EP2825778B1 - Device with hydrauliksystem for controlling at least a first and a second hydraulic consumer. - Google Patents
Device with hydrauliksystem for controlling at least a first and a second hydraulic consumer. Download PDFInfo
- Publication number
- EP2825778B1 EP2825778B1 EP13709777.0A EP13709777A EP2825778B1 EP 2825778 B1 EP2825778 B1 EP 2825778B1 EP 13709777 A EP13709777 A EP 13709777A EP 2825778 B1 EP2825778 B1 EP 2825778B1
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- European Patent Office
- Prior art keywords
- hydraulic
- fluid
- flow divider
- consumer
- hydraulic consumer
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- 239000012530 fluid Substances 0.000 claims description 94
- 230000000903 blocking effect Effects 0.000 claims description 15
- 230000037361 pathway Effects 0.000 claims 1
- 230000007935 neutral effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004941 influx Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000002689 soil Substances 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
- F15B11/22—Synchronisation of the movement of two or more servomotors
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30505—Non-return valves, i.e. check valves
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40523—Flow control characterised by the type of flow control means or valve with flow dividers
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
Definitions
- the invention relates to a hydraulic system according to the feature configuration of the preamble of claim 1.
- Such a device is used, for example, in machines such as loaders, for moving loads and serves to control actuators with working cylinders, in which pistons are moved or moved in accordance with a movement of the load to be moved.
- tilting of the machine may occur in the event of unfavorable center of gravity displacement, which is why it must comply in particular with the safety regulations specified in the safety standard EN 15000. Accordingly, at the risk of tipping a Lastmomentver josrnde movement to prevent and allow a load torque-reducing movement.
- the machine may also tilt.
- the flow divider designed for a certain volume range can be leaking, in that a fluid leakage current flows from an actuator assigned to a vertical movement and acted on by a vertical movement to an actuator assigned to a vertical movement and acted upon by a lower pressure, and the position of the further actuator in FIG Form of an irregularity in the movement, such as a "jerk", can affect noticeably.
- This situation occurs in particular when the horizontally movable actuator is retracted far and the vertically movable actuator is far extended.
- the known devices for controlling hydraulic consumers, such as the actuators do not reliably prevent the fluid leakage current in this situation.
- a control line is provided downstream of the Stromteilerpfad that supplies the working cylinder with the lower extension length, after a flow divider that supplies the two sides of the piston with hydraulic fluid a 3/2-way valve controls such that with increasing pressure when breaking the soil of this valve reaches its closed position, so that a further influx of working fluid is suppressed to this hydraulic cylinder and this is held without overload in its shovel closing position.
- a fluid pressure actuator control system for controlling an adjustment of a predetermined fluid pressure actuator of at least two fluid pressure actuators as hydraulic consumers to which flows of pressurized fluid delivered from a common fluid pressure source may be individually allocated via a flow divider.
- each hydraulic consumer is assigned an independent locking device which can be actuated by a central control device, operating states at the respective hydraulic consumers being monitored by a comprehensive sensor system and causing the control device to supply fluid quantities via the respective blocking device in the form of valves Consumers supply or from these again preferably in a tank.
- the JP S58-180898 describes a hydraulic system comprising at least one first hydraulic consumer and at least one second hydraulic consumer and a control device for controlling the hydraulic consumers, wherein the first and the second hydraulic consumer is a fluid-actuated actuator with two separate actuator sides, which are responsible for a movement of a respective piston
- the control device for controlling at least one first hydraulic consumer and at least one second hydraulic consumer comprises a flow divider, a blocking device and the respectively desired fluid supply of the hydraulic consumers, a first directional control valve and a second directional control valve, wherein the hydraulic consumers at least one of the flow divider for dividing a coming from a pressure fluid supply fluid supply in predetermined, the respective hydraulic Verbryer leading partial flows can be supplied with fluid with specifiable pressure, wherein by means of at least one of the flow divider and at least one hydraulic consumer arranged controllable blocking device, a fluid flow from that hydraulic consumer with higher pressure on the flow divider to that hydraulic consumer with lower pressure is suppressed, and wherein the at least one barrier means is arranged in fluid communication
- the invention has the object to prevent a fluid leakage flow between two powered by a flow divider with fluid, acted upon by different pressures, double-acting hydraulic consumers in a simple and reliable manner.
- the hydraulic system according to the invention is characterized in that the second valve is connected between the pressure supply and the two hydraulic consumers such that the second valve is connected directly to an extension side of the second hydraulic consumer and via the flow divider to both retraction sides of the two hydraulic consumers.
- a control line is guided by the leading from the hydraulic consumer with each higher pressurization to the flow divider fluid connection to the locking device, that the higher pressurization controls the locking device in the direction of its blocking position, so that in any pressure situation of the controlled hydraulic consumers in the fluid connection from the hydraulic consumer with higher pressure to the flow divider pending fluid pressure does not reach the hydraulic consumer with lower pressurization and consequently not operated in an unintentional manner.
- a fluid pressure present in the corresponding fluid connection maximally reaches the blocking device, which blocks a further fluid path to the respective other hydraulic consumer.
- the at least one preferably designed as a valve, particularly preferably as a check valve, designed locking device driven by the flow divider fluid pressure and blocked by the originating from the hydraulic consumer with each higher pressurization fluid pressure.
- the at least one blocking device is blocked on the occurrence of a fluid leakage current at the flow divider.
- this can be advantageously closed by the control line, wherein the line for controlling the locking device is connected in an advantageous manner fluid leading to the fluid connection from the hydraulic consumer with higher pressure to the flow divider.
- fluid pressures occur in both fluid directions between the interconnected via the flow divider hydraulic consumers, which are alternately acted upon with higher and lower pressure.
- the respective fluid direction associated, provided in the fluid connection from the flow divider to the respective hydraulic consumer with lower pressurization locking devices are provided.
- an effective in both fluid directions corresponding Form fluid flow preventing locking device.
- control line between a junction of the locking device for locking the same and a branch point extends, opens in both a coming from the output of a current divider path of the flow divider fluid line and the further fluid line, which leads in the direction of the consumer with the higher pressurization or is connected to carry fluid to this consumer.
