EP0901577B1 - Dispositif hydraulique de commande pilote actionne manuellement - Google Patents

Dispositif hydraulique de commande pilote actionne manuellement Download PDF

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Publication number
EP0901577B1
EP0901577B1 EP97927118A EP97927118A EP0901577B1 EP 0901577 B1 EP0901577 B1 EP 0901577B1 EP 97927118 A EP97927118 A EP 97927118A EP 97927118 A EP97927118 A EP 97927118A EP 0901577 B1 EP0901577 B1 EP 0901577B1
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EP
European Patent Office
Prior art keywords
control
spring
pilot
housing
piston
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP97927118A
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German (de)
English (en)
Other versions
EP0901577A1 (fr
Inventor
Peter BÜTTNER
Lucia Jelitte
Konrad Stahl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bosch Rexroth AG
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Mannesmann Rexroth AG
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Publication of EP0901577A1 publication Critical patent/EP0901577A1/fr
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/0422Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with manually-operated pilot valves, e.g. joysticks
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00Fluid handling
    • Y10T137/8593Systems
    • Y10T137/86493Multi-way valve unit
    • Y10T137/86574Supply and exhaust
    • Y10T137/8667Reciprocating valve
    • Y10T137/86694Piston valve
    • Y10T137/86702With internal flow passage
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00Fluid handling
    • Y10T137/8593Systems
    • Y10T137/87056With selective motion for plural valve actuator
    • Y10T137/87064Oppositely movable cam surfaces

