CN102748340A - Method for analyzing energy loss of hydraulic system of loader working device - Google Patents
Method for analyzing energy loss of hydraulic system of loader working device Download PDFInfo
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Abstract
The invention discloses a method for analyzing energy loss of a hydraulic system of a loader working device, which belongs to the technical field of engineering machinery, and overcomes the defects in the prior art that the essentials and difficulties of the energy saving of the hydraulic system of a loader cannot be quantitatively analyzed and determined since the energy loss links of the hydraulic system of the loader working device are defined and analyzed according to experience. According to the key points of the technical scheme, the method comprises the following steps of: establishing a simulation model of the hydraulic system of the whole working device to obtain simulation results of the simulation model under various work conditions; meanwhile, testing an experiment result of the hydraulic system of a loader under a normal work condition; performing comparative analysis on the simulation results and the experiment result; and further quantitatively analyzing the energy loss links of the hydraulic system of the loader working device, thus figuring out so that the proportion of the energy loss in each link.
Description
Technical field:
The present invention relates to a kind of analytical method of energy loss, specifically, relate in particular to a kind of analytical method of working device of loader hydraulic system energy loss.
Background technique:
Hydraulic system is one of chief component of loader, and the action of loading shovel and the action of swing arm all rely on hydraulic system to realize.The energy consumption of research loader, proposing to save energy raising energy utilization rate is the needs of manufacturer, also is that China's construction is advocated, energy-conservation research is the engineering machinery hydraulic Developing Trend in Technology.Generally the analysis for working device of loader hydraulic system energy loss link is qualitatively; Confirm and analysing energy loss link according to experience; And can't confirm respectively to lose the shared concrete proportion in the complete machine energy loss of link, therefore can't analyze quantitatively and emphasis and difficult point that definite loader hydraulic system is energy-conservation.
Summary of the invention:
To the problems referred to above, the purpose of this invention is to provide a kind of method that emulation and laboratory facilities are combined, the energy loss link of working device of loader hydraulic system is analyzed quantitatively.
For realizing above-mentioned purpose, the present invention takes following technological scheme:
A kind of analytical method of working device of loader hydraulic system energy loss adopts the method that emulation and laboratory facilities are combined, and the energy loss link of working device of loader hydraulic system is analyzed quantitatively, may further comprise the steps:
(a) working principle of grasp working device of loader hydraulic system; Obtain the major parameter of each element; Set up the model of whole equipment hydraulic system at SimulationX, corresponding hydraulic element model is linked to each other through hydraulic tubing according to the working device of loader schematic diagram;
(b) according to the parameter that needs in the model specification analogue system of each hydraulic element;
(c) the operation simulation software obtains the pressure of each element, the simulation result of the isoparametric characteristic of flow;
(d) flowmeter, displacement transducer, pressure transducer, data collecting instrument are installed on the working device of loader; And, draw loader and using the pressure under the operating mode, the experimental result of Flow characteristics always through test to the dynamic characteristic of loader under each operating mode commonly used;
(e) simulation result and experimental result are compared, the correctness of checking simulation result, and further experimental result is analyzed;
(f), calculate the concrete numerical value and the ratio of this part energy consumption in total energy consumption of correlation energy loss thus through the power consumpiton situation of each link of simulation curve acquisition.
In technique scheme, the simulation system parameters that needs in the said step (b) to set comprises:
1) setting of the flow of pump;
2) action of swing arm and scraper bowl is set;
3) load set.
In technique scheme; Each sensor mounting point of said step (d) is following: turbine flowmeter and pressure transducer are installed in the exit position at metering pump; Setting pressure sensor on the oil inlet and outlet of boom cylinder; And on the cylinder barrel of boom cylinder the installation position displacement sensor, identical with boom cylinder, also be that two pressure transducers and a displacement transducer are installed on the rotary ink tank.
Further technological scheme, said step (e) operating method is: judge the correctness of simulation result through contrasting the relative error of calculating simulation curve and empirical curve, and the reason of analytical error generation.
In technique scheme, hydraulic system mainly is made up of swing arm oil hydraulic circuit and scraper bowl oil hydraulic circuit.
In technique scheme; The content of energy consumption analysis comprises each operating mode working pump output work of acquisition, useful work, high pressurized overflow energy consumption in the said step (f); And calculate the system efficient of each several part hydraulic pressure system and the ratio that the high pressure spill losses accounts for through the data that obtain; Wherein, hydraulic system efficient=useful work/hydraulic system input total work, high pressure spill losses=high pressurized overflow energy consumption/hydraulic system input total work.
The present invention is owing to take above technological scheme, and it has the following advantages:
(1) quantitative analysis each energy loss link of working device of loader hydraulic system under each operating mode, confirmed each link energy loss proportion;
(2) analyze the size of the energy loss of each link more legibly, be convenient to have emphasis ground that the bigger link of energy loss is improved;
(3) this analytical method provides theoretical foundation and data support for the problem of analyzing the appearance of working device of loader hydraulic system.
