JPS6252203A - Control device of hydraulic circuit - Google Patents
Control device of hydraulic circuitInfo
- Publication number
- JPS6252203A JPS6252203A JP19193585A JP19193585A JPS6252203A JP S6252203 A JPS6252203 A JP S6252203A JP 19193585 A JP19193585 A JP 19193585A JP 19193585 A JP19193585 A JP 19193585A JP S6252203 A JPS6252203 A JP S6252203A
- Authority
- JP
- Japan
- Prior art keywords
- control valve
- pressure
- lever
- 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.)
- Granted
Links
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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は制御弁とアクチュエータとの間にパイロット操
作式方向切換弁を有し、この方向切換弁および制御弁を
制御して制御弁を通る流量に応じてアクチュエータの速
度を制御する油圧回路の制御装置に関するものである。Detailed Description of the Invention [Industrial Field of Application] The present invention has a pilot operated directional valve between a control valve and an actuator, and controls the directional valve and the control valve to The present invention relates to a control device for a hydraulic circuit that controls the speed of an actuator according to a flow rate.
従来、アクチュエータの速度を制御する油圧回路として
、例えば、特開昭５７−１５４５０５号公報に示される
ように、制御弁とアクチュエータとの間にパイロット操
作式方向切換弁を設けたものがある。Conventionally, as a hydraulic circuit for controlling the speed of an actuator, there is a type in which a pilot-operated directional switching valve is provided between a control valve and an actuator, as shown in, for example, Japanese Patent Laid-Open No. 57-154505.
この種の油圧回路におけるパイロット操作式方向切換弁
は管路の破損等による駆動物の落下を防ぐために装備さ
れている。そして、この種の油圧回路の一使用例として
は、前述したパイロット操作式方向切換弁を開状態に切
換えたのち、制御弁を操作して油圧源からの圧油をアク
チュエータに供給してアクチュエータを加速制御するこ
とが可能である。A pilot-operated directional control valve in this type of hydraulic circuit is installed to prevent a driven object from falling due to damage to a pipe or the like. As an example of the use of this type of hydraulic circuit, after switching the aforementioned pilot-operated directional control valve to the open state, the control valve is operated to supply pressure oil from the hydraulic source to the actuator to operate the actuator. It is possible to control acceleration.
上記従来例では、パイロット操作式方向切換弁の前後に
圧力差が生じている状態において、パイロット操作式方
向切換弁の入口ポートと出口ポートとを接続した場合、
その途端に圧力の高圧側から低圧側に油が流れショック
が生じる。すなわち、アクチュエータによって負荷を静
かに加速させるため！ＩＣ、制御弁をゆっくりと操作し
ても、前述したパイロット操作式方向切換弁の制御時の
ショックにより、負荷の慣性と配管内の油の圧縮性によ
るばね効果のため、負荷が振動するという問題点があっ
た。In the above conventional example, when the inlet port and outlet port of the pilot-operated directional control valve are connected in a state where there is a pressure difference before and after the pilot-operated directional control valve,
As soon as this happens, oil flows from the high pressure side to the low pressure side, causing a shock. i.e. to silently accelerate the load by the actuator! Even if the IC and control valve are operated slowly, the load vibrates due to the spring effect caused by the inertia of the load and the compressibility of the oil in the piping due to the shock during control of the pilot-operated directional valve mentioned above. There was a point.
本発明は前述の事柄にもとづいてなされたもので、パイ
ロット操作式方向切換弁の切換えによるショックを小さ
くシ、負荷をスムーズに加速できる油圧回路の制御装置
を提供することを目的とする。The present invention has been made based on the above-mentioned problems, and an object of the present invention is to provide a hydraulic circuit control device that can reduce the shock caused by switching a pilot-operated directional control valve and smoothly accelerate a load.
