CN102229416A - Closed-type rotary hydraulic system for crane and crane - Google Patents
Closed-type rotary hydraulic system for crane and crane Download PDFInfo
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- CN102229416A CN102229416A CN2011101792555A CN201110179255A CN102229416A CN 102229416 A CN102229416 A CN 102229416A CN 2011101792555 A CN2011101792555 A CN 2011101792555A CN 201110179255 A CN201110179255 A CN 201110179255A CN 102229416 A CN102229416 A CN 102229416A
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- hydraulic
- oil
- rotary motor
- hoisting crane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
Abstract
The invention discloses a closed-type rotary hydraulic system for a crane. The system comprises a closed-type hydraulic pump (10) and a rotary motor (20), wherein an oil outlet of the closed-type hydraulic pump (10) is connected with an oil inlet of the rotary motor (20); and an oil outlet of the rotary motor (20) is connected with an oil inlet of the closed-type hydraulic pump (10). The system is characterized by further comprising a buffering damper (30), and the buffering damper (30) is connected in parallel with the rotary motor (20) on a hydraulic oil line. The system has very reliable stability in the starting, stopping and rotating processes, and also has a smaller hydraulic structure. The invention also discloses a crane which is provided with the closed-type rotary hydraulic system.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to the enclosed Hydraulic slewing system of hoisting crane.The invention still further relates to the hoisting crane that is provided with described enclosed Hydraulic slewing system.
Background technology
Hoisting crane is a kind ofly the time to utilize the crane arm weight of slinging in work, relies on the turntable revolution with the construction machinery and equipment of weight from a position transfer to the another one position then.
Swing type mechanism is the rotating part of hoisting crane is realized gyroscopic movement with respect to non-rotating part a device, the effect of swing type mechanism is to make upper frame part do gyroscopic movement around the center of gyration of hoisting crane, and will get on the bus and get off in the mode that roll to support and fuse, make the loading transfer of getting on the bus to the chassis frame, its dynamic characteristics directly influences the operating characteristic of whole hoisting crane.
The crane rotation operation has that rotor inertia is big, inertia is big, open characteristics such as the braking impact load is big, and its hydraulic efficiency pressure system generally has open-circuit system and two kinds of implementations of closed system:
Open-circuit system is meant Hydraulic Pump from the fuel tank oil suction, and hydraulic oil drives hydraulic actuator after various control cock, flow back to fuel tank then, and this system architecture is comparatively simple, can bring into play heat radiation, the precipitated impurities effect of fuel tank.Owing to there is reversing impact, and fluid often contacts with air, makes air be easy to the infiltration system, causes the rotary stability of mechanism poor;
Closed system is meant that the oil inlet of Hydraulic Pump directly links to each other with the oil return pipe of power element, and hydraulic oil carries out close cycle in the pipeline of system; Its compact conformation, few with the air touch opportunity, air is difficult for the infiltration system, owing to do not contain change-over valve, has reduced reversing impact, helps realizing rotating stability, has avoided the hydraulic efficiency impact and the degradation of energy that are occurred in the open-circuit system commutation process.
In closed system, adopt proportioning pump, cover-plate type inserted valve etc. to realize rotating steady control usually, number be that the disclosed crawler crane of utility model patent specification sheets of CN 201433063Y turns round the closed system (see figure 1) as Granted publication, comprising:
Enclosed controllable capacity pump 1;
At least two fixed displacement motors are followed successively by first fixed displacement motor 3, second fixed displacement motor 4, the 3rd fixed displacement motor 5;
Also comprise two-speed valve group 2, this two-speed valve group has A1 mouth, B1 mouth, A2 mouth and B2 mouth, and this two-speed valve group also comprises:
Check valve 21 and check valve 21 ', opposing being series between A1 mouth and the B1 mouth;
Two-position four way change valve 22, its P mouth is connected between two check valves by pipeline;
Three logic inserted valves, wherein, the control mouth of the first logic inserted valve 23 and the second logic inserted valve 24 all is connected in the B mouth of two-position four way change valve 22, the control mouth of the 3rd logic inserted valve 25 is connected in the A mouth of two-position four way change valve 22, the B mouth of the first logic inserted valve 23 is connected in described B1 mouth, the B mouth of the second logic inserted valve 24 is connected in described A1 mouth, the A mouth of the second logic inserted valve 24 and the 3rd logic inserted valve 25 is connected to the A2 mouth, the B mouth of the A mouth of the first logic inserted valve 23 and the 3rd logic inserted valve 25 is connected in the B2 mouth, be connected in A1 mouth and B1 mouth, described A2 after described enclosed controllable capacity pump 1 and at least one fixed displacement motor parallel connection, the B2 mouth is corresponding with the B mouth with the A mouth of a certain amount of motor at least to be connected.
