EP2610409A1 - Vorrichtung zur steuerung einer baumaschine - Google Patents

Vorrichtung zur steuerung einer baumaschine Download PDF

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Publication number
EP2610409A1
EP2610409A1 EP10856458.4A EP10856458A EP2610409A1 EP 2610409 A1 EP2610409 A1 EP 2610409A1 EP 10856458 A EP10856458 A EP 10856458A EP 2610409 A1 EP2610409 A1 EP 2610409A1
Authority
EP
European Patent Office
Prior art keywords
valve
output
remote control
signal
control 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.)
Withdrawn
Application number
EP10856458.4A
Other languages
English (en)
French (fr)
Other versions
EP2610409A4 (de
Inventor
Dong-Soo Kim
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.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment AB
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 Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Publication of EP2610409A1 publication Critical patent/EP2610409A1/de
Publication of EP2610409A4 publication Critical patent/EP2610409A4/de
Withdrawn legal-status Critical Current

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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
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves 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
    • 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
    • E02F9/2282—Systems using center bypass type changeover valves
    • 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
    • E02F9/2285—Pilot-operated 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/167—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load using pilot pressure to sense the demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • 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
    • F15B2211/3052—Shuttle 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
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control 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
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
    • 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
    • F15B2211/30—Directional control
    • F15B2211/355—Pilot pressure control
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing 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
    • F15B2211/50—Pressure control
    • F15B2211/575—Pilot pressure control
    • F15B2211/5756—Pilot pressure control for opening a 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
    • F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • 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
    • F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
    • F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
    • 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
    • F15B2211/865—Prevention of failures
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/85978—With pump
    • Y10T137/85986—Pumped fluid control
    • Y10T137/86027—Electric

Definitions

  • the present invention relates to a control apparatus for a construction machine. More particularly, the present invention relates to a control apparatus for a construction machine, which can control a spool of a main control valve (MCV) including a hydraulic remote control valve and a directional control spool so as to control a hydraulic fluid supplied to a hydraulic actuator.
  • MCV main control valve
  • a technology which controls a spool of the MCV, in which a controller can receive an operator's manipulation signal and achieve a preferred operation of a hydraulic actuator so as to improve manipulability of a work apparatus (including a boom, etc.) of a construction machine such as an excavator, preferentially control the work apparatus during the combined manipulation operation in which the work apparatus and the traveling apparatus are manipulated simultaneously, or improve fuel efficiency.
  • a controller can receive an operator's manipulation signal and achieve a preferred operation of a hydraulic actuator so as to improve manipulability of a work apparatus (including a boom, etc.) of a construction machine such as an excavator, preferentially control the work apparatus during the combined manipulation operation in which the work apparatus and the traveling apparatus are manipulated simultaneously, or improve fuel efficiency.
  • a hydraulic MCV control circuit includes:
  • the control of the spool 4 depends on the manipulation amount of the remote control valve 6.
  • an apparatus that can restrict the abrupt opening of the spool 5 to smoothly accelerate the hydraulic actuator 4 even when the operator abruptly manipulates the remote control valve 6. That is, in the case where an orifice is installed in a pilot signal line provided between an output side of the remote control valve 6 and the spool 5, there occurs a disadvantage in that the function of the orifice may be performed limitedly by the temperature of the hydraulic fluid, and the like.
  • an electro-hydraulic MCV control circuit includes:
  • the controller 10 calculates an output value that corresponds to the manipulation amount and outputs a control signal for application to the electro proportional pressure reducing valves 7 and 8 to control the spool 5. That is, the controller 10 can control the spool 5 through the electro proportional pressure reducing valves 7 and 8 based on the manipulation amount of the manipulation lever 9 to control a hydraulic fluid supplied to the hydraulic actuator 4 in the optimum condition so that the operator's manipulation of the manipulation lever 9 can be calibrated.
  • a high-priced electronic joystick is used as the manipulation lever 9, which contributes to an increase in the manufacturing cost of the parts.
  • a pair of electro proportional pressure reducing valves 7 and 8 is used to control the directional control spool 5 of the MCV, and thus the number of parts is increased, leading to an increase in the manufacturing cost of the parts.
  • the present invention was made to solve the aforementioned problem occurring in the prior art, and it is an object of the present invention to provide a control apparatus for a construction machine that is configured to be capable of controlling a directionally operable spool of the MCV to allow a hydraulic fluid to smoothly accelerate the hydraulic actuator even when an operator abruptly manipulates a remote control valve (RCV), and blocking an erroneous operation of the MCV upon the occurrence of an unexpected failure of a valve-driving electric circuit.
  • RCV remote control valve
  • a control apparatus for a construction machine including an engine, a hydraulic pump connected to the engine, and a hydraulic actuator configured to receive a supply of hydraulic fluid from the hydraulic pump and configured to be capable of being directionally operated to drive a work apparatus, the control apparatus including:
  • the manipulation amount detection means may include:
  • manipulation amount detection means may include:
  • control apparatus for a construction machine according to embodiments of the present invention as constructed above has the following advantages.
  • a directionally operable spool of the MCV can be controlled while reducing the manufacturing cost of parts, and an erroneous operation of the MCV can be blocked upon the occurrence of an unexpected failure of a valve-driving electric circuit, thereby providing reliability.
  • a control apparatus for a construction machine includes an engine 11, a hydraulic pump 12 connected to the engine 11 and a pilot pump 13, and a hydraulic actuator (e.g. hydraulic motor) 14 configured to receive a supply of hydraulic fluid from the hydraulic pump 12 and configured to be capable of being directionally operated to drive a work apparatus (e.g. boom).
  • a hydraulic actuator e.g. hydraulic motor
  • the control apparatus includes:
  • the manipulation amount detection means may include a third shuttle valve 21 having an input portion connected to the output side of the remote control valve 16, and configured to output the higher signal pressure of the directional signal pressures passing through the remote control valve 16, and a pressure sensor 22 connected to a secondary signal pressure of the third shuttle valve 21 to apply a detection signal to the controller 20.
  • a secondary signal pressure having passed through the corresponding remote control valve is detected by the pressure sensor 22 installed in the output side of the third shuttle valve 21 and the detected signal pressure P is applied to the controller 20.
  • the left and right ports of the spool 15 are connected to the output sides of the first and second shuttle valves 18 and 19, and the input portions of the first and second shuttle valves 18 and 19 are connected to the output side of the electro proportional pressure reducing valve 17 and the output sides of the remote control valve 16.
  • a secondary signal pressure generated according to manipulation of the remote control valve 16 is supplied to the left port of the spool 15 via the first shuttle valve 18 (i.e., the case where the secondary signal pressure has a gradient value like the line "A")
  • a secondary signal pressure of the electro proportional pressure reducing valve 17 is supplied to the right port of the spool via the second shuttle valve 19 (i.e., the case where the secondary signal pressure has a gradient value like the line "C") in response to a control signal outputted to the electro proportional pressure reducing valve 17 from the controller 20.
  • the value of the secondary signal pressure supplied to one port of the spool 15 via the first shuttle valve 18 according to manipulation of the remote control valve 16 is relatively larger than that of the secondary signal pressure generated from the electro proportional pressure reducing valve 17 and supplied to the other port of the spool via the second shuttle valve 19.
  • the second signal pressure of the line "C" fluidically communicates with the spool 15 only in a direction where the remote control valve 16 is not manipulated and is connected to a corresponding port of the spool 15.
  • the signal pressure supplied to the spool 15 acts in an opposite direction to that of the secondary signal pressure generated from the output side of the remote control valve 16 according to the manipulation of the remote control valve 16, and thus the aperture ratio of the spool 15 can be limited to be equal to or smaller than a predetermined level.
  • one manipulation amount detection means and one electro proportional pressure reducing valve are used to control the directionally operable spool, thereby reducing the manufacturing cost.
  • the manipulation amount detection means for detecting the manipulation amount of the remote control valve 16 includes a fourth shuttle valve 23 having an input portion connected to a secondary signal pressure of the remote control valve 16 and an output portion connected to an input port of the electro proportional pressure reducing valve 17, the fourth shuttle valve being configured to output the higher signal pressure of the directional signal pressures passing through the remote control valve 16 and a pressure sensor 22 connected to the output side of the fourth shuttle valve 23 to apply a detection signal to the controller 20.
  • the constitution of the control apparatus including the hydraulic pump 12, the hydraulic actuator 14, the spool 15, the remote control valve 16, the electro proportional pressure reducing valve 17, and the controller 20 is substantially the same as that of the control apparatus in the first embodiment of the present invention, and thus the detailed description of the constitution and operation thereof will be omitted to avoid redundancy and same reference numerals are used to designate the similar or same parts.
  • the same signal pressure is applied across the spool of the MCV to cause the spool to be maintained in a neutral position.
  • the erroneous operation of the work apparatus is blocked, thereby securing safety.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
EP10856458.4A 2010-08-24 2010-08-24 Vorrichtung zur steuerung einer baumaschine Withdrawn EP2610409A4 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2010/005606 WO2012026633A1 (ko) 2010-08-24 2010-08-24 건설기계의 제어장치

