JP5333511B2 - 旋回式作業機械 - Google Patents
旋回式作業機械 Download PDFInfo
- Publication number
- JP5333511B2 JP5333511B2 JP2011103058A JP2011103058A JP5333511B2 JP 5333511 B2 JP5333511 B2 JP 5333511B2 JP 2011103058 A JP2011103058 A JP 2011103058A JP 2011103058 A JP2011103058 A JP 2011103058A JP 5333511 B2 JP5333511 B2 JP 5333511B2
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic motor
- turning
- valve
- communication
- tank
- 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.)
- Expired - Fee Related
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- 238000004891 communication Methods 0.000 claims abstract description 74
- 230000001133 acceleration Effects 0.000 claims description 12
- 239000003990 capacitor Substances 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 11
- 230000001172 regenerating effect Effects 0.000 claims description 10
- 238000010276 construction Methods 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 18
- 230000007935 neutral effect Effects 0.000 description 17
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000009412 basement excavation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008929 regeneration Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- 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
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- 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
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- 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
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
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- 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
- F15B13/024—Pressure relief 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- 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
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/14—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with rotary servomotors
-
- 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
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
- F15B2011/0243—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits the regenerative circuit being activated or deactivated automatically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation 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
- F15B2211/30—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
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- 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
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
- F15B2211/50527—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves using cross-pressure relief valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—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
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- 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
- F15B2211/7058—Rotary 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
- F15B2211/88—Control measures for saving energy
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Description
両旋回管路14,15とタンクTとの間に左側及び右側両連通弁25,26が設けられている。
第1実施形態との相違点のみを説明する。
第3実施形態は第1実施形態の変形形態である。
第4実施形態は第2実施形態の構成において、第3実施形態と同様に両旋回管路14,15に共用される一つの連通弁34を用いている。
(1) 上記実施形態では、旋回力行時には、起動時を含む加速時か定常運転時かを問わず反対側連通弁を開く構成をとったが、起動を含む加速時と定常運転時とをリモコン弁12の操作等によって区別し、いずれか一方のみについて反対側連通弁を開く構成をとってもよい。
2 上部旋回体
10 油圧ポンプ
11 油圧モータ
12 旋回操作手段としてのリモコン弁
13 コントロールバルブ
14 左旋回管路
15 右旋回管路
T タンク 16,17 リリーフ弁
18 リリーフ弁回路
19,20 チェック弁
21 チェック弁回路
22 連通路
23 メークアップライン
25,26 連通弁
27 制御手段としてのコントローラ
28 通路
29 旋回電動機
30 蓄電器
31,32 操作検出手段としての圧力センサ
33 速度検出手段としての速度センサ
34 連通弁
Claims (6)
- 下部走行体と、この下部走行体上に旋回自在に搭載された上部旋回体と、この上部旋回体の旋回駆動源としての油圧モータと、この油圧モータの圧油供給源としての油圧ポンプと、旋回の加速または定常運転を行う力行及び減速、停止を指令する旋回操作手段と、この旋回操作手段の操作に基づいて上記油圧モータに対する圧油の給排を制御するコントロールバルブとを備えた旋回式作業機械において、上記油圧モータの両側管路とタンクとの間に連通弁を設け、上記旋回操作手段の力行操作時にその操作信号に基づいて上記油圧モータの吐出側管路を、上記コントロールバルブを介さずに上記連通弁によって直接タンクに連通させるように構成したことを特徴とする旋回式作業機械。
- 上記油圧モータにより回転駆動される旋回電動機と、蓄電器と、上記旋回操作手段の操作を検出する操作検出手段と、上部旋回体の旋回速度を検出する速度検出手段と、上記連通弁を制御する制御手段とを設け、この制御手段は、上記操作、速度両検出手段の検出信号に基づいて減速時か否かを判断し、減速時に上記連通弁によるモータ吐出側管路とタンクの連通を維持したまま上記旋回電動機に発電機作用を行わせてブレーキ力を発揮させ、その回生電力を上記蓄電器に充電させるように構成したことを特徴とする請求項1記載の旋回式作業機械。