- the invention further relates to a hydraulic system comprising at least one first hydraulic consumer and at least one second hydraulic consumer and a device according to the invention for controlling the hydraulic consumers.
- the device according to the invention can be manufactured as a tradable unit, independent of the hydraulic consumers and a pressure supply, distributed and used in a hydraulic system.
- the first and / or the second hydraulic load can be fluid-actuated actuators, each with two separate actuator sides, which can be alternately fluid-conductively connected to the pressure supply for movement of the respective actuator.
- the actuator and the load connected thereto are moved.
- the Actuators each one in a working cylinder retractable and guided pistons, expediently associated with a retracting movement of the respective piston actuator sides are connected to the flow divider.
- an extending movement of the respective piston associated actuator sides may be connected to the flow divider. In this way, a synchronization, in other words a coordinated movement, both pistons and actuators guaranteed, either in the respective retraction direction or in the respective extension direction. Also combinations of coupled retraction and extension movements are conceivable.
- one of the actuators comprises a telescopic cylinder with a piston preferably retractable and extendable in a horizontal direction and a further actuator comprising a lifting cylinder with a further piston which can be retracted and retracted therein in a vertical direction Locking device between the flow divider and the lifting cylinder is arranged.
- the total movement caused by the actuators is divided into a preferably horizontally directed component of movement and another preferably directed in the vertical direction of movement component and correspondingly changeable via the telescopic cylinder or the lifting cylinder.
- each shown hydraulic system comprises a first hydraulic consumer 10, which is designed as an actuator with a working cylinder, more precisely a telescopic cylinder, and a second hydraulic consumer 12, which is also designed as an actuator with a working cylinder, more precisely a lifting cylinder.
- a first piston 14 and a second piston 16 is movably guided, wherein the first piston 14 in a horizontal direction H in the corresponding working cylinder and retractable and the second piston 16 in a vertical direction V in the corresponding working cylinder and retractable.
- a retraction side 18.1, 18.2 or an extension side 20.1, 20.2 of the corresponding working cylinder is fluid-connected to a pressure supply P and pressurized with fluid with a presettable pressure. Fluid is conveyed by means of an actuatable pump 30 from the pressure supply P to the entry side 18.1, 18.2 or to the extension side 20.1, 20.2 of the respective hydraulic consumer 10, 12.
- a movement of the respective piston 14, 16 on the retraction side 18.1, 18.2 or the extension side 20.1, 20.2 displaced fluid can be performed via a tank connection T back into the tank or a reservoir.
- first valve 22 For each desired fluid supply of the hydraulic consumers 10, 12 are designed as electromagnetically actuated 4/3-way valve formed first valve 22 and designed as an actuatable 4/3-way valve second valve 24.
- the switchable between an ON position (left) for pressurizing the Einfahrseite 18.1 of the first hydraulic consumer 10, a NEUTRAL position (center) to complete all fluid connections and an OFF position (right) for pressurizing the Ausfahrseite 20.1 of the first hydraulic consumer 10 first valve 22 is connected directly between the pressure supply P and the first hydraulic consumer 10.
- a flow divider 26 For dividing a from the pressure supply P via the second valve 24 to the Einfahrlab 18.1, 18.2 of the hydraulic load 10, 12 guided fluid flow into corresponding partial flows, a flow divider 26 is provided.
- the flow divider 26 has a first throttle 28. 1 and a second throttle 28. 2 which supply the 100% amount of fluid flow coming from the pressure supply P into a first partial flow leading to the first hydraulic consumer 10, for example 67% and leading to the second hydraulic consumer 12 Example, divides 33% amount of second fluid flow. It is understood that instead this fixed predetermined ratio between the first and second partial flow, the two throttles 28.1, 28.2 can be individually designed differently adjustable.
- the flow divider 26 is designed for a volume flow range of, for example, 150 l / min.
- a check valve 36 is provided, which closes at a pressure supply to the Einfahrseite 18.1 of the first hydraulic consumer 10 via the first valve 22 to avoid a pressure drop across the first fluid connection F1 ,
- a locking device 38 is provided, which is designed as a check valve and via a fluid leading to the first fluid connection F1 connected, designed as a leakage current line control line S is lockable.
- the fluid and pressure-carrying control line S (drawn in dashed lines) runs between a connection point AS of the blocking device 38 for blocking the same and a branch point AB, into which both one of the output A1 of a current divider path ST1 of the flow divider 26 coming fluid line F1 'opens as well as the other Fluid line F1, which opens in the direction of the consumer 10 with the higher pressurization.
- the current divider path ST2 of the current divider 26 is connected via the output A2 of the current divider 26 to the fluid line F2 ', which further leads to an input-side connection of the blocking device 38.
- the junction AS and the leading to the consumer 12 fluid line or Connection F2 are connected to the output side of the check valve 38, the blocking member opens in the direction of said output side at queuing a corresponding fluid pressure and otherwise can remain under inclusion of the differential pressure between input and output side of the check valve 38 in a closed position.
- the flow divider 26 and the locking device 38 are part of a device 32 for controlling the two hydraulic consumers 10, 12, wherein the device 32 further comprises the check valve 36 and switchable valves 34.1, 34.2, 34.3.
- a first switchable valve 34.1 is arranged in the first fluid connection F1 from the flow divider 26 to the entry side 18.1 of the first hydraulic consumer 10.
- a second switchable valve 34.2 is arranged to bypass the flow divider 26 together with the barrier means 38 at an immediate pressurization of the pressure supply P via the second valve 24 to the retraction side 18.2 of the second hydraulic consumer 12.
- a third switchable valve 34.3 is arranged in a direct return line from the extension side 20.1 of the first hydraulic consumer 10 to the tank port T, that is, parallel to the first valve 22.
- Fig. 2 differs from Fig. 1 in that the second valve 24 shown on the right is in the ON position and accordingly via the flow divider 26, the Einfahren 18.1, 18.2 of the two hydraulic consumers 10, 12 are pressurized and the respective pistons 14, 16 a horizontal first retraction E1 or perform a vertical second retraction E2.
- the current divider 26 through the fluid connections F1, F2 to Einfahrseite 18.1, 18.2 of the respective hydraulic consumer 10, 12 partial flows are forcibly coupled and the pistons 14, 16 move according to the flow divider 26, more precisely on the throttles 28.1, 28.2, set partial flows as well as the given on the respective retraction side 18.1, 18.2 Partial volume of the respective working cylinder in a predetermined ratio to each other.
