CN101205811B - Hydraulic bracket electrohydraulic control system as well as valve control device and control method thereof - Google Patents
Hydraulic bracket electrohydraulic control system as well as valve control device and control method thereof Download PDFInfo
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- CN101205811B CN101205811B CN2007101430280A CN200710143028A CN101205811B CN 101205811 B CN101205811 B CN 101205811B CN 2007101430280 A CN2007101430280 A CN 2007101430280A CN 200710143028 A CN200710143028 A CN 200710143028A CN 101205811 B CN101205811 B CN 101205811B
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Abstract
The invention provides a valve control device for hydraulic support electro-hydraulic control system, comprising a valve body switch array, a control unit, a binistor fault detection unit and a binistor drive unit, wherein the valve body switch array comprises a plurality of valve bodies which are arranged in a matrix mode, line control main backup switches, column control main backup switches anda power control main backup switch. When the control unit receives control directives for controlling valve bodies with specified position, the closing or the breaking of the line and the column cont rol switches of the valve bodies are controlled by the binistor drive unit, which causes the valve bodies with specified position is connected with or broken off the power loop, therefore opening or closing the specified valve bodies; by the real-time detection of the binistor fault detection unit on the line and the column control switches and the use of the power control main backup switch, the backup switch working mode is switched into when the line and the column control main switches break down. The invention has the advantages of saving the number of switches used and improving the safety, the reliability and the production efficiency of the system.
Description
Technical field
The hydraulic support electrohydraulic control system that the present invention relates to use in the coal and mining industry especially relates to valve body control device and control method thereof in the hydraulic support electrohydraulic control system.
Background technology
Hydraulic support electrohydraulic control system is in the domestic and international coal mining mechanization field, realize the key technology equipment of fully-mechanized mining working high-yield and high-efficiency, can enhance productivity greatly and automaticity, its valve control device is the direct control device of hydraulic support electro hydraulic valve body, and the application life of valve control device, reliability, safety will directly influence application life, reliability and the safety of whole hydraulic support electrohydraulic control system.The hydraulic support electrohydraulic control system of China's employing at present mainly relies on external import.External hydraulic support electrohydraulic control technology has developed into the ripe stage, and this system has obtained general application in a plurality of countries such as China, the U.S., Australia, Germany, Poland, Britain, France, Japan, Russia.At present on the international market, German DBT, U.S. JOY and German MARCO company product dominate.
Fig. 1 illustrates the valve control device of existing hydraulic support electrohydraulic control system, its characteristics are that an end of each valve body links to each other with power supply, the other end is connected with power supply ground by switching device separately, the closure of controlling each switching device by the control logic output unit disconnects, make corresponding valve body access or leave current supply circuit, thereby reach the switch control of valve body.Mainly there is the problem of following two aspects in existing valve control device:
1) each valve body need one independently switching device control it and turn on and off, owing to the valve body quantity that needs in the hydraulic support electrohydraulic control system to control is more, the switching device number required with the increase of valve body number increases, and causes having reduced when increasing volume, cost the reliability of system;
2) only when a valve body gauge tap device failure, will cause that the control of corresponding valve body was lost efficacy, be to guarantee safety in production, then need whole valve control device to change.When equipment normally moved, valve body needed frequent operation, and the rapid wear of switching device has shortened the application life of valve control device, reduced safety, reliability and the production efficiency of system.
Summary of the invention
The present invention is intended to disclose valve body switch arrays in a kind of hydraulic support electrohydraulic control system valve control device, overcoming existing shortcoming in the above-mentioned prior art, and provide a long service life, reliability height, safe hydraulic support electrohydraulic control system valve control device.Add under the situation of switch device not increasing or reduce, set up an independently fault-tolerant unit of valve control, when one of them control module lost efficacy, start another backup units, only provide the dependent failure alarm, do not influence safety and ordinary production.
