EP2818732A1 - Method and control for hydraulic lifting a load - Google Patents
Method and control for hydraulic lifting a load Download PDFInfo
- Publication number
- EP2818732A1 EP2818732A1 EP20130174340 EP13174340A EP2818732A1 EP 2818732 A1 EP2818732 A1 EP 2818732A1 EP 20130174340 EP20130174340 EP 20130174340 EP 13174340 A EP13174340 A EP 13174340A EP 2818732 A1 EP2818732 A1 EP 2818732A1
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- European Patent Office
- Prior art keywords
- connection
- load
- pressure signal
- spool
- control device
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 31
- 230000007935 neutral effect Effects 0.000 claims description 11
- 230000000977 initiatory effect Effects 0.000 claims description 7
- 150000001875 compounds Chemical class 0.000 claims description 4
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 13
- 238000007665 sagging Methods 0.000 description 6
- 230000001419 dependent effect Effects 0.000 description 3
- LNUFLCYMSVYYNW-ZPJMAFJPSA-N [(2r,3r,4s,5r,6r)-2-[(2r,3r,4s,5r,6r)-6-[(2r,3r,4s,5r,6r)-6-[(2r,3r,4s,5r,6r)-6-[[(3s,5s,8r,9s,10s,13r,14s,17r)-10,13-dimethyl-17-[(2r)-6-methylheptan-2-yl]-2,3,4,5,6,7,8,9,11,12,14,15,16,17-tetradecahydro-1h-cyclopenta[a]phenanthren-3-yl]oxy]-4,5-disulfo Chemical compound O([C@@H]1[C@@H](COS(O)(=O)=O)O[C@@H]([C@@H]([C@H]1OS(O)(=O)=O)OS(O)(=O)=O)O[C@@H]1[C@@H](COS(O)(=O)=O)O[C@@H]([C@@H]([C@H]1OS(O)(=O)=O)OS(O)(=O)=O)O[C@@H]1[C@@H](COS(O)(=O)=O)O[C@H]([C@@H]([C@H]1OS(O)(=O)=O)OS(O)(=O)=O)O[C@@H]1C[C@@H]2CC[C@H]3[C@@H]4CC[C@@H]([C@]4(CC[C@@H]3[C@@]2(C)CC1)C)[C@H](C)CCCC(C)C)[C@H]1O[C@H](COS(O)(=O)=O)[C@@H](OS(O)(=O)=O)[C@H](OS(O)(=O)=O)[C@H]1OS(O)(=O)=O LNUFLCYMSVYYNW-ZPJMAFJPSA-N 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
-
- 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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
- F15B2211/3053—In combination with a pressure compensating valve
- F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and 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
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3122—Special positions other than the pump port being connected to working ports or the working ports being connected to the return line
-
- 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
- F15B2211/65—Methods of control of the load sensing pressure
- F15B2211/653—Methods of control of the load sensing pressure the load sensing pressure being higher than the load 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
- F15B2211/85—Control during special operating conditions
- F15B2211/851—Control during special operating conditions during starting
Definitions
- the invention relates to a method according to the preamble of claim 1 and a controller according to the preamble of claim. 7
- variable displacement pump is usually placed far away from the load-moving hydraulic consumer, and relatively long paths for the hydraulic medium in the load pressure signal circuit are inevitable when initiating a lifting movement of the load from standstill when opening the second connection in the load pressure signal circuit from the hydraulic consumer to the control device of the variable , while the variable displacement pump is still operating in stand-by mode, initially inevitably taken hydraulic fluid from the hydraulic consumer, so that the control device up-regulates the variable.
- the invention has for its object to provide a method and a control of the type mentioned, which allow with negligible cost and construction overhead, the initiation of a lifting movement from a standstill without previous bagging movement of the load.
- the third connection is opened in time leading to the first, only a mass flow to the hydraulic consumer initiating connection, the control device of the variable from the hitherto largely pressure-relieved load pressure signal circuit first subjected to the pressure generated in standby mode, whereby the variable displacement is immediately upshifted.
- the pressure signal for the control device is steadily increasing, however, without removing hydraulic medium from the hydraulic consumer, up to a pressure level at least approximately corresponding to the load pressure in the hydraulic consumer.
- the delivery pressure of the variable displacement pump overcomes the load pressure in the hydraulic consumer without slumping the load.
- the pressure signal for the control device is sufficiently extended in time with advance to open the first connection, also the pressure generated in the standby mode of the variable can choose low low, for example, only sufficient for cooling by a small flow rate, which enables energy savings and minimizes mechanical stress on the hydraulic medium.
- the third connection is provided either in the proportional directional slide so that it is opened in time leading to the first connection, and also leading the time to the second connection via which the load pressure from the hydraulic consumer to the control device leading part of the load pressure signal circuit is fed so that no hydraulic fluid resulting from the sagging of the load is removed from the hydraulic consumer, but also the delivery pressure of the variable displacement pump is sufficiently high to overcome the load pressure in the hydraulic consumer and to control it from standstill in the lifting direction.
- the method it is also expedient to close the third connection in time after opening the first connection, and to open the second connection before closing the third connection after or before or simultaneously with the opening of the first connection.
- This ensures that the pressure signal for the adjusting device has already been sufficiently raised, so that no hydraulic medium is withdrawn from the hydraulic consumer via the load pressure signal circuit.
- a mixed pressure may optionally be generated from the raised pressure signal for the adjusting device and the load pressure from the hydraulic consumer, so that the lifting movement is regulated relatively directly independent of load after the initiation.