This closed system realizes rotating steady control by enclosed controllable capacity pump, two-speed valve group etc., though can satisfy the operating needs of hoisting crane to a certain extent, but start, stop and turning course in still have certain impact, and can't avoid the temporary impact that causes because of load changing.
In addition, this closed system is too complicated, hydraulic tubing and controlling parts quantity are too many, not only manufacturing cost is higher, and maintenance difficulties is bigger, and the trouble point that may exist is more, the probability that the revolution fault occurs is higher relatively, when carrying out freely trackslipping, need a plurality of control cock coordinations of operation, operating personal has been proposed high requirement.
Therefore, how improving the stationarity of hoisting crane enclosed Hydraulic slewing system by comparatively simple mode, is the present technical issues that need to address of those skilled in the art.
Summary of the invention
First purpose of the present invention provides a kind of hoisting crane enclosed Hydraulic slewing system.This hydraulic efficiency pressure system start, stop and turning course in have very failure-free stationary performance, and hydraulic structure is comparatively simple.
Second purpose of the present invention provides a kind of hoisting crane that is provided with above-mentioned enclosed Hydraulic slewing system.
In order to realize above-mentioned first purpose, the invention provides a kind of hoisting crane enclosed Hydraulic slewing system, comprise closed type hydraulic pump and rotary motor, the oil outlet of described closed type hydraulic pump links to each other with the oil inlet of described rotary motor, the oil outlet of described rotary motor links to each other with the oil inlet of described closed type hydraulic pump, it is characterized in that, further comprise the buffering damping, described buffering damping and rotary motor are in parallel on hydraulic circuit.
Preferably, the discharge capacity of the damping hole diameter of described buffering damping and described closed type hydraulic pump and rotary motor is complementary.
Preferably, the control oil channel of the drg of described rotary motor is provided with two-position four way change valve and reducing valve, the P hydraulic fluid port of described two-position four way change valve is to connect the oil return fuel tank by hydraulic fluid port, T hydraulic fluid port for P hydraulic fluid port, the B hydraulic fluid port that the oily oil inlet of control, A hydraulic fluid port connect described reducing valve, and the A hydraulic fluid port of described reducing valve connects the oil inlet of described drg.
Preferably, described reducing valve is parallel with and allows hydraulic oil to flow to check valve, described reducing valve and the check valve composition one way pressure-reducing valve of described two-position four way change valve A hydraulic fluid port from described drg.
Preferably, be provided with fixedly damping between the oil-feed oil circuit of the release oil circuit of described rotary motor and described drg.
Preferably, the damping hole diameter range of described fixedly damping is between 0.3mm-1.5mm.
Preferably, described closed type hydraulic pump is an enclosed electricity proportioning pump.
In order to realize above-mentioned second purpose, the present invention also provides a kind of hoisting crane, comprises crane main body, swing type mechanism and Hydraulic slewing system, and described Hydraulic slewing system is specially above-mentioned each described hoisting crane enclosed Hydraulic slewing system.