The invention provides the valve body switch arrays of valve body control device in a kind of hydraulic support electrohydraulic control system, described array comprises: row control main switch S41～S4n, row control backup switch S 41 '～S4n ', row control main switch S31～S3m, row control backup switch S 31 '～S3m ', power supply control main switch S1, S2, power supply control backup switch S 1 ', S2 ', a plurality of valve bodies, wherein said a plurality of valve body connects by matrix-style, it is capable to form a n, the matrix of m row, capable valve body corresponding row control main switch S41～S4n of 1～n and backup switch S 41 '～S4n ', 1～m row valve body respective column control main switch S31～S3m and backup switch S 31 '～S3m ', valve body one end is as the row node, the other end is as the row node, the continuous end main with current line control and the backup switch of each row node links to each other in the delegation, the continuous end with and backup switch main when prostatitis control of each row node links to each other in one row, other end of each row control main switch S41～S4n power supply control main switch S2 that was connected links to each other with ground or power supply, each row control backup switch S 41 '～be connected power supply control backup switch S 2 ' link to each other of the other end of S4n ' with ground or power supply, the other end of each the row control main switch S31～S3m power supply control main switch S1 that was connected links to each other with power supply or ground, each row control backup switch S 31 '～be connected power supply control backup switch S 1 ' link to each other of the other end of S3m ' with power supply or ground;
When power supply control main switch all was closed, power supply control backup switch had at least one to be disconnected, and main switch is in running order, by to the opening of corresponding row, column main switch, closure realizes valve body opens, closed control; When power supply control backup switch all was closed, power supply control main switch had at least one to be disconnected, and the backup switch is in running order, by to the opening of corresponding row, column backup switch, closure realizes valve body opens, closed control.
Wherein, power supply control main switch S1, S2 can only have one of them or both, when only S1 being arranged, row control main switch S31～S3m is connected with power supply or ground by S1, row control main switch S41～S4n directly links to each other with ground or power supply, when only S2 being arranged, row control main switch S41～S4n is connected with ground or power supply by S2, row control main switch S31～S3m directly links to each other with power supply or ground, when both the time, row control main switch S31～S3m is connected with power supply or ground by S1, and row control main switch S41～S4n is connected with ground or power supply by S2;
Power supply control backup switch S 1 ', S2 ' can only have one of them or both, when S1 ' time is only arranged, row control backup switch S 31 '～S3m ' by S1 ' and power supply or be connected, row control backup switch S 41 '～S4n ' directly links to each other with ground or power supply, when S2 ' time is only arranged, row control backup switch S 41 '～S4n ' is connected with ground or power supply by S2 ', row control backup switch S 31 '～S3m ' directly links to each other with power supply or ground, when both the time, row control backup switch S 31 '～S3m ' is connected with power supply or ground by S1 ', row control back up switch S 41 '～S4n ' passes through S2 ' and is connected with ground or power supply.
The present invention also provides a kind of valve body control device that comprises above-mentioned valve body switch arrays, and described valve body control device also comprises:
The switching device fault detection unit is used for detecting the malfunction of described valve body switch arrays switching device, when detecting the switching device fault to control module outputting alarm information;
The switching device driver element is controlled the disconnection or the closure of each switch in the described valve body switch arrays according to the control signal of control module output;
Control module, be used to receive from the control instruction information of system and the warning information of switching device fault detection unit output, control module is judged the information that receives, when if the information that receives is the alarm prompt signal of switching device fault detection unit, according to the duty of current power supply control master or backup switch, realize the selection control that power supply control main switch is exported to the switching or the warning message of backup switch mode of operation; If the information that receives is during from the control instruction of system, to the control instruction discriminatory analysis, obtain the information that opens or closes of valve body and the place row, column positional information of valve body, and to the control signal of switching device driver element output corresponding line gauge tap and row gauge tap, the switching device driver element disconnects corresponding switch according to the control signal of control module output or is closed.
Wherein, described control module carries out following operation and realizes that power supply control main switch is to the switching of backup switch mode of operation or the selection control of warning message output, judge current power control switch state, be power supply control main switch in running order or the backup switch in running order, when main switch is duty, by the switching device driver element at least one power supply control main switch is disconnected, and it is power supply control backup switch is all closed, when being in the backup switch working state, deenergization control backup switch, active and standby part of row of alarm user, the row switch all damages.
Preferably, described control module is by obtaining valve body that need to implement control and obtaining the row, column information of controlled valve body in the valve body switch arrays by tabling look-up to control instruction analysis.
The present invention also provides a kind of hydraulic support electrohydraulic control system that comprises above-mentioned valve body control device.
The present invention also provides a kind of valve body control method of above-mentioned valve body control device, comprises the steps:
Control module receives the warning information from the control instruction information of system and the output of switching device fault detection unit;
Control module is judged the information that receives;
When if the information that receives is the alarm prompt signal of switching device fault detection unit, the main or backup switch working state according to current power supply control realizes that power supply control main switch is to the switching of backup switch mode of operation or the selection control of warning message output;
If the information that receives is during from the control instruction of system, to the control instruction discriminatory analysis, obtain the information that opens or closes of valve body and the place row, column positional information of valve body, and to the control signal of switching device driver element output corresponding line gauge tap and row gauge tap, the switching device driver element disconnects corresponding switch according to the control signal of control module output or is closed.
