CN102536761B - Engineering machinery and power control system and control method of non-electrically-controlled hydraulic pump of engineering machinery - Google Patents
Engineering machinery and power control system and control method of non-electrically-controlled hydraulic pump of engineering machinery Download PDFInfo
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- CN102536761B CN102536761B CN201110441939.8A CN201110441939A CN102536761B CN 102536761 B CN102536761 B CN 102536761B CN 201110441939 A CN201110441939 A CN 201110441939A CN 102536761 B CN102536761 B CN 102536761B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001595 flow curve Methods 0.000 claims description 8
- 239000003921 oil Substances 0.000 description 85
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000004134 energy conservation Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- Control Of Positive-Displacement Pumps (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a power control system and a control method of an engineering machine and a non-electric control hydraulic pump thereof, wherein the control system comprises a power regulator, the power regulator is connected with an execution element and is respectively connected with a first signal oil input port and a second signal oil input port of the non-electric control hydraulic pump through a first signal oil channel and a second signal oil channel so as to control the discharge capacity of the non-electric control hydraulic pump according to load pressure, a third signal oil channel is also arranged between the second signal oil input port of the non-electric control hydraulic pump and an output port of the non-electric control hydraulic pump, the third signal oil channel is provided with an electric control valve, and the control end of the electric control valve is connected with a control module. The engineering machinery comprises a non-electric control hydraulic pump, and a power control system of the non-electric control hydraulic pump adopts the system. The control method comprises the following steps: judging the working state of the engine; and controlling the non-electrically controlled hydraulic pump to be switched to a corresponding working mode according to the working state of the engine. The control system and the control method can realize the secondary adjustment of the power of the non-electric control hydraulic pump.
Description
Technical field
The present invention relates to non-electrical control hydraulic pump, particularly a kind of power control system of non-electrical control hydraulic pump and controlling method, and relate to the engineering machinery adopting this power control system.
Background technique
Due to non-electrical control hydraulic pump (as the BOSCH-REXROTH A11VO75LRDS series) reason that cost performance is higher, be widely used on mini-excavator at present.In order to reach energy-conservation object, in the using process of excavator, generally can select different engine speed according to the difference of working condition.But the non-electrical control hydraulic pump of A11VO75LRDS series only has a pressure flow curve (P-Q curve) (as shown in Figure 2), therefore, under different work operating mode, the power match problem between the motor of described non-electrical control hydraulic pump and oil hydraulic pump just becomes core.
As shown in Figure 1, in correlation technique, when the engine runs, hydraulic oil is pumped into executive component 2 from fuel tank by P mouth by oil hydraulic pump 1, and induced pressure is fed back to the B mouth of power governor 3 by executive component 2 by LS mouth (feedback signal oil) when action.Power governor 3 is according to the pressure of B mouth from E mouth and C mouth output signal oil, and the signal oil wherein from C mouth sets up pressure by the swash plate urged clockwise of oil hydraulic pump 1 at the D mouth of oil hydraulic pump 1; Signal oil from E mouth is set up pressure at the F mouth of oil hydraulic pump 1 and is rotated counterclockwise by the swash plate of oil hydraulic pump 1, and when the pressure balance of D mouth to F mouth, the swash plate of oil hydraulic pump 1 keeps several angle to export corresponding flow.Fig. 2 is the pressure flow curve of the oil hydraulic pump 1 in correlation technique.
There is following defect in correlation technique: 1. because the absorbed power of oil hydraulic pump is only directly proportional to induced pressure and flow product, when needing reduction oil hydraulic pump absorbed power to carry out low loaded work piece in real work when engine throttle is certain (such as leveling operation), power control system in correlation technique cannot realize secondary adjustment, does not therefore reach energy-conservation object.2. the absorption moment of torsion of motor oil hydraulic pump when little throttle work may be greater than engine output torque, causes motor may occur flame-out phenomenon when the slow-speed of revolution.