- Fig. 3 differs from Fig. 1 in that the first valve 22 shown on the left is in the ON position and accordingly the retraction side 18.1 of the first hydraulic consumer 10 is pressurized and the first piston 14 performs a retraction movement E1 pointing to the right in the figure. Due to the NEUTRAL position of the second valve 24 is in the second fluid connection F2 and the flow divider 26 of the prevailing on the retraction side 18.2 of the second piston 16 pressure. In the in Fig. 3 illustrated situation, the second piston 16 is extended far out of the working cylinder of the second hydraulic consumer 12, so that at the corresponding retraction side 18.2 a low pressure is present. This low pressure is also at the power splitter side of the check valve 36 in the first fluid connection F1. The said check valve 36 is closed due to the actuator side, much higher pressure from the pressure supply P.
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Description
Die Erfindung betrifft ein Hydrauliksystem gemäß der Merkmalsausgestaltung des Oberbegriffs des Patentanspruchs 1.The invention relates to a hydraulic system according to the feature configuration of the preamble of claim 1.
Eine derartige Vorrichtung findet Verwendung beispielsweise in Maschinen, wie Ladern, zur Bewegung von Lasten und dient dabei der Ansteuerung von Aktuatoren mit Arbeitszylindern, in welchen Kolben entsprechend einer Bewegung der zu bewegenden Last verfahr- bzw. bewegbar geführt sind. In Abhängigkeit der Positionen der Kolben bzw. Aktuatoren und der durch diese bewegte Last kann es bei einer ungünstigen Schwerpunktverlagerung zu einem Kippen der Maschine kommen, weshalb diese insbesondere die in der Sicherheitsnorm EN 15000 festgelegten Sicherheitsbestimmungen erfüllen muss. Demgemäß ist bei Kippgefahr eine lastmomentvergrößernde Bewegung zu verhindern und eine lastmomentverringernde Bewegung zuzulassen. Im Betrieb der Maschine kann es bei einer plötzlichen Abschaltung der Verbraucher insbesondere durch eine starke Bremsbeschleunigung zusätzlich zu einem Kippen der Maschine kommen. Diesem Problem wird bislang damit begegnet, dass die zulässige Verfahrgeschwindigkeit zur Verringerung der Bremsbeschleunigung reduziert wird, wobei zweckmäßigerweise die Verfahrgeschwindigkeit proportional zur Aktuatorposition und zur Last verzögert, anders ausgedrückt die Bewegung verlangsamt wird. Dies steht im Widerspruch zur bedienerseitigen Anforderung schneller Be- und Entladezyklen. Alternativ können die Bewegungen beider Aktuatoren derart zwangsgekoppelt werden, dass ungewünschte Aktuatorpositionen vermieden werden.Such a device is used, for example, in machines such as loaders, for moving loads and serves to control actuators with working cylinders, in which pistons are moved or moved in accordance with a movement of the load to be moved. Depending on the positions of the pistons or actuators and the load moved by them, tilting of the machine may occur in the event of unfavorable center of gravity displacement, which is why it must comply in particular with the safety regulations specified in the safety standard EN 15000. Accordingly, at the risk of tipping a Lastmomentvergrößernde movement to prevent and allow a load torque-reducing movement. During operation of the machine, in the event of a sudden switch-off of the loads, in particular due to a strong braking acceleration, the machine may also tilt. This problem has hitherto been counteracted by the fact that the permissible travel speed for reducing the braking acceleration is reduced, wherein expediently the travel speed is proportional to the actuator position and delayed to the load, in other words, the movement is slowed down. This contradicts the user-side requirement of fast loading and unloading cycles. Alternatively, the movements of both actuators may be positively coupled such that undesired actuator positions are avoided.
Des Weiteren ist es wünschenswert, an den Grenzen des Bewegungsbereichs der Maschine, anders ausgedrückt beim Erreichen der Extrempositionen der Aktuatoren, ein gleichmäßiges, "ruckfreies" Arbeiten zu ermöglichen. Beispielsweise kann der für einen bestimmten Volumenbereich ausgelegte Stromteiler dahingehend leckagebehaftet sein, dass von einem einer Horizontalbewegung zugeordneten, mit einem höheren Druck beaufschlagten Aktuator zu einem einer Vertikalbewegung zugeordneten, mit einem niedrigeren Druck beaufschlagten Aktuator ein Fluid-Leckagestrom fließen und die Position des weiteren Aktuators in Form einer Unregelmäßigkeit im Bewegungsablauf, wie eines "Rucks", spürbar beeinflussen kann. Diese Situation tritt insbesondere dann auf, wenn der horizontal verfahrbare Aktuator weit eingefahren und der vertikal verfahrbare Aktuator weit ausgefahren ist. Die bekannten Vorrichtungen zur Ansteuerung von hydraulischen Verbrauchern, wie der Aktuatoren, unterbinden den Fluid-Leckagestrom in dieser Situation nicht zuverlässig.Furthermore, it is desirable to allow uniform, "jerk-free" working at the limits of the range of movement of the machine, in other words when achieving the extreme positions of the actuators. For example, the flow divider designed for a certain volume range can be leaking, in that a fluid leakage current flows from an actuator assigned to a vertical movement and acted on by a vertical movement to an actuator assigned to a vertical movement and acted upon by a lower pressure, and the position of the further actuator in FIG Form of an irregularity in the movement, such as a "jerk", can affect noticeably. This situation occurs in particular when the horizontally movable actuator is retracted far and the vertically movable actuator is far extended. The known devices for controlling hydraulic consumers, such as the actuators, do not reliably prevent the fluid leakage current in this situation.
