EP0919670A1 - Vorrichtung zur verminderung der stosse am ende der bewegung einer baumaschine mit einem zweiteiligen ausleger - Google Patents

Vorrichtung zur verminderung der stosse am ende der bewegung einer baumaschine mit einem zweiteiligen ausleger Download PDF

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Publication number
EP0919670A1
EP0919670A1 EP97930798A EP97930798A EP0919670A1 EP 0919670 A1 EP0919670 A1 EP 0919670A1 EP 97930798 A EP97930798 A EP 97930798A EP 97930798 A EP97930798 A EP 97930798A EP 0919670 A1 EP0919670 A1 EP 0919670A1
Authority
EP
European Patent Office
Prior art keywords
boom
angle
flow rate
stroke
cylinder
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.)
Withdrawn
Application number
EP97930798A
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English (en)
French (fr)
Other versions
EP0919670A4 (de
Inventor
Noritaka Nagata
Takeshi Nakamori
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Komatsu Ltd
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Komatsu Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0919670A1 publication Critical patent/EP0919670A1/de
Publication of EP0919670A4 publication Critical patent/EP0919670A4/de
Withdrawn legal-status Critical Current

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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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • 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
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors

Definitions

  • the present invention relates to a shovelling machine having a plurality of booms, and in particular to a technique for reducing the shock which occurs in a shovelling machine having a two-piece boom when the boom cylinder reaches stroke end.
  • Two-piece boom type power shovels have a working mechanism consisting of two booms (first boom, second boom), an arm and a bucket. Compared with mono-boom type power shovels, they have a number of advantages including:
  • the first boom cylinder which drives the first boom (the one which is linked to the automotive body), is connected to the frame of the automotive body and to the first boom.
  • the second boom cylinder which drives the second boom (the one which is linked to the first boom and to the arm), is connected to the first boom and the second boom.
  • each of the cylinders in an ordinary conventional two-piece boom type power shovel is connected to two adjoining working mechanisms, each of which rotates and moves when the corresponding cylinder is driven.
  • Figs. 9 and 10 illustrate a power shovel equipped with this novel link structure.
  • Fig. 9 shows it in an operating posture with the booms in a maximum derricking posture, while Fig. 10 shows it in a stored posture.
  • Figs. 9 and 10 1 is the first boom, 2 is the first boom cylinder, 3 is the second boom, 4 is the second boom cylinder, 5 is the arm, 6 is the arm cylinder, 7 is the bucket, 8 is the bucket cylinder, and 9 is the automotive body.
  • first boom cylinder 2 is linked to the automotive body 9 and to the second boom 3
  • second boom cylinder 4 is linked to the second boom 3 and the first boom 1
  • the second boom 3 is driven by means of the first boom cylinder 2 and the second boom cylinder 4.
  • the first boom cylinder 2 in the two-piece boom type power shovel illustrated in Fig. 9 and elsewhere needs to have its pedestal-side fulcrum b located further forward than the rotational fulcrum a of the first boom 1 so as to avoid interfering with the first boom 1 when it is in the stored posture.
  • the point of application c must be located further forward than the point of linkage d between the first boom 1 and the second boom 3. (For instance, point c must be further forward than point d along the second boom 3 when it is positioned horizontally as in Fig. 11.)
  • the first boom cylinder 2 as indicated by a broken line in Fig. 11 is shown with its pedestal-side fulcrum b located close to the rotational fulcrum a of the first boom 1, in which case the first boom cylinder 2 would interfere with the first boom 1 in the stored posture.
  • the first boom cylinder 2 in the two-piece boom type power shovel illustrated in Fig. 9 and elsewhere suffers from restriction in its location as a result of the abovementioned problems of interference and the like, and it is impossible to secure a satisfactory cylinder length in comparison with the conventional mono-boom type.
  • the mechanical shock reducing device 10 illustrated in Fig. 12 suffers from the defect of reduced cylinder length occasioned by the fact that the throttle mechanism 11 is fitted within the working mechanism cylinder, making it that much shorter.
