WO1998042923A1 - Hydraulische steueranordnung für eine mobile arbeitsmaschine, insbesondere für einen radlader - Google Patents
Hydraulische steueranordnung für eine mobile arbeitsmaschine, insbesondere für einen radlader Download PDFInfo
- Publication number
- WO1998042923A1 WO1998042923A1 PCT/EP1998/001543 EP9801543W WO9842923A1 WO 1998042923 A1 WO1998042923 A1 WO 1998042923A1 EP 9801543 W EP9801543 W EP 9801543W WO 9842923 A1 WO9842923 A1 WO 9842923A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- valve
- hydraulic
- pressure
- control
- directional
- Prior art date
Links
Classifications
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
-
- 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
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- 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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
Definitions
- the invention is based on a hydraulic control arrangement which is used for a mobile working machine, in particular for a wheel loader, and which has the features from the preamble of claim 1.
- the shut-off valve between the hydraulic accumulator and the lift cylinders is closed as long as the loading shovel is in use and can be opened by the driver or automatically as soon as pitching vibrations occur while driving or as soon as the driving speed exceeds a certain value, e.g. over 6 km / h lies.
- the branching of the filling line in front of the directional control valve block means that the hydraulic accumulator not only when the directional valve assigned to the lift cylinders is actuated, but also when which is charged when any directional valve is actuated, which leads to pressure build-up in the pump line.
- the actuation of the steering valve belonging to a hydraulic steering of the working machine can also lead to an inflow of pressure medium to the hydraulic accumulator. If the check valve is also open, the lift cylinders can move in an uncontrolled manner.
- the invention is based on the object of further developing a hydraulic control arrangement with the features from the preamble of claim 1 in such a way that uncontrolled movements of the hydraulic cylinder which can be connected to the hydraulic accumulator for damping pitching vibrations of the working machine are largely avoided.
- the hydraulic cylinder is usually a double-acting one, which can be controlled with the aid of a directional control valve, which can be adjusted from a middle rest position into two opposite directions in working positions.
- a directional control valve which can be adjusted from a middle rest position into two opposite directions in working positions.
- the hydraulic accumulator can only be filled in one direction when the directional valve is actuated. This simplifies the control arrangement. With a wheel loader e.g. it will suffice if the hydraulic accumulator can only receive pressure fluid when the directional valve is actuated in the direction of lifting the lift cylinder.
- a control valve is advantageously used to control the fillability of the hydraulic accumulator, which by actuating the directional control valve from a first switch position, in which it prevents the hydraulic accumulator from being filled, in which the filling line is therefore blocked in such a way that also then no pressure medium flows to the hydraulic accumulator when the pump pressure or the load pressure is higher than the accumulator pressure, can be switched to a second switching position in which the hydraulic accumulator can be filled.
- the switchable by operating the directional control valve is advantageously a seat valve, so that a largely leak-free shut-off of the filling line is guaranteed.
- Directional valves that are used in mobile hydraulics are nowadays no longer controlled directly mechanically, but rather via pilot signals that can be specified using a pilot control device.
- a pilot signal for the directional control valve is now also used to bring about a control signal for switching the control valve from the first switching position into the second switching position.
- the filling line branches off from a working line running between the directional control valve and the hydraulic cylinder and in the filling line there is a pressure-controlled shut-off valve with a valve member which is dependent on the load pressure prevailing in the working line in the opening direction and on the pressure in a rear control room can be acted upon in the closing direction.
- the rear control room is connected to the hydraulic accumulator.
- the rear control room to the tank is relieved.
- the rear control chamber can be blocked against the discharge of pressure medium. The check valve can then not be opened by the load pressure.
- Claims 7 to 10 contain advantageous developments of a hydraulic control arrangement according to claim 6.
- Several exemplary embodiments of a hydraulic control arrangement according to the invention are shown in the drawings. The invention will now be explained in more detail using these exemplary embodiments.