Hoisting crane enclosed Hydraulic slewing system provided by the present invention, comprise closed type hydraulic pump, rotary motor and buffering damping, the oil outlet of described closed type hydraulic pump links to each other with the oil inlet of described rotary motor, the oil outlet of described rotary motor links to each other with the oil inlet of described closed type hydraulic pump, and described buffering damping and rotary motor are in parallel on hydraulic circuit.Connect by the working connection of buffering damping the rotary motor two ends, when revolution starts, can be by the buffering damping with a little pressure oil off-load to the rotary motor other end, feasible revolution starts reposefully, when revolution stops, the pressure oil partial relief that inertia can be produced by the buffering damping is to the rotary motor other end, feasible revolution stops reposefully, revolution is carried out in the process, can filter spike pressure by the buffering damping, make turning course steady, during lift heavy palpus centering, can realize freely trackslipping by the buffering damping.
Compare with existing hoisting crane enclosed Hydraulic slewing system, the present invention only needs the damping of a buffering can realize starting, stop and the smooth running of turning course, thereby make whole hydraulic efficiency pressure system obtain maximum simplification, its component number is less, can significantly reduce manufacturing cost, maintenance difficulties, probability of failure and operation requirements, hydraulic tubing is connected become simpler, not only dwindled installing space, and reduced leakage and the pipe vibration that causes by the pipeline connection, and improved the reliability of system, simplified operating process, through verification experimental verification, gyroscopic effects is very good, can effectively avoid turning round fault, guarantees man-machine safety.
Hoisting crane provided by the present invention is provided with above-mentioned hoisting crane enclosed Hydraulic slewing system, because above-mentioned hoisting crane enclosed Hydraulic slewing system has above-mentioned technique effect, the hoisting crane with this hoisting crane enclosed Hydraulic slewing system also should possess the corresponding techniques effect.
Description of drawings
Fig. 1 is the hydraulic schematic diagram of a kind of crawler crane revolution closed system in the prior art;
Fig. 2 is the hydraulic schematic diagram of hoisting crane enclosed Hydraulic slewing system provided by the present invention.
Among Fig. 1:
Enclosed controllable capacity pump 2. two-speed valve groups 3. first fixed displacement motors 4. second fixed displacement motors 5. the 3rd fixed displacement motor 21,21 '. check valve 22. two-position four way change valves 23. first logic inserted valves 24. second logic inserted valves 25. the 3rd logic inserted valve
Among Fig. 2:
10. closed type hydraulic pump 20. rotary motors 30. buffering dampings 40. drgs 50. two-position four way change valves 60. reducing valves 70. fixedly dampings of check valve 80.
The specific embodiment
Core of the present invention is to provide a kind of hoisting crane enclosed Hydraulic slewing system.This hydraulic efficiency pressure system start, stop and turning course in have very failure-free stationary performance, and hydraulic structure is comparatively simple.
In order to make those skilled in the art person understand the present invention program better, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 2, Fig. 2 is the hydraulic schematic diagram of hoisting crane enclosed Hydraulic slewing system provided by the present invention.
In a kind of specific embodiment, hoisting crane enclosed Hydraulic slewing system provided by the invention, comprise closed type hydraulic pump 10 and rotary motor 20, the oil outlet of closed type hydraulic pump 10 links to each other with the oil inlet of rotary motor 20, the oil outlet of rotary motor 20 links to each other with the oil inlet of closed type hydraulic pump 10, form the osed top hydraulic circuit, i.e. closed fhdraulic system.
Closed type hydraulic pump 10 can adopt enclosed electricity proportioning pump, its flow can be in the 0-100% scope step-less adjustment, need not change-over valve, change the flow and the direction of hydraulic oil in the working connection by the variable of pump, realize the speed change and the commutation of rotary motor 20, its fine motion is good, and stable working.
For improve hydraulic efficiency pressure system start, stop and turning course in stationarity, here further be provided with buffering damping 30, one end of buffering damping 30 is communicated with the oil inlet of rotary motor 20, the other end is communicated with the oil outlet of rotary motor 20, promptly cushions damping 30 and is in parallel on hydraulic circuit with rotary motor 20.
The damping hole diameter of buffering damping 30 and the discharge capacity of closed type hydraulic pump 10 and rotary motor 20 are complementary, if the diameter of damping hole is excessive, then have excessive hydraulic oil and flow to low tension terminal from the high-pressure side of rotary motor 20, and can't the driven rotary motor, if the diameter of damping hole is too small, the hydraulic oil that denier then only arranged flows to low tension terminal from the high-pressure side of rotary motor 20, can't play the effect of off-load.