本発明の上記の目的は、制御弁とアクチュエータとの間
に介設され、制御弁からアクチュエータに供給される圧
油の流れを断接するパイロット操作式方向切換弁および
前記制御弁を、操作レバーの信号に基づいて切換え制御
する油圧回路の制御装置において、前記パイロット操作
式方向切換弁前後の油圧管路に圧力検出器を設け、前記
操作レバーにその作動検出器を設け、このレバー作動検
出器から操作レバー非作動信号を受けているときには、
圧力検出器によって検出された方向切換弁前後の圧力に
よってアクチュエータ推力の差を小さくする値を演算し
、その値を制御弁に出力し、レバー作動検出器から操作
レバー作動信号を受けているときには、レバー操作量に
対応した値を制御弁に出力する制御装置を備えることに
より達成される。The above-mentioned object of the present invention is to provide a pilot-operated directional control valve which is interposed between a control valve and an actuator and which connects and disconnects the flow of pressure oil supplied from the control valve to the actuator, In a control device for a hydraulic circuit that performs switching control based on a signal, a pressure detector is provided in a hydraulic line before and after the pilot-operated directional control valve, an operation detector thereof is provided on the operation lever, and a When receiving a control lever deactivation signal,
A value that reduces the difference in actuator thrust is calculated based on the pressure before and after the directional control valve detected by the pressure detector, and when the value is output to the control valve and the control lever operation signal is received from the lever operation detector, This is achieved by providing a control device that outputs a value corresponding to the amount of lever operation to the control valve.
操作レバーが操作されていないときには、圧力検出器に
よって検出した方向切換弁の前後圧力によって切換弁前
後の推力差を小さくするように制御弁が操作され、方向
切換弁の切換えによるショックを事前に調整しているの
で、その切換え時のショックを小さくすることができる
。When the control lever is not operated, the control valve is operated to reduce the difference in thrust between the front and rear of the directional control valve based on the pressure detected by the pressure detector, and the shock caused by switching the directional control valve is adjusted in advance. Therefore, the shock at the time of switching can be reduced.
以下本発明の実施例を図面を参照して説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第１図は本発明の装置の一実施例を示すもので、この図
において、１は油圧ポンプ、２はリリーフ弁、３は例え
ば電気油圧サーボ弁等の制御弁、４は例えばシリンダ等
のアクチュエータ、５ａ。FIG. 1 shows an embodiment of the device of the present invention, in which 1 is a hydraulic pump, 2 is a relief valve, 3 is a control valve such as an electro-hydraulic servo valve, and 4 is an actuator such as a cylinder. , 5a.
５ｂは制御弁３とアクチュエータ４との間の管路に設け
た外部パイロット操作式方向切換弁で、例えばパイロッ
ト操作式逆止弁で構成される。６は方向切換弁５ａ、５
ｂのパイロット油圧を切換えるオンオフ切換弁、７，８
は方向切換弁５ａの入口ポート側管路および出口ボート
側管路にそれぞれ設けた圧力検出器、９．１０は方向切
換弁５ａの入口ポート側管路および出口ボート側管路に
それぞれ設けた圧力検出器、１１は操作レバー、１１Ａ
はレバー作動検出器、１２は制御装置で、この制御装置
１２は操作レバー１１の操作量と圧力検出器７〜１０の
圧力値とによジオンオフ切換弁６にオン信号あるいはオ
フ信号を出力すると共に、制御弁３に電流工を出力する
。１３は油タンクである。Reference numeral 5b denotes an external pilot-operated directional switching valve provided in a conduit between the control valve 3 and the actuator 4, and is constituted by, for example, a pilot-operated check valve. 6 is a directional control valve 5a, 5
On/off switching valve for switching the pilot oil pressure of b, 7, 8
9.10 is the pressure detector provided in the inlet port side pipe and the outlet boat side pipe of the directional control valve 5a, and 9.10 is the pressure detector provided in the inlet port side pipe and the outlet boat side pipe of the directional control valve 5a. Detector, 11 is the operating lever, 11A
12 is a lever operation detector, and 12 is a control device, and this control device 12 outputs an on signal or an off signal to the Zion-off switching valve 6 according to the amount of operation of the operating lever 11 and the pressure values of pressure detectors 7 to 10. , outputs current to the control valve 3. 13 is an oil tank.