Durch die
Um bei dieser Kipp- oder Ausbrechbewegung die Schaufelhälften in der geschlossenen Stellung halten zu können, ist nach einem Stromteiler, der die beiden Kolbenseiten der Arbeitszylinder mit Hydraulikfluid versorgt, hinter dem Stromteilerpfad, der den Arbeitszylinder mit der geringeren Ausfahrlänge versorgt, eine Steuerleitung vorgesehen, die ein 3/2-Wegeventil derart ansteuert, dass mit wachsendem Druck beim Ausbrechen des Erdreiches dieses Ventil in seine Schließstellung gelangt, so dass ein weiterer Zustrom von Arbeitsfluid zu diesem Hydraulikzylinder unterbunden ist und dieser ohne Überlast in seiner das Schaufelwerk schließenden Stellung gehalten wird.In order to hold the blade halves in the closed position in this tilting or Ausbrechbewegung, a control line is provided downstream of the Stromteilerpfad that supplies the working cylinder with the lower extension length, after a flow divider that supplies the two sides of the piston with hydraulic fluid a 3/2-way valve controls such that with increasing pressure when breaking the soil of this valve reaches its closed position, so that a further influx of working fluid is suppressed to this hydraulic cylinder and this is held without overload in its shovel closing position.
Durch die
Die
Ausgehend von diesem Stand der Technik stellt sich die Erfindung die Aufgabe, einen Fluid-Leckagestrom zwischen zwei über einen Stromteiler mit Fluid versorgbaren, mit unterschiedlichen Drücken beaufschlagten, doppelt wirkenden, hydraulischen Verbrauchern in einfacher und zuverlässiger Weise zu unterbinden.Based on this prior art, the invention has the object to prevent a fluid leakage flow between two powered by a flow divider with fluid, acted upon by different pressures, double-acting hydraulic consumers in a simple and reliable manner.
Diese Aufgabe wird erfindungsgemäß gelöst durch einem Hydrauliksystem gemäß der Merkmalsausgestaltung des Patentanspruchs 1.This object is achieved by a hydraulic system according to the feature configuration of claim 1.
Das erfindungsgemäße Hydrauliksystem zeichnet sich dadurch aus, dass das zweite Ventil derart zwischen die Druckversorgung und die zwei hydraulischen Verbraucher geschaltet ist, dass das zweite Ventil unmittelbar an eine Ausfahrseite des zweiten hydraulischen Verbrauchers und über den Stromteiler an beide Einfahrseiten der beiden hydraulischen Verbraucher angeschlossen ist.The hydraulic system according to the invention is characterized in that the second valve is connected between the pressure supply and the two hydraulic consumers such that the second valve is connected directly to an extension side of the second hydraulic consumer and via the flow divider to both retraction sides of the two hydraulic consumers.
Ferner ist vorgesehen, dass eine Steuerleitung von der vom hydraulischen Verbraucher mit jeweils höherer Druckbeaufschlagung zum Stromteiler führenden Fluidverbindung zu der Sperreinrichtung derart geführt ist, dass die höhere Druckbeaufschlagung die Sperreinrichtung in Richtung ihrer sperrenden Stellung ansteuert, so dass in jedweder Drucksituation der angesteuerten hydraulischen Verbraucher ein in der Fluidverbindung vom hydraulischen Verbraucher mit höherer Druckbeaufschlagung zum Stromteiler anstehender Fluiddruck den hydraulischen Verbraucher mit niedrigerer Druckbeaufschlagung nicht erreicht und folglich diesen nicht in ungewollter Weise betätigt.It is further provided that a control line is guided by the leading from the hydraulic consumer with each higher pressurization to the flow divider fluid connection to the locking device, that the higher pressurization controls the locking device in the direction of its blocking position, so that in any pressure situation of the controlled hydraulic consumers in the fluid connection from the hydraulic consumer with higher pressure to the flow divider pending fluid pressure does not reach the hydraulic consumer with lower pressurization and consequently not operated in an unintentional manner.
Ein in der entsprechenden Fluidverbindung anstehender Fluiddruck erreicht maximal die Sperreinrichtung, welche einen weiteren Fluidweg zum jeweiligen anderen hydraulischen Verbraucher sperrt.A fluid pressure present in the corresponding fluid connection maximally reaches the blocking device, which blocks a further fluid path to the respective other hydraulic consumer.
Vorteilhafterweise ist bei Betrieb der Vorrichtung die mindestens eine, bevorzugt als Ventil, besonders bevorzugt als Rückschlagventil, ausgebildete Sperreinrichtung vom den Stromteiler durchströmenden Fluiddruck angesteuert sowie von dem vom hydraulischen Verbraucher mit jeweils höherer Druckbeaufschlagung stammendem Fluiddruck sperrbar. In dieser vorteilhaften Ausführungsform der Erfindung ist sichergestellt, dass die mindestens eine Sperreinrichtung beim Auftreten eines Fluid-Leckagestroms am Stromteiler gesperrt ist. Bei einer Ausbildung der Sperreinrichtung als sperrbares Rückschlagventil ist dieses vorteilhafterweise durch die Steuerleitung schließbar, wobei die Leitung zur Ansteuerung der Sperreinrichtung in vorteilhafter Weise fluidführend an die Fluidverbindung vom hydraulischen Verbraucher mit höherer Druckbeaufschlagung zum Stromteiler angeschlossen ist.Advantageously, during operation of the device, the at least one, preferably designed as a valve, particularly preferably as a check valve, designed locking device driven by the flow divider fluid pressure and blocked by the originating from the hydraulic consumer with each higher pressurization fluid pressure. In this advantageous embodiment of the invention, it is ensured that the at least one blocking device is blocked on the occurrence of a fluid leakage current at the flow divider. In an embodiment of the locking device as a lockable non-return valve, this can be advantageously closed by the control line, wherein the line for controlling the locking device is connected in an advantageous manner fluid leading to the fluid connection from the hydraulic consumer with higher pressure to the flow divider.