  • This electronic shock reducing device measures the stroke length of the working mechanism cylinder of which the shock is to be reduced. If the measurement value is close to stroke end, it restricts the pressure oil flow rate which activates the cylinder in the stroke-end direction, thus reducing cylinder velocity.
  • the direct method achieves this by attaching a stroke sensor to the working mechanism cylinder.
  • the indirect method involves using an angle sensor to measure the angle of the working mechanism activated by the cylinder.
  • the former requires the fitting of a direct-action type potentiometer, encoder and other devices to the cylinder, and is considerably more costly than the latter.
  • considerations of cost mean that it is more effective to measure the angle of the working mechanism with the aid of an angle sensor.
  • the two-piece boom type power shovel illustrated in the abovementioned Figs. 9-11 has a special link structure which renders it impossible to determine unconditionally the first boom angle at stroke end of the first boom cylinder 2.
  • Fig. 13 illustrates two states: in the first state (denoted by an unbroken line) the first boom cylinder 2 is fixed at stroke end and the second boom cylinder 4 is fully retracted, while in the second state (denoted by a broken line) the axis u of the first boom cylinder 2 intersects with the rotational fulcrum a of the first boom 1.
  • the angle (posture) of the first boom 1 when the first boom cylinder reaches stroke end corresponds to the state of extension or retraction of the second boom cylinder 4, and varies within a range from the position of the angle ⁇ to that of the angle ⁇ '.
  • the two-piece boom type power shovel illustrated in the abovementioned Figs. 9-11 does not admit of the conventional method of reducing shock in the first boom cylinder 2 by means of an ordinary conventional electronic shock-reducing device where an angle sensor is fitted on to the rotational fulcrum a of the first boom to detect the first boom angle and the shock of the first boom cylinder 2 is reduced by activating the electronic shock-reducing device on the basis of the detection value, and there have been calls for an effective solution to this problem.
  • the present invention is a device for reducing a stroke-end shock in a two-piece boom type construction machine having a first boom which is attached to a vehicle body in such a manner as to rotate freely, a second boom which is attached to the first boom in such a manner as to rotate freely, a first boom cylinder which links the vehicle body and the second boom, a second boom cylinder which links the second boom and the first boom, a first operation valve which serves to operate the first boom cylinder, a second operation valve which serves to operate the second boom cylinder, first operation means which outputs a command signal to the first operation valve and second operation means which outputs a command signal to the second operation valve, wherein when the first boom cylinder is in a longest state and the second boom cylinder is in a shortest state, the first and second booms attain maximum derricking state; when shifting from a stored posture to an operating posture, the second boom cylinder is retracted from a longest state during storage to a shortest state during operation, and when operating, the second boom cylinder is fixed in
  • this invention allows the pressure oil flow rate in the direction of boom up to be reduced in proportion to the degree of closeness to this stroke-end angle.
  • the present invention is a device for reducing a stroke-end shock in a two-piece boom type construction machine having a first boom which is attached to a vehicle body in such a manner as to rotate freely, a second boom which is attached to the first boom in such a manner as to rotate freely, a first boom cylinder which links the vehicle body and the second boom, a second boom cylinder which links the second boom and the first boom, a first operation valve which serves to operate the first boom cylinder, a second operation valve which serves to operate the second boom cylinder, first operating means which outputs a command signal to the first operation valve and second operating means which outputs a command signal to the second operation valve, characterized in that the device comprises: first boom angle detecting means which detects an angle of the first boom; second boom angle detecting means which detects an angle of the second boom; stroke-end angle setting means which stores in advance a relationship between the first boom angle at which the first boom cylinder reaches a stroke end, and the second boom angle; restricted flow rate setting means having stored in advance there