Summary of the invention
The present invention aims to provide a kind of power control system, Poewr control method of non-electrical control hydraulic pump of improvement, and with the engineering machinery of this control system.
The invention provides a kind of power control system of non-electrical control hydraulic pump, comprise power governor, this power governor is connected with executive component, and respectively by the first signal oil inlet opening of non-electrical control hydraulic pump and secondary signal oil inlet opening described in the first signal oil passage and secondary signal oil expanding channels, to control the discharge capacity of described non-electrical control hydraulic pump according to induced pressure, between the secondary signal oil inlet opening of described non-electrical control hydraulic pump and the delivery outlet of described non-electrical control hydraulic pump, the 3rd signal oil passage is set, described 3rd signal oil channel setting has electric control valve, the control end of this electric control valve connects a control module.
Preferably, described control module comprises:
Sensing cell, for detecting the rotating speed of motor;
Storage unit, for a preset critical value; With
Control unit, be connected with described sensing cell, when tachometer value for exporting at described sensing cell is less than described critical value, control described electric control valve to open, make the 3rd signal oil passage to the secondary signal oil inlet opening input signal oil of described non-electrical control hydraulic pump, participate in the control to described non-automatically controlled hydraulic pump discharge.
Preferably, described control unit also connects a power control switching, for the state of electric control valve described in Non-follow control.
Preferably, described control module comprises a power control switching, for the state of electric control valve described in Non-follow control.
The present invention also provides a kind of engineering machinery, comprises the power control system in non-electrical control hydraulic pump and above-mentioned any one.
The present invention also provides a kind of Poewr control method of non-electrical control hydraulic pump, and this non-electrical control hydraulic pump comprises the first mode of operation and the second mode of operation, and described non-electrical control hydraulic pump has different pressure flow curves under first, second mode of operation described; This Poewr control method comprises the steps:
Judge the working state of motor;
According to the working state of motor, control under described non-electrical control hydraulic pump switches to corresponding mode of operation.
Preferably, the step of the working state of described judgement motor comprises: detect the rotating speed of motor, and is compared with a preset critical value by the rotating speed detected.
Preferably, the described working state according to motor, controls the step that described non-electrical control hydraulic pump switches under corresponding mode of operation and comprises:
When the rotating speed of motor is more than or equal to described critical value, described non-electrical control hydraulic pump switches to the first mode of operation;
When the rotating speed of motor is less than described critical value, described non-electrical control hydraulic pump switches to the second mode of operation.
Preferably, this Poewr control method also comprises the steps:
A power governor is provided, this power governor is connected with executive component, and respectively by the first signal oil inlet opening of non-electrical control hydraulic pump and secondary signal oil inlet opening described in the first signal oil passage and secondary signal oil expanding channels, to control the discharge capacity of described non-electrical control hydraulic pump according to induced pressure;
There is provided a 3rd signal oil passage, the 3rd signal oil channel setting is between the secondary signal oil inlet opening and the delivery outlet of described non-electrical control hydraulic pump of described non-electrical control hydraulic pump, and described 3rd signal oil channel setting has electric control valve;
Wherein, the described working state according to motor, control the step that described non-electrical control hydraulic pump switches under corresponding mode of operation to comprise: according to the working state of motor, control described electric control valve and close or open, under switching to corresponding mode of operation to make described non-electrical control hydraulic pump.
Preferably, the described working state according to motor, controls the step that described non-electrical control hydraulic pump switches under corresponding mode of operation and comprises:
Detect the rotating speed of motor, and the rotating speed detected is compared with a preset critical value;
When the rotating speed of motor is more than or equal to described critical value, described electric control valve is closed, and described non-electrical control hydraulic pump switches to described first mode of operation;
When the rotating speed of motor is less than described critical value, described electric control valve is opened, make described 3rd signal oil passage to the secondary signal oil inlet opening input signal oil of described non-electrical control hydraulic pump, participate in the control to described non-automatically controlled hydraulic pump discharge, described non-electrical control hydraulic pump switches to described second mode of operation.