- the first, second and third connections in the proportional directional valve are opened and closed.
- a fourth connection from the load pressure signal circuit to a tank, with which the load pressure signal circuit has been depressurized beforehand, is used to prematurely open the third connection in order not to waste any hydraulic medium in the pressure increase of the pressure signal for the control device.
- the third connection comprises at least one control notch or control slot in the circumference of the piston slide of the proportional directional slide, which is strictly dependent on the linear Verstellhub the spool in a slide bore relative to a connected to the delivery side of the variable and a connected to the load pressure signal circuit upstream of the proportional directional spool connection in the slide bore is adjustable.
- the control notch or the control slot and the connections represent only a negligible overhead in the production of the proportional directional spool.
- the basic concept of proven proportional directional valves for such controls need not be fundamentally changed.
- an embodiment of the control is expedient in which the third compound additionally at least one further control notch or another control slot on a from the axial position of the control notch or the control slot comprises different axial position of the spool, the or the dependent on the Verstellhub the spool from the neutral position in the lifting direction opens the third connection in an end portion of the stroke a second time and keeps open.
- the pressure signal for the control device is raised again and further, as it would correspond to the instantaneous load pressure, so that the flow rate per unit time is practically stepped up and the hydraulic consumer performs a kind of rapid traverse.
- the third connection in the separate valve preferably in a 2/2 solenoid valve, comprises connectable connections which are connected within the stroke of the piston valve in the lifting direction in an end portion of the adjustment stroke facing away from the neutral position, e.g. via a higher-level control to raise the pressure signal for the control device over the instantaneous load pressure in the hydraulic consumer and the amount of e.g. step up.
- Fig. 1 shows a block diagram of a controller H, for example, in a forest crane or hydraulic excavator, not shown, for directional and speed control of a load L moving hydraulic consumer 1, for example, a double-acting hydraulic cylinder.
- the hydraulic consumer 1 could also be acted on one side.
- the controller H is designed so that it is to carry out a method with which a lifting movement of the load L from standstill without sagging of the hydraulic consumer 1 and the load L is executable.
- Main components of the control H are in addition to the hydraulic consumer 1 a proportional directional spool 4, in particular a 4/3-proportional directional spool, possibly with not Pictured lever, preferably with proportional magnets and proportional pressure pilot controls, connected to a pressure line P variable 2 a control device 3, which is connected to an LS line of a load pressure signal circuit 6, a tank to which a tank line R leads, and optionally a feed regulator 5 (pressure compensator) in the pressure line P upstream of the proportional directional spool 4.
- a proportional directional spool 4th is a piston slide 7 in a slide bore 8 linearly adjustable, with three basic positions I, II and III and various intermediate positions are adjustable.
- Position I is a closed neutral position, are shut off in the working lines A, B to the hydraulic consumer 1 to the tank and the variable displacement pump 2, however, the load pressure signal circuit 6 is relieved of pressure to the tank line R.
- Position II is a lowering position and position III is the maximum lifting position.
- Fig. 2 illustrated as scale enlarged section of the block diagram of Fig. 1 an intermediate position in which according to the method, a pressure signal for the control device 2 is raised in order to regulate the promotion of the variable displacement pump 2.
- connections 9, 10 are provided for the working lines A, B, as well as adjacent terminals 11, 12, to each of which the load pressure in the working lines A, B is transmitted, and adjacent to the terminal 11 on the side of the hydraulic consumer Terminal 13 for relieving the load pressure signal circuit 6 in the tank line R.
- variable displacement pump 2 or pressure line P On the side of the variable displacement pump 2 or pressure line P side two ports 17 and 21 to the tank line R and the pressure line P are provided in the slide bore 8, between which a port 18 is located, which is also connected to the pressure line P.
- ports 16 and 19 On both sides of the terminals 17 and 21 ports 16 and 19 are provided to the load pressure signal circuit 6, as even further outboard two terminals 14, 23 also to the load-pressure signal circuit 6 and the opening side of the pressure compensator of the inlet regulator 5.
- a short-circuit connection 15 is provided at the terminal 14, and in the position shown a connection 24, which connects the working line B to the tank line R.
- Fig. 2 shown intermediate position also corresponds to in Fig. 5 shown intermediate position of the proportional directional slide. 4
- the Fig. 1 and 4 to 7 correspond to the positions 0, 1, 2, 3 and 4 in the diagram of the Fig. 3 ,
- Fig. 3 illustrates the control sequence when adjusting the spool 7 of the proportional directional spool 4 from the neutral position I in the lifting direction to position III.
- opening and closing operations of different compounds and their opening sizes are shown in chronological order within the Verstellhubes the spool 7, as they are between the positions 0, 1, 2, 3, 4 (corresponding to the Fig. 1 . 4, 5, 6 . 7 ) in carrying out the process.
- an initially open fourth connection 14 ⁇ 13 is gradually closed before reaching the position 1, via which the load pressure signal circuit 6 to the tank line R was depressurized.
- position 1 (corresponding to Fig. 4 ) no further connection is open.
- position 1 is an option that could be eliminated.
- a third connection 18 ⁇ 19 is opened in advance of time for opening a first connection 21 ⁇ 9, via which third, open connection 18 ⁇ 19 of the pending in the pressure line P, generated in stand-by operation of the variable displacement pump 2 Pressure over at least one control notch or a control slot 20 in the periphery of the spool 7 and the load pressure signal circuit 6 is transmitted to the control device 3 of the variable displacement pump 2.