  • this invention allows the stroke-end shock of the first boom cylinder 2 to be reduced effectively even in conditions where the second boom cylinder 4 is extended or retracted at will.
  • the present invention is a device for reducing a stroke-end shock in a two-piece boom type construction machine having a first boom which is attached to a vehicle body in such a manner as to rotate freely, a second boom which is attached to the first boom in such a manner as to rotate freely, a first boom cylinder which links the vehicle body and the second boom, a second boom cylinder which links the second boom and the first boom, a first operation valve which serves to operate the first boom cylinder, a second operation valve which serves to operate the second boom cylinder, first operating means which outputs a command signal to the first operation valve and second operating means which outputs a command signal to the second operation valve, characterized in that the device comprises: first boom angle detecting means which detects an angle of the first boom; second boom angle detecting means which detects an angle of the second boom; stroke-end angle setting means which stores in advance a relationship between the first boom angle at which the first boom cylinder reaches a stroke end, and the second boom angle; restricted flow rate setting means having stored in advance therein
  • this invention also allows the stroke-end shock of the first boom cylinder 2 to be reduced in accordance with the results of detecting these two angles.
  • an angle sensor is attached to the rotational fulcrum a of the first boom 1, and stroke-end shock in the first boom cylinder is reduced in accordance solely with the output of this single angle sensor.
  • the first boom cylinder 2 is operated with the aid of an operating lever, and the second boom cylinder 4 with the aid of an operating pedal.
  • the first boom cylinder 2 assumes a fairly short state while the second boom cylinder 4 assumes a longest state (cf. Fig. 5).
  • the operating posture illustrated in Fig. 4 the operating posture when the boom assumes the maximum derricking posture, which corresponds to the state of the boom angle ⁇ in Fig. 13
  • the first boom cylinder 2 assumes a longest state while the second boom cylinder 4 assumes a shortest state (cf. Fig. 5).
  • the second boom cylinder 4 is fixed in a shortest state, and the first boom cylinder 2 alone is altered at will.
  • transition from the stored posture to the operating posture is achieved by ensuring that the operator implements operations in such a manner as fully to retract the second boom cylinder from its longest state during storage to a shortest state at start of operation (state in which the first boom 1 assumes its maximum derricking posture). In other words, it is a precondition that this operation be implemented.
  • Embodiment 1 is configured in such a manner as to reduce stroke-end shock in the first boom cylinder 2 by decreasing the oil flow rate to the bottom side of the first boom cylinder 2 when the angle of the first boom approaches ⁇ .
  • Fig. 1 illustrates an example of the structure of the drive control system required for the implementation of Embodiment 1, a first boom angle sensor 20 being attached to the rotational fulcrum a of the first boom 1 in order to detect the first boom angle ⁇ (cf. Fig. 4).
  • a first boom operating valve 21 drives the first boom cylinder 2, extending and retracting it.
  • a boom operating lever 22 drives the first boom cylinder 2, extending and retracting it.
  • a PPC valve 23 feeds pilot pressure oil to the up-side pilot port 21a of the first boom operating valve 21 when the boom operating lever 22 is operated on the up side, and to the down-side pilot port 21b of the first boom operating valve 21 when the boom operating lever 22 is operated on the down side.
  • the oil passage from the PPC valve 23 to the up-side pilot port 21a is provided with a boom up pressure switch 24, which detects execution of the boom up operation by the boom operating lever 22.
  • the oil passage from the PPC valve 23 to the down-side pilot port 21b is provided with a boom down pressure switch 25, which detects execution of the boom down operation by the boom operating lever 22. Detection signals from these pressure switches 24, 25 are output to a computing element 26.
  • the oil passage from the PPC valve 23 to the up-side pilot port 21a is provided with an EPC valve 27, which in response to commands from the computing element 26 feeds pilot pressure oil to the up-side pilot port 21a of the first boom operating valve 21, acting in such a manner as to restrict the pressure oil flow rate on the up side to the first boom cylinder 2.
