EP1726723A2 - Engin de travaux publics - Google Patents

Engin de travaux publics Download PDF

Info

Publication number
EP1726723A2
EP1726723A2 EP06113452A EP06113452A EP1726723A2 EP 1726723 A2 EP1726723 A2 EP 1726723A2 EP 06113452 A EP06113452 A EP 06113452A EP 06113452 A EP06113452 A EP 06113452A EP 1726723 A2 EP1726723 A2 EP 1726723A2
Authority
EP
European Patent Office
Prior art keywords
travelling
working
pressure
communication path
straight travel
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.)
Granted
Application number
EP06113452A
Other languages
German (de)
English (en)
Other versions
EP1726723B1 (fr
EP1726723A3 (fr
Inventor
Yutaka Toji
Yoichiro Yamazaki
Hidekazu Oka
Koji Ueda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobelco Construction Machinery Co Ltd
Original Assignee
Kobelco Construction Machinery Co 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 Kobelco Construction Machinery Co Ltd filed Critical Kobelco Construction Machinery Co Ltd
Publication of EP1726723A2 publication Critical patent/EP1726723A2/fr
Publication of EP1726723A3 publication Critical patent/EP1726723A3/fr
Application granted granted Critical
Publication of EP1726723B1 publication Critical patent/EP1726723B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance including an electronic controller
    • 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
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present invention relates to a working machine such as a hydraulic excavator having a hydraulic control apparatus.
  • FIG. 6 shows a hydraulic control apparatus of a hydraulic excavator as an example of a working machine.
  • a straight travel valve 27 is a two-position four-port switching valve having a neutral position x, a straight travel position y, pump ports P1 and P2, and actuator ports A and B, and is switched and controlled by a secondary pressure of an electromagnetic proportional switching control valve 29 based on a command from a controller 28.
  • Operation signals according to the operation amounts of remote control valves 19 to 24 are input into the controller 28.
  • the straight travel valve 27 is at the neutral position x.
  • the discharged oil of a first pump 25 is supplied to a first group G1 via a path P1-B of the straight travel valve 27, and the discharged oil of the second pump 26 is directly supplied to a second group G2 (first pressurized oil supply state).
  • the straight travel valve 27 is switched from the neutral position x to the straight travel position Y.
  • the discharged oil of the first pump 25 is supplied to hydraulic actuators 6, 7, 8, and 12 except for travelling motors 10 and 11 via a path P1-A of the straight travel valve 27 and a pressurized oil supply pipe L, and the discharged oil of the second pump 26 is distributed to both travelling motors 10 and 11 (second pressurized oil supply state).
  • both travelling motors 10 and 11 are driven by the common second pump 26 if the amounts of the right and left travelling operations are the same, both travelling motors 10 and 11 are supplied with the same amount of oil and rotate at the same speed. That is to say, straight travel is ensured.
  • a communication path 31 is provided in the straight travel valve 27.
  • the pump lines of both pumps 25 and 26 communicate with each other via the communication path 31, and part of the discharged oil of the first pump 25 is sent to the travelling side (see Japanese Unexamined Patent Application Publication No. 2000-17693 ).
  • the actuating pressure of the working actuators 6, 7, 8, and 12 (working pressure) is higher than the pressure of the travelling motors 10 and 11 (travelling pressure)
  • the discharged oil of the first pump 25 (the oil of the working side) flows into the travelling side, and the speed is increased despite the intention of the operator.
  • the discharged oil of the second pump 26 (the oil of the travelling side) flows into the working side, and travelling is further decelerated or even stopped.
  • the communication path 31 be closed.
  • the present invention seeks to provide a working machine having a hydraulic control apparatus that can appropriately control (open or close) a communication path depending on the situation.
  • a working machine according to the present invention has the following basic configuration.
  • a working machine includes a lower travelling body, an upper rotating body mounted on the lower travelling body, a working attachment attached to the upper rotating body, and hydraulic actuators including working actuators that actuate the working attachment, and right and left travelling motors.
  • the hydraulic actuators is separated into a first group including one of the right and left travelling motors and a second group including the other travelling motor.
  • the working machine further includes first and second pumps serving as hydraulic pressure sources, and a straight travel valve that switches the flow lines of discharged oils from the pumps.