- This pressure signal causes a leading Hochregeln the promotion of the variable displacement pump 2, so that the pressure signal for the control device 3 is steadily raised, at least approximately up to the pressure level of the load pressure in the hydraulic consumer 1 or even higher, possibly until the response of a system pressure limiting valve, not shown , eg analogous to an in Fig. 10 shown system pressure relief valve 34th
- a fifth connection 10 ⁇ 17 (FIG. Fig. 2 ) from the working line B to the tank line R increasingly open, whereby the sink side of the water consumer 1 depressurized.
- opening the fifth connection can also take place independently of time as required.
- the first connection 21 ⁇ 9 is opened, so that the delivery side of the variable displacement 2 is now connected to the hydraulic consumer 1 and a mass flow uses, the delivery pressure in the pressure line P at this time already at least the Load pressure in the hydraulic consumer 1 corresponds and the hydraulic consumer 1 receives its movement to lift the load L from standstill without sagging.
- the third connection 18, 19 has been closed, and if appropriate the first and second connections 11 ⁇ 16 and 21 ⁇ 9 are still open. The load is lifted.
- Fig. 4 illustrates the optional position 1, at which the load pressure signal circuit 6 has been disconnected from the tank line R, that is, the terminals 13, 14 are separated.
- the position 3 in Fig. 3 corresponds, as a second connection 11 ⁇ 16, the terminals 11 and 16 connected to each other, so that the load pressure from the hydraulic consumer 1 and here the working line A is transferred to the load pressure signal circuit 6 to the control device 3, while the terminals 18 and 19 of the third Connection via the control notch or the control slot 20 are connected to each other (mixed pressure situation), and optionally the terminals 10 and 17 of a fifth connection 10 ⁇ 17 and the terminals 9 and 21 of the first connection 21 ⁇ 9 are interconnected.
- Fig. 7 finally represents the position 4 in Fig. 3 ie position III when lifting the load.
- Fig. 8 is a diagram similar to that of Fig. 3 to the control sequence in the adjustment of the piston valve 7, here to the lifting end position, in contrast to Fig. 3 in an end portion of the Verstellhubes of the spool 7, the previously closed (after the position 3) third connection 18 ⁇ 19 a second time, for example, shortly before the position 5 open and then held open, eh, eg, shortly after the position zeit the second connection 11 ⁇ 16 has been closed while the first connection 21 ⁇ 9, ie from the pressure line P to the working line A, is increasingly opened.
- the first connection 21 ⁇ 9 could be opened at the same time as or before or after the opening of the second connection 11 ⁇ 16.
- Fig. 9 This is done in that in the illustrated intermediate position of the spool valve 7, in which the terminals 10 and 17 are connected via the connecting channel 24, ie the working line B to the tank line R is open, and at the same time a mass flow from port 21 to port 9 (first connection ) takes place via a connecting channel 26 in the piston slide 7, ie from the pressure line P to the working line A, the terminals 18, 19 are connected via a further control notch or a control slot 25 in the periphery of the spool 7 and pressure from the pressure line P thus in the load pressure signal circuit. 6 is fed and the pressure signal for the control device 3 is raised above the current load pressure in the hydraulic consumer 1 addition, so that the control device 3 up-regulates the variable displacement 2 to maximum flow and the hydraulic consumer 1 performs a kind of rapid traverse to maximum speed.
- the further control slot or the further control notch 25 is an option and may be provided in addition to the control notch or this control slot 20, or alternatively be omitted.
- the lifting movement of the load is initiated from standstill without previous sagging and is a load-independent volume control is performed immediately after recording movement in the lifting direction, although to initiate the lifting movement without sagging temporarily the load independence was suppressed because of the increase of the pressure signal for the control device 3.
- Fig. 10 illustrates a block diagram of a further embodiment of the control H, in which for the time-leading raising of the pressure signal for the control device 3, only the first, second, fourth and fifth connections 21 ⁇ 9; 11 ⁇ 16; 14 ⁇ 13; 10 ⁇ 17 in the proportional directional slide 4 are realized, however, the third connection 19 ', 18' in a separate valve 32, for example, a 2/2-solenoid valve, between the load pressure signal circuit 6 and connected to the pressure line P line 33 is opened or closed, for example via a parent , not shown control, in timing to the Verstellhub the spool 7 '.
- Their functions are taken over by the separate valve 32, which is accommodated in an end plate 31 of the control H, for example.
- Fig. 10 a system pressure limiting valve 34 in another end plate, to which the delivery side of the control pump 2 and the load pressure signal circuit 6 are connected.
- the piston slide 7 ' are for the adjustment of two proportional magnets 27, 28 and their associated proportional pressure pilot controls 29, 30 indicated.
- a hand pilot lever may also be provided.
- the third connection 19 ', 18' is opened in time shortly after the position 1 of the spool valve 7 ', and closed again in time shortly after the position 3.
- the in 8 and 9 shown method variant with the pressure increase in the end portion of the Verstellhubes of the spool 7 ' is carried out in the lifting direction, which is shortly after the position 3 in Fig. 8 closed separate valve 32 temporally just before the position 5 reopened and kept open, so that it is in the position 6 in Fig. 8 is still open and the variable displacement pump 2 promotes maximum amount per unit time.
- the spool 7 leads the proportional directional spool in the Fig. 1 to 7 a maximum adjustment stroke of 10 mm.
