JP2016053375A5 - - Google Patents
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- JP2016053375A5 JP2016053375A5 JP2014178364A JP2014178364A JP2016053375A5 JP 2016053375 A5 JP2016053375 A5 JP 2016053375A5 JP 2014178364 A JP2014178364 A JP 2014178364A JP 2014178364 A JP2014178364 A JP 2014178364A JP 2016053375 A5 JP2016053375 A5 JP 2016053375A5
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Description
上記目的を達成するため、本発明は、エンジンと、前記エンジンにより駆動される第１〜第３油圧ポンプと、前記第１〜第３油圧ポンプからブーム、アーム、バケット、上部旋回体、履帯を含む複数の被駆動部材を駆動する複数の油圧アクチュエータに供給される圧油の方向と流量をそれぞれ制御するオープンセンタ方式の複数の切換弁を備えた制御弁ユニットと、前記エンジンにより駆動されるパイロットポンプと、前記複数のアクチュエータに対応して設けられ、前記パイロットポンプの吐出油に基づいて、前記複数の切換弁を中立位置から切り換えるための指令パイロット圧を生成する複数の操作レバー装置とを備えた建設機械の油圧システムにおいて、前記制御弁ユニットは、前記第１〜第３油圧ポンプにそれぞれ接続された第１〜第３回路を有し、前記第１回路は、前記履帯を駆動する左右の走行用油圧モータの一方に供給される圧油の方向と流量を制御する第１走行切換弁と、前記左右の走行用油圧モータ以外の少なくとも１つのアクチュエータに供給される圧油の方向と流量を制御するその他の切換弁とを含む複数の第１切換弁を有し、前記複数の第１切換弁は、上流側が前記第１油圧ポンプに接続され、下流側がタンクに接続された第１センタバイパス通路にタンデムに接続され、前記第２回路は、前記左右の走行用油圧モータの他方に供給される圧油の方向と流量を制御する第２走行切換弁と、前記左右の走行用油圧モータ以外の少なくとも１つのアクチュエータに供給される圧油の方向と流量を制御するその他の切換弁とを含む複数の第２切換弁を有し、前記複数の第２切換弁は、上流側が前記第２油圧ポンプに接続され、下流側がタンクに接続された第２センタバイパス通路にタンデムに接続され、前記第３回路は、合流切換弁と、前記左右の走行用油圧モータ以外の少なくとも１つのアクチュエータに供給される圧油の方向と流量を制御する第３切換弁とを有し、前記合流切換弁は前記第３回路の最上流位置において前記第３油圧ポンプに接続され、前記第３切換弁は、上流側が前記合流切換弁を介して前記第３油圧ポンプに接続され、下流側がタンクに接続された第３センタバイパス通路に接続され、前記合流切換弁は、前記第３油圧ポンプの吐出油を前記第３センタバイパス通路に導く第１位置と、前記第３油圧ポンプの吐出油を、前記第１回路の前記第１走行切換弁以外の少なくとも１つの切換弁と前記第２回路の前記第２走行切換弁以外の少なくとも１つの切換弁の一方に供給する第２位置と、前記第３ポンプの吐出油を、前記第１回路の前記第１走行切換弁以外の少なくとも１つの切換弁と前記第２回路の前記第２走行切換弁以外の少なくとも１つの切換弁の両方に供給する第３位置とに切り換え可能に構成され、前記合流切換弁は、前記第１回路及び前記第２回路の前記第１及び第２走行切換弁以外の特定の切換弁を中立位置から切り換える指令パイロット圧が生成されたときにその指令パイロット圧が導かれ、前記合流切換弁を前記第２位置に切り換える第１パイロット受圧部と、前記第１走行切換弁と前記第２走行切換弁の少なくとも一方と前記第１回路の前記第１走行切換弁以外の少なくとも１つの切換弁と前記第２回路の前記第２走行切換弁以外の少なくとも１つの切換弁の少なくとも一方を同時に中立位置から切り換える走行複合操作を行ったときに信号圧力が導かれ、前記合流切換弁を前記第３位置に切り換える第２パイロット受圧部とを有し、前記合流切換弁は、前記特定の切換弁を中立位置から切り換える前記指令パイロット圧が所定の圧力未満の場合、前記第２位置に切り換わらないように構成されるものとする。 To achieve the above object, the present invention provides an engine, first to third hydraulic pumps driven by the engine, a boom, an arm, a bucket, an upper swing body, and a crawler belt from the first to third hydraulic pumps. A control valve unit including a plurality of open center type switching valves for controlling the direction and flow rate of pressure oil supplied to a plurality of hydraulic actuators for driving a plurality of driven members, and a pilot driven by the engine A pump, and a plurality of operation lever devices that are provided corresponding to the plurality of actuators and generate command pilot pressures for switching the plurality of switching valves from a neutral position based on discharge oil of the pilot pump. In the construction machine hydraulic system, the control valve unit includes first to third hydraulic pumps connected to the first to third hydraulic pumps, respectively. The first circuit includes a first travel switching valve that controls the direction and flow rate of pressure oil supplied to one of the left and right traveling hydraulic motors that drive the crawler belt, and the left and right traveling valves. A plurality of first switching valves including a direction of the pressure oil supplied to at least one actuator other than the hydraulic motor and other switching valves for controlling a flow rate, and the plurality of first switching valves have an upstream side of the first switching valve; Connected in tandem to a first center bypass passage connected to the first hydraulic pump and having a downstream side connected to the tank, and the second circuit includes a direction of pressure oil supplied to the other of the left and right traveling hydraulic motors A plurality of second switching valves including a second traveling switching valve for controlling the flow rate and other switching valves for controlling the direction and flow rate of the pressure oil supplied to at least one actuator other than the left and right traveling