Definitions

  • the invention relates to a manually operated hydraulic pilot control device has the features from the preamble of claim 1, with the preamble of sibling claim 8 matches.
  • Such a manually operated hydraulic pilot control device is for example from DE 27 51 946 C2 known. It works on the basis of continuously adjustable pressure reducing valves, at the control output, a pilot pressure dependent on the deflection of a hand lever can be adjusted.
  • the hydraulic shown in the cited document Pilot control unit has a continuous housing bore in a housing, which is inside of the housing has a control section in which the control piston of a pressure reducing valve Is guided axially displaceable on both sides of the control section join bore sections with a larger diameter.
  • a plunger can be moved axially is guided, which protrudes in the direction away from the housing over the guide bush and can hit the guide bush with a collar at its inner end.
  • the plunger On its end projecting outwards over the guide bushing is the plunger over a Intermediate link acted on by a hand lever. Inside is on the plunger of two A spring plate pressed on. One helical compression spring is one Return spring for the tappet and for the hand lever and is supported except on the spring plate on a shoulder of the housing bore, the control section in one direction limited.
  • the second compression spring is the control spring of the pressure reducing valve, which is outside is supported on the spring plate on a shoulder of the control piston, i.e. in one direction can act away from the plunger.
  • the control piston extends with a long neck through the control spring and reaches behind the spring plate on the tappet with a head. If the head rests on the spring plate, there is a gap between the head and the plunger Axial direction a free space, which is a relative displacement between control piston and Plunger enables.
  • the control piston is a hollow piston with an axial blind bore that is attached to the plunger facing end of the control piston to a screw connection Section of the housing bore is open towards the control outlet of the pressure reducing valve represents. Run between the blind hole and the outside of the control piston several radial bores over which, depending on the position of the control piston Space in which the return spring and the control spring are located and with one Tank outlet of the pilot control unit is connected, or a control room connected to the pressure inlet of the pilot control unit is connected to the blind hole and thus to the control output can be connected.
  • the one containing the return spring and the control spring The spring chamber and the control chamber are separated from each other by a narrow housing bridge, whose axial extent is slightly larger than the diameter of the radial bores in the control piston.
  • the control piston is in the control position when the radial bores are at least almost completely covered by the housing web. In this Control position exists between the axially directed forces acting on the control piston a balance.
  • the force acting in one direction from the control spring is the same as large as the pressure at the control outlet on the cross-sectional area of the control piston generated counterforce Small movements of the control piston out of the control position connect the blind hole and thus the control outlet with the tank outlet or the Pressure input, which in a certain position of the plunger, the pressure in the control output is kept largely constant.
  • the radial bores in the control piston have a distance from the control room connected to the pressure input.
  • the Control spring is with a certain preload between the control piston and the Tappet clamped
  • a pilot pressure according to the figure 2 Set the control curve shown.
  • the control piston is in zero position via the control spring and the spring plate on the tappet Tappet taken without first building up pressure in the control outlet.
  • This Free travel is determined by the initial distance between the radial bores in the Control piston and the control room connected to the pressure input of the pilot control unit.
  • the control pressure jumps to a value that is determined by the pretensioning force of the Normal spring is determined in the zero position.
  • control spring With a further deflection of the hand lever and a further displacement of the tappet, the control spring is further compressed, while the control piston remains in the range of its control position or after Build-up of the corresponding pressure in the control outlet returns to its control position. According to the linear characteristic of the control spring, the control pressure increases linearly with the Ram stroke too.
  • the idle travel and the amount of the initial jump correspond very precisely to certain values in the pilot pressure.
  • That small movements of the hand lever on the pilot control unit which are caused, for example, by vibrations, not to a different speed of the drive wheels and thus to one Steering deflection is caused by the free travel on the pilot control unit.
  • An idle path on the pilot control means a steering play that is based on a specific one Value should be limited. Both together leads to the requirement that the empty path very much is to be followed exactly
  • the amount of pressure jump at the end of the free travel and a Response threshold of the hydraulic main unit, which is controlled with the pilot control unit is, for example, the response threshold of an actuating cylinder for the adjustment of a Variable pump, are coordinated. If the pressure jump on the pilot control unit is lower than the threshold on the main unit, the lever or ram travel increases on the pilot control unit until the main unit responds. This results in an enlargement the free travel and with a speed difference controlled steering as an enlarged Steering play noticeable. If the initial jump in print is higher than the threshold of the main unit, the pre-control becomes less sensitive.
  • the aim of the invention is to provide a manually operated hydraulic pilot control device Features from the preamble of claim 1 or claim 8, to develop so that the free travel can be set easily.
  • control piston is displaceable in a control sleeve introduced into the housing bore and that the axial position of the control sleeve from the outside, in particular from the second open end of the housing bore off, is adjustable.
  • the trained on the control sleeve and with the control piston interacting control edges can be moved within the housing bore and each be brought into such a position that by the deflection of the hand lever or by moving the plunger after a certain one Path a flow cross-section between the control outlet and the pressure inlet is opened.
  • the accessibility of the control sleeve from the second open end of the housing bore makes the adjustment particularly easy, since no disassembly of parts of the Pilot device is necessary to get to the control sleeve.
  • the aim of the invention is also to provide a manually operated hydraulic pilot control device the features from the preamble of claim 1 and claim 8 has to evolve so that the height of the initial jump adjustable in the control pressure is.
  • an additional spring is now used, which is except on the control piston is supported on a stop which assumes a position fixed to the housing after the adjustment
  • this additional adjusting spring is at least approximately always equally tensioned, so that taking into account the direction of force, a constant force to that of the force exerted on the control piston is added to the control spring.
  • control sleeve is advantageously from the second open end of the Housing bore can be built into this.