The control oil channel of drg 40 (dotted portion) is provided with change-over valve and reducing valve 60, here adopted two-position four way change valve 50, its P hydraulic fluid port is the oily oil inlet of control, the A hydraulic fluid port connects the oil inlet of reducing valve 60, the B hydraulic fluid port is for ending hydraulic fluid port, the T hydraulic fluid port connects fuel tank, and the oil outlet of reducing valve 60 connects the oil inlet of drg 40.
Reducing valve 60 is parallel with check valve 70, forms one way pressure-reducing valve with check valve 70, and this check valve 70 only allows hydraulic oil to flow to the A hydraulic fluid port of two-position four way change valve 50 from drg 40.
During brake off, the right position work of two-position four way change valve 50, its P hydraulic fluid port is communicated with the A hydraulic fluid port, and the T hydraulic fluid port is communicated with the B hydraulic fluid port, hydraulic oil overcomes the effect brake off of spring force through the P hydraulic fluid port of its P hydraulic fluid port, A hydraulic fluid port and reducing valve 60, the brake cylinder that the A hydraulic fluid port enters drg 40.
Glancing impact, position, the left side work of two-position four way change valve 50, its P hydraulic fluid port is communicated with the B hydraulic fluid port, the A hydraulic fluid port is communicated with the T hydraulic fluid port, hydraulic oil in the brake cylinder returns fuel tank through A hydraulic fluid port, the T hydraulic fluid port of check valve 70, two-position four way change valve 50, and the spring reset of drg 40 enters braking mode.
Be provided with fixedly damping 80 between the release oil circuit of rotary motor 20 and the oil-feed oil circuit of drg 40, fixedly the damping hole diameter range of damping 80 can be controlled between the 0.3mm-1.5mm.
Enclosed electricity proportioning pump 10 of the present invention connects two pressure hydraulic fluid ports of rotary motor 20, control oil is opened drg through proportional pressure-reducing valve 60, effective buffering by buffering damping 30, operate the proportional current output of automatically controlled rotary handle control enclosed electricity proportioning pump 10, can realize that revolution starts steadily, revolution stops steadily, in the turning course steadily and freely trackslip, its concrete working process is as follows:
1) revolution starts steadily
When revolution starts, by operation revolution electric control handle, the discharge capacity of enclosed electricity proportioning pump 10 is slowly increased by zero, 20 actions of driving rotational motor, pressure oil has a little from cushioning damping 30 off-loads to rotary motor 20 other ends, pressure increase suddenly impacts when having avoided revolution to start, and revolution is started reposefully.
2) revolution stops steadily
When revolution stops, by operation revolution electric control handle, the discharge capacity that makes enclosed electricity proportioning pump 10 is by more slowly being kept to zero, this moment, pressure oil had a little from cushioning damping 30 off-loads to rotary motor 20 other ends, avoided the inertia effects build-up of pressure when stopping to increase suddenly, impact thereby produce when having avoided stopping, revolution is stopped reposefully.
3) steady in the turning course
In the turning course, when load changing, buffering damping 30 can effectively be filtered spike pressure by a little pressure oil of timely off-load, avoids the temporary impact that causes because of load changing, thus the steady operation of lifting function in the assurance turning course.
4) freely trackslip
When lift heavy centering must freely be trackslipped, must not operate the revolution electric control handle, only need two-position four way change valve 50 to get, this moment is because the effect of unbalance loading, make fluid through buffering damping 30 from rotary motor 20 1 end off-loads to the other end, thereby realize freely trackslipping, probability of failure is little.
As seen, the present invention can make revolution start reposefully with a little pressure oil off-load to rotary motor 20 other ends by buffering damping 30; Revolution is when stopping, and the pressure oil partial relief that inertia can be produced by buffering damping 30 makes revolution stop reposefully to rotary motor 20 other ends; Revolution is carried out in the process, can filter spike pressure by buffering damping 30, makes turning course steady; During lift heavy palpus centering, can realize freely trackslipping by buffering damping 30.