  • the straight travel valve is at a neutral position to supply the first and second groups with discharged oils of separate pumps during a single operation in which travelling operation and working operation are performed separately.
  • the straight travel valve is switched to a straight travel position and supplies both travelling motors and the working actuators with discharged oils of separate pumps during a combined operation in which travelling operation and working operation are performed simultaneously.
  • the straight travel valve enables pump lines of both of the pumps to communicate with each other via a communication path in the process of switching of the straight travel valve from the neutral position to the straight travel position.
  • the working machine further includes a control valve that opens and closes the communication path. During the combined operation, the control valve controls the communication path according to the position of the straight travel valve, a working pressure that is an actuating pressure of the working actuators, and a travelling pressure that is an actuating pressure of the travelling motors, in the following manners:
  • a working machine is provided with a control valve that opens and closes a communication path.
  • the control valve unconditionally closes the communication path.
  • the communication path can be appropriately controlled (opened or closed) depending on the situation, and the operability of the combined operation can be improved.
  • a hydraulic excavator As an example of a working machine to which the present invention is applied, a hydraulic excavator will be described.
  • a hydraulic excavator includes a crawler-type lower travelling body 1, an upper rotating body 2 mounted on the lower travelling body 1 and rotatable around a vertical axis, and a working (excavating) attachment 9 attached to the upper rotating body 2.
  • the working (excavating) attachment 9 includes a boom 3, an arm 4, a bucket 5, a cylinder 6 for raising and lowering the boom 3, a cylinder 7 for actuating the arm 4, and a cylinder 8 for actuating the bucket 5.
  • the hydraulic excavator further includes left and right travelling motors 10 and 11 that cause the lower travelling body 1 to travel and a rotating motor 12 that causes the upper rotating body 2 to rotate.
  • FIG. 1 shows the overall structure of a hydraulic control apparatus.
  • the hydraulic actuators are separated into two groups: a first group G1 including the right travelling motor 11, the bucket cylinder 8, and the boom cylinder 6; and a second group G2 including the left travelling motor 10, the rotating motor 12, and the arm cylinder 7.
  • the hydraulic actuators of the group G1 are connected in tandem by a center bypass line C1 with the travelling motor 11 most upstream.
  • the hydraulic actuators of the group G2 are connected in tandem by a center bypass line C2 with the travelling motor 10 most upstream.
  • the hydraulic actuators except for the travelling motors (working actuators) 6, 7, 8, and 12 are connected in parallel to a pressurized oil supply line L provided separately from the center bypass lines C1 and C2.
  • Reference character T denotes a tank.
  • each hydraulic actuator is provided with a hydraulic pilot control valve 13, 14, 15, 16, 17, or 18 that controls its operation, and a remote control valve 19, 20, 21, 22, 23, or 24 that serves as operating means for switching the hydraulic pilot control valve.
  • first and second pumps 25 and 26 are provided as pressurized oil supply sources for the hydraulic actuators.
  • the discharged oils of both pumps 25 and 26 are supplied to the groups G1 and G2 via a hydraulic pilot straight travel valve 32.
  • the straight travel valve 32 is a four-position four-port switching valve having four switch positions: a neutral position ⁇ at the left end in the figure, a straight travel position ⁇ at the right end in the figure, and first and second middle positions ⁇ and ⁇ , and four ports: two pump ports P1 and P2, and two actuator ports A and B.
  • This straight travel valve 32 is switched and controlled by a secondary pressure of an electromagnetic proportional switching control valve 29 in response to a command from a controller 33 based on operation signals (for example, signals from pressure sensors that detect the remote control valve pilot pressures).
  • first pressurized oil supply state This state is called "first pressurized oil supply state.”
  • the discharged oil of the first pump 25 is supplied to the working actuators 6, 7, 8, and 12 via a path P1-A of the straight travel valve 32 and a pressurized oil supply line L, and the discharged oil of the second pump 26 is distributed to both travelling motors 10 and 11 so as to ensure straight travelling.
  • the travelling system is completely separated from the working system, and an independent travelling state is thereby obtained. Therefore, for example, when the working machine travels, hanging a load, the load can be prevented from swinging.