  • the control sleeve is preferably screwed into the housing and has an external polygon for attaching a screwing tool. Is supported by a pushing the plunger Return spring according to claim 5 on the control sleeve, so there is no support shoulder necessary in the housing bore. The change in the preload of the return spring with the position of the control sleeve is only slight and makes itself felt when the pilot device is actuated hardly noticeable.
  • a shoulder is formed in the housing bore to which the control sleeve can be created when installed in the housing. This establishes a starting point in which the distance between the flow cross-section between the pressure inlet and control edges controlling the control output on the control sleeve and control piston extremely and from which the distance can be adjusted by moving the control sleeve back can.
  • Claim 7 specifies how control oil advantageously leads to the control outlet can be dissipated from the control output.
  • Control output not in the axis of the control piston, as one is connected to the control sleeve Control line hinder the adjustment, especially the rotation of the control sleeve could.
  • the pilot control device is particularly preferred according to claim 11 further training.
  • the rule spring and possibly a return spring acting on the plunger are from the one, first spring chamber recorded while the adjusting spring is in the other, second spring chamber, So with respect to the control section on the control piston opposite the control spring lies.
  • the construction of the pilot control unit is particularly simple when the adjusting spring According to claim 12, the control piston acts as a compression spring in the opposite direction to the control spring. The pressure force opposed to the force of the control spring thus becomes the force of the Adjustment spring added.
  • the second spring chamber connected to the control output. This happens advantageously by a radial outlet from the second spring chamber, because an axial Outlet and a control line connected in the axis of the control piston Adjustment of the stop for the adjusting spring would hinder.
  • pilot control device according to claim 15, according to which an adjustable housing-fixed stop for the adjusting spring and one in the housing bore introduced and adjustable in its axial position control sleeve without the stress of excessive space are combined with each other, so that empty path and pressure jump height can be set very precisely. This is done first by moving the idle travel of the control sleeve and then the preload by moving the stop the adjustment spring adjusts.
  • Pilot control device a housing 10 with a continuous housing bore 11 with sections of different diameters. From one end is in the housing bore 11 a guide bush 12 screwed so far into the housing bore 11 that it with an outer shoulder 13 abuts the housing 10.
  • a plunger 14 is in the guide bushing 12 axially guided, with a collar 15 against the inwardly facing end face of the guide bush 12 can be pressed and which has a blind bore 16 which in the Interior of the housing bore 11 is open. If he with the collar 15 on the guide bush 12 rests, the plunger 14 projects beyond the guide bush 12 by a distance that is larger is the necessary axial displacement.
  • the plunger 14 is, as in the known Pilot devices, actuated via a pivotable hand lever, not shown.
  • control sleeve 20 screwed in, on the outside essentially four axially consecutive sections can distinguish.
  • the control sleeve 20 has outside the housing bore 11 an external hexagon 21 on which a screwing tool for rotating the control sleeve can be applied.
  • the external hexagon 21 is followed by a threaded section 22, the External thread engages in an internal thread in the housing bore 11.
  • three circular cylindrical sections 23, 24 and 25, which is located on the threaded section 22nd subsequent section 23 the largest outer diameter, the following section 24 an average outside diameter and the last section 25 the smallest outside diameter has.
  • Around each section 23, 24 and 25 there is an annular groove on the outside into which a sealing ring 26 is inserted. Is between the sleeve portion 25 and the housing 10 an annular space 27 and an annular space between the sleeve portion 24 and the housing 10 28 trained.
  • the bore section 36 extends axially over the sleeve section 25 and about two-thirds of the sleeve section 24. It serves as a guide hole for the control piston 50 and as a control bore for the entire pressure reducing valve shown 9 and together with the control piston 50 controls the connections between the different connections of the valve. It has an annular control space 38, to a spring chamber 39 located in front of the sleeve section 25 through a web 40 of the control sleeve is separated. The ring edges between the end faces of the web 40 and the bore section 36 form the fixed control edges 41 and 42 of the pressure reducing valve 9.
  • the control chamber 38 is connected to the annular space via a plurality of radial bores 43 27 connected.
  • the bore section 37 has a larger diameter than the bore section 36 and is connected to the annular space 28 via a plurality of radial bores. To the outside it is closed by an adjusting screw 45 with hexagon socket 46, which is in the control sleeve 20 screwed in and secured in position by a lock nut 47. One in the Control sleeve 20 inserted locking ring 48 limits the displacement of the adjusting screw 45 to the outside.
  • the control piston 50 is a hollow piston with an axial blind bore 51 that leads to the bore section 37 of the control sleeve 20 open and with a plurality of radial bores 52 is connected to the outside of the control piston.
  • the diameter of the radial bores 52 is slightly smaller than the axial distance between the two control edges 41 and 42 on the Control sleeve 20 so that the radial bores can be completely covered by the web 40.
  • the control piston 50 extends with a neck 53 through the spring chamber 39 and projects with a head 54 into the blind bore 16 of the plunger 14. He reaches behind with the head 54 a disc 55 which between the collar 15 of the plunger 14 and a spring plate 56 is arranged and in the manner of a slotted locking ring Head 54 holds.
  • a return spring 60 received by the spring chamber 39 is supported on the one hand on the control sleeve 20 and on the other hand via the spring plate 56 and the disk 55 on the plunger 14, which they in the rest position of the pressure reducing valve 9 against the guide bush 12 presses. Furthermore, a control spring 61 is received by the spring chamber 39, clamped between a shoulder 59 of the control piston 50 and the spring plate 56 is and which ensures that the head 54 of the control piston in the rest position of the plunger 14 50 abuts the disc 55.
  • the free area of the bore section 37 between the control sleeve 20 and the adjusting screw 45 accommodates an adjusting spring 62 as the spring chamber 67, which is located between the adjusting screw 45 and a spring plate 63 is clamped, which has a continuous axial bore 64, rests with a collar 65 on the control piston 50 and on the one hand in the control piston 50 is guided and even the adjusting spring 62 leads
  • the spring chamber 39 is via a channel 70 with a tank outlet T, the annular chamber 27 a channel 71 with a pressure input P and the annular space 28 via a channel 72 a control output A of the pressure reducing valve 9 connected.
  • control sleeve 20 In the position shown in Figure 1, the control sleeve 20 is up to a stop in the Screwed in housing 10. In this position, the control sleeve 20 has the radial bores 52 a certain clear distance from the control edge 42. Between the control edge 41 and the radial bores 52 there is a small flow cross section. In the distance tolerances of the housing go between the control edge 42 and the radial bores 52 10, the guide sleeve 12 and the plunger 14, the control sleeve 20 and the control piston 50 a. By turning back the control sleeve 20 can now regardless of the tolerances a desired distance between the control edge 42 and the radial bores 52 can be adjusted.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Fluid Pressure (AREA)
  • Servomotors (AREA)