- Figure 1 shows the first embodiment in which the filling line is connected to the working line leading to two hydraulic cylinders and is in the filling line
- Check valve is located, which is controlled by two electromagnetically actuated pilot valves
- Figure 2 shows the second embodiment, which is largely identical to the first embodiment and in which two individual pilot valves of the first embodiment are combined to form a single pilot valve
- Figure 3 shows the third embodiment which branches off the filling line from the pump line in front of the directional control valve and a control valve is located in the filling line, with which the filling line can be shut off when the directional control valve is not actuated.
- the hydraulic control arrangements shown are each intended for wheel loaders, tractors, telescopic handlers or other machines and comprise a control block 10 with a plurality of directional control valves, in particular also with a directional control valve 11, which can assume a spring-centered central position and can be controlled with the two hydraulic cylinders 12 designed as differential cylinders with which the boom of a wheel loader is lifted and can be lowered.
- the directional control valve 11 has a first working connection 13, from which a first working line 14 leads to the pressure chambers 15 on the bottom side of the hydraulic cylinders 12.
- a second working line 16 runs between a second working connection 17 of the directional control valve 11 and the pressure chambers 18 of the hydraulic cylinders 12 on the piston rod side.
- a filling line 20 branches off from the working line 14 and leads to a hydraulic accumulator 21.
- a check valve 22 is arranged in the filling line, which is designed as a 2-way cartridge valve and has a movable valve member 23.
- This is a stepped piston, which can sit on a seat cone with the end face of the piston section, which is smaller in diameter, in the manner of a seat valve.
- the valve member 23 is acted upon by the pressure prevailing in the working line 14, that is to say by the load pressure of the two hydraulic cylinders 12 in the opening direction.
- the accumulator pressure acts in the opening direction on the annular surface between the two piston sections of the valve member 23.
- the valve member 23 is acted upon by a pressure prevailing in a rear control chamber 24 and by a weak compression spring 25.
- the first valve 30 is a 3/2
- Directional control valve with a first inlet 31, which is connected to the section of the filling line 20 between the working line 14 and the check valve 22, and with a second inlet 32, which is connected to the hydraulic accumulator 21.
- On Output 33 of the directional control valve 30 can be connected either to the input 31 or to the input 32, depending on the load pressure in the working line 14.
- an adjustable compression spring acts on the valve member of the valve 30, which is not shown in detail.
- the valve member is affected by the pressure in the input 31, that is, Load pressure of the hydraulic cylinder 12 is applied.
- a pilot valve 40 is placed on the directional control valve 30, which is designed as a 2/2-way seat valve and can be regarded as an unlockable check valve.
- a control channel 41 extending from the outlet 33 of the directional control valve 30 leads to a connection P of a further pilot valve 50, which is a 4/2 way valve.
- Whose valve member assumes a rest position under the action of a compression spring 51, in the passage between the port P and a port A, which is connected to a connection of the pilot valve 40.
- a tank connection T and a further connection B of the pilot valve 50 are blocked in its rest position.
- the tank connection is connected to a leakage connection Y of the plate 26 via channels leading through the housings of the various valves.
- connection B of the pilot valve 50 is connected to the rear control chamber of a second 2-way built-in valve 60 located in the plate 26, via which the piston rod-side pressure chambers 18 of the hydraulic cylinders 12 can be connected to a tank connection T of the plate 26.
- the valve member of the pilot valve 50 can be brought into a switching position by an electromagnet 52, in which the port P is closed and the two ports A and B are connected to the port T.
- the pilot valve 40 is arranged in a line 53 between the connection A of the pilot valve 50 and the rear control chamber 24 of the check valve 22. Its valve member is acted upon by a compression spring 42 and by the pressure prevailing in the rear control chamber of the check valve 22 in the direction of a rest position, in which it prevents an outflow of pressure medium from the rear control chamber 24 to port A of the pilot valve 50, an inflow of pressure medium from the port A of the pilot valve 50 to the rear control chamber 24, however, allows.
