EP2236452A1 - Module de levage - Google Patents

Module de levage Download PDF

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Publication number
EP2236452A1
EP2236452A1 EP09005013A EP09005013A EP2236452A1 EP 2236452 A1 EP2236452 A1 EP 2236452A1 EP 09005013 A EP09005013 A EP 09005013A EP 09005013 A EP09005013 A EP 09005013A EP 2236452 A1 EP2236452 A1 EP 2236452A1
Authority
EP
European Patent Office
Prior art keywords
pressure
elements
lifting module
module according
valve
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
EP09005013A
Other languages
German (de)
English (en)
Other versions
EP2236452B1 (fr
Inventor
Martin Ascherl
Recep Macit
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.)
Hawe Hydraulik SE
Original Assignee
Hawe Hydraulik SE
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 Hawe Hydraulik SE filed Critical Hawe Hydraulik SE
Priority to EP09005013A priority Critical patent/EP2236452B1/fr
Priority to AT09005013T priority patent/ATE521568T1/de
Publication of EP2236452A1 publication Critical patent/EP2236452A1/fr
Application granted granted Critical
Publication of EP2236452B1 publication Critical patent/EP2236452B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • 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
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/008—Valve failure
    • 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
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/31552—Directional control characterised by the connections of the valve or valves in the circuit being connected to an output member and a return line
    • 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
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid 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
    • F15B2211/7052—Single-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
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8636—Circuit failure, e.g. valve or hose failure
    • 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
    • F15B2211/875—Control measures for coping with failures
    • F15B2211/8757—Control measures for coping with failures using redundant components or assemblies