hydraulic motors. And said The second switching valve is connected in tandem to a second center bypass passage having an upstream side connected to the second hydraulic pump and a downstream side connected to the tank, and the third circuit includes a merging switching valve and the left and right A third switching valve that controls the direction and flow rate of the pressure oil supplied to at least one actuator other than the traveling hydraulic motor, and the merging switching valve is located at the most upstream position of the third circuit. The third switching valve is connected to the hydraulic pump, and the upstream side is connected to the third hydraulic pump via the merging switching valve, and the downstream side is connected to a third center bypass passage connected to the tank. The valve has at least one other than the first travel switching valve of the first circuit and the first position for guiding the discharge oil of the third hydraulic pump to the third center bypass passage, and the discharge oil of the third hydraulic pump. Horn A second position for supplying to one of at least one switching valve other than the switching valve and the second traveling switching valve of the second circuit, and the first traveling switching of the first circuit for the oil discharged from the third pump. The switch is configured to be switchable to at least one switching valve other than the valve and a third position that supplies both of the second circuit and at least one switching valve other than the second travel switching valve of the second circuit. When a command pilot pressure for switching a specific switching valve other than the first and second travel switching valves in the first circuit and the second circuit from a neutral position is generated, the command pilot pressure is guided, and the merging switching valve A first pilot pressure-receiving unit that switches the vehicle to the second position, at least one of the first travel switching valve and the second travel switching valve, and at least one switching valve other than the first travel switching valve of the first circuit; The second A signal pressure is introduced when a travel combined operation is performed to simultaneously switch at least one of the switching valves other than the second travel switching valve on the road from the neutral position, and the second switching valve is switched to the third position. And the merging switching valve is configured not to switch to the second position when the command pilot pressure for switching the specific switching valve from a neutral position is less than a predetermined pressure. Shall.
スイングポスト１０５は、上部旋回体１０３の前側に左右方向に回動可能に設けられ、スイング用油圧シリンダ１１６により左右方向に回動するようになっている。これにより、フロント作業機１０６が左右にスイングするようになっている。 The swing post 105 is provided on the front side of the upper swing body 103 so as to be capable of rotating in the left-right direction, and is rotated in the left-right direction by the swing hydraulic cylinder 116. Thereby, the front work machine 106 swings to the left and right.
フロント作業機１０６は、スイングポスト１０５に上下方向に回動可能に連結されたブーム１１７と、このブーム１１７に上下方向に回動可能に連結されたアーム１１８と、このアーム１１８に上下方向に回動可能に連結されたバケット１１９とを備えている。ブーム１１７、アーム１１８及びバケット１１９は、ブーム用油圧シリンダ１２０、アーム用油圧シリンダ１２１及びバケット用油圧シリンダ１２２により上下方向に回動するようになっている。なお、バケット１１９は、例えばオプション用油圧アクチュエータが組み込まれたアタッチメントと交換可能になっている。 The front work machine 106 includes a boom 117 coupled to the swing post 105 so as to be pivotable in the vertical direction, an arm 118 coupled to the boom 117 so as to be pivotable in the vertical direction, and a rotation to the arm 118 in the vertical direction. And a bucket 119 that is movably connected. The boom 117, the arm 118, and the bucket 119 are configured to rotate in the vertical direction by the boom hydraulic cylinder 120, the arm hydraulic cylinder 121, and the bucket hydraulic cylinder 122. The bucket 119 can be replaced with, for example, an attachment incorporating an optional hydraulic actuator.