- the valve member can be brought by an electromagnet 43 into a switching position in which there is a free passage between the connection A of the pilot valve 50 and the rear control chamber 24 of the check valve 22.
- the directional control valve 11 of the control block 10 can be actuated in a hydraulically proportional manner, the pilot control pressures being generated with the aid of a hydraulic pilot control device 55 and being supplied to the directional control valve 11 via control lines 56.
- An electrical pressure switch 57 is connected to the pilot line, into which a pilot pressure is introduced when the hydraulic cylinders 12 are to be actuated in the direction of lifting the boom and for this purpose pressure medium is applied to the bottom pressure chambers 15, which switches over at a specific pilot pressure.
- This specific pilot pressure is preferably the pilot pressure at which the spring-centered valve spool of the directional control valve 11 begins to move.
- the solenoid 52 of the pilot valve 50 is activated arbitrarily by the driver when pitching vibrations occur, or automatically at a certain speed of the mobile working machine, e.g. at a speed of 6 km / h put on tension.
- the hydraulic accumulator 21 is therefore not influenced in its state of charge by the pressure build-up in the pressure chambers 15. The same applies if the directional valve is actuated in the direction of lowering the hydraulic cylinder 12. The pilot valve 40 then remains in the switching position shown, so that the check valve 22 cannot be opened by the pressure in the pressure chambers 15 of the hydraulic cylinders 12.
- the pressure switch 57 switches over, as a result of which the electromagnet 43 is actuated and the valve member of the pilot valve 40 reaches the second switching position.
- the pressure in the pressure chambers 15 remains below the pressure set on the compression spring 34 of the directional control valve 30, this switches the accumulator pressure through via the pilot valve 50 and the pilot valve 40 to the rear control chamber 24 of the check valve 22.
- the load pressure in the pressure chambers 15 of the hydraulic cylinders 12 now opens the shut-off valve 22 whenever it is at least the small pressure difference equivalent to the force of the compression spring 25 above the storage pressure.
- Pressure medium can then get into the hydraulic accumulator so that, if one looks at the force of the weak compression spring 25, it is always charged to the greatest load pressure in the pressure chambers 15 that occurs during a working cycle.
- the check valve 22 remains closed only when the load pressure at the valve 30 can overcome the force of the compression spring 34. After a switchover of the valve 30, the load pressure is present in the rear control chamber 24 of the check valve 22, so that the check valve 22 is held securely in conjunction with the compression spring 25.
- the pressure in the hydraulic accumulator 21 can therefore not exceed the value set on the compression spring 34 of the valve 30.
- a pressure limiting valve 58 is additionally provided, the input of which is connected to the hydraulic accumulator 21.
- both magnets 43 and 52 of the pilot valves 40 and 50 are energized so that both pilot valves switch from the rest positions shown in FIG. 1 to the other switching position.
- the rear control chamber 24 of the check valve 22 is connected via the pilot valve 40 and via the pilot valve 50 to the connection Y of the plate 26 and is thus relieved to the tank 27.
- the valve member 23 of the check valve 22 is lifted from its seat by load and accumulator pressure, so that there is an open connection between the hydraulic accumulator 21 and the pressure chambers 15 of the hydraulic cylinders 12.
- the accumulator pressure 21 corresponds to the maximum pressure reached during the working cycle, when the shut-off valve 22 is opened there is no sagging, but rather a slight lifting of the loading shovel. It may be the case that load pressures occur during the working cycle which cause the valve 30 to switch and which therefore do not follow the state of charge of the hydraulic accumulator 21. However, these load pressures only occur in special situations, for example when an object anchored in the ground is torn away or when the loading shovel moves against a stop, but are not caused by the weight of the loading shovel and the load that only acts when the wheel loader is driving. The state of charge of the hydraulic accumulator 21 is therefore always sufficient to keep the loading shovel at the level which it assumes when the check valve 22 is opened.