- 上記油圧モータの両側管路にリリーフ弁を接続するとともに、上記旋回操作手段の操作を検出する操作検出手段と、上部旋回体の旋回速度を検出する速度検出手段と、上記連通弁を制御する制御手段とを設け、この制御手段は、上記操作、速度両検出手段の検出信号に基づいて減速時か否かを判断し、減速時に上記連通弁を閉じ、上記リリーフ弁によって油圧モータにブレーキをかけるように構成したことを特徴とする請求項1記載の旋回式作業機械。
- 上記油圧モータの両側管路とタンクとの間に、管路別に連通弁を設けたことを特徴とする請求項1〜3のいずれか1項に記載の旋回式作業機械。
- 上記油圧モータの両側管路とタンクとの間に、両側管路に共用される連通弁を設けたことを特徴とする請求項1〜3のいずれか1項に記載の旋回式作業機械。
- 上記油圧モータの両側管路間に、一対のリリーフ弁を互いの出口側が接続された状態で対向配置したリリーフ弁回路と、一対のチェック弁を互いの入口側が接続された状態で対向配置したチェック弁回路とを並列に設け、この両回路を連通路で接続するとともに、この連通路に、タンク油をメータイン側に吸い上げるメークアップラインと、上記連通弁の出口側とを接続したことを特徴とする請求項1〜5のいずれか1項に記載の旋回式作業機械。
Priority Applications (18)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011103058A JP5333511B2 (ja) | 2011-05-02 | 2011-05-02 | 旋回式作業機械 |
EP12779876.7A EP2706153B1 (en) | 2011-05-02 | 2012-04-19 | Slewing type working machine |
CN201280021610.9A CN103547741B (zh) | 2011-05-02 | 2012-04-19 | 回转式工程机械 |
CN201280021510.6A CN103534419B (zh) | 2011-05-02 | 2012-04-19 | 回转式工程机械 |
PCT/JP2012/002724 WO2012150653A1 (ja) | 2011-05-02 | 2012-04-19 | 旋回式作業機械 |
CN201280021547.9A CN103502540B (zh) | 2011-05-02 | 2012-04-19 | 回转式工程机械 |
US14/008,207 US8881519B2 (en) | 2011-05-02 | 2012-04-19 | Slewing type working machine |
PCT/JP2012/002723 WO2012150652A1 (ja) | 2011-05-02 | 2012-04-19 | 旋回式作業機械 |
EP12779443.6A EP2706151B1 (en) | 2011-05-02 | 2012-04-19 | Slewing type working machine |
US14/007,978 US8826656B2 (en) | 2011-05-02 | 2012-04-19 | Slewing type working machine |
EP12779336.2A EP2706150B1 (en) | 2011-05-02 | 2012-04-19 | Rotation-type working machine |
EP12779820.5A EP2706152B1 (en) | 2011-05-02 | 2012-04-19 | Slewing type working machine |
PCT/JP2012/002722 WO2012150651A1 (ja) | 2011-05-02 | 2012-04-19 | 旋回式作業機械 |
CN201280021384.4A CN103518021B (zh) | 2011-05-02 | 2012-04-19 | 回转式工程机械 |
US14/007,873 US8752373B2 (en) | 2011-05-02 | 2012-04-19 | Slewing type working machine |
PCT/JP2012/002718 WO2012150650A1 (ja) | 2011-05-02 | 2012-04-19 | 旋回式作業機械 |
US14/007,884 US8826653B2 (en) | 2011-05-02 | 2012-04-19 | Slewing type working machine |
US14/339,031 US9506220B2 (en) | 2011-05-02 | 2014-07-23 | Slewing type working machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011103058A JP5333511B2 (ja) | 2011-05-02 | 2011-05-02 | 旋回式作業機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012233352A JP2012233352A (ja) | 2012-11-29 |
JP5333511B2 true JP5333511B2 (ja) | 2013-11-06 |
Family
ID=47107843
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011103058A Expired - Fee Related JP5333511B2 (ja) | 2011-05-02 | 2011-05-02 | 旋回式作業機械 |
Country Status (5)
Country | Link |
---|---|
US (2) | US8881519B2 (ja) |
EP (1) | EP2706150B1 (ja) |
JP (1) | JP5333511B2 (ja) |
CN (1) | CN103518021B (ja) |
WO (1) | WO2012150650A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5504423B2 (ja) * | 2010-08-27 | 2014-05-28 | 日立建機株式会社 | 油圧作業機の油圧駆動装置 |
KR102046673B1 (ko) * | 2011-12-23 | 2019-11-19 | 제이씨 뱀포드 엑스카베이터즈 리미티드 | 운동 에너지 저장 장치를 포함한 유압 시스템 |
JP5590074B2 (ja) * | 2012-06-26 | 2014-09-17 | コベルコ建機株式会社 | 旋回式作業機械 |
JP5870205B2 (ja) * | 2012-10-30 | 2016-02-24 | 川崎重工業株式会社 | 液圧制御装置 |
JP6089665B2 (ja) * | 2012-12-13 | 2017-03-08 | コベルコ建機株式会社 | 建設機械の油圧制御装置 |
JP5857004B2 (ja) * | 2013-07-24 | 2016-02-10 | 日立建機株式会社 | 建設機械のエネルギ回生システム |
JP6150740B2 (ja) * | 2014-02-20 | 2017-06-21 | 日立建機株式会社 | 建設機械 |
CN106104012B (zh) | 2014-03-11 | 2019-07-23 | 住友重机械工业株式会社 | 挖土机 |
JP6244459B2 (ja) * | 2014-06-26 | 2017-12-06 | 日立建機株式会社 | 作業機械 |
JP6271364B2 (ja) * | 2014-07-25 | 2018-01-31 | 株式会社神戸製鋼所 | 電動ウインチ装置 |
CN104627160A (zh) * | 2015-02-13 | 2015-05-20 | 湖南五新重型装备有限公司 | 一种工程车辆液压行走控制系统 |
JP6511370B2 (ja) * | 2015-09-04 | 2019-05-15 | 株式会社神戸製鋼所 | 電動ウィンチの制動装置 |
CN105545851B (zh) * | 2015-12-21 | 2017-07-07 | 中国航空工业集团公司金城南京机电液压工程研究中心 | 一种适用于水上飞机的水舵操纵油路结构 |
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EP2706150B1 (en) | 2017-09-06 |
WO2012150650A1 (ja) | 2012-11-08 |
EP2706150A4 (en) | 2015-01-28 |
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CN103518021A (zh) | 2014-01-15 |
US9506220B2 (en) | 2016-11-29 |
US8881519B2 (en) | 2014-11-11 |
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