前述した制御装置１２は第２図に示すように、例えば、
ディジタル演算器とアナログ回路で構成されており、ア
ナログ信号をディジタル信号に変換するＡ／Ｄ変換器１
２Ａと、各種の制御や演算処理を行う中央処理部１２Ｂ
と、制御手段のプログラムや所定の関数関係が設定され
るメモリ１２Ｃと、制御内容をオンオフ切換弁６に出力
するドライバ回路１２Ｄと、制御内容の出力であるディ
ジタル信号をアナログ信号に変換するＤ／Ａ変換器１２
Ｅと、電圧信号を電流信号に変換して制御弁Φ３に出力
するサーボ増幅器１２Ｆとを備えている。As shown in FIG. 2, the aforementioned control device 12 includes, for example,
A/D converter 1, which is composed of a digital arithmetic unit and an analog circuit, and converts analog signals into digital signals.
2A, and a central processing unit 12B that performs various controls and arithmetic processing.
, a memory 12C in which programs and predetermined functional relationships of the control means are set, a driver circuit 12D that outputs control contents to the on/off switching valve 6, and a D/D converter that converts digital signals that are the output of the control contents into analog signals. A converter 12
E, and a servo amplifier 12F that converts a voltage signal into a current signal and outputs it to the control valve Φ3.
次に上述した本発明の装置の一実施例の動作を第３図に
示すフローチャートを用いて説明する。Next, the operation of one embodiment of the apparatus of the present invention described above will be explained using the flowchart shown in FIG.
まず手順７０で示すように第２図に示す制御装置１２の
Ａ／Ｄ変換器１２Ａを介して中央処理部１２Ｂに、操作
レバー１１の操作量ＸＬ％圧力検出器７によって検出さ
れた方向切換弁５ａの入口ボート側の圧力Ｐム、圧力検
出器８によって検出された方向切換弁５ａの出口ボート
側の圧力ＰＲ圧力検出器９によって検出された方向切換
弁５ｂの入口ポート側の圧力ＰＢ及び圧力検出層１０に
よって検出された方向切換弁５ｂの出口ボート側の圧力
ＰＲが読込まれる。次いで手順７１で示すように、この
中央処理部１２Ｂで操作レバー１１が操作されているか
どうか、すなわち操作量Ｘｃがサーボ電流指令値Ｘ＝０
の範囲を越えているかどうかを判断する。このとき、操
作レバー１１が操作されていないと判断された場合には
手順７２に移シ、中央処理部１２Ｂからドライバ回路１
２Ｄを経て切換弁６にオフ信号が出力される。これによ
って方向切換弁５ａ、５ｂが第１図に示す閉状態に保た
れる。First, as shown in step 70, the operation amount XL% of the operation lever 11 is sent to the central processing unit 12B via the A/D converter 12A of the control device 12 shown in FIG. Pressure P on the inlet boat side of 5a, pressure PR on the outlet boat side of directional control valve 5a detected by pressure detector 8, pressure PB on the inlet port side of directional control valve 5b detected by pressure detector 9, and pressure The pressure PR on the outlet boat side of the directional switching valve 5b detected by the detection layer 10 is read. Next, as shown in step 71, whether or not the operating lever 11 is operated in this central processing unit 12B, that is, the operating amount Xc is determined by the servo current command value X=0.
Determine whether the range is exceeded. At this time, if it is determined that the operating lever 11 is not operated, the process moves to step 72, and the central processing unit 12B sends the driver circuit 1
An off signal is output to the switching valve 6 via 2D. This keeps the directional control valves 5a, 5b in the closed state shown in FIG.
次いで手順７３に移り、方向切換弁５ａ、５ｂの前後の
圧力差を小さくする圧力マツチング制御を行う。この圧
力マツチング制御の内容は後で詳述する。Next, the process moves to step 73, where pressure matching control is performed to reduce the pressure difference before and after the directional control valves 5a, 5b. The content of this pressure matching control will be explained in detail later.
また、上記した手順７１で、操作レバー１１が操作され
ていると判断された場合は手順７４に移る。手順６４で
は中央処理部１２Ｂからドライバ回路１２Ｄを経て切換
弁６にオン信号が出力される。これによって切換弁６は
第１図に示した状態から左へ切換えられ、方向切換弁５
ａ、５ｂが開状態になる。Furthermore, if it is determined in step 71 that the operating lever 11 is being operated, the process moves to step 74. In step 64, an ON signal is output from the central processing section 12B to the switching valve 6 via the driver circuit 12D. As a result, the switching valve 6 is switched to the left from the state shown in FIG.
a and 5b are opened.