  • a second boom operating valve 28 drives the second boom cylinder 4, extending and retracting it.
  • This second boom operating valve 28 is operated by an operating pedal 29.
  • pilot oil pressure corresponding to the angle of depression of the operating pedal 29 is fed by means of a PPC valve 30 to the second boom operating valve 28, allowing the second boom cylinder 4 to extend and retract.
  • a restricted oil flow rate pattern for the first boom cylinder 2 is stored in advance within the computing element 26, which outputs flow rate restriction signals to the EPC valve 27 in accordance with this restricted oil flow rate pattern.
  • the vertical axis in Fig. 5 represents the restricted oil flow rate (maximum flow rate) of the first boom cylinder 2, while the horizontal axis represents the angle ⁇ of the first boom.
  • the position of the angle ⁇ corresponds to the position of the operating posture (stroke-end position of the first boom cylinder 2 when the second boom cylinder 4 is in a shortest state) in Fig. 4.
  • the restricted oil flow rate value Q is at its minimum Q3 at a prescribed angle range of approximately ⁇ ( ⁇ 2 ⁇ ⁇ ⁇ ⁇ 3). Moreover, if the first boom angle is in the operational range, ie ⁇ ⁇ ⁇ , the normal operational restricted oil flow rate value Q1 is the restriction value when ⁇ ⁇ ⁇ 1, the restricted oil flow rate value Q deceasing gradually as the boom angle ⁇ increases when ⁇ 1 ⁇ ⁇ ⁇ ⁇ 2.
  • the restricted oil flow rate value Q is made to be Q2 (Q3 ⁇ Q2 ⁇ Q1) when ⁇ 4 ⁇ ⁇ ⁇ stored posture, and the restricted oil flow rate value Q is decreased gradually as the boom angle ⁇ decreases when ⁇ 3 ⁇ ⁇ ⁇ ⁇ 4.
  • the present embodiment makes it possible to move swiftly from the stored posture to the operating posture.
  • the computing element 26 in Fig. 1 detects a boom up operation as a result of a signal from the boom up pressure switch 24, it reads from the restricted oil flow rate pattern illustrated in Fig. 5 the restricted oil flow rate value Q corresponding to the detection signal ⁇ from the first boom angle sensor 20. Once read, the signal is output to the EPC valve 27, thus serving to reduce stroke-end shock in the first boom cylinder 2 while the second boom 3 is being lifted.
  • Fig. 2 illustrates an on/off valve 31 and throttle valve 32 which are used instead of the EPC valve 27 of Fig. 1.
  • the duty of the on/off command signal output from the computing element 26 to the on/off valve 31 is controlled so as to restrict the flow rate in accordance with patterns such as those illustrated in Fig. 5.
  • Fig. 3 illustrates a modified example of the first embodiment.
  • the boom operating lever 22 of Fig. 1 is replaced by an electrical lever 33, the lever signal of which is input directly into the computing element 26.
  • an angle sensor 20 is attached to the rotational fulcrum a of the first boom 1, and an angle sensor 41 is attached to the rotational fulcrum d of the second boom 3 (cf. Fig. 4), so that stroke-end shock in the first boom cylinder is reduced in accordance with the detection output of these two angle sensors 20, 41.
  • Fig. 6 illustrates an example of the structure of the drive control system required for the implementation of Embodiment 2, a second boom angle sensor 41 being added to Embodiment 1, the computing element 26 of which is replaced by a computing element 40. All other structural elements are the same as in Embodiment 1, and will not be described again here.
  • the first boom angle sensor 20 is attached to the rotational fulcrum a of the first boom 1 in order to detect the first boom angle ⁇ (cf. Fig. 4).
  • the second boom angle sensor 41 is attached to the rotational fulcrum d of the second boom 3 in order to detect the second boom angle ⁇ (cf. Fig. 4).
  • the angle (posture) of the first boom 1 in the present two-piece boom type power shovel when the first boom cylinder 2 reaches stroke end varies in a range between the position of the angle ⁇ and that of the angle ⁇ ' in response state of extension or retraction of the second boom cylinder 4.
  • the second boom angle ⁇ be labelled ⁇ when the first boom angle ⁇ is ⁇ , and ⁇ ' when the first boom angle ⁇ is ⁇ ', as is shown in Fig. 13.
  • the first boom angle ⁇ in the operating posture when the first boom cylinder 2 is in a longest state and the second boom cylinder is in a shortest state is ⁇
  • the second boom angle at that time is ⁇ .