Compare with existing hoisting crane enclosed Hydraulic slewing system, the present invention only needs the damping 30 of a buffering can realize starting, stop and the smooth running of turning course, thereby make whole hydraulic efficiency pressure system obtain maximum simplification, its component number is less, can significantly reduce manufacturing cost, maintenance difficulties, probability of failure and operation requirements, hydraulic tubing is connected become simpler, not only dwindled installing space, and reduced leakage and the pipe vibration that causes by the pipeline connection, and improved the reliability of system, simplified operating process, through verification experimental verification, gyroscopic effects is very good, can effectively avoid turning round fault, guarantees man-machine safety.
Above-mentioned hoisting crane enclosed Hydraulic slewing system only is a kind of preferred version, and its concrete structure is not limited thereto, and can make pointed adjustment according to actual needs on this basis, thereby obtains different embodiments.For example adopt the change-over valve replacement two-position four way change valve of other type to carry out commutation function, as long as can move by the control brake device of setting that flows to.
Except above-mentioned hoisting crane enclosed Hydraulic slewing system, the present invention also provides a kind of hoisting crane, comprise crane main body, swing type mechanism and Hydraulic slewing system, described Hydraulic slewing system is specially above-described hoisting crane enclosed Hydraulic slewing system, all the other structures please refer to prior art, and this paper repeats no more.
More than hoisting crane enclosed Hydraulic slewing system provided by the present invention and hoisting crane are described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand core concept of the present invention.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (8)
1. hoisting crane enclosed Hydraulic slewing system, comprise closed type hydraulic pump (10) and rotary motor (20), the oil outlet of described closed type hydraulic pump (10) links to each other with the oil inlet of described rotary motor (20), the oil outlet of described rotary motor (20) links to each other with the oil inlet of described closed type hydraulic pump (10), it is characterized in that, further comprise buffering damping (30), described buffering damping (30) is in parallel on hydraulic circuit with rotary motor (20).
2. hoisting crane enclosed Hydraulic slewing system according to claim 1 is characterized in that, the discharge capacity of the damping hole diameter of described buffering damping (30) and described closed type hydraulic pump (10) and rotary motor (20) is complementary.
3. according to each described hoisting crane enclosed Hydraulic slewing system of claim 1 to 2, it is characterized in that, the control oil channel of the drg (40) of described rotary motor (20) is provided with two-position four way change valve (50) and reducing valve (60), the P hydraulic fluid port of described two-position four way change valve (50) is to connect the oil return fuel tank by hydraulic fluid port, T hydraulic fluid port for P hydraulic fluid port, the B hydraulic fluid port that the oily oil inlet of control, A hydraulic fluid port connect described reducing valve (60), and the A hydraulic fluid port of described reducing valve (60) connects the oil inlet of described drg (40).
4. hoisting crane enclosed Hydraulic slewing system according to claim 3, it is characterized in that, described reducing valve (60) is parallel with and allows hydraulic oil to flow to check valve (70), described reducing valve (60) and check valve (70) the composition one way pressure-reducing valve of described two-position four way change valve (50) A hydraulic fluid port from described drg (40).
5. hoisting crane enclosed Hydraulic slewing system according to claim 4 is characterized in that, is provided with fixedly damping (80) between the oil-feed oil circuit of the release oil circuit of described rotary motor (20) and described drg (40).
6. hoisting crane enclosed Hydraulic slewing system according to claim 5 is characterized in that the damping hole diameter range of described fixedly damping (80) is between 0.3mm-1.5mm.
7. hoisting crane enclosed Hydraulic slewing system according to claim 6 is characterized in that, described closed type hydraulic pump (10) is an enclosed electricity proportioning pump.