Weiter ist vorstellbar, dass Fluiddrücke in beiden Fluidrichtungen zwischen den über den Stromteiler miteinander verbundenen hydraulischen Verbrauchern auftreten, die wechselweise mit höherem und niedrigerem Druck beaufschlagt sind. Hierbei sind zweckmäßigerweise zwei, der jeweiligen Fluidrichtung zugeordnete, in der Fluidverbindung vom Stromteiler zum jeweiligen hydraulischen Verbraucher mit niedrigerer Druckbeaufschlagung angeordnete Sperreinrichtungen vorgesehen. Es ist erfindungsgemäß jedoch auch vorstellbar, eine in beide Fluidrichtungen wirksame, entsprechende Fluidströme unterbindende Sperreinrichtung auszubilden. Mit Hilfe der erfindungsgemäßen Vorrichtung kann auch in besonderen Stellungen der hydraulischen Verbraucher ohne Störungen durch Fluidströme störungsfrei ("ruckfrei") und sicher gearbeitet werden, wobei die erfindungsgemäße Lösung sich auch besonders kostengünstig realisieren lässt. Ehemals gegebenenfalls über den Stromteiler führende Leckageströme sind dergestalt mit Sicherheit vermieden.It is further conceivable that fluid pressures occur in both fluid directions between the interconnected via the flow divider hydraulic consumers, which are alternately acted upon with higher and lower pressure. Here are expediently two, the respective fluid direction associated, provided in the fluid connection from the flow divider to the respective hydraulic consumer with lower pressurization locking devices are provided. However, it is also conceivable according to the invention, an effective in both fluid directions, corresponding Form fluid flow preventing locking device. With the help of the device according to the invention, even in special positions of the hydraulic consumers without disturbances by fluid flows without interference ("jerk-free") and work safely, the solution according to the invention can also be implemented particularly cost. Former possibly via the flow divider leading leakage currents are thus avoided with certainty.
Um diese vorstehend genannten vorteilhaften Lösungen zu realisieren, kann in bevorzugter Weise weiter vorgesehen sein, dass die Steuerleitung zwischen einer Anschlussstelle der Sperreinrichtung für das Sperren derselben und einer Abzweigstelle verläuft, in die sowohl eine vom Ausgang eines Stromteilerpfades des Stromteilers kommende Fluidleitung einmündet als auch die weitere Fluidleitung, die in Richtung des Verbrauchers mit der höheren Druckbeaufschlagung führt bzw. an diesen Verbraucher fluidführend angeschlossen ist.In order to realize these aforementioned advantageous solutions, it can be further provided in a preferred manner that the control line between a junction of the locking device for locking the same and a branch point extends, opens in both a coming from the output of a current divider path of the flow divider fluid line and the further fluid line, which leads in the direction of the consumer with the higher pressurization or is connected to carry fluid to this consumer.
Die Erfindung betrifft weiter ein hydraulisches System umfassend mindestens einen ersten hydraulischen Verbraucher und mindestens einen zweiten hydraulischen Verbraucher und eine erfindungsgemäße Vorrichtung zur Ansteuerung der hydraulischen Verbraucher. Die erfindungsgemäße Vorrichtung kann als handelbare Einheit unabhängig von den hydraulischen Verbrauchern und einer Druckversorgung hergestellt, vertrieben und in ein Hydrauliksystem eingesetzt werden.The invention further relates to a hydraulic system comprising at least one first hydraulic consumer and at least one second hydraulic consumer and a device according to the invention for controlling the hydraulic consumers. The device according to the invention can be manufactured as a tradable unit, independent of the hydraulic consumers and a pressure supply, distributed and used in a hydraulic system.
Zum Einsatz des Hydrauliksystems in einer Maschine zur Bewegung von Lasten können der erste und/oder der zweite hydraulische Verbraucher fluidbetätigte Aktuatoren sein mit jeweils zwei voneinander getrennten Aktuatorseiten, die für eine Bewegung des jeweiligen Aktuators wechselweise fluidführend mit der Druckversorgung verbindbar sind. Entsprechend der Druckbeaufschlagung der jeweiligen Aktuatorseite werden der Aktuator und die mit diesem verbundene Last bewegt. Bevorzugterweise umfassen die Aktuatoren jeweils einen in einem Arbeitszylinder ein- und ausfahrbar geführten Kolben, wobei zweckmäßigerweise die einer einfahrenden Bewegung des jeweiligen Kolbens zugeordneten Aktuatorseiten mit dem Stromteiler verbunden sind. Es können jedoch alternativ einer ausfahrenden Bewegung des jeweiligen Kolbens zugeordnete Aktuatorseiten mit dem Stromteiler verbunden sein. Auf diese Weise wird ein Gleichlauf, anders ausgedrückt eine aufeinander abgestimmte Bewegung, beider Kolben bzw. Aktuatoren gewährleistet, entweder in der jeweiligen Einfahrrichtung oder in der jeweiligen Ausfahrrichtung. Auch Kombinationen von gekoppelten Einfahr- und Ausfahrbewegungen sind vorstellbar.For use of the hydraulic system in a machine for moving loads, the first and / or the second hydraulic load can be fluid-actuated actuators, each with two separate actuator sides, which can be alternately fluid-conductively connected to the pressure supply for movement of the respective actuator. According to the pressurization of the respective actuator side, the actuator and the load connected thereto are moved. Preferably, the Actuators each one in a working cylinder retractable and guided pistons, expediently associated with a retracting movement of the respective piston actuator sides are connected to the flow divider. However, alternatively, an extending movement of the respective piston associated actuator sides may be connected to the flow divider. In this way, a synchronization, in other words a coordinated movement, both pistons and actuators guaranteed, either in the respective retraction direction or in the respective extension direction. Also combinations of coupled retraction and extension movements are conceivable.
Bei einer weiteren bevorzugten Ausführungsform des erfindungsgemäßen Hydrauliksystems umfasst einer der Aktuatoren einen Teleskopzylinder mit einem darin vorzugsweise in einer Horizontalrichtung ein- und ausfahrbar geführten Kolben und ein weiterer Aktuator einen Hubzylinder mit einem darin vorzugsweise in einer Vertikalrichtung ein- und ausfahrbar geführten weiteren Kolben, wobei die Sperreinrichtung zwischen dem Stromteiler und dem Hubzylinder angeordnet ist. Hierbei ist die von den Aktuatoren bewirkte Gesamtbewegung in eine vorzugsweise in Horizontalrichtung gerichtete Bewegungskomponente und eine weitere vorzugsweise in Vertikalrichtung gerichtete Bewegungskomponente aufgeteilt und entsprechend über den Teleskopzylinder bzw. den Hubzylinder veränderbar. Durch die erfindungsgemäße Anordnung der Sperreinrichtung zwischen dem Stromteiler und dem Hubzylinder und ein Sperren der entsprechenden Fluidverbindung wird im Betrieb des Hydrauliksystems verhindert, dass bei einem beispielsweise für 150 I/min ausgelegten Stromteiler und einem Druck von 150 bar im Teleskopzylinder ein Fluid-Leckagestrom von ca. 5 I/min den Hubzylinder erreicht.In a further preferred embodiment of the hydraulic system according to the invention, one of the actuators comprises a telescopic cylinder with a piston preferably retractable and extendable in a horizontal direction and a further actuator comprising a lifting cylinder with a further piston which can be retracted and retracted therein in a vertical direction Locking device between the flow divider and the lifting cylinder is arranged. Here, the total movement caused by the actuators is divided into a preferably horizontally directed component of movement and another preferably directed in the vertical direction of movement component and correspondingly changeable via the telescopic cylinder or the lifting cylinder. By the inventive arrangement of the locking device between the flow divider and the lifting cylinder and locking the corresponding fluid connection is prevented during operation of the hydraulic system that at a designed, for example, 150 l / min flow divider and a pressure of 150 bar in the telescopic cylinder, a fluid leakage current of approx 5 l / min reaches the lifting cylinder.