また、合流切換弁１５は、ポンプポート２１を中立ポート２５に連通させ、第３油圧ポンプＰ３の吐出油を第３センタバイパス通路１９に導く中立位置Ａ（第１位置）と、ポンプポート２１と中立ポート２５の連通を遮断し、ポンプポート２１を第１連通ポート２２に連通させ、第３ポンプＰ３の吐出油を第１合流通路２３ａに導く合流位置Ｂ（第２位置）と、ポンプポート２１と中立ポート２５の連通を遮断し、ポンプポート２１を第１連通ポート２２と第２連通ポート２４の両方に導く走行直進位置Ｃ（第３位置）とに切り換え可能である。 Further, the merging switching valve 15 communicates the pump port 21 with the neutral port 25, neutral position A (first position) for guiding the discharge oil of the third hydraulic pump P 3 to the third center bypass passage 19, The neutral port 25 is disconnected, the pump port 21 is communicated with the first communication port 22, and a merge position B (second position) for guiding the discharged oil of the third pump P 3 to the first merge passage 23 a , and the pump port 21 And the neutral port 25 can be disconnected, and the pump port 21 can be switched to a straight traveling position C (third position) that leads to both the first communication port 22 and the second communication port 24.
第２パイロット受圧部２８は、絞り３０を備えたパイロット通路３１を介してパイロットポンプＰ４に接続された第１信号通路３２に接続されている。第１信号通路３２は、第２信号通路３３と第３信号通路３４とに分岐している。第２信号通路３３は、左右の走行用油圧モータ１１１ａ，１１１ｂに供給される圧油を制御する第１及び第２走行切換弁６，１１の両方が図示の中立位置にあるとき、タンク通路１３に連通し、第１及び第２走行切換弁６，１１の少なくとも一方が図示の中立位置から切り換えられると、タンク通路１３との連通が遮断されるようになっている。第３信号通路３４は、第１及び第２回路Ｃ１，Ｃ２の第１及び第２走行切換弁６，１１以外の切換弁である切換弁７，８，１２の全てが図示の中立位置にあるとき、タンク通路１３に連通し、切換弁７，８，１２の少なくとも１つが図示の中立位置から切り換えられると、タンク通路１３との連通が遮断されるようになっている。これにより第１及び第２走行切換弁６，１１の少なくとも一方が図示の中立位置から切り換えられ、かつ切換弁７，８，１２の少なくとも１つが図示の中立位置から切り換えられたとき（すなわち走行複合操作が行われたとき）、パイロットリリーフバルブ４によって一定に保たれたパイロットポンプＰ４の吐出圧と同じ圧力が信号圧力として第１信号通路３２に生成され、この信号圧力が第２パイロット受圧部２８に導かれ、合流切換弁１５は中立位置Ａから走行直進位置Ｃに切り換えられる。 The second pilot pressure receiving unit 28 is connected to a first signal path 32 connected to the pilot pump P4 via a pilot path 31 provided with a throttle 30. The first signal path 32 branches into a second signal path 33 and a third signal path 34. The second signal path 33 is provided when the first and second travel switching valves 6 and 11 that control the pressure oil supplied to the left and right traveling hydraulic motors 111a and 111b are in the illustrated neutral position. When at least one of the first and second travel switching valves 6 and 11 is switched from the illustrated neutral position, the communication with the tank passage 13 is blocked. In the third signal path 34, all of the switching valves 7 , 8 , 12 which are switching valves other than the first and second travel switching valves 6, 11 of the first and second circuits C1, C2 are in the neutral position shown in the figure. When communicating with the tank passage 13 and at least one of the switching valves 7 , 8 , 12 is switched from the neutral position shown in the drawing, the communication with the tank passage 13 is blocked. As a result, when at least one of the first and second travel switching valves 6, 11 is switched from the neutral position shown in the figure, and at least one of the switching valves 7 , 8 , 12 is switched from the neutral position shown in the figure (that is, the travel composite When the operation is performed), the same pressure as the discharge pressure of the pilot pump P4 kept constant by the pilot relief valve 4 is generated as a signal pressure in the first signal passage 32, and this signal pressure is generated in the second pilot pressure receiving portion 28. , The merging switching valve 15 is switched from the neutral position A to the traveling straight position C.