Definitions

  • the invention relates to a lifting module specified in the preamble of claim 1. Art.
  • Out EP1 369 598 A is a lifting module known in which an additional redundancy switch z. B. in the sink control section, is arranged to produce when stuck a hydraulic element, such as a pressure compensator or a current regulator due to wear, contamination or a metal chip via an additional control routine pressure signals that make the stuck hydraulic element again passable.
  • a hydraulic element such as a pressure compensator or a current regulator due to wear, contamination or a metal chip
  • LLSN controller for the sink control section of a lifting module
  • two throttles are connected in series in a connected to the working line to Hebehydromotor Mau-Abströmweg to the reservoir.
  • the main outflow path to the reservoir passes through a 3/2-way valve with pressure pre-control, wherein the 3/2-way control valve is also part of the lifting control section. Since both pressure during lifting and lowering pressure medium can flow off, additional elements must be provided to ensure the necessary stacker tightness, ie a tightness in the system in which a suspended load for a certain period of time does not or only falls above a certain low level.
  • the invention has for its object to provide a lifting module of the type mentioned, which is structurally simple and inexpensive and ensures a high safety standard against malfunction, especially in the sink control section due to contamination or metal shavings.
  • Each of the two series-connected main stage elements in the outflow path is controlled by the common solenoid pilot valve as the load is lowered the same as the other, i. the actually desired function is carried out twice.
  • Each element alone is capable of performing the sink function correctly. If one of the elements does not respond correctly due to a contamination or a metal chip, this does not affect the reaction of the other element, so that the load movement always remains controllable controllable. Should z. For example, if one of the elements fails to shut off properly as a result of contamination or metal chipping to stop and hold the load, then the load is reliably stopped and held by the other element in the series connection.
  • both elements are loaded in the direction of the shut-off position parallel to the locking pressure by springs, to ensure that in a depressurized state, both elements first occupy their shut-off positions.
  • both elements are identical, possibly even identical, and similarly interconnected (common part principle).
  • each element has a lateral pressure feed into an annular chamber, an axial outlet through a valve seat, a barrier pressure control chamber on the side facing away from the valve seat side of a displaceable in the annular chamber stepped piston, and arranged between the annular chamber and the barrier pressure control chamber throttle ,
  • the lateral pressure feed of the outflow downstream element is connected to the axial outlet through the valve seat of the upstream element.
  • the stepped piston cooperates with the valve seat in the manner of a seat valve, d. h., Closes leak-free in the shut-off position.
  • both elements are structurally different or at least different interconnected
  • the one element has a lateral pressure feed into an annular chamber, an axial outlet through a valve seat, a barrier pressure control chamber on the side facing away from the valve seat of a movable in the annular chamber stage piston, and the throttle arranged between the annular chamber and the barrier pressure control chamber
  • the other element an axial pressure feed through a valve seat, a lateral outlet of an annular chamber, and the here between the valve seat and the barrier pressure control chamber on the valve seat side facing away from Having in the annular chamber slidable stepped piston arranged throttle.
  • the lateral or axial pressure feed of the downstream element is then connected to the axial or side outlet of the upstream element.
  • each element functions as a seat valve with leak-free shut-off position, which ensures the required stacker tightness and achieved by the integrated redundancy function high safety standard.
  • Each of the two elements can be placed upstream or downstream of the other.
  • the throttle is arranged in the stepped piston itself, in a bypass channel which connects either the annular chamber or the valve seat with the barrier pressure control chamber.
  • the respective throttle could also be arranged in a housing of the element, namely there in a the annular chamber or the valve seat with the barrier pressure control chamber connecting bypass channel.
  • the respective bypass channel itself is designed as a throttle having a predetermined cross section at least in a section of the bypass channel.
  • the pressurizing surfaces of the stepped piston in the annular chamber and in the barrier pressure control chamber are at least substantially equal and larger than the pressurizing area of the stepped piston in the valve seat.
  • the degree of opening of the element is controlled by the solenoid pilot valve to control or regulate the amount of outflow, which in turn determines the lowering speed of the load or lift hydraulic motor (under load, e.g., 0.6 m / s max.).
  • At least one element has a mechanical limitation of the maximum opening stroke of the stepped piston, preferably a stop screw arranged in the barrier pressure control chamber.
  • the maximum lowering speed of the lifting hydraulic motor is limited at least under load, because the element can open only a passage cross section of limited size in Abströmweg (adjustable lowering brake function).
