WO2013081213A1 - Meter-out flow control system controlled by a regulator - Google Patents

Meter-out flow control system controlled by a regulator Download PDF

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Publication number
WO2013081213A1
WO2013081213A1 PCT/KR2011/009205 KR2011009205W WO2013081213A1 WO 2013081213 A1 WO2013081213 A1 WO 2013081213A1 KR 2011009205 W KR2011009205 W KR 2011009205W WO 2013081213 A1 WO2013081213 A1 WO 2013081213A1
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WO
WIPO (PCT)
Prior art keywords
actuator
meter
hydraulic
passage
regulator
Prior art date
Application number
PCT/KR2011/009205
Other languages
French (fr)
Korean (ko)
Inventor
박성복
지세립
Original Assignee
볼보 컨스트럭션 이큅먼트 에이비
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Application filed by 볼보 컨스트럭션 이큅먼트 에이비 filed Critical 볼보 컨스트럭션 이큅먼트 에이비
Priority to PCT/KR2011/009205 priority Critical patent/WO2013081213A1/en
Priority to KR1020147013906A priority patent/KR20140103924A/en
Publication of WO2013081213A1 publication Critical patent/WO2013081213A1/en

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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
    • E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
    • 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
    • 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
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41554—Flow control characterised by the connections of the flow control means in the circuit being connected to a return line and a directional control valve
    • 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
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out 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
    • 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
    • F15B2211/50545—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using braking valves to maintain a back 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
    • F15B2211/50—Pressure control
    • F15B2211/51—Pressure control characterised by the positions of the valve element
    • F15B2211/513—Pressure control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5156—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a return line and a directional control valve
    • 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
    • F15B2211/56—Control of an upstream 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8609—Control during or prevention of abnormal conditions the abnormal condition being cavitation

Definitions

  • the present invention relates to a meter-out hydraulic control system controlled by a regulator, and more particularly, in a hydraulic control system for controlling the flow rate metered out from the actuator to the hydraulic tank, using the load pressure generated in the actuator as a signal pressure
  • the present invention relates to a meter-out hydraulic control system controlled by a regulator to automatically control the meter-out flow rate.
  • the engine 1 The engine 1,
  • variable displacement hydraulic pump 2 (hereinafter referred to as a "hydraulic pump") connected to the engine 1,
  • a hydraulic actuator (hereinafter referred to as an "actuator") 3 operated by hydraulic oil supplied from the hydraulic pump 2,
  • Work device 4 is composed of a boom, an arm, a bucket driven by the actuator (3) operation, driven by each actuator (3),
  • a control valve 5 (referring to MCV) in which a flow path is formed so as to meter out the
  • reference numeral a denotes a lower traveling body
  • b is an upper swinging body mounted on the lower traveling body
  • c is a cab cap mounted on the upper rotating body
  • the orifice 7 is installed to prevent the cavitation phenomenon in the vacuum state generated in the large chamber of the actuator 3.
  • the above-described orifice 7 is installed in consideration of the case where the flow rate returned from the actuator 3 to the hydraulic tank T is small, and when the flow rate supplied to the actuator 3 is increased to the orifice 7 As a result, the return side passage of the actuator 3 is narrowed, so that unnecessary load pressure is generated in the actuator 3. This leads to heat generation, noise and performance degradation of the hydraulic system and unnecessary fuel loss.
  • Embodiment of the present invention in the meter-out hydraulic control system, when a high load is generated in the actuator, the meter is controlled by a regulator to increase the flow rate to be metered out to prevent unnecessary load pressure generated in the actuator Related to the out hydraulic control system.
  • a meter-out controlled by a regulator when a low load is generated in an actuator, a meter-out controlled by a regulator is provided so as to reduce the flow rate metered out to prevent cavitation occurring in the actuator.
  • a meter-out controlled by a regulator is provided so as to reduce the flow rate metered out to prevent cavitation occurring in the actuator.
  • Variable displacement hydraulic pump connected to the engine
  • a hydraulic actuator for driving the work device by the hydraulic oil supplied from the hydraulic pump
  • a control valve installed in the flow path between the hydraulic pump and the actuator, the flow path being formed to meter in the hydraulic oil from the hydraulic pump to each actuator or to meter out the hydraulic tank from each actuator when the spool is switched;
  • the aforementioned regulator is formed inside the spool opening and closing the meter out passage of the control valve.
  • the aforementioned regulator is attached to the outer side of the control valve to open and close the meter-out passage of the control valve.
  • the above-mentioned actuator is any one of a boom cylinder, an arm cylinder, and a bucket cylinder.
  • a valve body having inlets and outlets through which the flow rate metered out of the control valve flows in and out;
  • a piston which is internally slidably moved to the valve body and shifts corresponding to the signal pressure introduced through the signal pressure port to open and close a passage between the inlet and the outlet;
  • the meter-out hydraulic control system controlled by the regulator according to the embodiment of the present invention configured as described above has the following advantages.
  • the metered-out flow rate is increased to minimize unnecessary fluid resistance, thereby reducing fuel and power The loss can be prevented and the noise and heat generation of the hydraulic system can be minimized.
  • the metered out flow rate is reduced, thereby preventing the cavitation phenomenon caused by the insufficient flow rate in the actuator.
  • FIG. 1 is a schematic diagram of a meter out hydraulic control system according to the prior art
  • FIG. 2 is a view showing a case in which the opening amount of the variable orifice is the maximum condition when the supply flow rate is large in the actuator in the meter out hydraulic control system controlled by the regulator according to one embodiment of the present invention
  • FIG 3 is a view showing a case in which the opening of the variable orifice is a minimum condition when the supply flow rate to the actuator is small in the meter out hydraulic control system controlled by the regulator according to an embodiment of the present invention.
  • hydraulic pump 12 A variable displacement hydraulic pump (hereinafter referred to as "hydraulic pump") 12 connected to the engine 11,
  • a hydraulic actuator (hereinafter referred to as "actu ”) (hereinafter referred to as an arm cylinder) 13 operated by hydraulic oil supplied from the hydraulic pump 12, and
  • a work device 14 consisting of a boom, an arm and a bucket driven by a hydraulic actuator 13,
  • the hydraulic oil is installed in the flow path between the meter-out flow path of the control valve 15 and the hydraulic tank T, and the piston 22 is shifted to correspond to the load pressure generated in the actuator 13 and discharged from the actuator 13.
  • a regulator 16 which variably adjusts the opening amount of the passage 21 for metering out the hydraulic tank T.
  • the above-described regulator 16 may be formed in a spool for opening and closing the meter out passage of the control valve 15.
  • the above-described regulator 16 may be attached to the outer side of the control valve 15 to open and close the meter-out passage of the control valve 15.
  • the above-mentioned actuator 13 is any one of a boom cylinder, an arm cylinder, and a bucket cylinder.
  • a valve body 20 having an inlet 18 and an outlet 19 through which the flow rate metered out of the control valve 15 flows in and out;
  • valve body 20 It is internally slidably moved to the valve body 20, and is shifted corresponding to the signal pressure introduced through the signal pressure port 17 to open and close the passage 21 between the inlet 18 and the outlet 19. )and,
  • an elastic member 23 (for example, a compression coil spring is used) that pressurizes the piston 22 to elastically support the passage 21 between the inlet 18 and the outlet 19 in a closed state.
  • the load pressure generated in the actuator 13, which is varied by the working conditions such as the excavation work, the flow rate supplied to the actuator 13, the load of the workpiece 24 lifted by the work device 14, and the like, are used as the signal pressure.
  • the opening amount of the passage 21 for metering out the hydraulic oil from the actuator 13 to the hydraulic tank T can be variably adjusted.
  • the piston 22 As the load pressure generated in the above-described actuator 13 is supplied as the signal pressure to the signal pressure port 17 of the regulator 16 through the signal pressure passage 25, the piston 22 is moved in the left direction in the drawing. By shifting (in the case where the signal pressure supplied to the signal pressure port 17 exceeds the set pressure of the elastic member 23), the opening amount of the passage 21 is switched to the maximum state. That is, the fluid resistance in the passage 21 for metering out hydraulic oil from the actuator 13 to the hydraulic tank T is reduced.
  • the flow rate supplied from the hydraulic pump 12 to the actuator 13 is relatively small so that the pressure drops below the set value or the work object 24 lifted by the work device 14.
  • the load is heavy (heavy-weight)
  • the opening amount of the passage 21 is formed in the actuator 13, thereby preventing the cavitation phenomenon.
  • the large chamber of the actuator 13 may be in a vacuum state, and cavitation may occur.
  • the meter-out flow rate is variably adjusted by using the load pressure generated in the actuator that is varied according to the working conditions as the signal pressure, thereby increasing the flow rate metered out when a high load is generated in the actuator.