- the procedural control sequence can then be realized so that the fourth connection 14 ⁇ 13 between 0 mm and 1.2 mm is gradually closed, and only from 1.4 mm to the end of the adjustment at 10.0 mm, the working line B with the Tank line R is connected. From a Verstellhub of 1.4 mm to 2.5 mm, the third connection 18 ⁇ 19 is open, thus overlaps, if necessary, in time the second connection 11 ⁇ 16, which is opened at 1.8 mm, for example, and open to 10.0 mm remains. Also at least in about 1.0 mm, the first connection 21 ⁇ 9 is then opened up to 10.0 mm.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
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Abstract
Bei einem Verfahren zum hydraulischen Heben einer Last mit einem Hydroverbraucher (1) durch Verstellen eines Proportional-Wegeschiebers (4), wobei die Steuerung (H) einen über den Proportional-Wegeschieber (4) zu einer Regelvorrichtung (3) einer Verstellpumpe (2) geführten Lastdrucksignalkreis (6) umfasst, wird zeitlich voreilend zum Öffnen einer ersten Verbindung (21, 9) von der Verstellpumpe (2) zum Hydroverbraucher (1) und zum Öffnen einer zweiten Verbindung (11, 16) im Lastdrucksignalkreis (6) vom Hydroverbraucher (1) zur Regelvorrichtung (3) eine dritte Verbindung (18, 19; 18', 19') im Lastdrucksignalkreis (6) von der Verstellpumpe (2) zur Regelvorrichtung (3) geöffnet und das Drucksignal für die Regelvorrichtung (3) unter Hochregeln der Verstellpumpe (2) bis mindestens in etwa auf die Druckhöhe des Lastdrucks im Hydroverbraucher (1) angehoben. In der Steuerung ist die dritte Verbindung entweder im Proportional-Wegeschieber (4) oder in einem separaten Ventil (32) vorgesehen.In a method for the hydraulic lifting of a load with a hydraulic consumer (1) by adjusting a proportional directional spool (4), wherein the controller (H) via the proportional directional spool (4) to a control device (3) of a variable displacement pump (2) guided leading load pressure signal circuit (6), leading in time for opening a first connection (21, 9) of the variable displacement pump (2) to the hydraulic consumer (1) and for opening a second connection (11, 16) in the load pressure signal circuit (6) from the hydraulic consumer ( 1) to the control device (3) a third connection (18, 19, 18 ', 19') in the load pressure signal circuit (6) of the variable displacement pump (2) to the control device (3) opened and the pressure signal for the control device (3) under Hochregeln the Variable (2) raised to at least approximately to the pressure level of the load pressure in the hydraulic consumer (1). In the controller, the third connection is provided either in the proportional directional spool (4) or in a separate valve (32).
Description
Die Erfindung betrifft ein Verfahren gemäß Oberbegriff des Patentanspruches 1 sowie eine Steuerung gemäß Oberbegriff des Patentanspruches 7.The invention relates to a method according to the preamble of
Bei Verwendung von Hydrauliksteuerungen mit wenigstens einem Lasthalteventil gibt es z.B. beim Einleiten einer Lasthebebewegung deshalb keine Probleme, weil das Lasthalteventil unabhängig vom Ausmaß der Last erst aufgesteuert wird, wenn der Förderdruck der Druckquelle den Lastdruck überschritten hat, so dass die Last aus dem Stillstand sofort in Heberichtung bewegt wird.When using hydraulic controls with at least one load-holding valve, there are e.g. When introducing a lifting movement, therefore, no problems, because the load-holding valve, regardless of the extent of the load is controlled only when the delivery pressure of the pressure source has exceeded the load pressure, so that the load is moved immediately from standstill in the lifting direction.
Für bestimmte Anforderungen jedoch, z.B. in Forstkränen oder Hydraulikbaggern mit einer Verstellpumpe als Druckquellen entfallen für den lastbewegenden Hydroverbraucher, z.B. einen Hydrozylinder, Lasthalteventile, z.B. aus Kostengründen oder aufgrund bestimmter Betriebsanforderungen, bei denen Lasthalteventile stören würden. Da die Verstellpumpe in der Regel weit entfernt vom lastbewegenden Hydroverbraucher platziert ist, und relativ lange Wege für das Hydraulikmedium auch im Lastdrucksignalkreis unvermeidlich sind, wird beim Einleiten einer Hebebewegung der Last aus dem Stillstand beim Öffnen der zweiten Verbindung im Lastdrucksignalkreis vom Hydroverbraucher zur Regelvorrichtung der Verstellpumpe, während die Verstellpumpe noch im Stand-by-Betrieb arbeitet, zunächst unvermeidlich Hydraulikmedium aus dem Hydroverbraucher entnommen, damit die Regelvorrichtung die Verstellpumpe hochregelt. Dies resultiert wegen Fehlens eines Lasthalteventils in einem merklichen Absacken der Last, selbst wenn die Last nur der leere Baumgreifer oder die Baggerschaufel sein sollte, und erschwert nicht nur das präzise Arbeiten mit dem Gerät, sondern erhöht auch die Betriebs- und Verletzungsgefahren.However, for certain requirements, e.g. in forestry cranes or hydraulic excavators with a variable displacement pump as pressure sources account for the load moving hydraulic consumer, e.g. a hydraulic cylinder, load-holding valves, e.g. for cost reasons or due to certain operating requirements where load-holding valves would interfere. Since the variable displacement pump is usually placed far away from the load-moving hydraulic consumer, and relatively long paths for the hydraulic medium in the load pressure signal circuit are inevitable when initiating a lifting movement of the load from standstill when opening the second connection in the load pressure signal circuit from the hydraulic consumer to the control device of the variable , while the variable displacement pump is still operating in stand-by mode, initially inevitably taken hydraulic fluid from the hydraulic consumer, so that the control device up-regulates the variable. This results in a significant sagging of the load due to the lack of a load-holding valve, even though the load should be only the empty tree grab or bucket, and not only complicates the precise operation of the device, but also increases the operational and injury hazards.