  • the straight travel valve 32 is provided with a communication path 35 for supplying part of the discharged oil of the first pump 25 to the travelling side, as in the straight travel valve 27 of the related art.
  • a control valve 36 for opening and closing the communication path 35 is incorporated into the straight travel valve 32.
  • FIGS. 2A to 2D are enlarged views showing the configurations of the straight travel valve 32 having the control valve 36 at the positions ⁇ to ⁇ , respectively, using hydraulic symbols.
  • FIGS. 3A to 3D show the specific valve structure (half cross-section) of the straight travel valve 32.
  • a sub-spool 38 is provided in a main spool 37 that is a spool of the straight travel valve 32.
  • the sub-spool 38 can stroke in the horizontal direction in the figures.
  • the diameter of the middle portion of the sub-spool 38 is smaller than the diameter of the right and left end portions thereof (the right and left end portions in FIGS. 3A to 3D.
  • the words "right” and “left” will hereinafter designate directions in FIGS. 3A to 3D).
  • Reference numerals 39 and 40 denote communicating ports for causing the communication path 35 to communicate with the pump ports P1 and P2.
  • a working side pilot chamber 41 On the right side of the sub-spool 38, a working side pilot chamber 41 is provided. On the left side of the sub-spool 38, a travelling side pilot chamber 42 is provided.
  • the main spool 37 is provided with working side pilot ports 43 and 44 and a travelling side pilot port 45.
  • the working side pilot ports 43 and 44 introduce the working pressure (the pressure of the first pump 25) into the working side pilot chamber 41.
  • the travelling side pilot port 45 introduces the travelling pressure (the pressure of the second pump 26) into the travelling side pilot chamber 42.
  • reference character Tp denotes a tank port
  • reference character Dr denotes a drain port.
  • the two working side pilot ports 43 and 44 are provided for the purpose of causing the working side pilot chamber 41 to communicate with the tank port Tp or the drain port Dr in the neutral state of the straight travel valve shown in FIGS. 2A and 3A and in the half-lever travelling operation state during the combined operation shown in FIGS. 2B and 3B, and for the purpose of causing the working side pilot chamber 41 to communicate with the pump port P1 in the full-lever travelling operation state shown in FIGS. 2C and 3C.
  • Reference numeral 46 denotes a spring provided in the travelling side pilot chamber 42.
  • the sub-spool 38 is pressed by a resultant force of the force of the spring 46 and the travelling pressure introduced into the travelling side pilot chamber 42, rightward in FIGS. 3A to 3D (so as to close the communication path 35), and is pressed by the working pressure introduced into the working side pilot chamber 41, leftward (so as to open the communication path 35).
  • the sub-spool 38, the pilot chambers 41 and 42 on either side, the pilot ports 43 to 45, the spring 46, and so on constitute the control valve 36.
  • the communication path 35 is opened or closed depending on the position of the straight travel valve 32, the working pressure, and the travelling pressure as follows.
  • the working side pilot chamber 41 communicates with the tank port Tp and the drain port Dr, and the travelling side pilot chamber 42 communicates with the pump port P2 via the travelling side pilot port 45.
  • the pressure (the travelling pressure) is introduced only into the travelling side pilot chamber 42. Consequently, the sub-spool 38 is pressed rightward to close the communication path 35 (control valve 36). As a result, communication between the pump ports P1 and P2 is blocked, and the first pressurized oil supply state is caused, that is to say, the discharged oil of the first pump 25 and the discharged oil of the second pump 26 are separately supplied to the first group G1 and the second group G2, respectively.
  • the working side pilot chamber 41 communicates with the drain port Dr, and the travelling side pilot chamber 42 continues communicating with the pump port P2 via the travelling side pilot port 45. Therefore, the communication path 35 remains closed.
  • the communication path 35 is unconditionally closed regardless of the working pressure and the travelling pressure.
  • the following unfavorable situations can be prevented from occurring.
  • the working pressure is higher than the travelling pressure
  • the discharged oil of the first pump 25 flows into the travelling side, and the speed is increased despite the intention of the operator who wants to travel at low speed.
  • the travelling pressure is higher than the working pressure
  • the discharged oil of the second pump 26 (the oil of the travelling side) flows into the working side, and travelling is further decelerated or even stopped.