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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)
  • Fluid-Pressure Circuits (AREA)

Abstract

Disclosed is a meter-out flow control system which automatically variably controls meter-out flow by using the load pressure occurring in an actuator as a signal pressure to minimize unnecessary flow resistance and prevent cavitation from occurring in the actuator. The meter-out flow control system includes: a hydraulic pump connected to an engine; an actuator connected to the hydraulic pump; a control valve disposed in a passage between the hydraulic pump and the actuator and having a passage so that the working oil is metered in the actuator from the hydraulic pump or metered out from the actuator into a hydraulic tank during spool switching; a regulator disposed between the meter-out passage of the control valve and the passage of the hydraulic tank to variably adjust the opening degree of the path for metering out the working oil discharged from the actuator into the hydraulic tank so as to correspond to the load pressure occurring in the actuator.

Description

레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템Meter-out hydraulic control system controlled by regulator
본 발명은 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템에 관한 것으로, 더욱 상세하게는 액츄에이터로부터 유압탱크로 미터 아웃되는 유량을 제어하는 유압 제어시스템에 있어서, 액츄에이터에 발생되는 부하압을 신호압력으로서 이용하여 미터 아웃 유량을 자동으로 가변 제어할 수 있도록 한 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템에 관한 것이다.The present invention relates to a meter-out hydraulic control system controlled by a regulator, and more particularly, in a hydraulic control system for controlling the flow rate metered out from the actuator to the hydraulic tank, using the load pressure generated in the actuator as a signal pressure The present invention relates to a meter-out hydraulic control system controlled by a regulator to automatically control the meter-out flow rate.
도 1에 도시된 종래 기술에 의한 미터 아웃 유압 제어시스템은,Meter out hydraulic control system according to the prior art shown in Figure 1,
엔진(1)과,The engine 1,
엔진(1)에 연결되는 가변 용량형 유압펌프(2)(이하 "유압펌프" 라고 함)와,A variable displacement hydraulic pump 2 (hereinafter referred to as a "hydraulic pump") connected to the engine 1,
유압펌프(2)로부터 공급되는 작동유에 의해 작동되는 유압 액츄에이터(이하 "액츄에이터" 라고 함)(3)와,A hydraulic actuator (hereinafter referred to as an "actuator") 3 operated by hydraulic oil supplied from the hydraulic pump 2,
액츄에이터(3) 작동에 따라 구동되는 붐, 아암, 버킷으로 이뤄지며, 각 액츄에이터(3)에 의해 구동되는 작업장치(4)와, Work device 4 is composed of a boom, an arm, a bucket driven by the actuator (3) operation, driven by each actuator (3),
유압펌프(2)와 액츄에이터(3)사이의 유로에 설치되며, 절환시 유압펌프(2)로부터의 작동유를 각 액츄에이터(3)에 미터 인 시키거나, 각 액츄에이터(3)로부터 유압탱크(T)로 미터 아웃 시키도록 유로가 형성되는 콘트롤밸브(5)(MCV를 말함)와,It is installed in the flow path between the hydraulic pump (2) and the actuator (3), when switching the hydraulic oil from the hydraulic pump (2) to each actuator (3), or from each actuator (3) hydraulic tank (T) A control valve 5 (referring to MCV) in which a flow path is formed so as to meter out the
액츄에이터(3)의 귀환측 관로를 좁히도록 콘트롤밸브(5)에 설치되며, 작업장치(4)에 견인되는 작업물체(6) 또는 작업장치(4)의 자중으로 인한 액츄에이터(3)의 변위로 인해 액츄에이터(3)에 발생되는 캐비테이션 현상을 방지하는 미터 아웃 제어용 오리피스(7)를 포함한다.It is installed in the control valve 5 to narrow the return line of the actuator 3, and the displacement of the actuator 3 due to the weight of the work object 6 or the work device 4 towed to the work device 4, And a meter-out control orifice 7 which prevents cavitation from occurring in the actuator 3.
도면 중 미 설명부호 a는 하부 주행체이고, b는 하부 주행체(a) 상에 탑재되는 상부 선회체이며, c는 상부 선회체 상에 장착되는 운전실캡으로서, 이들은 당해분야에서의 굴삭기 구성과 동일하므로 이들의 구성 및 작동에 대한 상세한 설명은 생략한다.In the drawings, reference numeral a denotes a lower traveling body, b is an upper swinging body mounted on the lower traveling body a, and c is a cab cap mounted on the upper rotating body, and these are related to excavator construction in the art. Since the same, detailed description of their configuration and operation will be omitted.
전술한 바와 같이 작업물체(6) 또는 작업장치(4)의 자중에 의해 변위되는 액츄에이터(3)의 변위에 대해, 유압펌프(2)로부터 액츄에이터(3)의 라지챔버에 공급되는 유량이 부족할 경우 액츄에이터(3)의 라지챔버에 발생되는 진공상태인 캐비테이션 현상을 방지하기 위해 오리피스(7)를 설치하게 된다.When the flow rate supplied from the hydraulic pump 2 to the large chamber of the actuator 3 is insufficient with respect to the displacement of the actuator 3 displaced by the weight of the workpiece 6 or the work device 4 as described above. The orifice 7 is installed to prevent the cavitation phenomenon in the vacuum state generated in the large chamber of the actuator 3.
