EP2151585B1 - Dispositif d'amortissement pour un manipulateur - Google Patents

Dispositif d'amortissement pour un manipulateur Download PDF

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Publication number
EP2151585B1
EP2151585B1 EP20080014223 EP08014223A EP2151585B1 EP 2151585 B1 EP2151585 B1 EP 2151585B1 EP 20080014223 EP20080014223 EP 20080014223 EP 08014223 A EP08014223 A EP 08014223A EP 2151585 B1 EP2151585 B1 EP 2151585B1
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EP
European Patent Office
Prior art keywords
damping
slide valve
boom
pressure
damping device
Prior art date
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Application number
EP20080014223
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German (de)
English (en)
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EP2151585A1 (fr
Inventor
Martin Heusser
Peter Dr. Scheubert
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Hawe Hydraulik SE
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Hawe Hydraulik SE
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Priority to EP20080014223 priority Critical patent/EP2151585B1/fr
Publication of EP2151585A1 publication Critical patent/EP2151585A1/fr
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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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/02—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members
    • E06C5/04—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic
    • E06C5/06—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic by piston and cylinder, or equivalent means, operated by a pressure medium
    • E06C5/12—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic by piston and cylinder, or equivalent means, operated by a pressure medium derived directly from a pump or compressor
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/008—Reduction of noise or vibration
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration

Definitions

  • the invention relates to an electro-hydraulic damping device for a manipulator according to the preamble of patent claim 1.
  • JP 09-265324 A It is known to suppress vibrations of a boom by controlling a 4/3-way slider for the boom lifting cylinder via a servo amplifier which provides a signal corresponding to the difference between a target deformation amount and an actual amount of deformation of the boom , With the 4/3-way slider another 4/3-way valve is connected in parallel, which is connected to a separate pressure source.
  • Out DE-A-195 03 895 is a trained as a truck-mounted concrete manipulator whose boom is an articulated arm for positioning a concrete hose. Since the operation of the concrete pump excites the boom to significant oscillations, for example, with amplitudes of 1.0 m or more, a Schlauchmann manipulating the hose end could be endangered while working. Therefore, a position control circuit with its own pressure supply is provided for an end segment of the boom, which stabilizes the level of only the end segment with respect to a fixed reference plane within a predetermined range of variation by the end segment is compensating downwardly adjusted in a vibration of the boom up, and vice versa.
  • an additional slider is connected to working lines of the end segment positioning cylinder in addition to a variable slide of a mast control block for positioning the end segment (unfolding of the articulated arm). Mechanical vibrations of the articulated boom are not damped.
  • the operation of the slider via a mechanical coupling with the hose man or via a sensor for the distance between the end segment and the ground.
  • spool includes a multi-way multi-position spool direction control valve.
  • proportional magnet pressure precontrol includes, for example, the operation of a spool of the spool by pilot pressure depending on the current supplied to a proportional solenoid.
  • the pressure signal in the boom-lifting cylinder can be brought into action very precisely and quickly, regardless of whether or not the main slide, which is too sluggish for damping, is actuated.
  • the pressure signal derived from the vibration signal which i.a. represents the time course of an emerging oscillation is generated via the damping slide in the boom-lifting cylinder (pressure increase and / or pressure reduction, eg with a vibration taking into account temporal course) to erode vibration energy, so that the boom does not oscillate, but at best with a slight lowering or lifting movement remains vibration-free, ie, above all, no critical counter-vibration occurs.
  • the damping slide is free from the task of positioning the boom-lifting cylinder, it can be interpreted in terms of its design and its response optimally to the damping task.
  • the damping device is structurally simple, since it is only to be arranged parallel to the main slide between the pressure source and the boom-lifting cylinder.
  • This damper device with a damping slide provided in addition to at least one main slide of a hydraulic motor is useful not only for manipulators, but generally for hydraulic systems which are prone to mechanical vibrations and a relatively large-dimensioned hydraulic consumer with a correspondingly large-dimensioned and therefore too slow to damp main slide.
  • the damping slide is designed to be more dynamic than the main slide, for example by the damping slide designed for a smaller maximum amount and / or a lower pressure than the main slide, and optionally even smaller than the main slide.
  • the damping slide For a more dynamic response of the damping slide compared to the main slide of the damping slide is formed in flow paths respectively in the direction of loading to the boom-lifting cylinder nozzle-free, and equipped only in flow paths with nozzles that are used for pressure relief.
  • the damping slide is expediently a 4/3-way control slide with proportional solenoid pressure precontrol.
  • the vibration signal can be tapped in different ways, for example via a distance sensor or angle sensor or a load measuring device. Particularly favorable, however, the vibration signal is tapped as a pressure signal, for example on the boom-lifting cylinder.
  • the controller for the damping slide has to evaluate the pressure signal, which is for example a voltage, a low-pass filter section and a direction control section that regulate the amount and direction of operation of the damper damper.
  • the damping slide is assigned even a load-dependent inlet regulator, the load damper assigns the damping slide just the right pressure or the right amount for vibration damping.
  • the damping slide and the main slide each have a load pressure tap, and the slides are arranged in a common load pressure signal circuit.
  • each slide can work independently of the momentary load pressure.
  • the load pressure signal circuit at least one shuttle valve and a pressure accumulator is included.
  • the shuttle valve allows the higher load pressure to take effect.
  • the pressure accumulator performs a balancing function.
  • the load pressure signal circuit is also linked to the proportional solenoid pressure precontrol of the damping slide.
  • the pressure signals are tapped on both sides of the piston and evaluated together in the boom-lifting cylinder, although applications are conceivable in which only a pressure signal is used.
  • pressure signals are picked up on both sides of the piston of the boom-lift cylinder, they are combined in the usual way and supplied to the low-pass filter section and the direction control section.
  • This pressure source may be a variable or variable displacement pump, whose control device is connected to the load pressure signal circuit to provide the correct delivery rate, regardless of whether only the damping slide or the main slide or both slides are actuated, or if other consumers in the manipulator to be fed.
  • mechanical vibrations of the boom are damped where they are best to tap and best dampen, ie between the substructure and the boom, for example in the area of the boom-lifting cylinder. If the boom should have other components that vibrate independently of the boom tend, and can be positioned by hydraulic motors, there can be provided at least one further, similar working damping device.
  • Fig. 1 schematically shows a manipulator M, which is for example a mobile fire engine vehicle F.
  • a base 4 On a mobile on wheels 3 chassis 2 with, if necessary, lowerable floor supports 2, a base 4 is arranged for a symbolically indicated boom 7, which may be a fire ladder.
  • a turntable 5 is rotatably adjustable in a rotary guide 6 on the base 4 about an axis X. At the turntable 5 is here, for example, approximately horizontal pivot axis 6, on which the boom 7 is tiltably supported.
  • the boom 7 may have a plurality of individually movable segments 7a, 7b.
  • the boom 7 is adjustable and positionable by means of a boom-lifting cylinder 8 as an example of a hydraulic motor.