Weitere Vorteile und Merkmale der Erfindung ergeben sich aus den Figuren und der nachfolgenden Beschreibung der Zeichnung.Further advantages and features of the invention will become apparent from the figures and the following description of the drawing.
Die in den Figuren gezeigten Merkmale sind rein schematisch und nicht maßstäblich zu verstehen. Es zeigt:
- Fig. 1 bis 3
- jeweils einen Schaltplan eines mit einer erfindungsgemäßen Vorrichtung zur Ansteuerung von hydraulischen Verbrauchern ausgestatteten Hydrauliksystems.
- Fig. 1 to 3
- in each case a circuit diagram of a hydraulic system equipped with a device according to the invention for controlling hydraulic consumers.
Ein in den
Zur Einstellung der Position des jeweiligen Kolbens 14, 16 bzw. für eine entsprechende Aktuatorbewegung wird eine Einfahrseite 18.1, 18.2 oder eine Ausfahrseite 20.1, 20.2 des entsprechenden Arbeitszylinders an eine Druckversorgung P fluidführend angeschlossen und mit Fluid mit einem vorgebbaren Druck beaufschlagt. Fluid wird mittels einer betätigbaren Pumpe 30 von der Druckversorgung P zur Einfahrseite 18.1, 18.2 oder zur Ausfahrseite 20.1, 20.2 des jeweiligen hydraulischen Verbrauchers 10, 12 gefördert. Bei einer Bewegung des jeweiligen Kolbens 14, 16 auf der Einfahrseite 18.1, 18.2 oder der Ausfahrseite 20.1, 20.2 verdrängtes Fluid kann über einen Tankanschluss T zurück in den Tank bzw. ein Reservoir geführt werden. Mit dem in den
Zur jeweils gewünschten Fluidversorgung der hydraulischen Verbraucher 10, 12 sind ein als elektromagnetisch betätigbares 4/3-Wegeventil ausgebildetes erstes Ventil 22 und ein als betätigbares 4/3-Wegeventil ausgebildetes zweites Ventil 24 vorgesehen. Das zwischen einer EIN-Stellung (links) zur Druckbeaufschlagung der Einfahrseite 18.1 des ersten hydraulischen Verbrauchers 10, einer NEUTRAL-Stellung (Mitte) zum Abschluss sämtlicher Fluidanschlüsse und einer AUS-Stellung (rechts) zur Druckbeaufschlagung der Ausfahrseite 20.1 des ersten hydraulischen Verbrauchers 10 schaltbare erste Ventil 22 ist unmittelbar zwischen die Druckversorgung P und den ersten hydraulischen Verbraucher 10 geschaltet. Das zweite Ventil 24, welches zwischen einer EIN-Stellung (links) zur Druckbeaufschlagung einer Einfahrseite 18.2 des zweiten hydraulischen Verbrauchers 12, einer NEUTRAL-Stellung (Mitte) zum Abschluss sämtlicher Fluidanschlüsse und einer AUS-Stellung (rechts) zur Druckbeaufschlagung einer Ausfahrseite 20.2 des zweiten hydraulischen Verbrauchers 12 schaltbar ist, ist derart zwischen die Druckversorgung P und die zwei hydraulischen Verbraucher 10, 12 geschaltet, dass das zweite Ventil 24 unmittelbar an die Ausfahrseite 20.2 des zweiten hydraulischen Verbrauchers 12 und an beide Einfahrseiten 18.1, 18.2 der beiden hydraulischen Verbraucher 10, 12 angeschlossen ist.For each desired fluid supply of the
Zur Aufteilung eines von der Druckversorgung P über das zweite Ventil 24 zu den Einfahrseiten 18.1, 18.2 der hydraulischen Verbraucher 10, 12 geführten Fluidstroms in entsprechende Teilströme ist ein Stromteiler 26 vorgesehen. Der Stromteiler 26 weist eine erste Drossel 28.1 und eine zweite Drossel 28.2 auf, welche den von der Druckversorgung P kommenden, 100 % betragenden Fluidstrom in einen zum ersten hydraulischen Verbraucher 10 führenden, beispielhaft 67 % betragenden ersten Teilstrom und einen zum zweiten hydraulischen Verbraucher 12 führenden, beispielhaft 33 % betragenden zweiten Fluidstrom aufteilt. Es versteht sich, dass anstelle dieses fest vorgegebenen Verhältnisses zwischen erstem und zweitem Teilstrom die beiden Drosseln 28.1, 28.2 individuell auch anders einstellbar ausgebildet sein können. Der Stromteiler 26 ist für einen Volumenstrombereich von beispielsweise 150 I/min ausgelegt. Hierbei ist ein Kompromiss zwischen dem minimalen Volumenstrom, bei welchem der Stromteiler 26 seine Funktion erfüllt, und einem Druckabfall über ein zweites Schaltventil 34.2 bei maximalem Volumenstrom zu finden. Bei geringem Volumenstrom des von der Druckversorgung P kommenden Fluidstroms funktioniert der Stromteiler 26 entsprechend den beiden Drosseln 28.1, 28.2.For dividing a from the pressure supply P via the
In einer ersten Fluidverbindung oder Fluidleitung F1 vom Stromteiler 26 zum ersten hydraulischen Verbraucher 10 ist ein Rückschlagventil 36 vorgesehen, welches bei einer Druckversorgung der Einfahrseite 18.1 des ersten hydraulischen Verbrauchers 10 über das erste Ventil 22 schließt, um einen Druckabfall über die erste Fluidverbindung F1 zu vermeiden. In einer zweiten Fluidverbindung oder Fluidleitung F2 vom Stromteiler 26 zum zweiten hydraulischen Verbraucher 12 ist eine Sperreinrichtung 38 vorgesehen, welche als Rückschlagventil ausgebildet ist und über eine fluidführend an die erste Fluidverbindung F1 angeschlossene, als Leckagestromleitung ausgebildete Steuerleitung S sperrbar ist.In a first fluid connection or fluid line F1 from the