이때, 전술한 오리피스(7)는 액츄에이터(3)로부터 유압탱크(T)로 귀환되는 유량이 적을 경우를 감안하여 설치된 것으로, 액츄에이터(3)에 공급되는 유량이 증가될 경우에는 오리피스(7)로 인해 액츄에이터(3)의 귀환측 통로가 좁혀지게 되므로 액츄에이터(3)에 불필요한 부하압이 발생된다. 이로 인해 유압시스템의 발열, 소음, 성능 저하를 초래하고, 불필요한 연료 손실을 초래하게 된다.At this time, the above-described orifice 7 is installed in consideration of the case where the flow rate returned from the actuator 3 to the hydraulic tank T is small, and when the flow rate supplied to the actuator 3 is increased to the orifice 7 As a result, the return side passage of the actuator 3 is narrowed, so that unnecessary load pressure is generated in the actuator 3. This leads to heat generation, noise and performance degradation of the hydraulic system and unnecessary fuel loss.
본 발명의 실시예는, 미터 아웃 유압 제어시스템에 있어서, 액츄에이터에 고부하가 발생될 경우, 미터 아웃되는 유량을 증대시켜 액츄에이터에 불필요하게 부하압 발생되는 것을 방지할 수 있도록 한 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템과 관련된다.Embodiment of the present invention, in the meter-out hydraulic control system, when a high load is generated in the actuator, the meter is controlled by a regulator to increase the flow rate to be metered out to prevent unnecessary load pressure generated in the actuator Related to the out hydraulic control system.
본 발명의 실시예는, 미터 아웃 유압 제어시스템에 있어서, 액츄에이터에 저부하가 발생될 경우, 미터 아웃되는 유량을 감소시켜 액츄에이터에 발생되는 캐비테이션 현상을 방지할 수 있도록 한 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템과 관련된다.According to an embodiment of the present invention, in a meter-out hydraulic control system, when a low load is generated in an actuator, a meter-out controlled by a regulator is provided so as to reduce the flow rate metered out to prevent cavitation occurring in the actuator. Related to hydraulic control systems.
본 발명의 일 실시예에 의한 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템은,Meter out hydraulic control system controlled by a regulator according to an embodiment of the present invention,
엔진과,Engine,
엔진에 연결되는 가변 용량형 유압펌프와,Variable displacement hydraulic pump connected to the engine,
유압펌프로부터 공급되는 작동유에 의해 작업장치를 구동시키는 유압 액츄에이터와,A hydraulic actuator for driving the work device by the hydraulic oil supplied from the hydraulic pump,
유압펌프와 액츄에이터사이의 유로에 설치되며, 스풀 절환시 유압펌프로부터의 작동유를 각 액츄에이터에 미터 인 시키거나, 각 액츄에이터로부터 유압탱크로 미터 아웃 시키도록 유로가 형성되는 콘트롤밸브와,A control valve installed in the flow path between the hydraulic pump and the actuator, the flow path being formed to meter in the hydraulic oil from the hydraulic pump to each actuator or to meter out the hydraulic tank from each actuator when the spool is switched;
콘트롤밸브의 미터 아웃용 유로와 유압탱크사이의 유로에 설치되며, 액츄에이터에 발생되는 부하압에 대응되게 피스톤이 시프트되어 액츄에이터로부터 배출되는 작동유를 유압탱크로 미터 아웃시키는 통로의 개구량을 가변 조정하는 레귤레이터를 구비한다.It is installed in the flow path between the meter-out flow path of the control valve and the hydraulic tank, and the piston is shifted to correspond to the load pressure generated in the actuator to variably adjust the opening amount of the passage to meter out the hydraulic oil discharged from the actuator to the hydraulic tank. It is provided with a regulator.
바람직한 실시예에 의하면, 전술한 레귤레이터는 콘트롤밸브의 미터 아웃 통로를 개폐시키는 스풀 내부에 형성된다.According to a preferred embodiment, the aforementioned regulator is formed inside the spool opening and closing the meter out passage of the control valve.
전술한 레귤레이터는 콘트롤밸브의 미터 아웃 통로를 개폐시키도록 콘트롤밸브 외측면에 부착된다.The aforementioned regulator is attached to the outer side of the control valve to open and close the meter-out passage of the control valve.
전술한 액츄에이터는 붐실린더, 아암실린더 및 버킷실린더 중 어느 하나이다.The above-mentioned actuator is any one of a boom cylinder, an arm cylinder, and a bucket cylinder.
전술한 레귤레이터는The regulator mentioned above
액츄에이터에 발생되는 부하압이 신호압으로서 입력되는 신호압 포트와,A signal pressure port into which a load pressure generated in the actuator is input as a signal pressure,
콘트롤밸브로부터 미터 아웃되는 유량이 유입 및 배출되는 유입구 및 배출구가 형성되는 밸브몸체와,A valve body having inlets and outlets through which the flow rate metered out of the control valve flows in and out;
밸브몸체에 슬라이딩이동되도록 내설되며, 신호압 포트를 통해 유입되는 신호압에 대응되게 시프트되어 유입구 및 배출구사이의 통로를 개폐시키는 피스톤과,A piston which is internally slidably moved to the valve body and shifts corresponding to the signal pressure introduced through the signal pressure port to open and close a passage between the inlet and the outlet;