  • the solenoid pilot valve is a 2/2-way magnetic seat valve, which is held in the de-energized state of its switching magnet pressure-dependent by a spring and the barrier pressure in the barrier pressure control chamber in the leak-free shut-off for Abströmweg.
  • the solenoid pilot valve as the actuator to a proportional solenoid to operate as a proportional pressure control valve, which makes it possible to control the sink function proportionally.
  • a pressure balance may be arranged on the control side of a spring and a control pressure from the Abströmweg either between the elements or downstream of both elements, and closing control side of a control pressure from the load pressure Abströmweg upstream of both elements is acted upon. Thanks to the pressure compensator downstream of the two elements, load pressure independence is achieved in the lowering control.
  • a lifting module M of Fig. 1 to 5 are for example for a material handling vehicle such as a forklift, a mast, a work vehicle and the like.
  • a Hebehydromotor Z for example, a one-sided acted upon by the load plunger cylinder or differential cylinder ( Fig. 1 ), which, preferably, secured by a hose rupture valve 19 and connected via a working line 4 to the lifting module M.
  • the Hebehydromotor Z could also be acted on double-sided.
  • the lifting module M in Fig. 1 is shown in simplified form and optionally contains other, not shown components.
  • a lift control section 1 and a sink control section 2 communicate with each other via a node 3 in the working line 4.
  • a pressure line 9 connected to a pressure source P is connected to a 2/2-way magnetic seat valve 7 from which a line branch 5 leads to the node 3 on the output side.
  • the line branch 5 is secured by a check valve 6 in the flow direction to the pressure source P.
  • a discharge path 9 for working pressure medium from the Hebehydromotor Z runs to a reservoir R.
  • a branch 9a a lateral pressure feed 11 of a first main-stage element E1, of which a branch 9b to an axial pressure feed of a second Main stage element E2, which has a lateral outlet 11 ', from which a branch 9c leads to a reservoir line 24.
  • the two elements E1, E2 in Fig. 1 are structurally different, differently interconnected, but connected in the outflow 9 in series so that they work the same, ie allow for the Hebehydromotor Z at least substantially the same control functions.
  • the two elements E1, E2 are 2/2-way seat valves with a pressure precontrol via a common control line 20 to the reservoir line 24.
  • a solenoid pilot valve 21 is included in the Fig. 1 a 2/2-way solenoid seat valve with a spring 22 and a black and white magnet 23 is.
  • the control line 20 is connected to the reservoir line 24 to control a lowering movement of the load L via the two elements E1, E2 with disconnected or disconnected pressure source.
  • switching position of the load pressure in the working line 4 via the check valve 6 and the two standing in their shut-off elements E1, E2 is held, or even only on the upstream main stage element E1.
  • the element E1 has in a ring chamber 10 a displaceably guided, sealed movable stepped piston 12 with a valve closure member defining a piston extension 17 which cooperates with an axial valve seat 13 in the valve seat design.
  • a barrier pressure control chamber 14 is provided on the side facing away from the valve seat 13 side of the stepped piston 12 in which, preferably, a spring 15 is included, which acts on the stepped piston 12 in the direction of the shut-off position shown.
  • the loading surfaces of the stepped piston 12 in the annular chamber 10 and in the barrier pressure control chamber 14 are at least substantially equal and larger than the loading surface of the piston extension 17 on the valve seat 13.
  • the stepped piston 12 (or in a housing of the element E1) runs a bypass of the Ring chamber 10 to the barrier pressure control chamber 14, which includes a throttle 16.
  • the second element E2 is similar, d. H. a 2/2-way seat valve.
  • the stepped piston 12 which is guided displaceably in the annular chamber 10, formed with a valve seat 13 with the barrier pressure control chamber 14 connecting bypass in which the throttle 16 is arranged, or which forms the throttle 16.
  • the respective throttle 16 could be housed in a bypass channel in the housing of the element E1, E2.
  • a manually operated cock 18 is provided to drain the system to the reservoir R, or to test, for example, the proper response of the hose rupture valve 19.
  • a filter device is optionally provided in the region of the pressure source P, it is unavoidable that in the main flow paths between the Hebehydromotor Z and the check valve 6 and the reservoir R dirt and possibly metal chips circulate, the proper functioning of the lifting module M especially at could jeopardize the lowering control of the load L or stopping and holding the load L. Since the solenoid pilot valve 21 in the control line 20 is isolated from the main flow paths by the throttles 16, with the throttles 16 retaining contaminants or functioning as filters, the risk of malfunction in the solenoid pilot valve 21 is negligible. However, contaminants or metal chips could affect the proper functioning of the two elements E1, E2.
  • both series-connected elements E1, E2 each perform the same function, controlled by the common solenoid pilot valve 21, it is precluded that an uncontrolled load movement (ie, faster and farther than controlled) occurs due to a malfunction in an element E1 or E2, or the load L to be stopped is not properly stopped and held.
  • the probability that both elements E1, E2 are subject to a malfunction at the same time is extremely low.
  • Fig. 1 illustrated situation pressure source P is switched off
  • the load pressure in the annular chamber 10 of the element E1 via the throttle 16 blocking pressure in the barrier pressure control chamber 14 which holds in the element E1 the piston extension 17 on the valve seat 13 in the shut-off position.