  • the boom-lifting cylinder 8 is operated by means of a main spool 9, which is connected to a controller 10, not shown in detail, and is supplied from a pressure source P with hydraulic medium.
  • the boom-lifting cylinder 8 is associated with an electro-hydraulic damping device D for mechanical vibrations of the boom 7.
  • the damping device D has a damping slide 11 which is connected in parallel to the main slide 9 between the same pressure source P as this and at least one working line 12, 13 of the boom-lifting cylinder 8 and actuated by an electronic control C.
  • At least one vibration signal is tapped, in the embodiment shown, for example by means of two pressure sensors 14a, 14b on the piston rod and piston sides of the boom-lifting cylinder 8.
  • the signals of the pressure sensors 14a, 14b are transmitted via a line 21 to the controller C, in which a pressure signal or a controlled variable is derived, which actuates the damping slide 11 via 19, 20 so that it directly generates the pressure signal in the boom-lifting cylinder 8, and dampens a mechanical oscillation of the boom 7, for example by the vibration in the form a pressure increase or decrease occurring energy is consumed.
  • the signal or the signals are evaluated in their time course and evaluated and z. B. converted into a controlled variable for the required pressure signal in the boom-lifting cylinder 8.
  • An oscillation can be damped, for example, by the fact that, in the event of a vibration-induced pressure increase on one side of the piston of the boom-lifting cylinder, the damping slide 11 performs a corresponding pressure reduction there, optionally combined with a pressure increase on the other piston side.
  • Fig. 2 shows in a schematic block diagram, the two pressure sensors 14a, 14b, which are associated with the piston rod side and piston-side chambers 8a, 8b of the boom-lifting cylinder.
  • the damping slide 11 is connected via lines 12a, 13a to both working lines 12, 13 of the boom-lifting cylinder 8 and is fed as well as the main slide 9 from a pressure line 15 of the pressure source P. At the same time, the damping slide 11 as well as the main slide 9 is connected to a via a return line 16 to a reservoir T.
  • Both slides 9, 11 are e.g. functionally identical or similar 4/3-way slide, each with pressure precontrol, but the damping slide 11 is more dynamic than the main slide 9.
  • the pressure piloting the damping slide 11 are indicated at 17, 18 and connected via lines 19, 20 to the controller C.
  • a low-pass filter section 23 is included, which is applied via a signal line 21, the signal or a combination of both signals of the pressure sensors 14 a, 14 b, via a line branch 21 a behind a node 22. From node 22 performs a another signal line 21 b to a node 25, to which an output 26 of the low-pass filter section 23 leads. From the node 25, a signal line 27 finally leads to a direction control section 24, from which the lines 19, 20 go out. With the direction control section 24, the operation direction of the damper damper 11 and the amount of operation are set.
  • the damper slide 11 damps vibrations of the boom 7 in the boom-lifting cylinder 8, regardless of whether the main slide 9 just performs a positioning, or in the in Fig. 2 shown shut-off is.
  • the damping slide 11 additionally has a manual override 30 and is provided with the pressure feedforward controls 17, 18 designed as proportional solenoid pressure pilot controls.
  • the damping slide 11 has in the pressure line 15 to a feed regulator 29, the control pressure side is connected to a load pressure tap 45.
  • the load pressure tap 45 is connected to a load pressure signal circuit 28, to which also the main slide 9 is connected in an analogous manner.
  • Both the damping slide 11 and the main slide 9 are further connected to the return line 16, wherein the Last réelleabgriff 45 is relieved in the illustrated neutral position of the damper slide 11 to the return line 16.
  • the damper damper 11 is in the embodiment shown a 4/3-way control directional control spool valve with shut off neutral position, and includes flow paths 31 a, 32 a, in the direction of the loading of the chambers of the boom-lifting cylinder 8 (here are a pair of such boom-lifting cylinder 8 provided) are designed without any nozzles or diaphragms.
  • flow paths 31 b, 32 b which act in the relief direction, each equipped with throttles or nozzles.
  • the load pressure signal circuit 28 is also linked to the proportional solenoid pressure pilot controls 17, 18 of the damping slide 11.
  • the main spool 9 is also a 4/3-way control directional control valve with a load pressure tap 44, the main spool 9 in the neutral position shown, the working line 12 of the boom-lifting cylinder 8 connects with the return line 16.
  • the pressure sensors 14b, 14a need not necessarily be disposed directly on the respective boom-lifting cylinder 8, but may, as shown in FIG Fig. 3 , be connected to appropriate control lines.
  • Fig. 4 illustrates the integration of the main spool 9 and the damper slide 10 in the electro-hydraulic control device of the manipulator M, wherein only a few components of the electro-hydraulic control device are shown.
  • the main slide 9 is located for example in a slide valve 33, in which four slides 34, 35, 36 and 9 are connected in common and parallel to the pressure line 15, the return line 16 and the load pressure signal circuit 28.
  • the load pressure signal circuit 28 for example, at least one shuttle valve 37 is provided, which transmits the respective higher load pressure 37 from one of the slides 34, 35, 9, 36, 11 to a control device 43 of the pressure source P designed as a regulating or variable displacement pump.
  • the pressure source P sucks from a reservoir T.
  • the pressure source P feeds the pressure line 15 from a main line 42.
  • the variable displacement pump is adjusted by an adjusting drive 39 according to demand, wherein the drive 39 is actuated via the control device 43.
  • an accumulator 38 may be included in the load pressure signal circuit 28.
  • the slider 34 is used to push or push the boom 7, the slider 35 is used to rotate the boom 7, and the slider 36 is associated with a terrain barrier block (not shown).
  • the electro-hydraulic control device of the manipulator M optionally further slide and hydraulic motors.
  • the damping device D is associated with at least the boom-lifting cylinder 8, which controls the main movement of the boom about the pivot axis 6.
  • other hydraulic motors of the large manipulator could be assigned the same damping devices.
  • the damping device D with the arranged parallel to a main slide damper slide that is more dynamic than the main slide, is suitable for all hydraulic applications in which a relatively large designed main slide for vibration damping is too slow, and the damper slide free of positioning tasks for the hydraulic motor only for the damping of mechanical vibrations is controlled.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Claims (8)