  • the first boom angle ⁇ when the first boom cylinder 2 is in a longest state and its axis u intersects the fulcrum a of the first boom 1 is ⁇ '
  • the second boom angle at that time is ⁇ '.
  • the boom angles ⁇ , ⁇ assume an unconditional relationship as illustrated in Fig. 7.
  • the relationship shown in Fig. 7 is established in advance for each actual machine, it is possible to utilize this relationship to determine the stroke-end angle ⁇ of the first boom cylinder 2 in accordance with the value of the angle ⁇ when the second boom 3 is in the range ⁇ ⁇ ⁇ ⁇ ⁇ '.
  • a restricted oil flow rate pattern for the first boom cylinder 2 is stored in advance within the computing element 40 of Fig. 6.
  • the computing element 26 outputs flow rate restriction signals to the EPC valve 27 in accordance with this restricted oil flow rate pattern.
  • a plurality of patterns of the sort illustrated in Fig. 5 but transposed parallelly forward in a horizontal direction within the angle range ⁇ ⁇ ⁇ ⁇ ⁇ ' is stored in a restricted oil flow rate pattern memory in the computing element 40.
  • a pattern corresponding to the stroke-end angle ⁇ ( ⁇ ⁇ ⁇ ⁇ ⁇ ') of the first boom cylinder determined in accordance with the angle ⁇ of the second boom 3 is selected from among this plurality of patterns and used to restrict and control the flow rate.
  • the computing element 40 in Fig. 6 detects a boom up operation as a result of a signal from the boom up pressure switch 24, it takes the detection signal ⁇ from the first boom angle sensor 20 and the detection signal ⁇ from the second boom angle sensor 41, and calculates the stroke-end angle ⁇ ( ⁇ ⁇ ⁇ ') of the first boom cylinder 2 corresponding to the current angle ⁇ of the second boom on the basis of the angle relationships illustrated in Fig. 7.
  • the computing element 40 selects from among the plurality of patterns illustrated in Fig. 8 the one which corresponds to the calculated stroke-end angle ⁇ , and outputs to the EPC valve 27 a restricted flow rate value signal corresponding to the detection signal ⁇ of the first boom angle sensor 20 in the selected pattern. This serves to reduce stroke-end shock in the first boom cylinder 2 while the second boom 3 is being lifted.
  • the present second embodiment also makes it possible to move swiftly from the stored posture to the operating posture.
  • the first boom angle ⁇ and second boom angle ⁇ are detected, and stroke-end shock in the first boom cylinder is reduced in accordance with the results detected for these two angles. In this manner it is possible effectively to reduce stroke-end shock in the first boom cylinder 2 even in conditions where the second boom cylinder 4 is extended or retracted at will.
  • the abovementioned second embodiment provides a plurality of restricted oil flow rate patterns in accordance with the stroke-end angle ⁇ .
  • a restricted oil flow rate pattern was provided as illustrated in Fig. 5, where the stroke-end angle of the first boom cylinder is ⁇ .
  • the second boom angle ⁇ obtained from the second boom angle sensor 41 while the device was working was ⁇ '.
  • the upward operation of the second boom 3 has been detected with the aid of the pressure switch 24, but this may also be effected at will by other means.
  • the angle ⁇ of the first boom 1 may be monitored and the upward operation of the second boom 3 detected on the basis of the monitored values. In this manner it is possible to reduce stroke-end shock in the first boom cylinder by allowing the EPC valve 27 to work at such time as the first boom angle ⁇ attains a predetermined angle in boom up operational state.
  • the present invention makes it possible even in a construction machine with a two-piece boom structure to reduce stroke-end shock in the first boom cylinder effectively and cheaply with the aid of even a single angle sensor by making the boom angle of the first boom when the first and second booms are in maximum derricking state the stroke-end angle.
  • the present invention makes it possible effectively to reduce stroke-end shock in the first boom cylinder even in conditions where the second boom cylinder is extended or retracted at will.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
EP97930798A 1996-07-19 1997-07-15 Vorrichtung zur verminderung der stosse am ende der bewegung einer baumaschine mit einem zweiteiligen ausleger Withdrawn EP0919670A4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP19090196A JP3734189B2 (ja) 1996-07-19 1996-07-19 ２ピースブーム型建設機械のストロークエンドショック低減装置
JP190901/96 1996-07-19
PCT/JP1997/002450 WO1998003739A1 (fr) 1996-07-19 1997-07-15 Dispositif de reduction des chocs au point extreme de la course d'un engin de construction du type a fleche articulee

