JP6114065B2 - 建設機械及びコントローラ - Google Patents
建設機械及びコントローラ Download PDFInfo
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- JP6114065B2 JP6114065B2 JP2013038967A JP2013038967A JP6114065B2 JP 6114065 B2 JP6114065 B2 JP 6114065B2 JP 2013038967 A JP2013038967 A JP 2013038967A JP 2013038967 A JP2013038967 A JP 2013038967A JP 6114065 B2 JP6114065 B2 JP 6114065B2
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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
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
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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
-
- 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
-
- 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
- E02F9/2292—Systems with two or more pumps
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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
- E02F9/2296—Systems with a variable displacement pump
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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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- 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
- F15B21/001—Servomotor systems with fluidic 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
- 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
-
- 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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20569—Type of pump capable of working as pump and motor
-
- 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
- F15B2211/20576—Systems with pumps with multiple pumps
-
- 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
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
- F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
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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
-
- 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
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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
- F15B2211/70—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
- F15B2211/7053—Double-acting output members
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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
- F15B2211/70—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
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
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- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- 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)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
Description
6 中立流路
8 絞り
9 パイロット流路
11 第1圧力センサ
16 中立流路
18 絞り
19 パイロット流路
21 第2圧力センサ
50 吐出通路
51 第1アシスト通路
52 第2アシスト通路
53 第1開閉制御弁
54 第2開閉制御弁
60 コントローラ
71 第1メインポンプ
72 第2メインポンプ
74 タンク(貯留部)
75 回生モータ
76 サブポンプ
77 電動モータ
Claims (5)
- 作動流体により駆動されるアクチュエータを有するハイブリッド建設機械であって、
作動流体を貯留する貯留部と、
作動流体を吐出するポンプと、
前記ポンプと前記貯留部、及び前記ポンプと前記アクチュエータの連通状態を制御する制御弁と、
前記ポンプから吐出された作動流体であって前記制御弁から前記貯留部に向かう作動流体の流れを絞る絞りと、
前記制御弁と前記絞りとの間の作動流体圧を取得する圧力取得部と、
前記作動流体圧と、前記ハイブリッド建設機械の動作モードを判別するため予め設定された判別圧力値との大小関係を比較することで、前記ハイブリッド建設機械の動作モードが前記アクチュエータを動作させる特定の動作モードであるか否かを判別するモード判別部と、
前記モード判別部の比較結果に基づいて前記判別圧力値を変更する判別圧力値設定部と、を備え、
前記判別圧力値設定部は、前記作動流体圧が前記判別圧力値より低くなると前記判別圧力値を上げ、前記作動流体圧が前記判別圧力値より高くなると前記判別圧力値を下げるよう前記判別圧力値を設定する、
ことを特徴とするハイブリッド建設機械。 - 前記判別圧力値設定部は、
前記モード判別部の比較結果に基づき、前記判別圧力値として第1閾値又は当該第1閾値よりも高い第2閾値を設定するように構成されており、
前記判別圧力値として前記第1閾値が設定されている場合、前記作動流体圧が前記第1閾値より低くなった時に前記判別圧力値を前記第2閾値に変更し、
前記判別圧力値として前記第2閾値が設定されている場合、前記作動流体圧が前記第2閾値より高くなった時に前記判別圧力値を前記第1閾値に変更する、
ことを特徴とする請求項1のハイブリッド建設機械。 - 前記特定の動作モードは、前記アクチュエータにより前記ハイブリッド建設機械の車体が旋回する旋回モードである、
ことを特徴とする請求項1又は2に記載のハイブリッド建設機械。 - 前記判別圧力値の変更前と変更後の値の差は、前記制御弁と前記絞りとの間の作動流体の圧力に生じ得る圧力変動に基づいて定められた値である、