Preferably, the described working state according to motor, control the step that described non-electrical control hydraulic pump switches under corresponding mode of operation to comprise: according to the working state of motor, electric control valve described in Non-follow control is closed or is opened, and switches to corresponding mode of operation to make described non-electrical control hydraulic pump.
Compared with correlation technique, power control system of the present invention and controlling method when light engine load works, can realize the secondary adjustment of non-electrical control hydraulic pump absorbed power, reach energy-conservation object.
In addition, power control system of the present invention and method, motor can be made automatically to be reduced (moment of torsion is directly proportional to power when rotating speed is certain) by the absorption moment of torsion of oil hydraulic pump when the slow-speed of revolution, prevent low engine speed from stopping working, thus the working life of motor can be extended.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the power control system of non-electrical control hydraulic pump in correlation technique.
Fig. 2 is the pressure flow curve of non-electrical control hydraulic pump in correlation technique.
Fig. 3 is the schematic diagram of the power control system of non-electrical control hydraulic pump in some embodiments of the invention.
Fig. 4 is the pressure flow curve of the non-electrical control hydraulic pump in some embodiments of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, further description is done to the present invention.
Fig. 3 shows the schematic diagram of the power control system of the non-electrical control hydraulic pump in some embodiments of the invention.As shown in Figure 3, the power control system of this non-electrical control hydraulic pump can comprise power governor 3, power governor 3 is connected with executive component 2, power governor 3 is by the first signal oil inlet opening D of the first signal oil passage 4 connecting fluid press pump 1, and pass through the secondary signal oil inlet opening F of secondary signal oil passage 5 connecting fluid press pump 1, with the angle of the swash plate according to induced pressure hydraulic control pump 1, and then control the discharge capacity of non-electrical control hydraulic pump.Between the secondary signal oil inlet opening F and the delivery outlet P of oil hydraulic pump 1 of oil hydraulic pump 1, the 3rd signal oil passage 6 is set, 3rd signal oil passage 6 arranges electric control valve 7, the control end of electric control valve 7 connects a control module 8, in order to realize the secondary adjustment of non-electrical control hydraulic pump absorbed power.
Control module 8 can comprise control unit 81, sensing cell 82 and storage unit (not shown) in certain embodiments.Sensing cell 82 for detecting the rotating speed of motor in real time, and judges that motor is in heavy duty work state or underloading working state according to this.Storage unit is used for a preset critical value.Control unit 81 is connected with sensing cell 82, when tachometer value for exporting at sensing cell 82 is less than critical value, control electric control valve 7 to open, make the 3rd signal oil passage 6 to the secondary signal oil inlet opening F input signal oil of oil hydraulic pump 1, participate in the Angle ambiguity of the swash plate to oil hydraulic pump 1.In certain embodiments, sensing cell 82 is speed probe.
In certain embodiments, control unit 81 also can connect a power control switching 83, for the state of Non-follow control electric control valve 7.When the state of this power control switching 83 changes, control unit 81 outputs signal the state turnover controlling electric control valve 7.Therefore, operator can select the absorbed power of oil hydraulic pump 1 by power control switching 83 according to actual conditions, not only enriched the ability of applicable working condition, also saved energy consumption simultaneously, made to operate hommization more.
Above-mentioned power control system can realize the secondary power control of non-electrical control hydraulic pump 1 by automatic control mode and manual control mode.