  • blocking pressure is built up in the barrier pressure control chamber 14 of the downstream element E2, so that the second element E2 as a precaution in the shut-off position.
  • the two elements E1, E2 are structurally simple and cost-effective 2/2-way valves, which work very reliable, and in which it is expected that even with an entering by a pollution or by a metal chip disturbance this disorder automatically after several control cycles again washed out or eliminated, so that the full redundancy function for the lifting module M sooner or later sets again.
  • the embodiment of the Fig. 2 is different from that of Fig. 1 in that the two elements E1, E2 are identical in construction, ie in each case have a lateral load pressure feed 11, an axial outlet through the valve seat 13, and the bypass connecting the annular chamber 10 with the barrier pressure control chamber 14 with the throttle 16, wherein the both the elements E1, E2 connected in series are also connected in the same way, ie the axial outlet of the first element E1 is connected to the side load pressure feed 11 of the downstream element E2, while the axial outlet of the downstream element E2 is connected to the reservoir line 24 via the branch 9c is.
  • Fig. 2 an example, manually operable shut-off member 28 which is arranged in a cross-connection between a node 27 in the control line 20 and the control line 20 and the reservoir line 24, and serves, regardless of an actuation of the solenoid pilot valve 21 abruptly to clear a large outflow cross-section to the reservoir R. to do that in Fig. 1 Test shown hose rupture valve 19.
  • both barrier pressure control chambers 14 of the elements E1, E2 Upon opening of the shut-off member 28 both barrier pressure control chambers 14 of the elements E1, E2 abruptly and completely relieved, so that both elements E1, E2 release a large cross-section Hauptabströmweg to the reservoir R, causing a momentary strong pressure drop in the working line 4, on which the hose rupture valve 19 so blocking responds that the load pressure of the Hebehydromotors Z is initially held as far as possible by the hose rupture valve. If system pressure is subsequently restored again, the blocking hose rupture-securing valve 19 also releases, so that the movement of the lifting-hydraulic motor Z can be controlled again via the lifting module M.
  • the two barrier pressure control chambers 14 of the elements E1, E2 are incidentally via a node 26 in the control line 20 connected to each other, so that the solenoid pilot valve 21 controls both elements E1, E2 together.
  • the embodiment of the lifting module M in Fig. 3 is different from that of Fig. 1 in that at least the upstream element E1 of the elements E1, E2 connected in series has a mechanical limit 25 for the maximum opening stroke of the stepped piston 12 when the control line 20 is relieved via the magnetic pilot valve 21.
  • This mechanical limit 25 is for example a screwed into the locking pressure control chamber 14 stop screw, which makes it possible to adjust the maximum opening stroke.
  • the upstream element E1 operates as a lowering brake, the maximum lowering speed of the Hebehydromotors Z limited, for example, to max. 0.6 m / s under load.
  • the embodiment of the lifting module in Fig. 4 is different from that of Fig. 1 in that the solenoid pilot valve 21 is designed as a proportional pressure control valve 29 which contains a proportional magnet 30 and an internal throttle 31. This allows the proportional electrical control of the sink function.
  • the embodiment of the lifting module M in Fig. 5 is different from the one in Fig. 4 in that the solenoid pilot control valve 21 designed as a proportional pressure control valve cooperates with a pressure compensator 31 which is arranged in the reservoir conduit 24.
  • the pressure compensator 31 is acted upon, for example, by a control valve 35 tapped at a node 26 of the Abströmwegs 9, 9c via a throttle 35 in the up direction and parallel to a spring 32, however, in Schmony Kunststofftechnisch via a control line 34, the control pressure from the Abströmweg 9 upstream of both elements E1 , E2 picks up.
  • a 2-way flow control function is achieved, which also generates a load pressure independence in the proportional control of the sink function.
  • the pressure compensator 31 could be acted upon in the opening direction by a pilot control pressure of a control line 33 'tapped between the two elements E1, E2 (in this case the node 36 is omitted and the control line 33' is connected to the control line 33).
  • the further construction of the lifting module in Fig. 5 corresponds to that of Fig. 1 with the structurally different and unequal interconnected elements E1, E2 in Abströmweg 9.
  • the pressure compensator 31 could also in the embodiments of Fig. 1 to 3 be provided.
  • the respective main stage element E1, E2 is structurally (not shown), for example realized by the fact that the stepped piston 12 in a stepped bore in a block housing is guided displaceably guided in a sealed manner, wherein the stepped bore contains the arranged between the annular chamber 10 and the axial outlet valve seat 13, and the barrier pressure control chamber 14 is closed by a screwed into the exposed end of the stepped bore final screw on which the spring 15 is supported.
  • the bypass channel in the stepped piston 12 can then be composed of individual bore sections and form the throttle 16 or contain a throttle section corresponding to the throttle 16 between different bore sections.
  • a check valve is included in the bypass channel.
  • the bypass channel opens laterally in the piston extension 17 or axially in the end face of the piston extension 17th