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Steuerung der eingangs genannten Art zu schaffen, die mit vernachlässigbarem Kosten- und Bau-Mehraufwand die Einleitung einer Lasthebebewegung aus dem Stillstand ohne vorhergehende Absackbewegung der Last ermöglichen.The invention has for its object to provide a method and a control of the type mentioned, which allow with negligible cost and construction overhead, the initiation of a lifting movement from a standstill without previous bagging movement of the load.
Die gestellte Aufgabe wird mit den Merkmalen des Patentanspruches 1 und des Patentanspruches 7 gelöst.The stated object is achieved with the features of
Da verfahrensgemäß die dritte Verbindung zeitlich voreilend zu der ersten, erst einen Mengenfluss zum Hydroverbraucher initiierenden Verbindung geöffnet wird, wird die Regelvorrichtung der Verstellpumpe aus dem bis dahin weitgehend druckentlasteten Lastdrucksignalkreis zunächst mit dem im Stand-by-Betrieb erzeugten Druck beaufschlagt, wodurch die Verstellpumpe sofort hochgeregelt wird. Das Drucksignal für die Regelvorrichtung verstärkt sich stetig, ohne jedoch aus dem Hydroverbraucher Hydraulikmedium zu entnehmen, und zwar bis auf eine Druckhöhe mindestens in etwa entsprechend dem Lastdruck im Hydroverbraucher. Sobald dann mit zeitlicher Nacheilung die erste Verbindung geöffnet wird und ein Mengenfluss zum Hydroverbraucher entsteht, überwindet der Förderdruck der Verstellpumpe den Lastdruck im Hydroverbraucher, ohne Absacken der Last. Da, wie gesagt, das Drucksignal für die Regelvorrichtung zeitlich mit Voreilung zum Öffnen der ersten Verbindung ausreichend weitangehoben wird, lässt sich auch der im Stand-by-Betrieb der Verstellpumpe erzeugte Druck günstig niedrig wählen, beispielsweise nur ausreichend zur Kühlung durch einen geringen Mengenfluss, was eine Energieeinsparung ermöglicht und die mechanische Belastung des Hydraulikmediums minimiert.Since according to the method, the third connection is opened in time leading to the first, only a mass flow to the hydraulic consumer initiating connection, the control device of the variable from the hitherto largely pressure-relieved load pressure signal circuit first subjected to the pressure generated in standby mode, whereby the variable displacement is immediately upshifted. The pressure signal for the control device is steadily increasing, however, without removing hydraulic medium from the hydraulic consumer, up to a pressure level at least approximately corresponding to the load pressure in the hydraulic consumer. As soon as the first connection is then opened with a time lag and a mass flow to the hydraulic consumer arises, the delivery pressure of the variable displacement pump overcomes the load pressure in the hydraulic consumer without slumping the load. Since, as I said, the pressure signal for the control device is sufficiently extended in time with advance to open the first connection, also the pressure generated in the standby mode of the variable can choose low low, for example, only sufficient for cooling by a small flow rate, which enables energy savings and minimizes mechanical stress on the hydraulic medium.
In der Steuerung ist die dritte Verbindung entweder im Proportional-Wegeschieber so vorgesehen, dass sie zeitlich voreilend zur ersten Verbindung geöffnet wird, und auch zeitlich voreilend zur zweiten Verbindung, über die der Lastdruck aus dem Hydroverbraucher zur Regelvorrichtung führenden Teil des Lastdrucksignalkreises eingespeist wird, so dass kein das Absacken der Last verursachendes Hydraulikmedium aus dem Hydroverbraucher entnommen wird, sondern auch der Förderdruck der Verstellpumpe ausreichend hoch ist, um den Lastdruck im Hydroverbraucher zu überwinden und diesen aus dem Stillstand gleich in Heberichtung zu steuern.In the controller, the third connection is provided either in the proportional directional slide so that it is opened in time leading to the first connection, and also leading the time to the second connection via which the load pressure from the hydraulic consumer to the control device leading part of the load pressure signal circuit is fed so that no hydraulic fluid resulting from the sagging of the load is removed from the hydraulic consumer, but also the delivery pressure of the variable displacement pump is sufficiently high to overcome the load pressure in the hydraulic consumer and to control it from standstill in the lifting direction.
Verfahrensgemäß ist es ferner zweckmäßig, die dritte Verbindung zeitlich nach dem Öffnen der ersten Verbindung zu schließen, und die zweite Verbindung vor dem Schließen der dritten Verbindung nach oder vor oder zeitgleich mit dem Öffnen der ersten Verbindung zu öffnen. Dadurch ist sichergestellt, dass das Drucksignal für die Verstellvorrichtung bereits ausreichend angehoben wurde, so dass aus dem Hydroverbraucher über den Lastdrucksignalkreis kein Hydraulikmedium entnommen wird. Bei Einleiten der Hebebewegung aus dem Stillstand kann gegebenenfalls aus dem angehobenen Drucksignal für die Verstellvorrichtung und dem Lastdruck aus dem Hydroverbraucher ein Mischdruck erzeugt werden, damit die Hebebewegung nach dem Einleiten relativ unmittelbar lastunabhängig geregelt wird.According to the method, it is also expedient to close the third connection in time after opening the first connection, and to open the second connection before closing the third connection after or before or simultaneously with the opening of the first connection. This ensures that the pressure signal for the adjusting device has already been sufficiently raised, so that no hydraulic medium is withdrawn from the hydraulic consumer via the load pressure signal circuit. When initiating the lifting movement from standstill, a mixed pressure may optionally be generated from the raised pressure signal for the adjusting device and the load pressure from the hydraulic consumer, so that the lifting movement is regulated relatively directly independent of load after the initiation.