ブーム用の操作レバー装置１２７ａの操作レバー１２７が微操作でブーム上げ方向に操作され、ブーム上げ操作の指令パイロット圧が所定の圧力Ｐａ未満である場合は、合流切換弁１５のスプールは、第１パイロット受圧部２７にブーム上げの指令パイロット圧が印加されることで、スプリング２６の保持力に抗して図２の区間Ｎの位置に移動する。このときポンプポート２１と中立ポート２５間の通路が部分的に閉じるが、ポンプポート２１と第１連通ポート２２間の通路は開いておらず、合流切換弁１５は合流位置Ｂに切り換わらない。これにより第３油圧ポンプＰ３からの吐出油は、パラレル通路２０を介して第３回路Ｃ３の切換弁１６〜１８に供給されるとともに、ポンプポート２１と中立ポート２５間の通路から第３センタバイパス通路１９に送られる。第３回路Ｃ３の切換弁１６〜１８が図１の中立位置にあるとき、第３センタバイパス通路１９は全開しており、第３センタバイパス通路１９に送られた圧油は、タンク通路１３を介してタンクＴに還流する。 When the operation lever 127 of the boom operation lever device 127a is operated in the boom raising direction by fine operation, and the command pilot pressure of the boom raising operation is less than a predetermined pressure Pa, the spool of the merging switching valve 15 is By applying the boom raising command pilot pressure to the pilot pressure receiving portion 27, the pilot pressure receiving portion 27 moves to the position of the section N in FIG. 2 against the holding force of the spring 26. At this time, the passage between the pump port 21 and the neutral port 25 is partially closed, but the passage between the pump port 21 and the first communication port 22 is not opened, and the merging switching valve 15 is not switched to the merging position B. As a result, the oil discharged from the third hydraulic pump P3 is supplied to the switching valves 16 to 18 of the third circuit C3 via the parallel passage 20, and the third center bypass from the passage between the pump port 21 and the neutral port 25. It is sent to the passage 19. When the switching valves 16 to 18 of the third circuit C3 are in the neutral position in FIG. 1, the third center bypass passage 19 is fully open, and the pressure oil sent to the third center bypass passage 19 passes through the tank passage 13. To the tank T.
走行操作とブーム操作若しくはアーム操作若しくはバケット操作の少なくとも１つの操作が同時に行われたとき、第１信号通路３２とタンク通路１３との連通が遮断される。第１信号通路３２とタンク通路１３との連通が遮断されると、第１信号通路３２に信号圧力が生成され、この信号圧力が第２パイロット受圧部２８に印加され、その圧力作用によって合流切換弁１５のスプールがスプリング２６の保持力にさらに抗して走行直進位置Ｃに切り換わる。合流切換弁１５のスプールが走行直進位置Ｃに切り換わると、ポンプポート２１と第１連通ポート２２間の通路に加え、ポンプポート２１と第２連通ポート２４間の通路が開く。したがって、第３油圧ポンプＰ３の吐出油は、第３回路Ｃ３の切換弁１６〜１８及び第１回路Ｃ１の切換弁７，８に供給されるだけでなく、さらに、ポンプポート２１と第２連通ポート２４間の通路及び第２合流通路２３ｂを介して第２回路Ｃ２の切換弁１２にも供給される。
When at least one of the traveling operation, the boom operation, the arm operation, or the bucket operation is performed at the same time, the communication between the first signal path 32 and the tank path 13 is blocked. When the communication between the first signal passage 32 and the tank passage 13 is interrupted, a signal pressure is generated in the first signal passage 32, and this signal pressure is applied to the second pilot pressure receiving portion 28, and the confluence switching is performed by the pressure action. The spool of the valve 15 is switched to the straight traveling position C against the holding force of the spring 26 . When the spool of the confluence switching valve 15 is switched to the straight travel position C, a passage between the pump port 21 and the second communication port 24 is opened in addition to a passage between the pump port 21 and the first communication port 22. Therefore, the oil discharged from the third hydraulic pump P3 is not only supplied to the switching valves 16 to 18 of the third circuit C3 and the switching valves 7 and 8 of the first circuit C1, but is further connected to the pump port 21 and the second communication. It is also supplied to the switching valve 12 of the second circuit C2 via the passage between the ports 24 and the second junction passage 23b.
