EP3358181A1 - Verfahren und vorrichtung zur steuerung der positionsänderung eines exzentrischen nockens von hydraulischen verstellmotoren - Google Patents

Verfahren und vorrichtung zur steuerung der positionsänderung eines exzentrischen nockens von hydraulischen verstellmotoren Download PDF

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Publication number
EP3358181A1
EP3358181A1 EP18154986.6A EP18154986A EP3358181A1 EP 3358181 A1 EP3358181 A1 EP 3358181A1 EP 18154986 A EP18154986 A EP 18154986A EP 3358181 A1 EP3358181 A1 EP 3358181A1
Authority
EP
European Patent Office
Prior art keywords
value
motor
eccentric cam
control
parameter
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
EP18154986.6A
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English (en)
French (fr)
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EP3358181B1 (de
Inventor
Loris De Leonardis
Giorgio CAZZATO
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.)
Parker Hannifin Manufacturing SRL
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Parker Hannifin Manufacturing SRL
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Publication date
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Publication of EP3358181A1 publication Critical patent/EP3358181A1/de
Application granted granted Critical
Publication of EP3358181B1 publication Critical patent/EP3358181B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
    • F03C1/0403—Details, component parts specially adapted of such engines
    • F03C1/0406—Pistons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
    • F03C1/0403—Details, component parts specially adapted of such engines
    • F03C1/0415—Cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
    • F03C1/0447—Controlling
    • F03C1/0457—Controlling by changing the effective piston stroke
    • F03C1/046—Controlling by changing the effective piston stroke by changing the excentricity of one element relative to another element
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
    • F03C1/053—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement the pistons co-operating with an actuated element at the inner ends of the cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/0404—Details or component parts
    • F04B1/0408—Pistons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/0404—Details or component parts
    • F04B1/0421—Cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/053—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement with actuating or actuated elements at the inner ends of the cylinders
    • F04B1/0531—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement with actuating or actuated elements at the inner ends of the cylinders with cam-actuated distribution members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/06—Control
    • F04B1/07—Control by varying the relative eccentricity between two members, e.g. a cam and a drive shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/10—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement the cylinders being movable, e.g. rotary
    • F04B1/113—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement the cylinders being movable, e.g. rotary with actuating or actuated elements at the inner ends of the cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/12—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by varying the length of stroke of the working members
    • F04B49/123—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by varying the length of stroke of the working members by changing the eccentricity of one element relative to another element
    • F04B49/125—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by varying the length of stroke of the working members by changing the eccentricity of one element relative to another element by changing the eccentricity of the actuation means, e.g. cams or cranks, relative to the driving means, e.g. driving shafts