  • the travelling pressure is introduced into the travelling side pilot chamber 42.
  • the working pressure is introduced into the working side pilot chamber 41 via the pump port P1 and the working side pilot port 43.
  • the position of the sub-spool 38 is determined by the pressures of the pilot chambers 41 and 42 on either side.
  • the sub-spool 38 is pressed rightward, and if the travelling pressure is lower than the working pressure, the sub-spool 38 is pressed leftward. Therefore, when the travelling pressure is higher than the working pressure, the communication path 35 is closed, and when the travelling pressure is lower than the working pressure, the communication path 35 is open.
  • the straight travel valve 32 is switched to the straight travel position ⁇ .
  • flow paths of the discharged oils of the pumps are switched to P1-A and P2-B, the communication path 35 is blocked, and the above-described straight travelling state (independent travelling state) is caused.
  • the flow of oil during the combined operation can be made desirable and the operability of the combined operation can be improved.
  • control valve 36 is incorporated into the straight travel valve 32, that is to say, the communication path 35 and the sub-spool 38 for opening and closing the communication path 35 are provided in the main spool 37 that is a spool of the straight travel valve 32, and the sub-spool 38 is actuated by the working pressure and the travelling pressure. Therefore, it is not necessary to provide a space for the control valve, and a control circuit. As a result, it is easy to mount the control valve 36, and the cost can be reduced.
  • control valve 36 is a hydraulic pilot valve, the working pressure is introduced into one of the pilot chambers of the control valve 36, and the travelling pressure is introduced into the other pilot chamber.
  • the communication path 35 and the sub-spool 38 are provided in the main spool 37 that is a spool of the straight travel valve 32, the pilot chambers are formed on either side of the sub-spool 38, the working side pilot ports that introduce the working pressure into one of the pilot chambers and the travelling side pilot port that introduces the travelling pressure into the other pilot chamber are provided in the main spool 37, and the communication path 35, the sub-spool 38, the pilot chambers, the working side pilot ports, and the travelling side pilot port constitute the control valve 36.
  • control valve 36 is a hydraulic pilot valve
  • the working pressure is introduced into one of the pilot chambers of the control valve 36
  • the travelling pressure is introduced into the other pilot chamber. Therefore, opening or closing of the control valve during the full-lever travelling can be performed automatically and accurately depending on the working pressure and the travelling pressure.
  • this external control valve method has the following problems. For example, the cost is substantially increased because it is necessary to newly install a control valve outside in addition to the providing of a control circuit therefor. Moreover, it is necessary to create a space for the control valve in a limited space.
  • the communication path 35 and the sub-spool 38 are provided in the main spool 37 that is a spool of the straight travel valve 32, and the working pressure and the travelling pressure are introduced into the pilot chambers on either side of the sub-spool 38, that is to say, the control valve 36 is incorporated into the straight travel valve 32. Therefore, it is not necessary to provide a space for the control valve, and a control circuit. As a result, it is easy to mount the control valve, and the cost can be reduced.
  • pilot ports 43 and 45 that cause the pilot chambers 41 and 42, respectively, to communicate with the pump ports P1 and P2, respectively, in the full-lever travelling state during the combined operation may be provided with a throttle.
  • pilot ports 47 and 48 having a throttle and communicating with the tank port Tp may be added to the working side and the travelling side, respectively.
  • the pressures generated in the pilot chambers 41 and 42 can be variously set by the sizes of the throttles of the two pilot ports 43 and 47 and the sizes of the throttles of the two pilot ports 45 and 48, respectively. Therefore, the present embodiment has the following advantages. For example, freedom of choice expands with respect to the size of the spring 46 of the travelling side. In addition, the pilot pressures on either side can be stabilized.
  • the above-described double throttle pilot structure may be provided in only one of the working side and the travelling side.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Soil Working Implements (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
EP06113452A 2005-05-26 2006-05-03 Engin de travaux publics Not-in-force EP1726723B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2005154632A JP2006329341A (ja) 2005-05-26 2005-05-26 作業機械の油圧制御装置