Preferably, described control module realizes that power supply control main switch further comprises to the step of the selection control of the switching of backing up the switch mode of operation or warning message output, judge current power control switch state, be power supply control main switch in running order or the backup switch in running order, when main switch is duty, by the switching device driver element at least one power supply control main switch is disconnected, and it is power supply control backup switch is all closed, when being in the backup switch working state, deenergization control backup switch, active and standby part of row of alarm user, the row switch all damages.
Preferably, described control module step that control instruction is analyzed further comprises: be by obtaining that needs are implemented the valve body of control and obtaining the row, column information of controlled valve body in the valve body switch arrays by tabling look-up.
Arrange, use the row and column gauge tap, use active and standby part of switch of power supply control and the backup of ranks gauge tap by the valve body matrix form, overcome the defective of the driving control method of many valve bodies in the prior art, prolong the application life of hydraulic support electrohydraulic control system valve control device, improved safety, reliability and the production efficiency of system.
Description of drawings
Fig. 1 is the valve control structure drawing of device of prior art;
Fig. 2 is the fault-tolerant matrix valve member control apparatus structure chart of the present invention;
Fig. 3 is valve body and switch matrix structure figure in the valve control device of the present invention;
Fig. 4 is valve body, the method for controlling switch realization flow figure of valve control device of the present invention;
In order to understand the present invention better, the invention will be further described below in conjunction with the drawings and specific embodiments.
The specific embodiment
Fig. 2 illustrates the structure of the valve control device of hydraulic support electrohydraulic control system provided by the invention, and described valve control device comprises valve body and switch arrays 1, switching device fault detection unit 2, control module 3, switching device driver element 4.Control module 3 is used for receiving control instruction and is converted into valve body and the control logic of switch arrays 1 respective switch device, switching device driver element 4 is according to the control logic driving valve body of switching device and the respective switch device in the switch arrays 1, switching device fault detection unit 2 is used for detecting the malfunction of valve body and switch arrays 1 effective switching device, when detecting the switching device fault to control module 3 outputting alarm prompt signals.
Fig. 3 illustrates valve body and switch matrix structure in the hydraulic support electrohydraulic control system valve control device provided by the invention, and described valve body and switch arrays comprise the valve body array, valve body power supply control main switch S1, valve body power supply control main switch S2, each row control main switch S41～S4n of the capable valve body matrix of n, each row control main switch S31～S3m of m row valve body matrix, valve body power supply control backup switch S 1 ', valve body power supply control backup switch S 2 ', each row control backup switch S 41 of the capable valve body matrix of n '～S4n ', each row control backup switch S 31 of m row valve body matrix '～S3m ' (m wherein, n is a natural number).Wherein, any one or both that power supply control main switch can comprise among S1 and the S2 all comprise, and any one or both that power supply control backup switch can comprise among S1 ' and the S2 ' all comprise, and the position on its power supply and ground can be changed mutually; Each valve body is arranged row by matrix-style, and an end of valve body, interconnects with each row node of delegation's valve body as the row node as the row node other end, and each row node of same row valve body interconnects; Row control main switch S41～S4n and backup switch S 41 '～end of S4n ' correspondingly link together and respectively with capable linking to each other of valve body matrix 1～n, row control main switch S31～S3m and backup switch S 31 '～end of S3m ' correspondingly links together and is listed as with valve body matrix 1～m respectively and link to each other; The other end of each row control main switch S41～S4n links together and links to each other or directly link to each other with power supply or ground (when only comprising S1 in the power supply control main switch) with power supply control main switch S2, each row control backup switch S 41 '～other end of S4n ' links together with power supply control backup switch S 2 ' (control to back up in the switch when power supply and only comprise S1 ' time) links to each other or directly link to each other with power supply or ground; The other end of each row control main switch S31～S3m links together and links to each other or directly link to each other with power supply or ground (when only comprising S2 in the power supply control main switch) with power supply control main switch S1, each row control backup switch S 31 '～other end of S3m ' links together with power supply control backup switch S 1 ' (control to back up in the switch when power supply and only comprise S2 ' time) links to each other or directly link to each other with power supply or ground; When comprising power supply control main switch S1, the other end of S1 links to each other with power supply, backs up 1 ' time of switch S when comprising power supply control, and the other end of S1 ' links to each other with power supply; When comprising power supply control main switch S2, the other end of S2 links to each other with ground, and when comprising 2 ' time of power supply control backup switch S, the other end of S2 ' links to each other with ground.