피스톤을 가압하여 유입구 및 배출구사이의 통로를 닫힌상태로 탄성지지하는 탄성부재를 구비하여 이뤄진다.It is provided with an elastic member for pressing the piston to elastically support the passage between the inlet and the outlet in a closed state.
전술한 바와 같이 구성되는 본 발명의 일 실시예에 의한 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템은 아래와 같은 이점을 갖는다.The meter-out hydraulic control system controlled by the regulator according to the embodiment of the present invention configured as described above has the following advantages.
미터 아웃 유압 제어시스템을 이루는 액츄에이터의 부하압을 신호압력으로서 이용하여 미터 아웃 유량을 가변 조정함에 따라, 액츄에이터에 고부하가 발생될 경우 미터 아웃되는 유량을 증대시켜 불필요한 유체 저항을 최소화하므로, 연료 및 동력 손실을 방지하고, 유압시스템의 소음 및 발열을 최소화할 수 있다. 또한 액츄에이터에 저부하가 발생될 경우 미터 아웃되는 유량을 감소시키므로 액츄에이터에 유량 부족으로 인한 캐비테이션 현상을 방지할 수 있다.By varying the meter-out flow rate by using the load pressure of the actuator constituting the meter-out hydraulic control system as the signal pressure, when the high load is generated in the actuator, the metered-out flow rate is increased to minimize unnecessary fluid resistance, thereby reducing fuel and power The loss can be prevented and the noise and heat generation of the hydraulic system can be minimized. In addition, when a low load is generated in the actuator, the metered out flow rate is reduced, thereby preventing the cavitation phenomenon caused by the insufficient flow rate in the actuator.
도 1은 종래기술에 의한 미터 아웃 유압 제어시스템의 개략도,1 is a schematic diagram of a meter out hydraulic control system according to the prior art,
도 2는 본 발명의 일 실시예에 의한 레귤레이터에 의해 제어되는 미터 아웃유압 제어시스템에서, 액츄에이터에 공급 유량이 많을 경우 가변 오리피스의 개구량이 최대 조건일 경우를 나타내는 도면,2 is a view showing a case in which the opening amount of the variable orifice is the maximum condition when the supply flow rate is large in the actuator in the meter out hydraulic control system controlled by the regulator according to one embodiment of the present invention;
도 3은 본 발명의 일 실시예에 의한 레귤레이터에 의해 제어되는 미터 아웃유압 제어시스템에서, 액츄에이터에 공급 유량 적을 경우 가변 오리피스의 개구량이 최소 조건일 경우를 나타내는 도면이다.3 is a view showing a case in which the opening of the variable orifice is a minimum condition when the supply flow rate to the actuator is small in the meter out hydraulic control system controlled by the regulator according to an embodiment of the present invention.
〈도면의 주요 부분에 대한 참조 부호의 설명〉<Explanation of reference numerals for the main parts of the drawings>
11; 엔진11; engine
12; 가변용량형 유압펌프12; Variable displacement hydraulic pump
13; 유압 액츄에이터13; Hydraulic actuator
14; 작업장치14; Work equipment
15; 콘트롤밸브(MCV)15; Control Valve (MCV)
16; 레귤레이터16; regulator
17; 신호압 포트17; Signal pressure port
18; 유입구18; Inlet
19; 배출구19; outlet
20; 밸브몸체20; Valve body
21; 통로21; Passage
22; 피스톤22; piston
23; 탄성부재23; Elastic member
이하, 본 발명의 바람직한 실시예를 첨부도면을 참조하여 설명하되, 이는 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 발명을 용이하게 실시할 수 있을 정도로 상세하게 설명하기 위한 것이지, 이로 인해 본 발명의 기술적인 사상 및 범주가 한정되는 것을 의미하지는 않는 것이다.Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, which are intended to explain in detail enough to enable those skilled in the art to easily carry out the invention, and thus It is not intended that the technical spirit and scope of the invention be limited.
도 2 및 도 3에 도시된 본 발명의 일 실시예에 의한 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템은,Meter out hydraulic control system controlled by a regulator according to an embodiment of the present invention shown in Figures 2 and 3,
엔진(11)과,The engine 11,
엔진(11)에 연결되는 가변 용량형 유압펌프(이하 "유압펌프" 라고 함)(12)와,A variable displacement hydraulic pump (hereinafter referred to as "hydraulic pump") 12 connected to the engine 11,
유압펌프(12)로부터 공급되는 작동유에 의해 작동되는 유압 액츄에이터(이하 "액츄에이터" 라고 함)(일 예로서, 아암실린더가 도시됨)(13)와,A hydraulic actuator (hereinafter referred to as " actuator ") (hereinafter referred to as an arm cylinder) 13 operated by hydraulic oil supplied from the hydraulic pump 12, and
유압 액츄에이터(13)에 의해 구동되는 붐, 아암 및 버킷으로 이뤄지는 작업장치(14)와,A work device 14 consisting of a boom, an arm and a bucket driven by a hydraulic actuator 13,
유압펌프(12)와 액츄에이터(13)사이의 유로에 설치되며, 스풀(spool) 절환시 유압펌프(12)로부터의 작동유를 각 액츄에이터(13)에 미터 인(meter-in) 시키거나, 각 액츄에이터(13)로부터 유압탱크(T)로 미터 아웃(meter-out) 시키도록 유로가 형성되는 콘트롤밸브(15)(MCV를 말함)와,It is installed in the flow path between the hydraulic pump 12 and the actuator 13, and when operating the spool (spool), the hydraulic oil from the hydraulic pump 12 to meter in each actuator (13), or each actuator A control valve 15 (referring to MCV) in which a flow path is formed to meter out from the hydraulic tank T to the hydraulic tank T;