Claims (15)

  1. Un dispositif de pilotage hydraulique à actionnement manuel, doté d'une valve (9) de réduction de pression pouvant être régulée de façon continue, présentant un corps (10) et, dans un alésage (11) de corps transversal, un tiroir (50) de régulation, qui peut être sollicité dans le sens de l'ouverture d'une connexion entre une entrée (P) de pression et une sortie (A) de régulation par un ressort (61) de régulation et dans le sens contraire par la pression régnant à la sortie (A) de régulation, et dont le ressort (61) de régulation est contraint entre une première butée (59) fixe du tiroir (50) de régulation et un siège (56) de ressort, lequel peut être calé contre une seconde butée (54) fixe du tiroir (50) de régulation et peut être emporté par un galet (14), situé à la première extrémité ouverte de l'alésage (11) de corps et guidé dans la direction axiale, et peut prendre appui sur ledit galet (14) à distance de la seconde butée (54) du tiroir (50) de régulation, caractérisé en ce que le tiroir (50) de régulation peut être amené à coulisser dans une douille (20) de commande insérée dans l'alésage (11) de corps et que la position axiale de la douille (20) de commande peut être ajustée de l'extérieur, en particulier à partir de la seconde extrémité ouverte de l'alésage (11) de corps.
  2. Un dispositif de pilotage conforme à la revendication n° 1, caractérisé en ce que la douille (20) de commande peut être mise en place dans l'alésage (11) de corps à partir de la seconde extrémité ouverte de ce dernier.
  3. Un dispositif de pilotage conforme à la revendication n° 1 ou n° 2, caractérisé en ce que la douille (20) de commande est vissée dans le corps (10).
  4. Un dispositif de pilotage conforme à la revendication n° 3, caractérisé en ce que la douille (20) de commande présente un profil (21) extérieur en polygone pour la prise d'un outil de vissage.
  5. Un dispositif de pilotage conforme à une des revendications précédentes, caractérisé en ce que un ressort (60) de rappel sollicite le galet (14) et prend appui contre la douille (20) de commande.
  6. Un dispositif de pilotage conforme à une revendication précédente, caractérisé en ce qu'à l'intérieur de l'alésage (11) de corps est formée une épaule, contre laquelle peut être calée la douille (20) de commande lors de son insertion dans le corps (10).
  7. Un dispositif de pilotage conforme à une revendication précédente, caractérisé en ce que la chambre (39) située devant l'une des faces de la douille (20) de commande, dans laquelle se trouve le ressort (61) de régulation, est reliée à une sortie (T) de réservoir et qu'entre la douille (20) de commande et la paroi de l'alésage (11) de corps sont formées deux chambres (27, 28) annulaires, isolées l'une de l'autre au niveau de la paroi de l'alésage et isolées de la chambre (39) située devant ladite face de la douille (20) de commande, desquelles l'une des chambres (27) annulaires est reliée à l'entrée (P) de pression et l'autre chambre (28) annulaire est reliée à la sortie (A) de régulation et pour lesquelles dans tous les cas au moins un alésage (43, 44) radial traverse la douille (20) de commande et mène dans leur intérieur.
  8. Un dispositif de pilotage hydraulique à actionnement manuel, doté d'une valve (9) de réduction de pression pouvant être régulée de façon continue, présentant un corps (10) et, dans un alésage (11) de corps transversal, un tiroir (50) de régulation, qui peut être sollicité dans le sens de l'ouverture d'une connexion entre une entrée (P) de pression et une sortie (A) de régulation par un ressort (61) de régulation et dans le sens contraire par la pression régnant à la sortie (A) de régulation, et dont le ressort (61) de régulation est contraint entre une première butée (59) fixe du tiroir (50) de régulation et un siège (56) de ressort, lequel peut être calé contre une seconde butée (54) fixe du tiroir (50) de régulation et peut être emporté par un galet (14), situé à la première extrémité ouverte de l'alésage (11) de corps et guidé dans la direction axiale, et peut prendre appui sur ledit galet (14) à distance de la seconde butée (54) du tiroir (50) de régulation, caractérisé en ce qu'un ressort (62) d'ajustement est disposé entre le tiroir (50) de régulation et une butée (45) ajustable fixée au corps.
  9. Un dispositif de pilotage conforme à la revendication n° 8, caractérisé en ce que la butée ajustable fixée au corps est constituée d'une vis (45) d'ajustement.
  10. Un dispositif de pilotage conforme à la revendication n° 9, caractérisé en ce que la course de la vis (45) d'ajustement est limitée vers l'extérieur par une butée (48) de sécurité.
  11. Un dispositif de pilotage conforme à la revendication n° 8, n° 9 ou n° 10, caractérisé en ce que de part et d'autre d'un alésage (36) de commande, dans lequel est guidé une section de commande du tiroir (50) de régulation, il existe une chambre (39, 67) de ressort, dans chaque cas, et que le ressort (61) de régulation et / ou un ressort (60) de rappel sollicitant le galet (14) est hébergé dans l'une des chambres (39) de ressort, la première, et le ressort (62) d'ajustement est hébergé dans l'autre chambre (67) de ressort, la seconde.
  12. Un dispositif de pilotage conforme à la revendication n° 11, caractérisé en ce qu'en tant que ressort de pression, le ressort (62) d'ajustement sollicite le tiroir (50) de régulation dans le sens opposé à celui de la sollicitation par le ressort (61) de régulation.
  13. Un dispositif de pilotage conforme à la revendication n° 12, caractérisé en ce que le tiroir (50) de régulation est un tiroir creux pourvu d'un alésage (51) en cul-de-sac axial, que l'alésage (51) en cul-de-sac peut être relié à l'entrée (P) de pression par au moins un alésage (52) radial et ouvre sur la seconde chambre (67) de ressort et que la seconde chambre (67) de ressort est reliée à la sortie (A) de régulation.
  14. Un dispositif de pilotage conforme à la revendication n° 13, caractérisé en ce qu'entre le tiroir (50) de régulation et le ressort (62) d'ajustement est disposée une douille (63) à collerette, qui de par l'une des faces de sa collerette (65) est calée contre le tiroir (50) de régulation et de par l'autre face de sa collerette (65) constitue un appui pour le ressort (62) d'ajustement et qui de par une première broche de centrage embroche le tiroir (50) de régulation et par une seconde broche de centrage embroche le ressort (62) d'ajustement.
  15. Un dispositif de pilotage conforme à une des revendications n° 8 à n° 14, caractérisé en ce que dans l'alésage (11) de corps, à partir de la seconde extrémité ouverte, est insérée une douille (20) de commande, à l'intérieur de laquelle peut coulisser le tiroir (50) de régulation et dont la position axiale est ajustable, et que la butée (45) ajustable, solidaire avec le corps, du ressort (62) d'ajustement est placée dans la douille (20) de commande et est ajustable de l'extérieur par rapport à la douille (20) de commande.
EP97927118A 1996-06-07 1997-06-03 Dispositif hydraulique de commande pilote actionne manuellement Expired - Lifetime EP0901577B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19622948 1996-06-07
DE19622948A DE19622948C2 (de) 1996-06-07 1996-06-07 Manuell betätigbares hydraulisches Vorsteuergerät
PCT/EP1997/002876 WO1997047890A1 (fr) 1996-06-07 1997-06-03 Dispositif hydraulique de commande pilote actionne manuellement