Power supply control main switch S1 and S2 are used to control the validity of each row control main switch S41～S4n and Ge Lie control main switch S31～S3m, each main switch is effective to the control of valve body when S1, S2 all open, when any or all disconnected among S1, the S2, each main switch was invalid to the control of valve body; Power supply control backup switch S 1 ' and S2 ' be used to control each row control backup switch S 41 '～S4n ' and each row control back up switch S 31 '～validity of S3m ', it is effective to the control of valve body respectively to back up switch when S1 ', S2 ' all open, when any or all disconnected among S1 ', the S2 ', it is invalid to the control of valve body that each backs up switch; Active and standby part of switch of each row, column is used for the switch of application valve body, and when main switch was effective, when opening the control main switch of a certain row, column simultaneously, the valve body of corresponding ranks was opened in the valve body matrix.
Fig. 4 illustrates valve body, the method for controlling switch realization flow figure of valve control device, with comprise S1, S2, S1 ', S2 ' they are example, but only are exemplary illustrations, scope of the present invention is not limited.Wherein, power control switch S1, S1 ' connect power supply, and power control switch S2, S2 ' ground connection are that example describes.Each active and standby part of row, column gauge tap, power supply control backup switch are off-state under the original state, power supply control main switch S1, S2 are closure state, make each row control main switch S41～S4n and each row control main switch S31～S3m effective to the control of valve body, each row, column backup switch is invalid.Switching device fault detection unit 2 is under power supply control main switch effective status, detect row in real time, row control main switch S41～S4n and S31～S3m, under power supply control backup switch effective status, detect row in real time, row control backup switch S 41 '～S4n ' and S31 '～S3m ', when having detected switching device and damaged to control module 3 outputting alarm prompt signals, by the control of 3 realizations of the control module in the valve control device to the valve body switch, the specific implementation process is as follows: control module 3 receives the warning information from the control instruction information of system and 2 outputs of switching device fault detection unit, the information of 3 pairs of receptions of control module is judged, when if the information that receives is the alarm prompt signal of switching device fault detection unit 2, judge current power control switch state, be that power supply control main switch is in effective status or the backup switch is in effective status, when main switch is effective status, by switching device driver element 4 power supply is controlled main switch S1 and S2 disconnection, and with power supply control backup switch S 1 ' and S2 ' closure, when being in the backup switch when effective, deenergization control backup switch S 1 ' and S2 ', active and standby part of row of alarm user, the row switch all damages; If the information that receives is during from the control instruction of system, control instruction is judged to determine whether the being instruction that opens or closes of valve body, if open or close instruction, then instruction is resolved and obtain the position of controlled valve body in valve body and switch arrays with the valve body of determine to need implementing control and by tabling look-up and promptly obtain it and be expert at, the information of row, suppose that the control instruction that gets access to is defined as opening the valve body that is positioned at the capable y column position of x after resolving, the control signal of control module 3 output row gauge tap S4x (when power supply control main switch is effective) or S4x ' (when power supply control backup switch is effective) and row gauge tap S3y (when power supply control main switch is effective) or S3y ' (when power supply control backup switch is effective), switching device driver element 4 according to the control signal of control module 3 output with switch S 4x (when power supply control main switch is effective) or S4x ' (when power supply control backup switch is effective) and S3y (when power supply control main switch is effective) or S3y ' when effective (power supply control back up switch) closure, thereby making to specify in the valve body access electric power loop to specify valve body to open, when the control instruction that receives when the valve body on the same position closed, switching device driver element 4 turn-offs switch S 4x (when power supply control main switch is effective) or S4x ' (when power supply control backup switch is effective) and S3y (when power supply control main switch is effective) or S3y ' (when power supply control backup switch is effective) according to the control signal of control module 3 output, thereby makes appointment valve body dead electricity will specify valve body to close.