콘트롤밸브(15)의 미터 아웃용 유로와 유압탱크(T)사이의 유로에 설치되며, 액츄에이터(13)에 발생되는 부하압에 대응되게 피스톤(22)이 시프트되어 액츄에이터(13)로부터 배출되는 작동유를 유압탱크(T)로 미터 아웃시키는 통로(21)의 개구량을 가변 조정하는 레귤레이터(16)를 구비한다.The hydraulic oil is installed in the flow path between the meter-out flow path of the control valve 15 and the hydraulic tank T, and the piston 22 is shifted to correspond to the load pressure generated in the actuator 13 and discharged from the actuator 13. And a regulator 16 which variably adjusts the opening amount of the passage 21 for metering out the hydraulic tank T.
이때, 전술한 레귤레이터(16)는 콘트롤밸브(15)의 미터 아웃 통로를 개폐시키는 스풀(spool) 내부에 형성될 수 있다.In this case, the above-described regulator 16 may be formed in a spool for opening and closing the meter out passage of the control valve 15.
전술한 레귤레이터(16)는 콘트롤밸브(15)의 미터 아웃 통로를 개폐시키도록 콘트롤밸브(15) 외측면에 부착될 수 있다.The above-described regulator 16 may be attached to the outer side of the control valve 15 to open and close the meter-out passage of the control valve 15.
전술한 액츄에이터(13)는 붐실린더, 아암실린더 및 버킷실린더 중 어느 하나이다.The above-mentioned actuator 13 is any one of a boom cylinder, an arm cylinder, and a bucket cylinder.
전술한 레귤레이터(16)는,The above-described regulator 16,
액츄에이터(13)에 발생되는 부하압이 신호압 통로(25)를 따라 신호압으로서 입력되는 신호압 포트(17)와,A signal pressure port 17 into which a load pressure generated in the actuator 13 is input as a signal pressure along the signal pressure passage 25;
콘트롤밸브(15)로부터 미터 아웃되는 유량이 유입 및 배출되는 유입구(18) 및 배출구(19)가 형성되는 밸브몸체(20)와,A valve body 20 having an inlet 18 and an outlet 19 through which the flow rate metered out of the control valve 15 flows in and out;
밸브몸체(20)에 슬라이딩이동되도록 내설되며, 신호압 포트(17)를 통해 유입되는 신호압에 대응되게 시프트되어 유입구(18) 및 배출구(19)사이의 통로(21)를 개폐시키는 피스톤(22)과,It is internally slidably moved to the valve body 20, and is shifted corresponding to the signal pressure introduced through the signal pressure port 17 to open and close the passage 21 between the inlet 18 and the outlet 19. )and,
피스톤(22)을 가압하여 유입구(18) 및 배출구(19)사이의 통로(21)를 닫힌상태로 탄성지지하는 탄성부재(23)(일 예로서, 압축코일스프링이 사용됨)를 구비하여 이뤄진다.And an elastic member 23 (for example, a compression coil spring is used) that pressurizes the piston 22 to elastically support the passage 21 between the inlet 18 and the outlet 19 in a closed state.
이하에서, 본 발명의 일 실시예에 의한 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템의 사용예를 첨부도면을 참조하여 상세하게 설명한다.Hereinafter, an example of use of the meter-out hydraulic control system controlled by the regulator according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
굴삭작업 등의 작업조건, 액츄에이터(13)에 공급되는 유량, 작업장치(14)에 의해 인양되는 작업물체(24)의 하중 등에 의해 가변되는 액츄에이터(13)에 발생되는 부하압을 신호 압력으로서 이용하여 액츄에이터(13)로부터의 작동유를 유압탱크(T)로 미터 아웃시키는 통로(21)의 개구량을 가변 조정할 수 있다.The load pressure generated in the actuator 13, which is varied by the working conditions such as the excavation work, the flow rate supplied to the actuator 13, the load of the workpiece 24 lifted by the work device 14, and the like, are used as the signal pressure. Thus, the opening amount of the passage 21 for metering out the hydraulic oil from the actuator 13 to the hydraulic tank T can be variably adjusted.
도 2에서와 같이, 전술한 유압펌프(12)로부터 액츄에이터(13)에 공급되는 유량이 많거나, 작업장치(14)에 의해 인양되는 작업물체(24)의 하중이 적을 경우(light - weight)에는 전술한 통로(21)의 개구량을 최대 상태로 전환시킴에 따라, 불필요한 유체 저항을 최소화한다.As shown in FIG. 2, when the flow rate supplied from the hydraulic pump 12 to the actuator 13 is large or the load of the workpiece 24 lifted by the work device 14 is low (light-weight). By switching the opening amount of the aforementioned passage 21 to the maximum state, unnecessary fluid resistance is minimized.
전술한 액츄에이터(13)에 발생되는 부하압이 신호압 통로(25)를 통해 레귤레이터(16)의 신호압 포트(17)에 신호압력으로서 공급됨에 따라, 피스톤(22)을 도면상, 좌측 방향으로 시프팅시키므로(신호압 포트(17)에 공급되는 신호압이 탄성부재(23)의 설정압력을 초과하는 경우를 말함) 통로(21)의 개구량을 최대 상태로 전환시킨다. 즉 액츄에이터(13)로부터의 작동유를 유압탱크(T)로 미터 아웃시키는 통로(21)에서의 유체 저항은 줄어든다.As the load pressure generated in the above-described actuator 13 is supplied as the signal pressure to the signal pressure port 17 of the regulator 16 through the signal pressure passage 25, the piston 22 is moved in the left direction in the drawing. By shifting (in the case where the signal pressure supplied to the signal pressure port 17 exceeds the set pressure of the elastic member 23), the opening amount of the passage 21 is switched to the maximum state. That is, the fluid resistance in the passage 21 for metering out hydraulic oil from the actuator 13 to the hydraulic tank T is reduced.