Automatic control mode is as follows:
Detect the rotating speed of motor, compare with preset critical value, when the engine speed that sensing cell 82 detects is more than or equal to critical value preset in storage unit, control unit 81 stops outputing signal to electric control valve 7, electric control valve 7 is made to be in power failure state, therefore the pressure that the outlet P1 of electric control valve 7 exports is zero, now hydraulic system only adjusts by the absorbed power of own power regulator 3 pairs of oil hydraulic pumps 1, adjustment principle is identical with correlation technique with process, that is: when the engine runs, hydraulic oil is pumped into executive component 2 from fuel tank by the delivery outlet P of oil hydraulic pump 1 by oil hydraulic pump 1, induced pressure is fed back to the B mouth of power governor 3 by executive component 2 by LS mouth when action.Power governor 3 is according to the pressure of B mouth from E mouth and C mouth output signal oil, and the signal oil wherein from C mouth sets up at the first signal oil inlet opening D of oil hydraulic pump 1 swash plate that pressure promotes oil hydraulic pump 1 in the direction of the clock by the first signal oil passage 4; Signal oil from E mouth sets up pressure by the swash plate counterclockwise promoting oil hydraulic pump 1 by secondary signal oil passage 5 at the secondary signal oil inlet opening F of oil hydraulic pump 1, when the pressure balance of two signal oil inlet opening D and F, the swash plate of oil hydraulic pump 1 keeps several angle, exports corresponding flow.Now, oil hydraulic pump 1 works in the first mode of operation, and the pressure flow curve of oil hydraulic pump 1 is as shown in the curve 41 in Fig. 4.
When the engine speed that sensing cell 82 detects is less than critical value preset in storage unit, control unit 81 outputs signal to electric control valve 7, electric control valve 7 is made to be in obtain electricity condition, now electric control valve 7 exports P1 and can export setup pressure value, the secondary signal oil inlet opening F that this force value is directly loaded into oil hydraulic pump 1 forces the swash plate of oil hydraulic pump 1 to be rotated counterclockwise, until the pressure balance of oil hydraulic pump 1 two signal oil inlet opening D and F, now hydraulic system is except the absorbed power by own power regulator 3 pairs of oil hydraulic pumps 1 adjusts, also be subject to the impact of electric control valve 7 outlet pressure, namely the 3rd signal oil passage 6 take part in the Angle ambiguity of the swash plate to oil hydraulic pump 1, achieve the secondary adjustment of oil hydraulic pump power, now, oil hydraulic pump 1 works in the second mode of operation, the pressure flow curve of oil hydraulic pump 1 is as the curve 42 in Fig. 4.
Manual control mode is as follows:
When motor is in large throttle working state but needs oil hydraulic pump small-power to work, close by operating power control switch 83, low level is in after control unit 81 stitch be now connected with power control switching 83 is grounded, output signal to electric control valve 7 immediately when control unit 81 detects that this stitch is low level, electric control valve 7 electric after, 3rd signal oil passage 6 is connected, participate in the Angle ambiguity to the swash plate of oil hydraulic pump 1, oil hydraulic pump 1 is made to work in the second mode of operation, otherwise, power control switching 83 is disconnected, oil hydraulic pump 1 then can be made to work in the first mode of operation, thus achieve the object of carrying out power control according to operator's wish.
In some embodiments, electric control valve 7 adopts solenoid valve.
In some embodiments, control module 8 can not comprise power control switching 83, only includes control unit 81, sensing cell 82 and storage unit, automatically can realize the secondary adjustment of non-electrical control hydraulic pump 1 absorbed power like this according to engine speed.
And in other embodiment, control module 8 also can not comprise control unit 81, sensing cell 82 and storage unit, only include a power control switching, this power control switching is connected to the control end of electric control valve 7, for changing the state of electric control valve 7, the secondary adjustment realizing non-electrical control hydraulic pump 1 absorbed power manually can be operated like this.
Understandably, in some embodiments, control module 8 can adopt other for the sensing cell that tests the speed to detect the rotating speed of motor.Above-mentioned critical value can be stored by the internal storage unit of control unit 81 or external storage unit.
In above-described embodiment, the power control system of this non-electrical control hydraulic pump and controlling method are described to be applied to inclined disc type variable displacement pump, by the Angle ambiguity of the swash plate to inclined disc type variable displacement pump with hydraulic control pump delivery, understandably, the power control system of the non-electrical control hydraulic pump of the present invention and controlling method also can be used for clino-axis type variable displacement pump.