Publications (2)

Publication Number Publication Date
EP0919670A1 true EP0919670A1 (de) 1999-06-02
EP0919670A4 EP0919670A4 (de) 2000-04-05

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP97930798A Withdrawn EP0919670A4 (de) 1996-07-19 1997-07-15 Vorrichtung zur verminderung der stosse am ende der bewegung einer baumaschine mit einem zweiteiligen ausleger

Country Status (4)

Country Link
EP (1) EP0919670A4 (de)
JP (1) JP3734189B2 (de)
KR (1) KR980009676A (de)
WO (1) WO1998003739A1 (de)

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EP2072691A1 (de) * 2007-12-17 2009-06-24 Volvo Construction Equipment Holding Sweden AB Stoßaufnahmevorrichtung und Steuerungsverfahren für einen Bagger mit kleinem Schwenkkreis
EP3385456A1 (de) * 2017-04-06 2018-10-10 Doosan Infracore Co., Ltd. Verfahren zur steuerung der durchflussmenge einer baumaschine und system zur durchführung des verfahrens

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KR100598111B1 (ko) 2004-12-20 2006-07-07 삼성전자주식회사 레귤레이터 및 이를 사용하여 가스를 공급하는 방법
KR101911090B1 (ko) * 2011-12-27 2018-10-25 두산인프라코어 주식회사 인양력 증대 자세교정 장치
CN102591221B (zh) * 2012-02-07 2014-07-09 三一汽车制造有限公司 控制器、多节臂架设备的控制系统和方法、工程机械设备
KR200475536Y1 (ko) * 2013-12-30 2014-12-09 두산인프라코어 주식회사 관절식 붐 장착 굴삭기의 오토 아이들 해제장치
ES2750661T3 (es) 2014-04-25 2020-03-26 Translate Bio Inc Métodos para la purificación de ARN mensajero

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WO1995018272A1 (fr) * 1993-12-28 1995-07-06 Komatsu Ltd. Dispositif de commande d'un engin de travaux publics
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US8225604B2 (en) 2007-12-17 2012-07-24 Volvo Construction Equipment Holding Sweden Ab Shock absorption device and control method thereof for small swing radius excavator
EP3385456A1 (de) * 2017-04-06 2018-10-10 Doosan Infracore Co., Ltd. Verfahren zur steuerung der durchflussmenge einer baumaschine und system zur durchführung des verfahrens
CN108691329A (zh) * 2017-04-06 2018-10-23 斗山英维高株式会社 工程机械的油量控制方法及用于执行其的系统
CN108691329B (zh) * 2017-04-06 2024-03-01 现代英维高株式会社 工程机械的油量控制方法及用于执行其的系统

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JP3734189B2 (ja) 2006-01-11
JPH1037246A (ja) 1998-02-10
EP0919670A4 (de) 2000-04-05
KR980009676A (ko) 1998-04-30
WO1998003739A1 (fr) 1998-01-29

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