Publications (3)

Publication Number Publication Date
EP1726723A2 true EP1726723A2 (fr) 2006-11-29
EP1726723A3 EP1726723A3 (fr) 2007-01-31
EP1726723B1 EP1726723B1 (fr) 2008-07-16

Family

ID=36888907

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06113452A Not-in-force EP1726723B1 (fr) 2005-05-26 2006-05-03 Engin de travaux publics

Country Status (6)

Country Link
US (1) US20060265915A1 (fr)
EP (1) EP1726723B1 (fr)
JP (1) JP2006329341A (fr)
CN (1) CN1869344A (fr)
AT (1) ATE401464T1 (fr)
DE (1) DE602006001783D1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009051677A1 (fr) * 2007-10-17 2009-04-23 Caterpillar Inc. Système et procédé de commande de soupape mélangeuse
EP3133211A4 (fr) * 2014-04-15 2017-12-13 Volvo Construction Equipment AB Dispositif de commande d'entraînement pour engins de chantier et procédé de commande associé
CN113924399A (zh) * 2019-06-28 2022-01-11 神钢建机株式会社 作业设备的液压控制装置
CN113950554A (zh) * 2019-06-28 2022-01-18 神钢建机株式会社 作业设备的液压控制装置

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006329248A (ja) * 2005-05-24 2006-12-07 Kobelco Contstruction Machinery Ltd 作業機械の油圧供給装置
JP4380643B2 (ja) * 2006-02-20 2009-12-09 コベルコ建機株式会社 作業機械の油圧制御装置
JP6282528B2 (ja) * 2014-05-20 2018-02-21 住友建機株式会社 建設機械
US10145391B2 (en) * 2014-12-16 2018-12-04 Kyb Corporation Fluid pressure control device for construction machine
JP6936687B2 (ja) 2017-10-05 2021-09-22 ヤンマーパワーテクノロジー株式会社 作業車両
JP7141974B2 (ja) * 2019-03-25 2022-09-26 日立建機株式会社 ホイールローダ

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0393195A1 (fr) * 1988-06-17 1990-10-24 Kabushiki Kaisha Kobe Seiko Sho Mecanisme de commande de fluide pour pelles mecaniques
EP0407231A1 (fr) * 1989-07-07 1991-01-09 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Circuit hydraulique de commande d'une pompe pour un engin de terressement
EP0722018A1 (fr) * 1995-01-11 1996-07-17 Shin Caterpillar Mitsubishi Ltd. Dispositif pour la commande des opérations de travail et de déplacement d'un engin de chantier
US6148548A (en) * 1998-06-30 2000-11-21 Kabushiki Kaisha Kobe Seiko Sho Construction machine
EP1146175A1 (fr) * 2000-04-13 2001-10-17 Kobelco Construction Machinery Co., Ltd. Machine de construction avec opérations de rotation et traction de bras simultanées

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR960021784A (ko) * 1994-12-28 1996-07-18 김무 중장비의 직진주행장치
JP3614121B2 (ja) * 2001-08-22 2005-01-26 コベルコ建機株式会社 建設機械の油圧装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0393195A1 (fr) * 1988-06-17 1990-10-24 Kabushiki Kaisha Kobe Seiko Sho Mecanisme de commande de fluide pour pelles mecaniques
EP0407231A1 (fr) * 1989-07-07 1991-01-09 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Circuit hydraulique de commande d'une pompe pour un engin de terressement
EP0722018A1 (fr) * 1995-01-11 1996-07-17 Shin Caterpillar Mitsubishi Ltd. Dispositif pour la commande des opérations de travail et de déplacement d'un engin de chantier
US6148548A (en) * 1998-06-30 2000-11-21 Kabushiki Kaisha Kobe Seiko Sho Construction machine
EP1146175A1 (fr) * 2000-04-13 2001-10-17 Kobelco Construction Machinery Co., Ltd. Machine de construction avec opérations de rotation et traction de bras simultanées

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7559197B2 (en) 2005-08-31 2009-07-14 Caterpillar Inc. Combiner valve control system and method
WO2009051677A1 (fr) * 2007-10-17 2009-04-23 Caterpillar Inc. Système et procédé de commande de soupape mélangeuse
EP3133211A4 (fr) * 2014-04-15 2017-12-13 Volvo Construction Equipment AB Dispositif de commande d'entraînement pour engins de chantier et procédé de commande associé
CN113924399A (zh) * 2019-06-28 2022-01-11 神钢建机株式会社 作业设备的液压控制装置
CN113950554A (zh) * 2019-06-28 2022-01-18 神钢建机株式会社 作业设备的液压控制装置
EP3967885A4 (fr) * 2019-06-28 2022-06-29 Kobelco Construction Machinery Co., Ltd. Dispositif de commande hydraulique pour machine de travail
EP3967884A4 (fr) * 2019-06-28 2022-06-29 Kobelco Construction Machinery Co., Ltd. Dispositif de commande hydraulique pour machine de travail
US20220356675A1 (en) * 2019-06-28 2022-11-10 Kobelco Construction Machinery Co., Ltd. Hydraulic control device for work machine
CN113950554B (zh) * 2019-06-28 2023-03-21 神钢建机株式会社 作业设备的液压控制装置
CN113924399B (zh) * 2019-06-28 2023-06-13 神钢建机株式会社 作业设备的液压控制装置
US11713559B2 (en) * 2019-06-28 2023-08-01 Kobelco Construction Machinery Co., Ltd. Hydraulic control device for work machine

Also Published As

Publication number Publication date
CN1869344A (zh) 2006-11-29
JP2006329341A (ja) 2006-12-07
US20060265915A1 (en) 2006-11-30
EP1726723B1 (fr) 2008-07-16
ATE401464T1 (de) 2008-08-15
DE602006001783D1 (de) 2008-08-28
EP1726723A3 (fr) 2007-01-31

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