Die fluid- und druckführende Steuerleitung S (strichliniert gezeichnet) verläuft zwischen einer Anschlussstelle AS der Sperreinrichtung 38 für das Sperren derselben und einer Abzweigstelle AB, in die sowohl eine vom Ausgang A1 eines Stromteilerpfades ST1 des Stromteilers 26 kommende Fluidleitung F1' einmündet als auch die weitere Fluidleitung F1, die in Richtung des Verbrauchers 10 mit der höheren Druckbeaufschlagung mündet. Der Stromteilerpfad ST2 des Stromteilers 26 ist über den Ausgang A2 des Stromteilers 26 an die Fluidleitung F2', welche weiter zu einem eingangsseitigen Anschluss der Sperreinrichtung 38 führt, angeschlossen. Die Anschlussstelle AS sowie die zum Verbraucher 12 führende Fluidleitung oder -verbindung F2 sind an der Ausgangsseite des Sperrventiles 38 angeschlossen, dessen Sperrglied in Richtung der genannten Ausgangsseite bei Anstehen eines entsprechenden Fluiddrucks öffnet und ansonsten unter Einbezug des Differenzdruckes zwischen Ein- und Ausgangsseite des Sperrventiles 38 auch in einer geschlossenen Stellung verbleiben kann.The fluid and pressure-carrying control line S (drawn in dashed lines) runs between a connection point AS of the blocking
Der Stromteiler 26 und die Sperreinrichtung 38 sind Teil einer Vorrichtung 32 zur Ansteuerung der beiden hydraulischen Verbraucher 10, 12, wobei die Vorrichtung 32 weiter das Rückschlagventil 36 und schaltbare Ventile 34.1, 34.2, 34.3 umfasst. Ein erstes schaltbares Ventil 34.1 ist in der ersten Fluidverbindung F1 vom Stromteiler 26 zur Einfahrseite 18.1 des ersten hydraulischen Verbrauchers 10 angeordnet. Ein zweites schaltbares Ventil 34.2 ist zur Umgehung des Stromteilers 26 nebst Sperreinrichtung 38 bei einer unmittelbaren Druckbeaufschlagung von der Druckversorgung P über das zweite Ventil 24 zur Einfahrseite 18.2 des zweiten hydraulischen Verbrauchers 12 angeordnet. Ein drittes schaltbares Ventil 34.3 ist in einer direkten Rückführleitung von der Ausfahrseite 20.1 des ersten hydraulischen Verbrauchers 10 zum Tankanschluss T, d.h., parallel zum ersten Ventil 22 angeordnet.The
An der dem ersten hydraulischen Verbraucher 10 zugeordneten Seite des Stromteilers 26 bzw. im entsprechenden Abschnitt der ersten Fluidverbindung F1 anstehender Fluiddruck kann den Stromteiler 26 nahezu ungehindert durchströmen und würde ohne die Sperreinrichtung 38 die Einfahrseite 18.2 des zweiten hydraulischen Verbrauchers 12 erreichen und die Position des zweiten Kolbens 16 in ungewünschter Weise, insbesondere "ruckartig", beeinflussen können. Durch die Sperreinrichtung 38 wird eine derartige unerwünschte Beeinflussung dadurch verhindert, dass die Sperreinrichtung 38 vom in der ersten Fluidverbindung F1 anstehenden Fluiddruck über die Steuerleitung S angesteuert und verschlossen wird, bevor ein derartiger Fluidstrom über den Stromteiler 26 die zum zweiten hydraulischen Verbraucher 12 führende zweite Fluidverbindung F2 erreicht.At the first
Sobald der an der Einfahrseite 18.1 des ersten hydraulischen Verbrauchers 10 anstehende Druck verringert und/oder die Schaltstellung des ersten Ventils 22 geändert wird, werden Fluid-Leckageströme über den Stromteiler 26 verringert und spätestens bei einem Druckabfall am Stromteiler 26 vernachlässigbar klein oder ganz verhindert. Infolgedessen wird die Sperreinrichtung 38 wieder entsperrt und die Einfahrseite 18.2 des zweiten hydraulischen Verbrauchers 12 kann wieder über die in
Claims (5)
- A hydraulic system comprising at least one first hydraulic consumer (10) and at least one second hydraulic consumer (12) and a control device (32) for actuating the hydraulic consumers (10, 12),- wherein the first (10) and the second hydraulic consumer (12) is a fluid-actuated actuator each with two actuator sides (18.1, 20.1; 18.2, 20.2) which are separated from one another, which actuator sides can be connected in an alternating manner to the pressure supply (P) for a movement (E1, E2) of a respective piston (14, 16) to guide fluid,- wherein the control device (32) comprises a flow divider (26), a shut-off device (38) and, for the desired fluid supply of each of the hydraulic consumers (10, 12), a first way valve (22) and a second way valve (24),- wherein the hydraulic consumers (10, 12) can be supplied with fluid at a predefinable pressure at least via the flow divider (26) for dividing a fluid flow coming from a pressure supply (P) in predefinable partial flows, which leads to the respective hydraulic consumer (10, 12),- wherein a fluid flow from the respective hydraulic consumer (10) with higher pressure loading via the flow divider (26) to the respective hydraulic consumer (12) with lower pressure loading can be suppressed by means of the actuatable shut-off device (38) arranged between the flow divider (26) and at least one hydraulic consumer (12),- wherein the at least one shut-off device (38) is arranged in a fluid connection (F2) from the flow divider (26) to the hydraulic consumer (12) with lower pressure loading,- wherein a control line (S) is guided from the fluid connection (F1) running from the hydraulic consumer (10) which has the higher pressure loading to the flow divider (26) to the shut-off device (38) such that the higher pressure loading actuates the shut-off device (38) in the direction of the blocking position thereof, with the result that, in the respective pressure situation of the actuated hydraulic consumer (10, 12), a fluid pressure which is present in the fluid connection (F1) from the hydraulic consumer (10) with higher pressure loading to the flow divider (26) does not reach the hydraulic consumer (12) with lower pressure loading, and consequently does not actuate this consumer in an unintended manner,- characterised in that the second valve (24) is switched between the pressure supply (P) and the two hydraulic consumers (10, 12) such that the second valve (24) is connected directly to a retraction side (20.2) of the second hydraulic consumer (12) and, via the flow divider (26), to both extension sides (18.1, 18.2) of the two hydraulic consumers (10,12).
