CN105051378B - 用于具有多个泵的液压变换器***中的流量共享的方法和*** - Google Patents
用于具有多个泵的液压变换器***中的流量共享的方法和*** Download PDFInfo
- Publication number
- CN105051378B CN105051378B CN201480014589.9A CN201480014589A CN105051378B CN 105051378 B CN105051378 B CN 105051378B CN 201480014589 A CN201480014589 A CN 201480014589A CN 105051378 B CN105051378 B CN 105051378B
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- flow
- hydraulic pressure
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- hydraulic
- hydraulic system
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- 238000000034 method Methods 0.000 title claims description 40
- 239000012530 fluid Substances 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000004044 response Effects 0.000 claims abstract description 6
- 238000003860 storage Methods 0.000 claims description 38
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 12
- 238000009530 blood pressure measurement Methods 0.000 claims description 6
- 238000009529 body temperature measurement Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 14
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
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- 230000006399 behavior Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
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- 238000004146 energy storage Methods 0.000 description 2
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- 239000000446 fuel Substances 0.000 description 2
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- 239000007788 liquid Substances 0.000 description 1
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- 238000005086 pumping Methods 0.000 description 1
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- 239000013589 supplement Substances 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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
- E02F9/2203—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
- E02F9/2217—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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps 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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/214—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being hydrotransformers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
- F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361798649P | 2013-03-15 | 2013-03-15 | |
US201361791895P | 2013-03-15 | 2013-03-15 | |
US61/791,895 | 2013-03-15 | ||
US61/798,649 | 2013-03-15 | ||
PCT/US2014/029190 WO2014144676A1 (en) | 2013-03-15 | 2014-03-14 | Methods and systems for flow sharing in a hydraulic transformer system with multiple pumps |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105051378A CN105051378A (zh) | 2015-11-11 |
CN105051378B true CN105051378B (zh) | 2017-08-29 |
Family
ID=50625170
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201480014589.9A Active CN105051378B (zh) | 2013-03-15 | 2014-03-14 | 用于具有多个泵的液压变换器***中的流量共享的方法和*** |
Country Status (7)
Country | Link |
---|---|
US (1) | US9416799B2 (zh) |
EP (1) | EP2971795B1 (zh) |
JP (1) | JP6429856B2 (zh) |
KR (1) | KR102171544B1 (zh) |
CN (1) | CN105051378B (zh) |
BR (1) | BR112015023585A2 (zh) |
WO (1) | WO2014144676A1 (zh) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9488193B2 (en) * | 2013-12-23 | 2016-11-08 | Eaton Corporation | Uninterruptible power supply systems using electrohydraulic energy storage |
US10280593B2 (en) * | 2014-05-16 | 2019-05-07 | Hitachi Construction Machinery Co., Ltd. | Hydraulic fluid energy regeneration device for work machine |
EP3154809B1 (en) | 2014-06-10 | 2022-08-24 | Danfoss Power Solutions II Technology A/S | Energy recovery system for off-highway vehicles with hydraulic transformer coupled to transmission power take-off |
CN112627281A (zh) * | 2015-08-14 | 2021-04-09 | 派克汉尼芬公司 | 液压挖掘机的动臂势能回收 |
GB2546485A (en) * | 2016-01-15 | 2017-07-26 | Artemis Intelligent Power Ltd | Hydraulic apparatus comprising synthetically commutated machine, and operating method |
CN107938746B (zh) * | 2016-10-13 | 2021-07-30 | 迪尔公司 | 用于获取作业车辆的可用生产力的***和方法 |
JP6615138B2 (ja) * | 2017-03-01 | 2019-12-04 | 日立建機株式会社 | 建設機械の駆動装置 |
EP3635184A1 (en) * | 2017-06-07 | 2020-04-15 | Volvo Construction Equipment AB | Hydraulic system for a working machine |
US10934687B2 (en) | 2018-07-25 | 2021-03-02 | Clark Equipment Company | Hydraulic power prioritization |
CN209704945U (zh) * | 2018-09-27 | 2019-11-29 | 厦门联帮匠心机械设备有限公司 | 负载敏感多功能液压共享*** |
US11391307B2 (en) * | 2020-01-21 | 2022-07-19 | Caterpillar Paving Products Inc. | Hydraulic tank protection system |
GB2593488B (en) | 2020-03-24 | 2024-05-22 | Bamford Excavators Ltd | Hydraulic system |
CN114250820B (zh) * | 2021-12-03 | 2022-12-02 | 江苏图南液控科技有限公司 | 一种挖掘机动臂流量再生和势能回收节能装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012166022A1 (en) * | 2011-05-31 | 2012-12-06 | Volvo Construction Equipment Ab | A hydraulic system and a method for controlling a hydraulic system |
WO2013025459A1 (en) * | 2011-08-12 | 2013-02-21 | Eaton Corporation | System and method for recovering energy and leveling hydraulic system loads |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000240614A (ja) | 1999-02-24 | 2000-09-05 | Tokimec Inc | 重量物の昇降駆動用の液圧装置 |
JP2004028233A (ja) | 2002-06-26 | 2004-01-29 | Komatsu Ltd | 圧油エネルギー回収回生装置 |
US6854268B2 (en) | 2002-12-06 | 2005-02-15 | Caterpillar Inc | Hydraulic control system with energy recovery |
US7409826B2 (en) * | 2005-08-30 | 2008-08-12 | Grigoriy Epshteyn | Compact hydrostatic energy recuperation system and method of operation |
JP4331151B2 (ja) * | 2005-09-20 | 2009-09-16 | 日立建機株式会社 | 建設機械の作動流体冷却制御システム |
US20130152565A1 (en) * | 2011-12-16 | 2013-06-20 | Pengfei Ma | Hydraulic system having energy recovery |
KR102126360B1 (ko) * | 2012-12-19 | 2020-06-24 | 이턴 코포레이션 | 유압 시스템용 제어 시스템 및 에너지를 회수하고 유압 시스템 부하를 평준화하는 방법 |
-
2014
- 2014-03-14 BR BR112015023585A patent/BR112015023585A2/pt not_active IP Right Cessation
- 2014-03-14 EP EP14720401.0A patent/EP2971795B1/en active Active
- 2014-03-14 KR KR1020157026957A patent/KR102171544B1/ko active IP Right Grant
- 2014-03-14 US US14/212,320 patent/US9416799B2/en active Active
- 2014-03-14 JP JP2016503008A patent/JP6429856B2/ja active Active
- 2014-03-14 WO PCT/US2014/029190 patent/WO2014144676A1/en active Application Filing
- 2014-03-14 CN CN201480014589.9A patent/CN105051378B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012166022A1 (en) * | 2011-05-31 | 2012-12-06 | Volvo Construction Equipment Ab | A hydraulic system and a method for controlling a hydraulic system |
WO2013025459A1 (en) * | 2011-08-12 | 2013-02-21 | Eaton Corporation | System and method for recovering energy and leveling hydraulic system loads |
Also Published As
Publication number | Publication date |
---|---|
CN105051378A (zh) | 2015-11-11 |
US9416799B2 (en) | 2016-08-16 |
US20140260232A1 (en) | 2014-09-18 |
EP2971795B1 (en) | 2019-05-01 |
JP6429856B2 (ja) | 2018-11-28 |
KR20150130337A (ko) | 2015-11-23 |
WO2014144676A1 (en) | 2014-09-18 |
EP2971795A1 (en) | 2016-01-20 |
JP2016518559A (ja) | 2016-06-23 |
KR102171544B1 (ko) | 2020-10-29 |
BR112015023585A2 (pt) | 2017-07-18 |
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