Publications (2)

Publication Number Publication Date
EP0901577A1 EP0901577A1 (fr) 1999-03-17
EP0901577B1 true EP0901577B1 (fr) 2002-10-30

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EP97927118A Expired - Lifetime EP0901577B1 (fr) 1996-06-07 1997-06-03 Dispositif hydraulique de commande pilote actionne manuellement

Country Status (5)

Country Link
US (1) US6152179A (fr)
EP (1) EP0901577B1 (fr)
JP (1) JP2000512366A (fr)
DE (2) DE19622948C2 (fr)
WO (1) WO1997047890A1 (fr)

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DE102010006196A1 (de) 2010-01-29 2011-08-04 Robert Bosch GmbH, 70469 Hydraulisches Vorsteuergerät
CN102878133A (zh) * 2011-07-12 2013-01-16 上海立新液压有限公司 恒压控制阀
DE102019218402B4 (de) * 2019-11-27 2022-09-22 Hawe Hydraulik Se Federdom für ein Hydraulikventil und Hydraulikventil mit einem solchen Federdom

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Also Published As

Publication number Publication date
WO1997047890A1 (fr) 1997-12-18
DE59708624D1 (de) 2002-12-05
DE19622948A1 (de) 1997-12-11
EP0901577A1 (fr) 1999-03-17
DE19622948C2 (de) 2001-08-02
JP2000512366A (ja) 2000-09-19
US6152179A (en) 2000-11-28

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