Therefore, the control signal wire of each row, column gauge tap interconnects in active and standby part of array of the present invention, under the situation of the row, column switch controlling signal that does not change control module output, realize active and standby part switching, and provide alarm user main switch and damage, when also damage being arranged in each row, column control backup switch, switching device fault detection unit 2 is to control module 3 outputting alarm prompt signals, control module by switching device driver element 4 with deenergization control backup switch S 1 ' and S2 ' and all damages of the active and standby part of alarm user.As seen, the present invention realizes array is connected the control of the valve body of discharging by control row, column switching device, compared with prior art use less relatively switching device to realize the control of the valve body of identical a greater number, thereby save the reliability that cost has improved system; By using active and standby part of switch of ranks control, switching device fault detection unit, active and standby part of switch of power supply control, prolong the application life of system, improved safety, reliability and the production efficiency of system.
Claims (9)
1. valve body switch arrays of valve body control device in the hydraulic support electrohydraulic control system, described array comprises: row control main switch S41～S4n, row control backup switch S 41 '～S4m ', row control main switch S31～S3m, row control backup switch S 31 '～S3m ', power supply control main switch S1, S2, power supply control backup switch S 1 ', S2 ', a plurality of valve bodies, described power supply control main switch S1, S2 can only have one of them or both, described power supply control backup switch S 1 ', S2 ' can only have one of them or both; Wherein said a plurality of valve body connects by matrix-style, it is capable to form a n, the matrix of m row, capable valve body corresponding row control main switch S41～S4n of 1～n and backup switch S 41 '～S4n ', 1～m row valve body respective column control main switch S31～S3m and backup switch S 31 '～S3m ', valve body one end is as the row node, the other end is as the row node, the continuous end main with current line control and the backup switch of each row node links to each other in the delegation, the continuous end with and backup switch main when prostatitis control of each row node links to each other in one row, other end of each row control main switch S41～S4n power supply control main switch S2 that was connected links to each other with ground or power supply, each row control backup switch S 41 '～be connected power supply control backup switch S 2 ' link to each other of the other end of S4n ' with ground or power supply, the other end of each the row control main switch S31～S3m power supply control main switch S1 that was connected links to each other with power supply or ground, each row control backup switch S 31 '～be connected power supply control backup switch S 1 ' link to each other of the other end of S3m ' with power supply or ground;
When power supply control main switch all was closed, power supply control backup switch had at least one to be disconnected, and main switch is in running order, by to the opening of corresponding row, column control main switch, closure realizes valve body opens, closed control; When power supply control backup switch all was closed, power supply control main switch had at least one to be disconnected, and the backup switch is in running order, by to the opening of corresponding row, column control backup switch, closure realizes valve body opens, closed control.
2. valve body switch arrays according to claim 1, power supply control main switch S1, S2 can only have one of them or both, when only S1 being arranged, row control main switch S31～S3m is connected with power supply or ground by S1, row control main switch S41～S4n directly links to each other with ground or power supply, when only S2 being arranged, row control main switch S41～S4n is connected with ground or power supply by S2, row control main switch S31～S3m directly links to each other with power supply or ground, when both the time, row control main switch S31～S3m is connected with power supply or ground by S1, and row control main switch S41～S4n is connected with ground or power supply by S2;
Power supply control backup switch S 1 ', S2 ' can only have one of them or both, when S1 ' time is only arranged, row control backup switch S 31 '～S3m ' by S1 ' and power supply or be connected, row control backup switch S 41 '～S4n ' directly links to each other with ground or power supply, when S2 ' time is only arranged, row control backup switch S 41 '～S4n ' is connected with ground or power supply by S2 ', row control backup switch S 31 '～S3m ' directly links to each other with power supply or ground, when both the time, row control backup switch S 31 '～S3m ' is connected with power supply or ground by S1 ', row control back up switch S 41 '～S4n ' passes through S2 ' and is connected with ground or power supply.
3. valve body control device that comprises claim 1 or 2 described valve body switch arrays, described valve body control device also comprises:
The switching device fault detection unit is used for detecting the malfunction of described valve body switch arrays switching device, when detecting the switching device fault to control module outputting alarm information;
The switching device driver element is controlled the disconnection or the closure of each switch in the described valve body switch arrays according to the control signal of control module output;
Control module, be used to receive from the control instruction information of system and the warning information of switching device fault detection unit output, control module is judged the information that receives, when if the information that receives is the alarm prompt signal of switching device fault detection unit, according to the duty of current power supply control master or backup switch, realize the selection control that power supply control main switch is exported to the switching or the warning message of backup switch mode of operation; If the information that receives is during from the control instruction of system, to the control instruction discriminatory analysis, obtain the information that opens or closes of valve body and the place row, column positional information of valve body, and to the control signal of switching device driver element output corresponding line gauge tap and row gauge tap, the switching device driver element disconnects corresponding switch according to the control signal of control module output or is closed.