Above-mentioned various power control system all can be applicable to the engineering machinery comprising non-electrical control hydraulic pump, as excavator etc.Further, in certain embodiments, the control unit 81 for controlling electric control valve 7 in power control system can adopt the PLC technology unit (Programmable Logic Controller, PLC) of this project machinery self; In other embodiment, control unit 81 also can adopt an independently PLC; Or control unit 81 also can adopt common microprocessor.
The above is only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, and all technological schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the power control system of a non-electrical control hydraulic pump, comprise power governor, this power governor is connected with executive component, and respectively by the first signal oil inlet opening of non-electrical control hydraulic pump and secondary signal oil inlet opening described in the first signal oil passage and secondary signal oil expanding channels, to control the discharge capacity of described non-electrical control hydraulic pump according to induced pressure, it is characterized in that: between the secondary signal oil inlet opening of described non-electrical control hydraulic pump and the delivery outlet of described non-electrical control hydraulic pump, the 3rd signal oil passage is set, described 3rd signal oil channel setting has electric control valve, the control end of this electric control valve connects a control module.
2. power control system according to claim 1, is characterized in that, described control module comprises:
Sensing cell, for detecting the rotating speed of motor;
Storage unit, for a preset critical value; With
Control unit, be connected with described sensing cell, when tachometer value for exporting at described sensing cell is less than described critical value, control described electric control valve to open, make the 3rd signal oil passage to the secondary signal oil inlet opening input signal oil of described non-electrical control hydraulic pump, participate in the control to described non-automatically controlled hydraulic pump discharge.
3. power control system according to claim 2, is characterized in that, described control unit also connects a power control switching, for the state of electric control valve described in Non-follow control.
4. power control system according to claim 1, is characterized in that, described control module comprises a power control switching, for the state of electric control valve described in Non-follow control.
5. an engineering machinery, comprises non-electrical control hydraulic pump, it is characterized in that, also comprises the power control system described in any one of claim 1-4.
6. a Poewr control method for non-electrical control hydraulic pump, this non-electrical control hydraulic pump comprises the first mode of operation and the second mode of operation, and described non-electrical control hydraulic pump has different pressure flow curves under first, second mode of operation described; This Poewr control method comprises the steps:
A power governor is provided, this power governor is connected with an executive component, and respectively by the first signal oil inlet opening of non-electrical control hydraulic pump and secondary signal oil inlet opening described in the first signal oil passage and secondary signal oil expanding channels, to control the discharge capacity of described non-electrical control hydraulic pump according to induced pressure;
There is provided a 3rd signal oil passage, the 3rd signal oil channel setting is between the secondary signal oil inlet opening and the delivery outlet of described non-electrical control hydraulic pump of described non-electrical control hydraulic pump, and described 3rd signal oil channel setting has electric control valve;
Judge the working state of motor;
According to the working state of motor, control described electric control valve and close or open, under switching to corresponding mode of operation to make described non-electrical control hydraulic pump.
7. Poewr control method according to claim 6, is characterized in that, the step of the working state of described judgement motor comprises: detect the rotating speed of motor, and is compared with a preset critical value by the rotating speed detected.
8. Poewr control method according to claim 7, is characterized in that, the described working state according to motor, controls described electric control valve and closes or open, comprise with the step making described non-electrical control hydraulic pump switch under corresponding mode of operation:
When the rotating speed of motor is more than or equal to described critical value, described non-electrical control hydraulic pump switches to the first mode of operation;
When the rotating speed of motor is less than described critical value, described non-electrical control hydraulic pump switches to the second mode of operation.