次いで手順７５で示すように、中央処理部１２Ｂはメモ
リ１２Ｃに記憶されている操作レバー１１の操作量ＸＬ
と制御弁電流指令値Ｘとの関数関係から、当該操作量Ｘ
Ｌに相応する特定値Ｘｏを選定する処理を行い、とのＸ
＝ Ｘ ｏがメモＩＪ １２ Ｃに設定される。そし
て手順７３及び手順７５の後には手順７６に移シ、中央
処理部１２ＢからＤ／Ａ変換器１２Ｅに制御弁電流指令
値Ｘが出力される。Next, as shown in step 75, the central processing unit 12B calculates the operating amount XL of the operating lever 11 stored in the memory 12C.
From the functional relationship between the control valve current command value X and the control valve current command value
Perform processing to select a specific value Xo corresponding to L, and
= X o is set in memo IJ 12 C. After steps 73 and 75, the process moves to step 76, where the control valve current command value X is output from the central processing section 12B to the D/A converter 12E.
次いで手順７７に示すように、Ｄ／Ａ変換器１２Ｅによ
りディジタル信号である制御弁電流指令値Ｘをアナログ
電圧信号■に変換した後、サーボ増幅器１２Ｆによシミ
圧信号Ｖを電流信号■に変換して、制御弁３にサーボ電
流工が出力される。制御弁３はこのサーボ電流Ｉに応じ
て、通過する流量を制御する。Next, as shown in step 77, the D/A converter 12E converts the control valve current command value X, which is a digital signal, into an analog voltage signal ■, and then the servo amplifier 12F converts the stain pressure signal V into a current signal ■. Then, a servo current is output to the control valve 3. The control valve 3 controls the flow rate according to this servo current I.
第４図は本発明の装置に用いられる圧力マツチング制御
の制御手順の例を示すフローチャートである。この実施
例は第１図の状態におけるシリンダ４に加わっている推
力、す々わちシリンダ４のヘッド側有効面積をＡＨ，ロ
ンド側有効面積をＡＲとすると、シリンダ推力ｆは、
ｆ＝Ａａ・ＰＨ−ＡＲ−ＰＲ・・用団・（１）となる。FIG. 4 is a flowchart showing an example of a control procedure for pressure matching control used in the apparatus of the present invention. In this embodiment, the thrust force applied to the cylinder 4 in the state shown in FIG. 1 is as follows: If the effective area on the head side of the cylinder 4 is AH, and the effective area on the rond side is AR, the cylinder thrust force f is as follows: f=Aa・PH-AR-PR... Yodan (1).
この推力ｆに相当する圧力に力るように方向切換弁５ａ
、５ｂの入口ポート圧力ＰＡ、ＰＲを制御する。この制
御を行うことにより、方向切換弁５ａ、５ｂが切換わっ
た時、シリンダ４に急激な推力の変化が生じないので、
当然ショックも小さくすることができる。The directional control valve 5a is configured to apply a pressure corresponding to this thrust f.
, 5b inlet port pressures PA, PR. By performing this control, when the directional control valves 5a and 5b are switched, a sudden change in thrust force does not occur in the cylinder 4.
Naturally, the shock can also be reduced.