- The hydraulic system according to claim 1, characterised in that during the operation thereof, the at least one shut-off device (38), which is preferably designed as a valve, particularly preferably, as a non-return valve, is actuated by the fluid pressure flowing through the flow divider (26) and can be blocked by the fluid pressure originating from the hydraulic consumer (10) with a respective higher pressure loading.
- The hydraulic system according to claim 1 or 2, characterised in that the control line (S) runs between a connection point (AS) of the shut-off device (38) for blocking said connection point and a branching point (AB), into which control line both a fluid line (F1"), coming from the outlet (A1) of a flow divider pathway (ST1) of the flow divider (26), discharges, as does the further fluid line (F1), which runs in the direction of the consumer (10) with the higher pressure loading.
- The hydraulic system according to one of the preceding claims, characterised in that the pistons (14, 16) are each guided in a working cylinder such that said pistons can be extended and retracted, and in that the actuator sides (18.1, 18.2) allocated to a retracting movement (E1, E2) of the respective piston (14, 16) are connected to the flow divider (26).
- The hydraulic system according to one of the preceding claims, characterised in that one of the pistons (14) is guided such that it can be extended and retracted in a telescopic cylinder, preferably in a horizontal direction (H), that an additional piston (16) is guided such that it can be extended and retracted in a lifting cylinder, preferably in a vertical direction (V), and in that the shut-off device (38) is arranged between the flow divider (26) and the lifting cylinder.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012005253A DE102012005253A1 (en) | 2012-03-14 | 2012-03-14 | Device for controlling at least a first hydraulic consumer and at least one second hydraulic consumer |
PCT/EP2013/000734 WO2013135375A1 (en) | 2012-03-14 | 2013-03-13 | Device together with hydraulic system for actuating at least one first hydraulic consumer and at least one second hydraulic consumer |
Publications (2)
Publication Number | Publication Date |
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EP2825778A1 EP2825778A1 (en) | 2015-01-21 |
EP2825778B1 true EP2825778B1 (en) | 2018-12-26 |
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EP13709777.0A Active EP2825778B1 (en) | 2012-03-14 | 2013-03-13 | Device with hydrauliksystem for controlling at least a first and a second hydraulic consumer. |
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US (1) | US9631643B2 (en) |
EP (1) | EP2825778B1 (en) |
DE (1) | DE102012005253A1 (en) |
WO (1) | WO2013135375A1 (en) |
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CN107269608B (en) * | 2017-07-25 | 2018-10-16 | 广州中船文冲船坞有限公司 | FPSO shipping rudder blade hydraulic Lock systems |
DE102018106846B3 (en) * | 2018-03-22 | 2019-07-04 | HAWE Altenstadt Holding GmbH | Human exoskeleton |
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DE1222376B (en) * | 1963-03-11 | 1966-08-04 | Westinghouse Bremsen Apparate | Synchronization control device for two single-acting hydraulic working cylinders |
DE2356414A1 (en) * | 1973-11-12 | 1975-05-15 | Peiner Masch Schrauben | Flow divider for pressure medium from pump - has control valve with double-acting piston control ducts double valve and changeover valve |
JPS58180898A (en) | 1982-04-14 | 1983-10-22 | Ishikawajima Harima Heavy Ind Co Ltd | Method and apparatus for cooling low-temperature piping |
JPS58180898U (en) * | 1982-05-25 | 1983-12-02 | 株式会社豊田自動織機製作所 | Hydraulic system for cargo handling vehicles |
JPH07158103A (en) * | 1993-12-10 | 1995-06-20 | Japanic:Kk | Construction of clam-shell bucket and controlling circuit thereof |
JPH0942212A (en) * | 1995-05-24 | 1997-02-10 | Kobe Steel Ltd | Hydraulic control device |
US6189432B1 (en) * | 1999-03-12 | 2001-02-20 | Hunter Engineering Company | Automotive lift hydraulic fluid control circuit |
US6581622B2 (en) * | 2000-09-28 | 2003-06-24 | Glen Brand | Divider-combiner valve |
NL1024151C2 (en) * | 2003-08-22 | 2005-02-23 | Actuant Corp | Vehicle, in particular camping vehicle, with hydraulically operated roof component. |
US7555898B2 (en) * | 2004-08-02 | 2009-07-07 | Komatsu Ltd. | Control system and control method for fluid pressure actuator and fluid pressure machine |
ITMI20051256A1 (en) * | 2005-07-04 | 2007-01-05 | Auramo Oy | HYDRAULIC GROUP TO CONTROL THE ARMS OF A CALIPER AND THE CALIPER INCLUDING THE HYDRAULIC GROUP |
-
2012
- 2012-03-14 DE DE102012005253A patent/DE102012005253A1/en not_active Withdrawn
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2013
- 2013-03-13 WO PCT/EP2013/000734 patent/WO2013135375A1/en active Application Filing
- 2013-03-13 US US13/261,952 patent/US9631643B2/en active Active
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US20150007714A1 (en) | 2015-01-08 |
WO2013135375A1 (en) | 2013-09-19 |
DE102012005253A1 (en) | 2013-09-19 |
EP2825778A1 (en) | 2015-01-21 |
US9631643B2 (en) | 2017-04-25 |
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