9. Poewr control method according to claim 6, is characterized in that, the described working state according to motor, controls described electric control valve and closes or open, comprise with the step making described non-electrical control hydraulic pump switch under corresponding mode of operation:
Detect the rotating speed of motor, and the rotating speed detected is compared with a preset critical value;
When the rotating speed of motor is more than or equal to described critical value, described electric control valve is closed, and described non-electrical control hydraulic pump switches to described first mode of operation;
When the rotating speed of motor is less than described critical value, described electric control valve is opened, described 3rd signal oil passage is to the secondary signal oil inlet opening input signal oil of described non-electrical control hydraulic pump, participate in the control to described non-automatically controlled hydraulic pump discharge, described non-electrical control hydraulic pump switches to described second mode of operation.
10. Poewr control method according to claim 6, it is characterized in that, the described working state according to motor, control described electric control valve close or open, comprise with the step making described non-electrical control hydraulic pump switch under corresponding mode of operation: according to the working state of motor, electric control valve described in Non-follow control is closed or is opened, and described non-electrical control hydraulic pump switches to corresponding mode of operation.
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| CN201110441939.8A CN102536761B (en) | 2011-12-26 | 2011-12-26 | Engineering machinery and power control system and control method of non-electrically-controlled hydraulic pump of engineering machinery |
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| CN201110441939.8A CN102536761B (en) | 2011-12-26 | 2011-12-26 | Engineering machinery and power control system and control method of non-electrically-controlled hydraulic pump of engineering machinery |
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| CN102536761B true CN102536761B (en) | 2015-01-07 |
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| CN103711598B (en) * | 2013-12-03 | 2016-02-10 | 中联重科股份有限公司 | Hydraulic system adjusting device and method, power matching control system and engineering machinery |
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|---|---|---|---|---|
| CN1008388B (en) * | 1984-11-30 | 1990-06-13 | 株式会社小松制作所 | Fluid operated pump displacement control system |
| US5993168A (en) * | 1995-05-16 | 1999-11-30 | Brueninghaus Hydromatik Gmbh | Settable choke device to control the power setting of a variable displacement hyraulic pump |
| CN1124412C (en) * | 1997-04-16 | 2003-10-15 | 住友重机械工业株式会社 | Control device for oblique disk type changable volume pump |
| CN2594494Y (en) * | 2003-01-10 | 2003-12-24 | 徐州重型机械厂 | Hydraulic controller of constant-power variable control pump |
| CN101550921A (en) * | 2009-05-05 | 2009-10-07 | 上海电气液压气动有限公司 | Variable control system of plunger variable pump |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070227135A1 (en) * | 2006-03-30 | 2007-10-04 | Caterpillar Inc. | Integrated load-sensing hydraulic system |
-
2011
- 2011-12-26 CN CN201110441939.8A patent/CN102536761B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1008388B (en) * | 1984-11-30 | 1990-06-13 | 株式会社小松制作所 | Fluid operated pump displacement control system |
| US5993168A (en) * | 1995-05-16 | 1999-11-30 | Brueninghaus Hydromatik Gmbh | Settable choke device to control the power setting of a variable displacement hyraulic pump |
| CN1124412C (en) * | 1997-04-16 | 2003-10-15 | 住友重机械工业株式会社 | Control device for oblique disk type changable volume pump |
| CN2594494Y (en) * | 2003-01-10 | 2003-12-24 | 徐州重型机械厂 | Hydraulic controller of constant-power variable control pump |
| CN101550921A (en) * | 2009-05-05 | 2009-10-07 | 上海电气液压气动有限公司 | Variable control system of plunger variable pump |
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Application publication date: 20120704 Assignee: Shaanxi Zhonglian Western earthwork Machinery Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042754 Denomination of invention: Power Control System and Control Method for Construction Machinery and Its Non Electric Hydraulic Pumps Granted publication date: 20150107 License type: Common License Record date: 20231010 |
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Application publication date: 20120704 Assignee: Zoomlion earth moving machinery Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980043517 Denomination of invention: Power Control System and Control Method for Construction Machinery and Its Non Electric Hydraulic Pumps Granted publication date: 20150107 License type: Common License Record date: 20231017 |