이로 인해, 액츄에이터(13)의 스몰챔버로부터 배출되는 작동유는 콘트롤밸브(15)를 경유하여 레귤레이터(16)의 유입구(17) - 통로(21) - 배출구(19)를 원활하게 통과하여 유압탱크(T)로 귀환된다. 따라서 액츄에이터(13) 및 유압펌프(12)에 발생되는 부하압이 감소되므로, 엔진(11) 부하도 감소되어 불필요한 연료 소모량을 줄이고 작업시 동력 손실을 최소화하며, 유압시스템의 소음 및 발열을 최소화할 수 있다.As a result, the hydraulic oil discharged from the small chamber of the actuator 13 passes smoothly through the inlet port 17-the passage 21-the outlet port 19 of the regulator 16 via the control valve 15, thereby providing a hydraulic tank ( Return to T). Therefore, since the load pressure generated in the actuator 13 and the hydraulic pump 12 is reduced, the load of the engine 11 is also reduced, thereby reducing unnecessary fuel consumption, minimizing power loss during operation, and minimizing noise and heat generation of the hydraulic system. Can be.
도 3에서와 같이, 전술한 유압펌프(12)로부터 액츄에이터(13)에 공급되는 유량이 상대적으로 적어 압력이 설정값 이하로 떨어지거나, 작업장치(14)에 의해 인양되는 작업물체(24)의 하중이 클 경우(heavy - weight)에는 전술한 통로(21)의 개구량을 최소 상태로 전환시킴에 따라, 액츄에이터(13)에 최적의 설정압이 형성되므로 캐비테이션 현상을 방지한다.As shown in FIG. 3, the flow rate supplied from the hydraulic pump 12 to the actuator 13 is relatively small so that the pressure drops below the set value or the work object 24 lifted by the work device 14. When the load is heavy (heavy-weight), by switching the opening amount of the passage 21 to the minimum state, the optimum set pressure is formed in the actuator 13, thereby preventing the cavitation phenomenon.
전술한 유압펌프(12)로부터 액츄에이터(13)에 공급되는 유량이 적은 상태에서, 작업장치(14)의 자중 및 작업물체(24)의 하중 등으로 인해 액츄에이터(13)의 변위가 유압펌프(12)로부터 액츄에이터(13)에 공급되는 유량에 비해 상대적으로 클경우, 액츄에이터(13)의 라지챔버에 진공 상태가 되어 캐비테이션 현상이 발생될 수 있다.In the state where the flow rate supplied from the hydraulic pump 12 to the actuator 13 is small, the displacement of the actuator 13 is reduced due to the weight of the work device 14 and the load of the workpiece 24, and the like. In comparison with the flow rate supplied to the actuator 13 from), the large chamber of the actuator 13 may be in a vacuum state, and cavitation may occur.
이때, 액츄에이터(13)의 라지챔버측 압력이 떨어지게 되므로, 라지챔버에 형성되는 압력이 신호압 통로(25)를 통하여 레귤레이터(16)의 신호압 포트(17)에 공급될 경우에도, 피스톤(22)은 탄성부재(23)의 탄성력에 의해 도면상, 우측방향으로 이동되어 통로(21)의 개구량을 최소화시킨다(신호압 포트(17)에 공급되는 신호압이 탄성부재(23)의 설정압력보다 작은 경우를 말함).At this time, since the large chamber side pressure of the actuator 13 drops, the piston 22 even when the pressure formed in the large chamber is supplied to the signal pressure port 17 of the regulator 16 through the signal pressure passage 25. ) Is moved in the right direction on the drawing by the elastic force of the elastic member 23 to minimize the opening amount of the passage 21 (the signal pressure supplied to the signal pressure port 17 is the set pressure of the elastic member 23). Less than).
이로 인해, 액츄에이터(13)로부터의 작동유를 유압탱크(T)로 미터 아웃시키는 통로(21)에 유체 저항이 형성된다. 따라서 액츄에이터(13)의 라지챔버에 설정된 압력을 형성하므로 액츄에이터(13)에 발생되는 캐비테이션 현상을 방지할 수 있다.For this reason, a fluid resistance is formed in the passage 21 for metering out the hydraulic oil from the actuator 13 to the hydraulic tank T. Therefore, since the pressure set in the large chamber of the actuator 13 is formed, the cavitation phenomenon generated in the actuator 13 can be prevented.
전술한 구성을 갖는 본 발명에 따르면, 작업조건 등에 의해 가변되는 액츄에이터에 발생되는 부하압을 신호 압력으로서 이용하여 미터 아웃 유량을 가변 조정함에 따라, 액츄에이터에 고부하가 발생될 경우 미터 아웃되는 유량을 증대시켜 불필요한 유체 저항을 최소화하여 연료 및 동력 손실을 방지하고, 액츄에이터에 저부하가 발생될 경우 미터 아웃되는 유량을 감소시켜 액츄에이터에 발생되는 캐비테이션 현상을 방지할 수 있다.According to the present invention having the above-described configuration, the meter-out flow rate is variably adjusted by using the load pressure generated in the actuator that is varied according to the working conditions as the signal pressure, thereby increasing the flow rate metered out when a high load is generated in the actuator. By minimizing unnecessary fluid resistance, fuel and power loss can be prevented, and when the actuator is underloaded, the flow rate metered out can be reduced to prevent the cavitation phenomenon generated in the actuator.