- pressure medium can be drawn from the piston rod side.
- gen pressure spaces 18 of the hydraulic cylinder 12 are displaced into the tank or fed from the tank to compensate for volume changes in the pressure spaces 18, which occur during the open connection of the pressure spaces 15 to the hydraulic accumulator 21.
- the embodiment according to FIG. 2 differs from that according to FIG. 1 only with regard to the pilot valves 40 and 50. Therefore, with regard to the control block 10, the hydraulic cylinders 12, the hydraulic accumulator 21, the check valves 22 and 60, the directional control valve 30 and the pilot control unit 55 refers to the corresponding description of FIG. 1. Different from the embodiment according to FIG. 1 is that the two pilot valves 40 and 50 are now combined to form a single pilot valve 60 which is placed on the directional control valve 30.
- the pilot valve 60 has a spring-centered central position, in which the connections T and B are shut off and only a flow from P to A is possible between the connections P and A.
- the valve member of the pilot valve 60 can be brought out of the central position into a lateral switching position in which the connections A and B are connected to the connection T by driving an electromagnet 52. From the middle position in the opposite direction, the valve member can be adjusted by acting on the pressure prevailing in the pilot line 56, in which a pilot pressure is built up to supply pressure medium into the bottom-side pressure chambers 15 of the hydraulic cylinders 12. In this other switching position of the directional control valve 60, the connection A is freely connected to the connection P. The connection A is now connected directly to the rear control chamber 24 of the check valve 22.
- the pilot valve 60 In the middle position or in the lower position of the directional control valve 11, the pilot valve 60 assumes its middle position provided the speed of the working machine does not exceed a certain value or the electromagnet 52 has not been switched on arbitrarily.
- the valve member of the directional valve 60 In the raised position of the directional valve 11, the valve member of the directional valve 60 is pressurized and reaches the switch position in which the port P is connected to the port A.
- the accumulator pressure or the load pressure is then present in the rear control chamber 24 of the check valve 22. The hydraulic accumulator is charged up to the maximum load pressure reached or up to the pressure set on the compression spring 34 of the valve 30.
- the electromagnet 52 is excited so that the valve member of the directional control valve 60 reaches the switching position in which the connections A and B are connected to the connection T.
- the rear control chambers of the check valves 22 and 60 are relieved of pressure, so that the two check valves 22 and 60 open and there is an open connection between the hydraulic accumulator 21 and the pressure chambers 15 of the hydraulic cylinders 12 and displaces pressure medium from the pressure chambers 18 and into the pressure chambers 18 Pressure fluid can be fed.
- the pressure at the connection T of a valve block is usually a few bar above the tank pressure prevailing at the drain port Y, so that the check valve 60 is opened by the pressure at the tank connection T against the tank pressure in the rear control chamber can. It is particularly advantageous that after slowing down and de-energization of the electromagnets 43 and 52 in the embodiment according to FIG. 1 and the electromagnet 52 alone in the embodiment according to FIG 24 of the check valve 22 is controlled and therefore closes the check valve. Influencing the hydraulic accumulator 21 or influencing the hydraulic accumulator 21 on the control system is then ruled out when the hydraulic cylinders 12 are subsequently lowered or the blade is unloaded, during which the directional control valve 11 is in its central position.
- the filling line 20 branches off from a pump line 65 in front of the valve control block 10.
- a 2/2-way valve 70, a pressure control valve 71 and a check valve 72 are first arranged in the filling line 20 leading to a plurality of hydraulic accumulators 21, as seen in the flow direction of the pressure medium from the pump line 65 to the hydraulic cylinders 21.
- the directional valve 70 In the rest position of the directional valve 70, which is brought about by a compression spring, its two connections are shut off from one another.
- the directional control valve can be switched into a through position by driving an electromagnet 73.
- the electromagnet 73 is always energized when the directional valve 11 located within the control block 10 is actuated in the direction of lifting in order to actuate the hydraulic cylinders 12.