Verfahrenstechnisch einfach werden die ersten, zweiten und dritten Verbindungen im Proportional-Wegeschieber geöffnet und geschlossen.In terms of process technology, the first, second and third connections in the proportional directional valve are opened and closed.
Alternativ kann verfahrensgemäß vorgesehen sein, dass nur die ersten und zweiten Verbindungen im Proportional-Wegeschieber geöffnet und geschlossen werden, hingegen die dritte Verbindung in einem separaten Ventil zwischen der Verstellpumpe und dem Lastdrucksignalkreis geöffnet und geschlossen wird, zweckmäßig über eine übergeordnete Steuerung in zeitlicher Abhängigkeit von dem Verstellhub des Kolbenschiebers des Proportional-Wegeschiebers. Dieses Prinzip erfordert keine Modifikation des Proportional-Wegeschiebers mit den ersten und zweiten Verbindungen gegenüber bereits bewährten Ausführungsformen für solche Steuerungen, die z.B. mit dem separaten Ventil nachgerüstet werden könnten.Alternatively, it can be provided according to the method that only the first and second connections in the proportional directional spool are opened and closed, whereas the third connection is in a separate valve between the variable displacement pump and the load pressure signal circuit is opened and closed, expediently via a higher-level control in time dependence on the Verstellhub the spool of the proportional directional spool. This principle requires no modification of the proportional directional spool with the first and second connections over already proven embodiments for such controls, which could be retrofitted with the separate valve, for example.
Nach einem zweckmäßigen Verfahrensmerkmal wird ferner zeitlich voreilend zum Öffnen der dritten Verbindung eine vierte Verbindung vom Lastdrucksignalkreis zu einem Tank geschlossen, mit der zuvor der Lastdrucksignalkreis druckentlastet worden war, um kein Hydraulikmedium bei der Druckanhebung des Drucksignals für die Regelvorrichtung zu vergeuden.Further, according to an expedient method feature, a fourth connection from the load pressure signal circuit to a tank, with which the load pressure signal circuit has been depressurized beforehand, is used to prematurely open the third connection in order not to waste any hydraulic medium in the pressure increase of the pressure signal for the control device.
Da es in vielen Fällen zweckmäßig ist, bei maximaler Hebengeschwindigkeit der Last die Menge nicht mehr lastunabhängig zu regeln, sondern eine Art Eilgang zu durchfahren, besteht ein weiteres, wichtiges Verfahrensmerkmal mit eigenständiger erfinderischer Bedeutung darin, zum Anheben des Drucksignals für die Regelvorrichtung über den momentanen Lastdruck im Hydroverbraucher hinaus die zwischenzeitlich geschlossene dritte Verbindung in einem Endabschnitt des Verstellhubes des Kolbenschiebers des Proportional-Wegeschiebers aus der Neutralstellung in die Hebenstellungen erneut zu öffnen und gegebenenfalls offen zu halten. Die Menge des Hydraulikmediums pro Zeiteinheit und damit die Geschwindigkeit des Hydroverbrauchers werden somit progressiv oder stufenartig erhöht.Since it is expedient in many cases, no longer load-independent to regulate the amount at maximum lifting speed of the load, but to go through a kind of rapid traverse, there is another important process feature with independent inventive importance therein, for raising the pressure signal for the control device on the current Load pressure in the hydraulic consumer out the meantime closed third compound in an end portion of the Verstellhubes the spool of the proportional directional spool from the neutral position to open again in the lifting positions and possibly open. The amount of hydraulic medium per unit time and thus the speed of the hydraulic consumer are thus increased progressively or stepwise.
In einer zweckmäßigen Ausführungsform der Steuerung umfasst die dritte Verbindung wenigstens eine Steuerkerbe oder einen Steuerschlitz im Umfang des Kolbenschiebers des Proportional-Wegeschiebers, die bzw. der strikt abhängig vom linearen Verstellhub des Schieberkolbens in einer Schieberbohrung relativ zu einem mit der Förderseite der Verstellpumpe verbundenen Anschluss und einem an den Lastdrucksignalkreis stromauf des Proportional-Wegeschiebers angeschlossenen Anschluss in der Schieberbohrung verstellbar ist. Die Steuerkerbe oder der Steuerschlitz und die Anschlüsse bedeuten nur einen vernachlässigbaren Mehraufwand bei der Herstellung des Proportional-Wegeschiebers. Das Grundkonzept bewährter Proportional-Wegeschieber für solche Steuerungen braucht dadurch nicht grundlegend geändert zu werden.In an expedient embodiment of the control, the third connection comprises at least one control notch or control slot in the circumference of the piston slide of the proportional directional slide, which is strictly dependent on the linear Verstellhub the spool in a slide bore relative to a connected to the delivery side of the variable and a connected to the load pressure signal circuit upstream of the proportional directional spool connection in the slide bore is adjustable. The control notch or the control slot and the connections represent only a negligible overhead in the production of the proportional directional spool. The basic concept of proven proportional directional valves for such controls need not be fundamentally changed.