Claims (5)

  1. 엔진과,Engine,
    상기 엔진에 연결되는 가변 용량형 유압펌프와,A variable displacement hydraulic pump connected to the engine,
    상기 유압펌프로부터 공급되는 작동유에 의해 작업장치를 구동시키는 유압 액츄에이터와,A hydraulic actuator for driving the work device by the hydraulic oil supplied from the hydraulic pump;
    상기 유압펌프와 액츄에이터사이의 유로에 설치되며, 스풀 절환시 유압펌프로부터의 작동유를 각 액츄에이터에 미터 인 시키거나, 각 액츄에이터로부터 유압탱크로 미터 아웃 시키도록 유로가 형성되는 콘트롤밸브와,A control valve installed in the flow path between the hydraulic pump and the actuator, the flow valve being formed to meter in the hydraulic oil from the hydraulic pump to each actuator or to meter out the hydraulic tank from each actuator when the spool is switched;
    상기 콘트롤밸브의 미터 아웃용 유로와 유압탱크사이의 유로에 설치되며, 상기 액츄에이터에 발생되는 부하압에 대응되게 피스톤이 시프트되어 상기 액츄에이터로부터 배출되는 작동유를 유압탱크로 미터 아웃시키는 통로의 개구량을 가변 조정하는 레귤레이터를 구비하는 것을 특징으로 하는 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템.The opening of the passage is installed in the flow path between the meter-out flow path of the control valve and the hydraulic tank, the piston shifts to correspond to the load pressure generated in the actuator to meter out the hydraulic oil discharged from the actuator to the hydraulic tank. A meter-out hydraulic control system controlled by a regulator, characterized in that it comprises a regulator for variable adjustment.
  2. 제1항에 있어서, 상기 레귤레이터는 상기 콘트롤밸브의 미터 아웃 통로를 개폐시키는 스풀 내부에 형성되는 것을 특징으로 하는 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템.The meter-out hydraulic control system of claim 1, wherein the regulator is formed inside a spool for opening and closing the meter-out passage of the control valve.
  3. 제1항에 있어서, 상기 레귤레이터는 상기 콘트롤밸브의 미터 아웃 통로를 개폐시키도록 상기 콘트롤밸브 외측면에 부착되는 것을 특징으로 하는 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템.The meter-out hydraulic control system of claim 1, wherein the regulator is attached to an outer surface of the control valve to open and close the meter-out passage of the control valve.
  4. 제1항에 있어서, 상기 액츄에이터는 붐실린더, 아암실린더 및 버킷실린더 중 어느 하나인 것을 특징으로 하는 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템.The meter-out hydraulic control system of claim 1, wherein the actuator is any one of a boom cylinder, an arm cylinder, and a bucket cylinder.
  5. 제1항에 있어서, 상기 레귤레이터는The method of claim 1, wherein the regulator
    상기 액츄에이터에 발생되는 부하압이 신호압으로서 입력되는 신호압 포트와,A signal pressure port into which a load pressure generated in the actuator is input as a signal pressure;
    상기 콘트롤밸브로부터 미터 아웃되는 유량이 유입 및 배출되는 유입구 및 배출구가 형성되는 밸브몸체와,A valve body having inlets and outlets through which flow rates metered out from the control valve are introduced and discharged;
    상기 밸브몸체에 슬라이딩이동되도록 내설되며, 상기 신호압 포트를 통해 유입되는 신호압에 대응되게 시프트되어 상기 유입구 및 배출구사이의 통로를 개폐시키는 피스톤과,A piston which is internally slidably moved to the valve body and is shifted corresponding to the signal pressure introduced through the signal pressure port to open and close a passage between the inlet and the outlet;
    상기 피스톤을 가압하여 상기 유입구 및 배출구사이의 통로를 닫힌상태로 탄성지지하는 탄성부재를 구비하여 이뤄지는 것을 특징으로 하는 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템.Metering hydraulic control system controlled by a regulator characterized in that it comprises an elastic member for pressing the piston to elastically support the passage between the inlet and the outlet in a closed state.
PCT/KR2011/009205 2011-11-30 2011-11-30 Meter-out flow control system controlled by a regulator WO2013081213A1 (en)