- the directional valve 70 In the middle position of the directional valve 11 and when it is actuated in the direction of lowering, the directional valve 70 is in its initial position.
- a maximum pressure is set at the pressure control valve 71, up to which the hydraulic accumulators 21 can be charged. As long as this pressure is not reached, the pressure control valve switches through the output of the directional valve 70 to the check valve 72.
- the inlet of the valve 71 connected to the outlet of the directional control valve 70 is blocked and the connection connected to the check valve is connected to the tank.
- the hydraulic accumulators 21 can be connected via a line 74 to the working line 14 running between the working connection 13 of the directional control valve and the pressure chambers 15 of the hydraulic cylinders 12.
- a 4/2 way valve 75 is installed, which, under the action of a compression spring 76, assumes a rest position in which two sections of the line 74 are shut off from one another and thus there is no connection between the hydraulic accumulators 21 and the working line 14 .
- the directional control valve 75 has two further connections for two sections of a line 77 which leads from the working line 15 between the directional control valve 11 and the pressure chambers 18 of the hydraulic cylinders 12 to the tank 27.
- the two sections of the line 77 are also shut off from one another.
- the directional control valve 75 can be brought into a switching position by an electromagnet 78, in which the two sections of the line 74 and the two sections of the line 77 are connected to one another.
- the electromagnet 78 is energized when the working machine equipped with the hydraulic control arrangement shown shows a agreed driving speed exceeds. Then the hydraulic accumulators 21 are connected to the pressure chambers 15 of the hydraulic cylinders 12, so that pitching vibrations can be damped. Changes in volume of the pressure chambers 18 can be compensated for via the line 77.
- the electromagnet 73 of the directional control valve 70 is only energized when the directional control valve 11 is actuated in the direction of lifting the hydraulic cylinders 12, ie when pressure medium 15 is supplied to the pressure chambers, the hydraulic accumulators 21 can only be charged. For example, do not happen that when there is pressure in line 65 while the working machine is traveling fast, pressure medium enters pressure chambers 15 of hydraulic cylinders 12 via filling line 20 and valve 75 switched during fast travel, even if directional control valve 11 is in
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-1999-7008566A KR100491841B1 (ko) | 1997-03-21 | 1998-03-17 | 이동 작업기용 유압 제어 장치 |
JP54207098A JP2001519009A (ja) | 1997-03-21 | 1998-03-17 | 自走式作業機械、特にホイールローダのための液圧制御装置 |
EP98916979A EP0968334B1 (de) | 1997-03-21 | 1998-03-17 | Hydraulische steueranordnung für eine mobile arbeitsmaschine, insbesondere für einen radlader |
US09/381,439 US6260355B1 (en) | 1997-03-21 | 1998-03-17 | Hydraulic control system for a mobile work machine, especially a wheel loader |
DE59804420T DE59804420D1 (de) | 1997-03-21 | 1998-03-17 | Hydraulische steueranordnung für eine mobile arbeitsmaschine, insbesondere für einen radlader |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19711769A DE19711769C2 (de) | 1997-03-21 | 1997-03-21 | Hydraulische Steueranordnung für eine mobile Arbeitsmaschine insbesondere für einen Radlader |