Im Hinblick darauf, bei schon hoher Hebengeschwindigkeit des Hydroverbrauchers die Menge pro Zeiteinheit nicht mehr vollständig lastunabhängig zu regeln, sondern eine Art Schnellgang auszuführen, ist eine Ausführungsform der Steuerung zweckmäßig, bei welcher die dritte Verbindung zusätzlich wenigstens eine weitere Steuerkerbe oder einen weiteren Steuerschlitz an einer von der Axialposition der Steuerkerbe oder des Steuerschlitzes unterschiedlichen Axialposition des Kolbenschiebers umfasst, der oder die abhängig vom Verstellhub des Kolbenschiebers aus der Neutralstellung in Hebenrichtung die dritte Verbindung in einem Endabschnitt des Hubweges ein zweites Mal öffnet und offen hält. Damit wird das Drucksignal für die Regelvorrichtung erneut und weiter angehoben, als es dem momentanen Lastdruck entspräche, so dass die Fördermenge pro Zeiteinheit praktisch stufenartig hochgeregelt wird und der Hydroverbraucher eine Art Eilgang ausführt.In view of not already regulate the amount per unit time completely independent of load, but to perform a kind of overdrive, an embodiment of the control is expedient in which the third compound additionally at least one further control notch or another control slot on a from the axial position of the control notch or the control slot comprises different axial position of the spool, the or the dependent on the Verstellhub the spool from the neutral position in the lifting direction opens the third connection in an end portion of the stroke a second time and keeps open. Thus, the pressure signal for the control device is raised again and further, as it would correspond to the instantaneous load pressure, so that the flow rate per unit time is practically stepped up and the hydraulic consumer performs a kind of rapid traverse.
Bei einer weiteren Variante der Steuerung umfasst die dritte Verbindung im separaten Ventil, vorzugsweise in einem 2/2-Magnetventil, verbindbare Anschlüsse, die innerhalb des Hubweges des Kolbenschiebers in Hebenrichtung in einem in der Neutralstellung abgewandten Endabschnitt des Verstellhubes verbunden werden, z.B. über eine übergeordnete Steuerung, um das Drucksignal für die Regelvorrichtung über den momentanen Lastdruck im Hydroverbraucher anzuheben und die Menge z.B. stufenartig hochzuregeln.In a further variant of the control, the third connection in the separate valve, preferably in a 2/2 solenoid valve, comprises connectable connections which are connected within the stroke of the piston valve in the lifting direction in an end portion of the adjustment stroke facing away from the neutral position, e.g. via a higher-level control to raise the pressure signal for the control device over the instantaneous load pressure in the hydraulic consumer and the amount of e.g. step up.
Ausführungsformen des Erfindungsgegenstandes werden anhand der Zeichnungen erläutert. Es zeigen:
- Fig. 1
- ein Blockschaltbild einer Steuerung, beispielsweise in einem Forstkran oder Hydraulikbagger, in einer abgesperrten Neutralstellung,
- Fig. 2
- einen maßstäblich vergrößerten Ausschnitt aus dem Blockschaltbild von
Fig. 1 zur Verdeutlichung einer Zwischenstellung eines Proportional-Wegeschiebers zum Anheben eines Drucksignals für eine Regelvorrichtung einer Verstellpumpe, - Fig. 3
- ein Diagramm einer Steuerabfolge, die mehrere zu öffnende bzw. zu schließende Verbindungen bei der Ausführung des erfindungsgemäßen Verfahrens illustriert, wobei die vertikale Achse die Größe der jeweiligen Verbindung und die horizontale Achse den Verstellhub des Kolbenschiebers bzw. die Zeit repräsentieren,
- Fig. 4 bis 7
- Blockschaltbilder zu unterschiedlichen Stellungen des Proportional-Wegeschiebers
⓪, ①, ②, ③, ④ im Diagramm derentsprechend Positionen Fig. 3 , - Fig. 8
- ein Diagramm ähnlich dem von
Fig. 3 zur Steuerabfolge bei einer erweiterten Verfahrensvariante, wobei an der horizontalen Achse Positionen ⓪ bis ⑥ des Kolbenschiebers und zu öffnende bzw. zu schließende Verbindungen illustriert sind, - Fig. 9
- einen maßstäblich vergrößerten Ausschnitt eines Blockschaltbildes entsprechend der
Position ⑥ inFig. 8 , und - Fig. 10
- ein Blockschaltbild einer weiteren Ausführungsform einer Steuerung zum Durchführen des Verfahrens.
- Fig. 1
- a block diagram of a control, for example in a forestry crane or hydraulic excavator, in a locked neutral position,
- Fig. 2
- a scaled enlarged section of the block diagram of
Fig. 1 to illustrate an intermediate position of a proportional directional slide for raising a pressure signal for a control device of a variable displacement pump, - Fig. 3
- 4 is a diagram of a control sequence illustrating a plurality of connections to be opened or closed during the execution of the method according to the invention, wherein the vertical axis represents the size of the respective connection and the horizontal axis represents the displacement stroke of the piston valve or the time.
- Fig. 4 to 7
- Block diagrams for different positions of the proportional directional spool according to
⓪, ①, ②, ③, ④ in the diagram of thepositions Fig. 3 . - Fig. 8
- a diagram similar to that of
Fig. 3 to the control sequence in an expanded variant of the method, wherein positions ⓪ to ⑥ of the piston slide and connections to be opened or closed are illustrated on the horizontal axis, - Fig. 9
- a scale enlarged portion of a block diagram corresponding to the
position ⑥ inFig. 8 , and - Fig. 10
- a block diagram of another embodiment of a controller for performing the method.