Claims (3)
前記エンジンにより駆動される第１〜第３油圧ポンプと、
前記第１〜第３油圧ポンプからブーム、アーム、バケット、上部旋回体、履帯を含む複数の被駆動部材を駆動する複数の油圧アクチュエータに供給される圧油の方向と流量をそれぞれ制御するオープンセンタ方式の複数の切換弁を備えた制御弁ユニットと、
前記エンジンにより駆動されるパイロットポンプと、
前記複数のアクチュエータに対応して設けられ、前記パイロットポンプの吐出油に基づいて、前記複数の切換弁を中立位置から切り換えるための指令パイロット圧を生成する複数の操作レバー装置とを備えた建設機械の油圧システムにおいて、
前記制御弁ユニットは、前記第１〜第３油圧ポンプにそれぞれ接続された第１〜第３回路を有し、
前記第１回路は、前記履帯を駆動する左右の走行用油圧モータの一方に供給される圧油の方向と流量を制御する第１走行切換弁と、前記左右の走行用油圧モータ以外の少なくとも１つのアクチュエータに供給される圧油の方向と流量を制御するその他の切換弁とを含む複数の第１切換弁を有し、前記複数の第１切換弁は、上流側が前記第１油圧ポンプに接続され、下流側がタンクに接続された第１センタバイパス通路にタンデムに接続され、
前記第２回路は、前記左右の走行用油圧モータの他方に供給される圧油の方向と流量を制御する第２走行切換弁と、前記左右の走行用油圧モータ以外の少なくとも１つのアクチュエータに供給される圧油の方向と流量を制御するその他の切換弁とを含む複数の第２切換弁を有し、前記複数の第２切換弁は、上流側が前記第２油圧ポンプに接続され、下流側がタンクに接続された第２センタバイパス通路にタンデムに接続され、
前記第３回路は、合流切換弁と、前記左右の走行用油圧モータ以外の少なくとも１つのアクチュエータに供給される圧油の方向と流量を制御する第３切換弁とを有し、前記合流切換弁は前記第３回路の最上流位置において前記第３油圧ポンプに接続され、前記第３切換弁は、上流側が前記合流切換弁を介して前記第３油圧ポンプに接続され、下流側がタンクに接続された第３センタバイパス通路に接続され、
前記合流切換弁は、前記第３油圧ポンプの吐出油を前記第３センタバイパス通路に導く第１位置と、前記第３油圧ポンプの吐出油を、前記第１回路の前記第１走行切換弁以外の少なくとも１つの切換弁と前記第２回路の前記第２走行切換弁以外の少なくとも１つの切換弁の一方に供給する第２位置と、前記第３ポンプの吐出油を、前記第１回路の前記第１走行切換弁以外の少なくとも１つの切換弁と前記第２回路の前記第２走行切換弁以外の少なくとも１つの切換弁の両方に供給する第３位置とに切り換え可能に構成され、
前記合流切換弁は、前記第１回路及び前記第２回路の前記第１及び第２走行切換弁以外の特定の切換弁を中立位置から切り換える指令パイロット圧が生成されたときにその指令パイロット圧が導かれ、前記合流切換弁を前記第２位置に切り換える第１パイロット受圧部と、前記第１走行切換弁と前記第２走行切換弁の少なくとも一方と前記第１回路の前記第１走行切換弁以外の少なくとも１つの切換弁と前記第２回路の前記第２走行切換弁以外の少なくとも１つの切換弁の少なくとも一方を同時に中立位置から切り換える走行複合操作を行ったときに信号圧力が導かれ、前記合流切換弁を前記第３位置に切り換える第２パイロット受圧部とを有し、
前記合流切換弁は、前記特定の切換弁を中立位置から切り換える前記指令パイロット圧が所定の圧力未満の場合、前記第２位置に切り換わらないように構成されていることを特徴とする建設機械の油圧システム。 Engine,
First to third hydraulic pumps driven by the engine;
An open center that controls the direction and flow rate of pressure oil supplied from the first to third hydraulic pumps to a plurality of hydraulic actuators that drive a plurality of driven members including a boom, an arm, a bucket, an upper swing body, and a crawler belt. A control valve unit having a plurality of switching valves of the type;
A pilot pump driven by the engine;
A construction machine provided with a plurality of operating lever devices that are provided corresponding to the plurality of actuators and generate command pilot pressures for switching the plurality of switching valves from a neutral position based on the discharge oil of the pilot pump In the hydraulic system of
The control valve unit has first to third circuits connected to the first to third hydraulic pumps, respectively.