甘ず、手順８０により、Ａ／Ｄ変換器１２Ａを介して圧
力ＰＴＩ 、 ＰＲ、ＰＡ 、 Ｐｌｌを読み込む。次
いで手順８１で、方向切換弁５ａの出口ボート圧力Ｐ）
Ｉとシリンダ４のヘッド側面積ＡＨを乗算することによ
り、シリンダ４のヘッド側に加わっている力を演算し、
その値ＦＩＩをメモＩＪ １２ Ｃに記憶する。そして
、次に手順８２に移り、ＦＲ””Ａｎ’Ｘ−ＰＲの演算
を行うことにより、シリンダ４のロッド側に加わってい
る力を演算し、その値ＦＲをメモＩＪ １２ Ｃに記憶
する。次いで、手順８３で、Ｆム” Ａ ＩＩ 黄Ｐ
Ａの演算を行い、その値をメモリ１２Ｃに記憶する。手
順８４でも同様にＦＢ−ＡＲ≠Ｐ３の演算を行い、その
値をメモＩＪ １２ Ｃに記憶する。そして、次に手順
８５で、シリンダ４に加わっている推力と方向切換弁５
ａ、５ｂの入ロポート圧力Ｐム、Ｐｍから演算した推力
の差をとり、その差ΔＦをメモリ１２Ｃに記憶する。In step 80, the pressures PTI, PR, PA, and Pll are read through the A/D converter 12A. Then, in step 81, the outlet boat pressure P) of the directional control valve 5a is
The force applied to the head side of the cylinder 4 is calculated by multiplying I by the head side area AH of the cylinder 4,
Store the value FII in the memo IJ 12C. Then, the process moves to step 82, and the force applied to the rod side of the cylinder 4 is calculated by calculating FR""An'X-PR, and the value FR is stored in the memo IJ 12 C. Then, in step 83,
A is calculated and the value is stored in the memory 12C. In step 84, FB-AR≠P3 is similarly calculated, and the value is stored in the memo IJ12C. Then, in step 85, the thrust applied to the cylinder 4 and the directional control valve 5 are
The difference between the thrust forces calculated from the entry port pressures Pm and Pm of a and 5b is taken, and the difference ΔF is stored in the memory 12C.
次いで手順８６に移シ、中央処理部１２Ｂによってメモ
リ１２Ｃに記憶しである推力の差ΔＦにあらかじめ設定
しである係数に３を掛ける処理を行５ａ、５ｂの入ロボ
ート圧力Ｐム、Ｐｍがシリンダ４に加わっている推力ｆ
に相当する圧力に近くすることができる。Next, the process moves to step 86, in which the central processing unit 12B multiplies the thrust difference ΔF stored in the memory 12C by a preset coefficient by 3, so that the incoming robot pressures Pm and Pm in lines 5a and 5b are cylinder cylinders. Thrust force f applied to 4
The pressure can be close to that corresponding to .
なお上記の実施例では、制御装置１２としてディジタル
演算器とアナログ回路を挙げたが、この制御装置１２は
全てアナログ回路によって構成することも可能である。In the above embodiment, a digital arithmetic unit and an analog circuit are used as the control device 12, but the control device 12 can also be constructed entirely of analog circuits.
以上述べたように、本発明によれば方向切換弁を開くと
きの切換ショックを小さくすることができるので、負荷
をスムーズに加速でき、操作性の良い機械を構成するこ
とができる。As described above, according to the present invention, the switching shock when opening the directional switching valve can be reduced, so that the load can be smoothly accelerated and a machine with good operability can be constructed.
第１図は本発明の装置の一実施例を示す回路図、第２図
は本発明の装置を構成する制御装置の一例を示す回路図
、第３図は本発明の制御手順を示すフローチャート図、
第４図は本発明に用いられる圧力マツチング制御の制御
手順を示すフローチャート図である。
３・・・制御弁、４・・・シリンダ、５ａ、５ｂ・・・
方向切換弁、６・・・オンオフ切換弁、７〜１０・・・
圧力検出器、１１・・・操作レバー、１１人・・・レバ
ー作動検出器、１２・・・制御装置。Fig. 1 is a circuit diagram showing an embodiment of the device of the present invention, Fig. 2 is a circuit diagram showing an example of a control device constituting the device of the present invention, and Fig. 3 is a flowchart showing the control procedure of the present invention. ,
FIG. 4 is a flowchart showing the control procedure of pressure matching control used in the present invention. 3...Control valve, 4...Cylinder, 5a, 5b...
Directional switching valve, 6...On/off switching valve, 7-10...
Pressure detector, 11...operation lever, 11 people...lever operation detector, 12...control device.