8. a hoisting crane comprises crane main body, swing type mechanism and Hydraulic slewing system, it is characterized in that, described Hydraulic slewing system is specially aforesaid right requirement 1 to 7 each described hoisting crane enclosed Hydraulic slewing system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110179255 CN102229416B (en) | 2011-06-29 | 2011-06-29 | Closed-type rotary hydraulic system for crane and crane |
| PCT/CN2012/074212 WO2013000321A1 (en) | 2011-06-29 | 2012-04-17 | Closed rotary hydraulic system for crane and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110179255 CN102229416B (en) | 2011-06-29 | 2011-06-29 | Closed-type rotary hydraulic system for crane and crane |
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| Publication Number | Publication Date |
|---|---|
| CN102229416A true CN102229416A (en) | 2011-11-02 |
| CN102229416B CN102229416B (en) | 2013-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110179255 Active CN102229416B (en) | 2011-06-29 | 2011-06-29 | Closed-type rotary hydraulic system for crane and crane |
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| Country | Link |
|---|---|
| CN (1) | CN102229416B (en) |
| WO (1) | WO2013000321A1 (en) |
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| CN102602830A (en) * | 2012-03-06 | 2012-07-25 | 中联重科股份有限公司 | Hydraulic rotary system and engineering vehicle |
| CN102730582A (en) * | 2012-06-20 | 2012-10-17 | 上海三一科技有限公司 | Hydraulic rotary system start-stop buffering device, and crane |
| WO2013000321A1 (en) * | 2011-06-29 | 2013-01-03 | 湖南三一智能控制设备有限公司 | Closed rotary hydraulic system for crane and crane |
| CN102865262A (en) * | 2012-09-07 | 2013-01-09 | 三一重工股份有限公司 | Rotary hydraulic system and engineering machine |
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| CN102865262A (en) * | 2012-09-07 | 2013-01-09 | 三一重工股份有限公司 | Rotary hydraulic system and engineering machine |
| CN102865262B (en) * | 2012-09-07 | 2015-10-28 | 三一重工股份有限公司 | Hydraulic slewing system and engineering machinery |
| CN102877783A (en) * | 2012-09-28 | 2013-01-16 | 三一重工股份有限公司 | Rotary drilling rig and hydraulic rotation system thereof |
| CN102877783B (en) * | 2012-09-28 | 2014-10-15 | 三一重工股份有限公司 | Rotary drilling rig and hydraulic rotation system thereof |
| CN103523686B (en) * | 2013-11-01 | 2015-05-20 | 太原重工股份有限公司 | Large traveling crane |
| CN103523686A (en) * | 2013-11-01 | 2014-01-22 | 太原重工股份有限公司 | Large traveling crane |
| CN103723632A (en) * | 2013-12-13 | 2014-04-16 | 中联重科股份有限公司 | Crane gyration control method, crane gyration control system and crane |
| CN103723632B (en) * | 2013-12-13 | 2016-06-08 | 中联重科股份有限公司 | The revolving-control method of lifting machine, rotary control system and lifting machine |
| CN105439018A (en) * | 2014-11-26 | 2016-03-30 | 徐州重型机械有限公司 | Rotary hydraulic control system with segmented control function and crane |
| CN105439018B (en) * | 2014-11-26 | 2018-02-16 | 徐州重型机械有限公司 | Revolution hydraulic control system and crane with sectional control function |
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| CN105351276A (en) * | 2015-12-03 | 2016-02-24 | 徐州重型机械有限公司 | Rotation hydraulic control system and method and crane |
| CN106681238A (en) * | 2017-03-15 | 2017-05-17 | 天空概念（北京）防务科技有限公司 | Rotary mechanism control circuit and control method |
| CN107169254A (en) * | 2017-07-21 | 2017-09-15 | 济南大学 | A kind of autocrane rotary system Performance Evaluation and method for predicting residual useful life |
| CN107169254B (en) * | 2017-07-21 | 2020-04-28 | 济南大学 | Method for evaluating performance and predicting residual life of rotary system of automobile crane |
| CN107740747A (en) * | 2017-10-13 | 2018-02-27 | 三汽车起重机械有限公司 | The control method of speed limit hydraulic motor, crane and motor rotary speed |
| CN111734696A (en) * | 2020-07-02 | 2020-10-02 | 浙江中液机械设备有限公司 | Closed hydraulic system based on closed-loop control and control method |
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| CN102229416B (en) | 2013-06-05 |
| WO2013000321A1 (en) | 2013-01-03 |
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