DE19711769.4 | 1997-03-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998042923A1 true WO1998042923A1 (de) | 1998-10-01 |
Family
ID=7824098
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1998/001543 WO1998042923A1 (de) | 1997-03-21 | 1998-03-17 | Hydraulische steueranordnung für eine mobile arbeitsmaschine, insbesondere für einen radlader |
Country Status (6)
Country | Link |
---|---|
US (1) | US6260355B1 (de) |
EP (1) | EP0968334B1 (de) |
JP (1) | JP2001519009A (de) |
KR (1) | KR100491841B1 (de) |
DE (2) | DE19711769C2 (de) |
WO (1) | WO1998042923A1 (de) |
Cited By (1)
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CN103225321A (zh) * | 2013-05-07 | 2013-07-31 | 山东理工大学 | 弹性橡胶带蓄能式装载机动臂势能回收再生控制方法 |
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JP3796376B2 (ja) * | 1999-02-22 | 2006-07-12 | カヤバ工業株式会社 | 作業車両用制御装置 |
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DE10148962C1 (de) * | 2001-10-04 | 2003-02-27 | Hydac Technology Gmbh | Steuervorrichtung |
US6612375B2 (en) * | 2001-11-02 | 2003-09-02 | Husco International, Inc. | Apparatus for counteracting vehicle pitch variation resulting from the operation of an electronic draft control system |
GB2418903B (en) * | 2004-10-08 | 2008-06-25 | Caterpillar Inc | Ride control circuit for a work machine |
US7661251B1 (en) * | 2008-08-22 | 2010-02-16 | Deere & Company | Header float system for use with an agricultural windrower or combine |
US7793740B2 (en) | 2008-10-31 | 2010-09-14 | Caterpillar Inc | Ride control for motor graders |
KR101021773B1 (ko) | 2009-04-06 | 2011-03-15 | 울산대학교 산학협력단 | 직동형 유정압 구동기 |
CN102587444B (zh) * | 2012-03-07 | 2014-07-30 | 浙江大学 | 一种具有能量差动回收的挖掘机油液混合动力系统 |
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CN103243753A (zh) * | 2013-05-07 | 2013-08-14 | 山东理工大学 | 弹性橡胶带蓄能式装载机动臂势能回收再生控制系统 |
CN103243750B (zh) * | 2013-05-07 | 2015-11-18 | 山东理工大学 | 复合蓄能器式装载机动臂势能回收再生装置 |
CN103243752B (zh) * | 2013-05-07 | 2015-09-02 | 山东理工大学 | 压簧蓄能器式装载机动臂势能回收再生装置 |
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CN108757593B (zh) * | 2018-06-12 | 2020-11-10 | 北京理工大学 | 一种扭力轴齿根滚压强化机床液压供油系统 |
RU2719295C9 (ru) * | 2019-06-18 | 2020-09-03 | Федеральное государственное бюджетное образовательное учреждение высшего образования " Псковский государственный университет" | Гидропривод землеройной машины непрерывного действия |
JP7214610B2 (ja) * | 2019-10-28 | 2023-01-30 | 株式会社クボタ | 作業機の油圧システム |
RU2768769C1 (ru) * | 2021-03-26 | 2022-03-24 | Федеральное государственное бюджетное образовательное учреждение высшего образования «Псковский государственный университет» | Траншеекопатель |
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- 1998-03-17 JP JP54207098A patent/JP2001519009A/ja active Pending
- 1998-03-17 US US09/381,439 patent/US6260355B1/en not_active Expired - Fee Related
- 1998-03-17 WO PCT/EP1998/001543 patent/WO1998042923A1/de active IP Right Grant
- 1998-03-17 DE DE59804420T patent/DE59804420D1/de not_active Expired - Lifetime
- 1998-03-17 KR KR10-1999-7008566A patent/KR100491841B1/ko not_active IP Right Cessation
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103225321A (zh) * | 2013-05-07 | 2013-07-31 | 山东理工大学 | 弹性橡胶带蓄能式装载机动臂势能回收再生控制方法 |
Also Published As
Publication number | Publication date |
---|---|
KR100491841B1 (ko) | 2005-05-27 |
US6260355B1 (en) | 2001-07-17 |
DE59804420D1 (de) | 2002-07-18 |
DE19711769C2 (de) | 1999-06-02 |
JP2001519009A (ja) | 2001-10-16 |
EP0968334B1 (de) | 2002-06-12 |
KR20010005508A (ko) | 2001-01-15 |
DE19711769A1 (de) | 1998-10-01 |
EP0968334A1 (de) | 2000-01-05 |
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