  1. Dispositif d'amortissement (D) pour un manipulateur (M), en particulier une échelle de pompiers et analogues, comprenant
    une flèche (7, 7a, 7b), éventuellement rotative et télescopique, positionnable autour d'un axe de pivotement (6) sur une infrastructure (1) au moyen d'au moins un cylindre de levage de flèche (8),
    au moins une source de pression (P), le dispositif d'amortissement (D) présentant
    une vanne-tiroir principale (9), raccordable au cylindre de levage de flèche (8), pour le positionnement du cylindre (8), et
    une commande électronique (C) pour transformer un signal de vibrations de la flèche (1), pouvant être pris par le dispositif d'amortissement (D), en un signal de pression pour le cylindre de levage de flèche (8),
    le dispositif d'amortissement (D) présentant, pour générer le signal de pression, une vanne-tiroir d'amortissement (11) disposée parallèlement à la vanne-tiroir principale (9) du cylindre de levage de flèche (8) entre la source de pression (P) pour la vanne-tiroir principale (8) et au moins une conduite de travail (12, 13') du cylindre de levage de flèche (8), laquelle vanne-tiroir d'amortissement est actionnable indépendamment de la vanne-tiroir principale (9), au moyen de la commande (C), pour l'amortissement des vibrations dans le cylindre de
    levage (8), caractérisé en ce que la vanne-tiroir d'amortissement (11) a une réalisation plus dynamique que la vanne-tiroir principale (9) et est exempte de buses dans des parcours d'écoulement respectifs (31a, 32a) dans la direction de sollicitation du compartiment (8b) côté piston du cylindre de levage de flèche (8) et n'est équipée de buses que dans la direction de détente.
  2. Dispositif d'amortissement (D) suivant la revendication 1, caractérisé en ce que la vanne-tiroir d'amortissement (11) est une vanne-tiroir de régulation 4/3 avec commande pilote de pression à aimant proportionnel (17, 18), et que la commande (C) pour la vanne-tiroir d'amortissement (11) présente une section de filtre passe-bas (23) pour le signal de vibrations, pouvant être pris sous forme de signal de pression sur le cylindre de levage de flèche (8), et une section de commande directionnelle (24), et est raccordée à la commande pilote de pression à aimant proportionnel (17, 18) de la vanne-tiroir d'amortissement (11).
  3. Dispositif d'amortissement (D) suivant l'une au moins des revendications précédentes, caractérisé en ce qu'un régulateur d'arrivée (29) fonction de la charge est associé à la vanne-tiroir d'amortissement (11).
  4. Dispositif d'amortissement (D) suivant l'une au moins des revendications précédentes, caractérisé en ce que la vanne-tiroir d'amortissement (11) et la vanne-tiroir principale (9) présentent chacune une prise de pression de charge (44, 45) et sont disposées dans un circuit de signalisation de la pression de charge (28) commun, qui fait partie du dispositif d'amortissement (D), lequel circuit comporte, de préférence, au moins une soupape à deux voies (37) et un accumulateur de pression (38).
  5. Dispositif d'amortissement (D) suivant l'une au moins des revendications précédentes, caractérisé en ce que la vanne-tiroir d'amortissement (11) présente en supplément une commande manuelle (30).
  6. Dispositif d'amortissement (D) suivant la revendication 2, caractérisé en ce que des capteurs de pression (14a, 14b), qui font partie du dispositif d'amortissement (D), sont prévus pour le cylindre de levage de flèche (8) sur un côté piston (8b) et sur un côté tige de piston (8a), capteurs dont les signaux de pression, combinés, peuvent être envoyés à la section de filtre passe-bas (23) et à la section de commande directionnelle (24).
  7. Dispositif d'amortissement (D) suivant la revendication 4, caractérisé en ce que la source de pression (P), associée conjointement à la vanne-tiroir principale (9) et à la vanne-tiroir d'amortissement (11), présente une pompe à débit variable ou à cylindrée variable, dont le dispositif de réglage (43) est raccordable au circuit de signalisation de la pression de charge (28).
  8. Dispositif d'amortissement (D) suivant l'une au moins des revendications précédentes, caractérisé en ce qu'au moins un autre dispositif d'amortissement (D) est prévu pour un autre moteur hydraulique du manipulateur.
EP20080014223 2008-08-08 2008-08-08 Dispositif d'amortissement pour un manipulateur Active EP2151585B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20080014223 EP2151585B1 (fr) 2008-08-08 2008-08-08 Dispositif d'amortissement pour un manipulateur