4. valve body control device according to claim 3, it is characterized in that: described control module carries out following operation and realizes that power supply control main switch is to the switching of backup switch mode of operation or the selection control of warning message output, judge current power control switch state, be power supply control main switch in running order or the backup switch in running order, when main switch is duty, by the switching device driver element at least one power supply control main switch is disconnected, and it is power supply control backup switch is all closed, when being in the backup switch working state, deenergization control backup switch, active and standby part of row of alarm user, the row switch all damages.
5. according to claim 3 or 4 described valve body control device, it is characterized in that: described control module is by obtaining that needs are implemented the valve body of control and obtaining the row, column information of controlled valve body in the valve body switch arrays by tabling look-up to control instruction analysis.
6. hydraulic support electrohydraulic control system that comprises claim 3 or 4 described valve body control device.
7. the valve body control method of a valve body control device, described valve body control device comprises:
The described valve body switch arrays of claim 2;
The switching device fault detection unit is used for detecting the malfunction of described valve body switch arrays switching device, when detecting the switching device fault to control module outputting alarm information;
The switching device driver element is controlled the disconnection or the closure of each switch in the described valve body switch arrays according to the control signal of control module output;
Control module;
Described valve body control method comprises the steps:
Control module receives the warning information from the control instruction information of system and the output of switching device fault detection unit;
Control module is judged the information that receives;
When if the information that receives is the alarm prompt signal of switching device fault detection unit, the main or backup switch working state according to current power supply control realizes that power supply control main switch is to the switching of backup switch mode of operation or the selection control of warning message output;
If the information that receives is during from the control instruction of system, to the control instruction discriminatory analysis, obtain the information that opens or closes of valve body and the place row, column positional information of valve body, and to the control signal of switching device driver element output corresponding line gauge tap and row gauge tap, the switching device driver element disconnects corresponding switch according to the control signal of control module output or is closed.
8. valve body control method according to claim 7, it is characterized in that: described control module realizes that power supply control main switch further comprises to the step of the selection control of the switching of backing up the switch mode of operation or warning message output, judge current power control switch state, be power supply control main switch in running order or the backup switch in running order, when main switch is duty, by the switching device driver element at least one power supply control main switch is disconnected, and it is power supply control backup switch is all closed, when being in the backup switch working state, deenergization control backup switch, active and standby part of row of alarm user, the row switch all damages.
9. according to claim 7 or 8 described valve body control methods, it is characterized in that: the step that described control module is analyzed control instruction further comprises: be by obtaining that needs are implemented the valve body of control and obtaining the row, column information of controlled valve body in the valve body switch arrays by tabling look-up.
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| CN102418542B (en) * | 2011-10-27 | 2014-02-19 | 北京天地玛珂电液控制系统有限公司 | Support control device for hydraulic support |
| CN103697309A (en) * | 2013-11-28 | 2014-04-02 | 南通宝钢钢铁有限公司 | Volume measurement type concentrated oil spray lubrication system |
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| CN201258751Y (en) * | 2007-08-21 | 2009-06-17 | 哈尔滨工业大学深圳研究生院 | Electrohydraulic control system for hydraulic support and valve control device thereof |
-
2007
- 2007-08-21 CN CN2007101430280A patent/CN101205811B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2094864A (en) * | 1981-03-17 | 1982-09-22 | Gewerk Eisenhuette Westfalia | Hydraulic control systems for mineral mining installations |
| US4946316A (en) * | 1988-07-26 | 1990-08-07 | Klockner-Becorit Gmbh | Method and device for moving a shield-type support trestle |
| CN1761800A (en) * | 2003-05-14 | 2006-04-19 | 迪芬巴赫控制系统股份有限公司 | Hydraulic control for face support |
| CN2723678Y (en) * | 2004-07-26 | 2005-09-07 | 李文洁 | Hydraulic support control valve unit |
| RU2282033C2 (en) * | 2004-10-19 | 2006-08-20 | Александр Константинович Скворцов | Hydraulic control unit for powered support section control |
| CN201258751Y (en) * | 2007-08-21 | 2009-06-17 | 哈尔滨工业大学深圳研究生院 | Electrohydraulic control system for hydraulic support and valve control device thereof |
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| Publication number | Publication date |
|---|---|
| CN101205811A (en) | 2008-06-25 |
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