Publications (2)

Publication Number Publication Date
EP2610409A1 true EP2610409A1 (de) 2013-07-03
EP2610409A4 EP2610409A4 (de) 2017-12-20

Family

ID=45723618

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10856458.4A Withdrawn EP2610409A4 (de) 2010-08-24 2010-08-24 Vorrichtung zur steuerung einer baumaschine

Country Status (6)

Country Link
US (1) US20130146163A1 (de)
EP (1) EP2610409A4 (de)
JP (1) JP2013540957A (de)
KR (1) KR20130111532A (de)
CN (1) CN103052755B (de)
WO (1) WO2012026633A1 (de)

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DE202010007504U1 (de) * 2010-06-02 2010-09-02 WEW Westerwälder Eisenwerk GmbH Pumpanordnung und Versorgungseinheit mit Pumpanordnung
JP2017110721A (ja) * 2015-12-16 2017-06-22 日立建機株式会社 建設機械の油圧駆動装置
KR102388136B1 (ko) * 2016-05-18 2022-04-19 현대두산인프라코어(주) 건설 기계의 안전 시스템
JP6853740B2 (ja) * 2017-06-16 2021-03-31 川崎重工業株式会社 油圧システム
WO2019050064A1 (en) * 2017-09-07 2019-03-14 Volvo Construction Equipment Ab HYDRAULIC MACHINE
CN108488118A (zh) * 2018-05-19 2018-09-04 山东科瑞机械制造有限公司 一种新型的油管工作滚筒本地与远程协同控制液压系统
CN113915176B (zh) * 2021-03-23 2023-07-14 上海圣克赛斯液压股份有限公司 用于驱动动力装置的自动控制液压系统

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Also Published As

Publication number Publication date
US20130146163A1 (en) 2013-06-13
WO2012026633A1 (ko) 2012-03-01
JP2013540957A (ja) 2013-11-07
CN103052755A (zh) 2013-04-17
KR20130111532A (ko) 2013-10-10
CN103052755B (zh) 2015-12-16
EP2610409A4 (de) 2017-12-20

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