ことを特徴とする請求項1から3のいずれか一つに記載のハイブリッド建設機械。 - 作動流体を貯留する貯留部と、
作動流体を吐出するポンプと、
作動流体により駆動されるアクチュエータと、
前記ポンプと前記貯留部、及び前記ポンプと前記アクチュエータの連通状態を制御する制御弁と、
前記ポンプから吐出された作動流体であって前記制御弁から前記貯留部に向かう作動流体の流れを絞る絞りと、を有するハイブリッド建設機械に備えられるコントローラであって、
前記制御弁と前記絞りとの間の作動流体圧を取得する圧力取得部と、
前記作動流体圧と、前記ハイブリッド建設機械の動作モードを判別するため予め設定された判別圧力値との大小関係を比較することで、前記ハイブリッド建設機械の動作モードが前記アクチュエータを動作させる特定の動作モードであるか否かを判別するモード判別部と、
前記モード判別部の比較結果に基づいて前記判別圧力値を変更する判別圧力値設定部と、を備え、
前記判別圧力値設定部は、前記作動流体圧が前記判別圧力値より低くなると前記判別圧力値を上げ、前記作動流体圧が前記判別圧力値より高くなると前記判別圧力値を下げるよう前記判別圧力値を設定する、
ことを特徴とするコントローラ。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013038967A JP6114065B2 (ja) | 2013-02-28 | 2013-02-28 | 建設機械及びコントローラ |
CN201380030653.8A CN104364448B (zh) | 2013-02-28 | 2013-11-18 | 建筑机械以及控制器 |
KR1020147033412A KR101649438B1 (ko) | 2013-02-28 | 2013-11-18 | 건설 기계 및 컨트롤러 |
DE112013003151.5T DE112013003151T5 (de) | 2013-02-28 | 2013-11-18 | Baumaschine und Steuereinrichtung |
PCT/JP2013/081059 WO2014132495A1 (ja) | 2013-02-28 | 2013-11-18 | 建設機械及びコントローラ |
US14/405,535 US9651062B2 (en) | 2013-02-28 | 2013-11-18 | Construction machine and controller |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013038967A JP6114065B2 (ja) | 2013-02-28 | 2013-02-28 | 建設機械及びコントローラ |
Publications (2)
Publication Number | Publication Date |
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JP2014167217A JP2014167217A (ja) | 2014-09-11 |
JP6114065B2 true JP6114065B2 (ja) | 2017-04-12 |
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Application Number | Title | Priority Date | Filing Date |
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JP2013038967A Expired - Fee Related JP6114065B2 (ja) | 2013-02-28 | 2013-02-28 | 建設機械及びコントローラ |
Country Status (6)
Country | Link |
---|---|
US (1) | US9651062B2 (ja) |
JP (1) | JP6114065B2 (ja) |
KR (1) | KR101649438B1 (ja) |
CN (1) | CN104364448B (ja) |
DE (1) | DE112013003151T5 (ja) |
WO (1) | WO2014132495A1 (ja) |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP6285843B2 (ja) * | 2014-10-20 | 2018-02-28 | 川崎重工業株式会社 | 建設機械の油圧駆動システム |
JP2016109204A (ja) * | 2014-12-05 | 2016-06-20 | Kyb株式会社 | ハイブリッド建設機械の制御システム |
JP6646547B2 (ja) * | 2016-08-22 | 2020-02-14 | 株式会社神戸製鋼所 | エネルギー回生装置、およびこれを備えた作業機械 |
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JPH10219727A (ja) * | 1997-01-31 | 1998-08-18 | Komatsu Ltd | 建設機械の作業機制御装置 |
JP3323791B2 (ja) * | 1997-11-25 | 2002-09-09 | 新キャタピラー三菱株式会社 | 建設機械の制御装置及び制御方法 |
JP4405508B2 (ja) * | 2004-03-01 | 2010-01-27 | ヤマハ発動機株式会社 | 燃料ポンプ制御装置および燃料ポンプ制御方法 |
JP4171467B2 (ja) * | 2005-01-20 | 2008-10-22 | 株式会社小松製作所 | 建設機械の制御モード切換装置および建設機械 |
JP2007071197A (ja) * | 2005-08-11 | 2007-03-22 | Yanmar Co Ltd | ハイブリッド型油圧作業機 |
JP4769524B2 (ja) * | 2005-09-12 | 2011-09-07 | 大阪瓦斯株式会社 | ポリシランの精製方法 |
JP4942699B2 (ja) * | 2008-04-25 | 2012-05-30 | カヤバ工業株式会社 | ハイブリッド建設機械の制御装置 |
JP5323753B2 (ja) | 2010-03-26 | 2013-10-23 | カヤバ工業株式会社 | 建設機械の制御装置 |
JP5424982B2 (ja) * | 2010-05-20 | 2014-02-26 | カヤバ工業株式会社 | ハイブリッド作業機械 |
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2013
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- 2013-11-18 CN CN201380030653.8A patent/CN104364448B/zh not_active Expired - Fee Related
- 2013-11-18 WO PCT/JP2013/081059 patent/WO2014132495A1/ja active Application Filing
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KR101649438B1 (ko) | 2016-08-19 |
CN104364448B (zh) | 2016-09-14 |
DE112013003151T5 (de) | 2015-03-12 |
US9651062B2 (en) | 2017-05-16 |
WO2014132495A1 (ja) | 2014-09-04 |
KR20150013212A (ko) | 2015-02-04 |
CN104364448A (zh) | 2015-02-18 |
JP2014167217A (ja) | 2014-09-11 |
US20150152890A1 (en) | 2015-06-04 |
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