Hauptkomponenten der Steuerung H sind neben dem Hydroverbraucher 1 ein Proportional-Wegeschieber 4, insbesondere ein 4/3-Proportional-Wegeschieber, gegebenenfalls mit nicht dargestelltem Verstellhebel, vorzugsweise mit Proportional-Magneten und Proportional-Druckvorsteuerungen, eine an eine Druckleitung P angeschlossene Verstellpumpe 2 mit einer Regelvorrichtung 3, die an eine LS-Leitung eines Lastdrucksignalkreises 6 angeschlossen ist, ein Tank, zu dem eine Tankleitung R führt, und optional ein Zulaufregler 5 (Druckwaage) in der Druckleitung P stromauf des Proportional-Wegeschiebers 4. Im Proportional-Wegeschieber 4 ist ein Kolbenschieber 7 in einer Schieberbohrung 8 linear verstellbar, wobei drei Grundstellungen I, II und III und verschiedene Zwischenstellungen einstellbar sind. Die Stellung I ist eine abgesperrte Neutralstellung, in der Arbeitsleitungen A, B zum Hydroverbraucher 1 zum Tank und zur Verstellpumpe 2 abgesperrt sind, hingegen der Lastdrucksignalkreis 6 zur Tankleitung R druckentlastet ist. Die Stellung II ist eine Senkenstellung, und die Stellung III ist die maximale Hebenstellung.Main components of the control H are in addition to the hydraulic consumer 1 a proportional
An der der Verstellpumpe 2 bzw. Druckleitung P zugewandten Seite sind in der Schieberbohrung 8 zwei Anschlüsse 17 und 21 zur Tankleitung R und zur Druckleitung P vorgesehen, zwischen denen ein Anschluss 18 liegt, der ebenfalls mit der Druckleitung P verbunden ist. Zu beiden Seiten der Anschlüsse 17 und 21 sind Anschlüsse 16 und 19 zum Lastdrucksignalkreis 6 vorgesehen, wie noch weiter außenliegend auch zwei Anschlüsse 14, 23 ebenfalls zum Last-drucksignalkreis 6 und zur Öffnungsseite der Druckwaage des Zulaufreglers 5. Im Kolbenschieber 7 ist beim Anschluss 14 eine Kurzschlussverbindung 15 vorgesehen, sowie in der gezeigten Stellung eine Verbindung 24, die die Arbeitsleitung B mit der Tankleitung R verbindet. Die in
Die
Bei der Verstellung des Kolbenschiebers 7 aus der Position ⓪ in Hebenrichtung wird eine zunächst offene vierte Verbindung 14 → 13 vor Erreichen der Position ① allmählich geschlossen, über die der Lastdrucksignalkreis 6 zur Tankleitung R druckentlastet wurde. An der Position ① (entsprechend
Zwischen den Positionen ① und ② in
Zwischen den Positionen ② und ③ in
In
In der Position ⑥ (entsprechend
Gemäß
Der weitere Steuerschlitz oder die weitere Steuerkerbe 25 ist eine Option und kann zusätzlich zur Steuerkerbe bzw. diesem Steuerschlitz 20 vorgesehen sein, oder alternativ weggelassen werden.The further control slot or the
Bei Durchführung des erfindungsgemäßen Verfahren zum Einleiten einer Hebebewegung der Last L, beispielsweise in einem Forstkran oder einem Hydraulikbagger, wird die Hebebewegung der Last, selbst wenn es sich dabei nur um den Baumgreifer oder die Baggerschaufel handelt, aus dem Stillstand ohne vorhergehendes Absacken eingeleitet und wird unmittelbar nach Bewegungsaufnahme in Hebenrichtung eine lastunabhängige Mengenregelung durchgeführt, obwohl zum Einleiten der Hebebewegung ohne Absacken vorübergehend die Lastunabhängigkeit wegen der Anhebung des Drucksignals für die Regelvorrichtung 3 unterdrückt war.When carrying out the method according to the invention for initiating a lifting movement of the load L, for example in a forest crane or a hydraulic excavator, the lifting movement of the load, even if it is only about the tree gripper or the bucket, is initiated from standstill without previous sagging and is a load-independent volume control is performed immediately after recording movement in the lifting direction, although to initiate the lifting movement without sagging temporarily the load independence was suppressed because of the increase of the pressure signal for the
Ferner zeigt
Beispielsweise führt der Kolbenschieber 7 des Proportional-Wegeschiebers in den
Wird der Kolbenschieber 7 wieder zur Neutralstellung (
Claims (10)
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EP3093504A1 (en) * | 2015-05-12 | 2016-11-16 | HAWE Hydraulik SE | Pressure controlled two-way flow control valve for hydraulics applications and valve assembly with a corresponding two-way flow control valve |
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EP2339073A1 (en) * | 2009-12-23 | 2011-06-29 | Perkins Engines Company Limited | A hydraulic system for a machine, a machine and a method of use |
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US20090031891A1 (en) * | 2007-07-31 | 2009-02-05 | Caterpillar Inc. | Hydraulic circuit for rapid bucket shake out |
EP2339073A1 (en) * | 2009-12-23 | 2011-06-29 | Perkins Engines Company Limited | A hydraulic system for a machine, a machine and a method of use |
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EP3093504A1 (en) * | 2015-05-12 | 2016-11-16 | HAWE Hydraulik SE | Pressure controlled two-way flow control valve for hydraulics applications and valve assembly with a corresponding two-way flow control valve |
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