Claims (1)
からアクチュエータに供給される圧油の流れを断接する
方向切換弁および前記制御弁を操作レバーの信号に基づ
いて切換え制御する油圧回路の制御装置において、前記
方向切換弁前後の油圧管路に圧力検出器を設け、前記操
作レバーにその作動検出器を設け、このレバー作動検出
器から、操作レバー非作動信号を受けているときには、
圧力検出器によつて検出された方向切換弁前後の圧力に
よつてアクチュエータに加わる推力の差を小さくする値
を演算して、その値を制御弁に出力し、レバー作動検出
器から操作レバー作動信号を受けているときには、操作
レバーの操作量に対応した値を制御弁に出力する制御装
置を備えたことを特徴とする油圧回路の制御装置。1. A directional switching valve that is interposed between a control valve and an actuator and connects and disconnects the flow of pressure oil supplied from the control valve to the actuator, and a hydraulic circuit that switches and controls the control valve based on a signal from an operating lever. In the control device, a pressure detector is provided in a hydraulic pipe before and after the directional control valve, and an operation detector thereof is provided on the operation lever, and when receiving an operation lever non-operation signal from the lever operation detector,
A value that reduces the difference in thrust applied to the actuator due to the pressure before and after the directional control valve detected by the pressure detector is calculated, and that value is output to the control valve, and the lever operation detector activates the control lever. A control device for a hydraulic circuit, comprising: a control device that outputs a value corresponding to the amount of operation of a control lever to a control valve when receiving a signal.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19193585A JPS6252203A (en) | 1985-09-02 | 1985-09-02 | Control device of hydraulic circuit |
| EP86101369A EP0190703B1 (en) | 1985-02-04 | 1986-02-03 | Control system for hydraulic circuit |
| US06/825,603 US4718329A (en) | 1985-02-04 | 1986-02-03 | Control system for hydraulic circuit |
| DE8686101369T DE3660226D1 (en) | 1985-02-04 | 1986-02-03 | Control system for hydraulic circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19193585A JPS6252203A (en) | 1985-09-02 | 1985-09-02 | Control device of hydraulic circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6252203A true JPS6252203A (en) | 1987-03-06 |
| JPH0514804B2 JPH0514804B2 (en) | 1993-02-26 |
Family
ID=16282897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19193585A Granted JPS6252203A (en) | 1985-02-04 | 1985-09-02 | Control device of hydraulic circuit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6252203A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007032789A (en) * | 2005-07-29 | 2007-02-08 | Shin Caterpillar Mitsubishi Ltd | Fluid pressure controller and fluid pressure control method |
| JP2007239968A (en) * | 2006-03-13 | 2007-09-20 | Toyota Industries Corp | Cylinder control device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57154505A (en) * | 1981-03-13 | 1982-09-24 | Mitsubishi Heavy Ind Ltd | Hydraulic system |
| JPS58193909A (en) * | 1982-04-08 | 1983-11-11 | Hitachi Constr Mach Co Ltd | Control device for hydraulic circuit |
| JPS5937307A (en) * | 1982-08-25 | 1984-02-29 | Hitachi Constr Mach Co Ltd | Controller of hydraulic circuit |
| JPS6018570A (en) * | 1983-07-11 | 1985-01-30 | Chichibu Cement Co Ltd | Solidifying material for improving soft ground |
| JPS60191934A (en) * | 1984-03-12 | 1985-09-30 | Canon Inc | Paper conveying device |
-
1985
- 1985-09-02 JP JP19193585A patent/JPS6252203A/en active Granted
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57154505A (en) * | 1981-03-13 | 1982-09-24 | Mitsubishi Heavy Ind Ltd | Hydraulic system |
| JPS58193909A (en) * | 1982-04-08 | 1983-11-11 | Hitachi Constr Mach Co Ltd | Control device for hydraulic circuit |
| JPS5937307A (en) * | 1982-08-25 | 1984-02-29 | Hitachi Constr Mach Co Ltd | Controller of hydraulic circuit |
| JPS6018570A (en) * | 1983-07-11 | 1985-01-30 | Chichibu Cement Co Ltd | Solidifying material for improving soft ground |
| JPS60191934A (en) * | 1984-03-12 | 1985-09-30 | Canon Inc | Paper conveying device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007032789A (en) * | 2005-07-29 | 2007-02-08 | Shin Caterpillar Mitsubishi Ltd | Fluid pressure controller and fluid pressure control method |
| JP2007239968A (en) * | 2006-03-13 | 2007-09-20 | Toyota Industries Corp | Cylinder control device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0514804B2 (en) | 1993-02-26 |
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