Definitions

  • the present invention relates to a method and an apparatus for controlling the position of an eccentric cam for varying the swept volume of hydraulic motors.
  • Said motors may be of the fixed or variable displacement type.
  • the spherical part 306 of the driving shaft (not shown), in addition to rotating, may also be displaced with respect to the said shaft, thus changing its eccentricity and therefore the operational swept volume of the motor.
  • the value of the piston displacement may be varied, during operation of the motor, in order to adapt the latter to the external load conditions, optimizing the performance thereof.
  • the motor is equipped with sensors which measure the speed of rotation of the shaft and the piston displacement, then sending respective signals to circuits for controlling the eccentric cam of the machine in which the motor is mounted.
  • both technologies are able to operate a proportional-control electrovalve depending on a signal supplied by the user; according to the prior art, the proportional valve operates in a constantly open condition, being operated by the control system so as to have a smaller opening for slow changes in piston displacement, or changes in piston displacement where the set displacement value is close to the existing value, and a larger opening for rapid changes in piston displacement, or changes in piston displacement where the set displacement value is far from the existing value; opening the valve slightly however means creating constrictions which reduce the pressure at its output, to the point of halving it or even reducing it to zero when the valve is nearly closed; in these cases the pressure output is no longer sufficient to counteract the forces exerted by the propulsion members on the eccentric cam and control the changes in piston displacement which, on the contrary, tends to vary in an uncontrolled manner.
  • Both electronic technology and mechanical technology also have the drawback that the position of the eccentric cam must be constantly corrected so as to adapt it both to the needs of the specific use and to the continuous movements of the eccentric cam due to the thrusting movement of
  • the technical problem which is posed, therefore, is that of providing an apparatus and a method for controlling the position of an eccentric cam connected to the shaft of a variable-displacement hydraulic motor, which provide a solution to the problems of the prior art, resulting in particular in variations of the eccentricity (and therefore piston displacement) which are fast and precise and also able to reduce substantially fluid leakages.
  • this apparatus should have small dimensions, be easy and inexpensive to produce and assemble and be able to be easily installed on any motor also already operating using normal standardized connection means.
  • the invention relates furthermore to a method for controlling the position of an eccentric cam of the shaft of a variable-displacement hydraulic motor according to the characteristic features of Claim 9.
  • a variable-displacement hydraulic motor 300 is composed of a casing 301 which houses the propulsion members 310 consisting of a cylinder 311 and a piston 312.
  • each of the pistons 312 is placed in communication with a rotating distributor (not shown) housed inside a cover fastened to the casing 301 and designed to supply or discharge cyclically the pistons 312 in synchronism with rotation of the driving shaft.
  • the cylinders 311 are telescopically movable in a radial direction and rest against the outer surface of a spherical body 306, eccentrically movable in the radial direction relative to the axis of the driving shaft upon operation of associated means 308, said variation of eccentricity also determining the variation of swept volume of the motor.
  • the motor is associated with means for detecting the swept volume of the motor comprising, for example, at least one pair of sensors, each of which is arranged on the cap 302 of a respective propulsion member 310 with its longitudinal axis parallel to and axially offset with respect to the longitudinal axis of the propulsion unit 310 in the rest condition and a data processing unit for detecting and storing the signals emitted by the sensors and performing the calculations necessary for obtaining also the position of the point of eccentricity "E".
  • the hydraulic motor 300 is subject to an external torque 310a, transmitted via the driving shaft, to a flow 310b, which flows through the mouths which supply and discharge the said motor, and to a disturbing force, due to the thrust of the propulsion members 310 which, changing periodically intensity and direction during rotation of the driving shaft, tends to move the eccentric cam 306 radially, modifying the piston displacement in a manner which is too difficult to control.
  • the motor 300 reacts, generally, to variations in torque and flowrate by modifying its operating parameters 320 including the operating pressure 320b of the motor and the speed of rotation of the shaft 320c.
  • an increase in the torque 310a results in an increase in the pressure 320b (and vice versa), while an increase in the flowrate 310b results in an increase in the speed of the shaft 320c (and vice versa).