The first circuit includes at least one other than the first travel switching valve that controls the direction and flow rate of pressure oil supplied to one of the left and right traveling hydraulic motors that drive the crawler belt, and the left and right traveling hydraulic motors. A plurality of first switching valves including a direction of pressure oil supplied to one actuator and another switching valve for controlling a flow rate, and the plurality of first switching valves are connected upstream to the first hydraulic pump. Is connected in tandem to the first center bypass passage connected to the tank on the downstream side,
The second circuit supplies a second travel switching valve that controls the direction and flow rate of the pressure oil supplied to the other of the left and right traveling hydraulic motors, and supplies to at least one actuator other than the left and right traveling hydraulic motors. A plurality of second switching valves including a direction of the pressurized oil and other switching valves for controlling the flow rate, wherein the plurality of second switching valves are connected to the second hydraulic pump on the upstream side and on the downstream side Connected to the second center bypass passage connected to the tank in tandem,
The third circuit includes a merging switching valve, and a third switching valve that controls the direction and flow rate of pressure oil supplied to at least one actuator other than the left and right traveling hydraulic motors. Is connected to the third hydraulic pump at the most upstream position of the third circuit, and the third switching valve is connected upstream to the third hydraulic pump via the merging switching valve and connected downstream to the tank. Connected to the third center bypass passage,
The merging switching valve has a first position for guiding the discharge oil of the third hydraulic pump to the third center bypass passage, and the discharge oil of the third hydraulic pump other than the first travel switching valve of the first circuit. A second position for supplying one of at least one switching valve and at least one switching valve other than the second travel switching valve of the second circuit, and discharge oil of the third pump, It is configured to be switchable to at least one switching valve other than the first travel switching valve and a third position supplied to both of the at least one switching valve other than the second travel switching valve of the second circuit,
The merging switching valve has a command pilot pressure that is generated when command pilot pressure is generated to switch a specific switching valve other than the first and second travel switching valves of the first circuit and the second circuit from a neutral position. Other than the first pilot pressure receiving portion that is guided and switches the merging switching valve to the second position, at least one of the first traveling switching valve and the second traveling switching valve, and the first traveling switching valve of the first circuit A signal pressure is introduced when a traveling combined operation is performed to simultaneously switch at least one of the switching valve other than the second traveling switching valve of the second circuit from the neutral position. A second pilot pressure receiving portion that switches the switching valve to the third position;
The merging switching valve is configured not to switch to the second position when the command pilot pressure for switching the specific switching valve from a neutral position is less than a predetermined pressure. Hydraulic system.
前記第１回路及び前記第２回路において、前記第１走行切換弁及び前記第２走行切換弁は、それぞれ、前記第１センタバイパス通路及び前記第２センタバイパス通路の最上流に配置されていることを特徴とする建設機械の油圧システム。 The hydraulic system for a construction machine according to claim 1,
In the first circuit and the second circuit, the first travel switching valve and the second travel switching valve are arranged at the most upstream of the first center bypass passage and the second center bypass passage, respectively. The construction machine hydraulic system.
前記特定の切換弁は、前記ブームを駆動する油圧シリンダに供給される圧油の方向と流量を制御するブーム用切換弁であることを特徴とする建設機械の油圧システム。 The hydraulic system for a construction machine according to claim 1 or 2,
The hydraulic system for a construction machine, wherein the specific switching valve is a boom switching valve that controls a direction and a flow rate of pressure oil supplied to a hydraulic cylinder that drives the boom.
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| CN106224306B (en) * | 2016-09-29 | 2019-03-15 | 徐工集团工程机械股份有限公司科技分公司 | Hydraulic system with flow-compensated function |
| JP6755814B2 (en) * | 2017-02-09 | 2020-09-16 | ナブテスコ株式会社 | Direction switching valve |
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