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KR1020147013906A KR20140103924A (en) 2011-11-30 2011-11-30 Meter-out flow control system controlled by a regulator

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016124685A1 (en) * 2015-02-06 2016-08-11 Caterpillar Sarl Hydraulic actuator control circuit
IT202100001508A1 (en) 2021-01-26 2022-07-26 Cnh Ind Italia Spa METHOD AND SYSTEM OF CONTROL OF AN ACTUATOR OF AN ARM OF AN AGRICULTURAL OR WORK VEHICLE

Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH06117408A (en) * 1992-10-07 1994-04-26 Kayaba Ind Co Ltd Oil pressure circuit for construction machine
KR19980063919A (en) * 1996-12-10 1998-10-07 세구치류이치 Hydraulic Circuit Device of Hydraulic Work Machine
KR19990044400A (en) * 1996-08-08 1999-06-25 세구찌 류이찌 Hydraulic control device
KR20060024919A (en) * 2004-09-15 2006-03-20 주식회사 파카한일유압 Regulator for meter-out flow control of hydraulic control valve

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06117408A (en) * 1992-10-07 1994-04-26 Kayaba Ind Co Ltd Oil pressure circuit for construction machine
KR19990044400A (en) * 1996-08-08 1999-06-25 세구찌 류이찌 Hydraulic control device
KR19980063919A (en) * 1996-12-10 1998-10-07 세구치류이치 Hydraulic Circuit Device of Hydraulic Work Machine
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Publication number Priority date Publication date Assignee Title
WO2016124685A1 (en) * 2015-02-06 2016-08-11 Caterpillar Sarl Hydraulic actuator control circuit
US10473125B2 (en) 2015-02-06 2019-11-12 Caterpillar Sarl Hydraulic actuator control circuit
IT202100001508A1 (en) 2021-01-26 2022-07-26 Cnh Ind Italia Spa METHOD AND SYSTEM OF CONTROL OF AN ACTUATOR OF AN ARM OF AN AGRICULTURAL OR WORK VEHICLE
EP4033036A1 (en) 2021-01-26 2022-07-27 CNH Industrial Italia S.p.A. Method and control system of an actuator of an arm of an agricultural or work vehicle

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