  • the apparatus, according to the invention, for controlling the position of the eccentric cam 306 of a variable-displacement hydraulic motor 300 comprises essentially a control and command unit 200 and an actuating unit 100.
  • the control and command unit 200 comprises a feedback loop (identified below by the same reference number 200 as the command unit) which comprises:
  • the actuating unit 100 comprises in turn a direct-control electrovalve 110 which has an input 110c for pressurized fluid 500a and an input 110d for discharged fluid 500b.
  • the electrovalve 110 is controlled by the control system 200 via two coils 110e and 110f from which it receives the activation/deactivation signals which, in a predefined and constant period, comprise a time interval of logic value 1 for opening the valve and a time interval of logic value 0 for closing the valve ( Fig. 4b ).
  • the electrovalve 110 also has two outputs 110a,110b, the end terminals of which are respectively connected to an associated chamber 350a,350b of a double-acting cylinder 350 which, via the piston 308, bears against the movable eccentric cam 306, changing the eccentricity thereof and therefore the piston displacement of the motor.
  • the hydraulic circuit situated between the electrovalve 110 and the cylinder 350 comprises two branches 120a,120b each comprising: rotary seals 121a,121b of the driving shaft, a stop valve 122a,122b, the input of which is driven by the fluid supplied from the corresponding output 110a,110b of the distribution valve 110 and each connected to the opposite branch of the input circuit of the other one, a throttle element 123a,123b arranged between the step valves and the corresponding chamber 350a,350b of the double-acting cylinder 350 for operating the eccentric cam 306 which is thus displaced by the supplying/discharging of the two said chambers 350a,350b.
  • the throttle elements 123a,123b are designed to determine the speed of variation of the eccentricity, as will become clearer below.
  • the two throttle elements are adjustable so as to vary opening/closing thereof.
  • the invention also provides a method for controlling the position of an eccentric cam of the shaft of a variable-displacement hydraulic motor by means of an apparatus as described above, said method comprising the following steps:
  • the method according to the invention envisages that the period of the command pulses of the electrovalve comprise time intervals of logic value 1 for opening the valve and time intervals of logic value 0 for closing the variable-duration valve.
  • said time intervals of logic value 1 have a longer duration if the existing value of the parameter to be controlled differs from the reference value set by an amount ranging between 25% and 30% of the said desired value, and shorter duration if said value is between 0.5% and 1.5% of the desired value.
  • the method comprises a step of adjusting the speed of variation of the eccentricity of the motor, by means of throttle elements 123a,123b arranged in the hydraulic circuit of the actuating unit; preferably opening/closing of said throttle elements is adjustable.
  • the method performs the control of at least one parameter 320 from among the piston displacement 320a, the pressure 320b or the speed 320c and that the command and control unit 200 comprises an adder 240 which receives at its input said existing values 320a,320b,320c of the at least one parameter and respective set/stored reference values 250a,250b,250c and emits a difference signal 240a,b,c, for said at least one selected parameter, which it sends to the input of a processing unit 260.
  • a direct-control distribution valve 110 which is activated so as to be always fully open, but with control by means of pulses of variable length in a predefined maximum time period, in combination with valves for stopping the flow of the fluid, ensure that in the cylinder actuating the eccentric cam there is always sufficient pressure to control the movements of the said eccentric and that the activation of the electrovalve with variable pulses allows the use of pulses of longer duration, when the existing value of the parameter to be controlled differs greatly from the desired value, and pulses of much shorter duration, when said value is close to the desired value, locking the eccentric cam in position between one excitation period and the other of the valve, ensuring at the same time also that variation in precision of the piston displacement necessary for correct operation of the motor.
  • the maximum speed of piston displacement of the eccentric cam 306 and therefore of the system for varying the piston displacement may be adjusted by means of calibration of the throttle elements 123a,123b.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Hardware Design (AREA)
  • Hydraulic Motors (AREA)
  • Valve Device For Special Equipments (AREA)
  • Control Of Fluid Gearings (AREA)
  • Fluid-Pressure Circuits (AREA)
EP18154986.6A 2017-02-06 2018-02-02 Hydraulischer verstellmotor mit einer vorrichtung zur steuerung der positionsänderung eines exzentrischen nockens des motors und verfahren zur steuerung der positionsänderung des exzentrischen nockens des hydraulischen verstellmotors Active EP3358181B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102017000012623A IT201700012623A1 (it) 2017-02-06 2017-02-06 Metodo e apparecchiatura per il controllo della variazione di posizione di un eccentrico di motori idraulici a cilindrata variabile