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Application Number Priority Date Filing Date Title
EP20080014223 EP2151585B1 (fr) 2008-08-08 2008-08-08 Dispositif d'amortissement pour un manipulateur

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EP2151585A1 EP2151585A1 (fr) 2010-02-10
EP2151585B1 true EP2151585B1 (fr) 2011-05-25

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KR20220013300A (ko) * 2020-07-24 2022-02-04 에이치에이더블유이 하이드롤릭 에스이 프리셀렉션 밸브, 유압 밸브 조립체 및 유압 제어 유닛

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WO2013056517A1 (fr) 2011-10-20 2013-04-25 中联重科股份有限公司 Camion pompe et procédé, unité de commande et appareil pour commander la vibration de la flèche d'un camion pompe
CN102828621B (zh) * 2012-08-06 2015-07-15 中联重科股份有限公司 一种工程机械臂架控制方法、装置及系统
CN103015725B (zh) * 2012-12-05 2015-03-18 中联重科股份有限公司 臂架液压系统及其控制方法、臂架系统和混凝土泵送设备
CN103015730B (zh) * 2012-12-19 2015-01-21 中联重科股份有限公司 臂架漂移控制设备、系统、方法及泵送设备

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JP3354386B2 (ja) 1996-03-28 2002-12-09 極東開発工業株式会社 流体輸送用ブーム装置
DE10046546A1 (de) * 2000-09-19 2002-03-28 Putzmeister Ag Großmanipulator mit Schwingungsdämpfer
DE10101570B4 (de) * 2001-01-15 2008-12-04 Schwing Gmbh Großmanipulator mit Schwingungsdämpfung

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220013300A (ko) * 2020-07-24 2022-02-04 에이치에이더블유이 하이드롤릭 에스이 프리셀렉션 밸브, 유압 밸브 조립체 및 유압 제어 유닛
KR102436724B1 (ko) 2020-07-24 2022-08-25 에이치에이더블유이 하이드롤릭 에스이 프리셀렉션 밸브, 유압 밸브 조립체 및 유압 제어 유닛

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