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
EP09005013A 2009-04-03 2009-04-03 Module de levage Not-in-force EP2236452B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP09005013A EP2236452B1 (fr) 2009-04-03 2009-04-03 Module de levage
AT09005013T ATE521568T1 (de) 2009-04-03 2009-04-03 Hubmodul

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09005013A EP2236452B1 (fr) 2009-04-03 2009-04-03 Module de levage

Publications (2)

Publication Number Publication Date
EP2236452A1 true EP2236452A1 (fr) 2010-10-06
EP2236452B1 EP2236452B1 (fr) 2011-08-24

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ID=40974400

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09005013A Not-in-force EP2236452B1 (fr) 2009-04-03 2009-04-03 Module de levage

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EP (1) EP2236452B1 (fr)
AT (1) ATE521568T1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3037678A1 (fr) * 2014-12-23 2016-06-29 HAWE Hydraulik SE Module de levage
CN114704508A (zh) * 2022-04-13 2022-07-05 浙江大学 一种用于电液伺服六自由度并联机器人的多裕度液压系统

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016123003B3 (de) * 2016-11-29 2017-12-21 Hawe Hydraulik Se Hauptsteuersektion für Hochdruck-Hydrauliksysteme und Verfahren zum Betreiben derselben
DE102017208873B3 (de) 2017-05-24 2018-06-14 Hawe Hydraulik Se Hubmodul und hydraulisch betriebene Gerätschaft mit einem Hubmodul

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4239321A1 (de) 1992-11-23 1994-05-26 Heilmeier & Weinlein Elektrohydraulisches Hubmodul
DE19956717A1 (de) 1998-11-25 2000-06-08 Kayaba Industry Co Ltd Hydrauliksteuergerät
EP1369598A1 (fr) 2002-06-03 2003-12-10 HAWE Hydraulik GmbH & Co. KG Dispositif électro-hydraulique de commande de levage pour véhicules de manutention
DE202004014029U1 (de) 2004-09-08 2006-01-12 Hawe Hydraulik Gmbh & Co. Kg Elektrohydraulische Steuervorrichtung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4239321A1 (de) 1992-11-23 1994-05-26 Heilmeier & Weinlein Elektrohydraulisches Hubmodul
DE19956717A1 (de) 1998-11-25 2000-06-08 Kayaba Industry Co Ltd Hydrauliksteuergerät
EP1369598A1 (fr) 2002-06-03 2003-12-10 HAWE Hydraulik GmbH & Co. KG Dispositif électro-hydraulique de commande de levage pour véhicules de manutention
DE202004014029U1 (de) 2004-09-08 2006-01-12 Hawe Hydraulik Gmbh & Co. Kg Elektrohydraulische Steuervorrichtung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3037678A1 (fr) * 2014-12-23 2016-06-29 HAWE Hydraulik SE Module de levage
CN114704508A (zh) * 2022-04-13 2022-07-05 浙江大学 一种用于电液伺服六自由度并联机器人的多裕度液压系统
CN114704508B (zh) * 2022-04-13 2023-01-24 浙江大学 一种用于电液伺服六自由度并联机器人的多裕度液压系统

Also Published As

Publication number Publication date
ATE521568T1 (de) 2011-09-15
EP2236452B1 (fr) 2011-08-24

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