Publications (2)

Publication Number Publication Date
EP3358181A1 true EP3358181A1 (de) 2018-08-08
EP3358181B1 EP3358181B1 (de) 2020-07-01

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EP18154986.6A Active EP3358181B1 (de) 2017-02-06 2018-02-02 Hydraulischer verstellmotor mit einer vorrichtung zur steuerung der positionsänderung eines exzentrischen nockens des motors und verfahren zur steuerung der positionsänderung des exzentrischen nockens des hydraulischen verstellmotors

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EP (1) EP3358181B1 (de)
IT (1) IT201700012623A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020165405A (ja) * 2019-03-29 2020-10-08 いすゞ自動車株式会社 流体作動機械
JP2020165406A (ja) * 2019-03-29 2020-10-08 いすゞ自動車株式会社 流体作動機械

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4983099A (en) * 1989-01-19 1991-01-08 Sundstrand Corporation Torque-velocity control for variable displacement hydraulic motor
US5628188A (en) * 1993-03-15 1997-05-13 Mannesmann Rexroth Gmbh Torque control of hydrostatic machines via the pivot angle or the eccentricity of said machines
US6038871A (en) * 1998-11-23 2000-03-21 General Motors Corporation Dual mode control of a variable displacement refrigerant compressor
EP1241356A2 (de) * 2001-03-15 2002-09-18 Teijin Seiki Co., Ltd. Druckflüssigkeitsmotor mit einem Leistungsregler
EP1624185A2 (de) * 2004-08-03 2006-02-08 PARKER CALZONI S.r.l. Verfahren und Vorrichtung zur Ermittlung von Betriebsparametern eines hydraulichen Kolbenmotors
US20090133761A1 (en) * 2005-08-09 2009-05-28 Brueninghaus Hydromatik Gmbh Control valve unit with alternating stop
US20120259580A1 (en) * 2009-12-17 2012-10-11 Zf Friedrichshafen Ag Method for determining the displacement of a radial piston machine
EP2518220A2 (de) * 2009-12-23 2012-10-31 Doosan Infracore Co., Ltd. Vorrichtung und verfahren zur steuerung einer hydraulikpumpe einer baumaschine
US20150240961A1 (en) * 2014-02-18 2015-08-27 Robert Bosch Gmbh Electrically controlled pressure control valve for an adjustable hydrostatic pump
US20150300522A1 (en) * 2014-04-18 2015-10-22 Denso Corporation Electromagnetic-valve controller

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4983099A (en) * 1989-01-19 1991-01-08 Sundstrand Corporation Torque-velocity control for variable displacement hydraulic motor
US5628188A (en) * 1993-03-15 1997-05-13 Mannesmann Rexroth Gmbh Torque control of hydrostatic machines via the pivot angle or the eccentricity of said machines
US6038871A (en) * 1998-11-23 2000-03-21 General Motors Corporation Dual mode control of a variable displacement refrigerant compressor
EP1241356A2 (de) * 2001-03-15 2002-09-18 Teijin Seiki Co., Ltd. Druckflüssigkeitsmotor mit einem Leistungsregler
EP1624185A2 (de) * 2004-08-03 2006-02-08 PARKER CALZONI S.r.l. Verfahren und Vorrichtung zur Ermittlung von Betriebsparametern eines hydraulichen Kolbenmotors
US20090133761A1 (en) * 2005-08-09 2009-05-28 Brueninghaus Hydromatik Gmbh Control valve unit with alternating stop
US20120259580A1 (en) * 2009-12-17 2012-10-11 Zf Friedrichshafen Ag Method for determining the displacement of a radial piston machine
EP2518220A2 (de) * 2009-12-23 2012-10-31 Doosan Infracore Co., Ltd. Vorrichtung und verfahren zur steuerung einer hydraulikpumpe einer baumaschine
US20150240961A1 (en) * 2014-02-18 2015-08-27 Robert Bosch Gmbh Electrically controlled pressure control valve for an adjustable hydrostatic pump
US20150300522A1 (en) * 2014-04-18 2015-10-22 Denso Corporation Electromagnetic-valve controller

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020165405A (ja) * 2019-03-29 2020-10-08 いすゞ自動車株式会社 流体作動機械
JP2020165406A (ja) * 2019-03-29 2020-10-08 いすゞ自動車株式会社 流体作動機械
JP7120124B2 (ja) 2019-03-29 2022-08-17 いすゞ自動車株式会社 流体作動機械
JP7120125B2 (ja) 2019-03-29 2022-08-17 いすゞ自動車株式会社 流体作動機械

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Publication number Publication date
IT201700012623A1 (it) 2018-08-06
EP3358181B1 (de) 2020-07-01

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