDGE ELEMENT |
DE3125386A1 (en) * | 1981-06-27 | 1983-01-13 | Robert Bosch Gmbh, 7000 Stuttgart | Electro-hydraulic actuating device, in particular for remote control of a directional control valve |
DE3527026A1 (en) * | 1985-07-27 | 1987-01-29 | Bosch Gmbh Robert | Electrohydraulic actuating unit |
-
1991
- 1991-07-20 DE DE4124140A patent/DE4124140C2/en not_active Expired - Fee Related
-
1992
- 1992-03-17 EP EP92104566A patent/EP0528103B2/en not_active Expired - Lifetime
- 1992-03-17 DE DE59203972T patent/DE59203972D1/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE4124140A1 (en) | 1993-01-21 |
EP0528103B2 (en) | 2000-06-28 |
DE59203972D1 (en) | 1995-11-16 |
EP0528103A1 (en) | 1993-02-24 |
DE4124140C2 (en) | 1995-04-13 |
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