Description of drawings:
Fig. 1 is working device of loader hydraulic system Simulation modular concept figure;
Fig. 2 is pressure---the time graph of the big chamber of working device of loader boom cylinder simulation result;
Fig. 3 is pressure---the time graph of working device of loader boom cylinder loculus simulation result;
Fig. 4 is pressure---the time graph of the big chamber of working device of loader bucket cylinder simulation result;
Fig. 5 is pressure---the time graph of working device of loader bucket cylinder loculus simulation result;
Fig. 6 is the pressure of working device of loader working pump simulation result a---time graph;
Fig. 7 is the big cavity pressure of working device of loader idling idle condition boom cylinder a---time graph;
Fig. 8 is the little cavity pressure of working device of loader idling idle condition boom cylinder a---time graph;
Fig. 9 is the big cavity pressure of working device of loader idling idle condition bucket cylinder a---time graph;
Figure 10 is the little cavity pressure of working device of loader idling idle condition bucket cylinder a---time graph;
Figure 11 is the comparative analysis curve of embodiments of the invention 1 simulation result and test result;
Figure 12 is the comparative analysis curve of embodiments of the invention 2 simulation results and test result;
Figure 13 is the comparative analysis curve of embodiments of the invention 3 simulation results and test result.
Among the figure: 1, boom cylinder; 2, multi-way valve; 3, four six-way valves; 4, three six-way valves; 5, working pump; 6, main safety valve; 7, overload Fill valve; 8., fuel tank; 9, rotary ink tank.
Embodiment:
Below in conjunction with specific embodiment the present invention is done further description.
Experimental result in this method is to move under different operating modes through the test working device of loader to obtain hydraulic system pressure, Flow characteristics; Simulation result is hydraulic system pressure, the Flow characteristics that under the condition that the simulated environment of whole simulation system is identical with the maintenance of experimentation work device with initial value, obtains through the analogue system model of building loader hydraulic system.Because simulation result is the result who under comparatively ideal environment, records, so there are certain error in experimental result and simulation result.
As shown in Figure 1, the simulation model of each hydraulic element of building device hydraulic system, working device of loader hydraulic system principle is as shown in Figure 1, and system is made up of critical pieces such as metering pump 5, multi-way valve 2, rotary ink tank 9, boom cylinders 1.This system mainly is made up of swing arm loop and scraper bowl loop two-part; During the equipment action; The engine drives metering pump rotates, and pumps next pressure oil through multi-way valve, handles swing arm switching-over valve rod 3 or scraper bowl switching-over valve rod 4; The receipts bucket and the discharging of the lifting of completion swing arm and decline, scraper bowl, two changeover valve cores are not worked simultaneously.Wherein metering pump 5, scraper bowl selector valve 4, main safety valve 6, overload Fill valve 7, rotary ink tank 9, fuel tank 8 etc. are formed the scraper bowl loop, accomplish the receipts bucket and the discharging action of scraper bowl; Metering pump 5, swing arm selector valve 3, boom cylinder 1, main safety valve 6, fuel tank 8 are formed the swing arm loop, accomplish the lifting and the down maneuver of swing arm.
At first set up the model of whole equipment hydraulic system at Simulation X.According to the working device of loader principle corresponding hydraulic element model is linked to each other through hydraulic tubing.The selector valve oil hydraulic cylinder is the actuator that connects hydraulic part and mechanical linkage part, and hydraulic part is associated with mechanical linkage through this actuator of oil hydraulic cylinder.The model of equipment hydraulic system is as shown in the figure.Need parameter in the model specification emulation according to each hydraulic element: the 1. setting of the flow of pump.Having set quantitative pump delivery in the model of pump is definite value, and its flow depends on the rotating speed of motor, and the speed when being in middling speed according to motor is set the preset speed of rotating.2. the action of swing arm and scraper bowl is set.The action of swing arm and scraper bowl realizes that through the control position of selector valve depend on the stop block at swing arm and scraper bowl place on the other hand, the relation of input time and displacement limits the position curve of multi-way valve on the one hand; The rotational angle of start and stop place through limiting revolute pair is realized the qualification of many body mechanisms displacement, and it gives rise to the extreme higher position from ground the spacing realization of swing arm, discharging that scraper bowl is spacing when being implemented in the swing arm highest order with receive bucket.3. load set is not afterburning promptly unloaded on power that increases full load on the scraper bowl or scraper bowl.Move simulation software, just can obtain the isoparametric curve of pressure, flow, speed, acceleration of each element.
Fig. 2, Fig. 3, Fig. 4, Fig. 5, pressure---the simulation result of time graph that is respectively the big chamber of working device of loader boom cylinder, boom cylinder loculus, the big chamber of bucket cylinder, bucket cylinder loculus, working pump shown in Figure 6.
Through the test to the dynamic characteristic of loader under each operating mode commonly used, draw pressure and the Flow characteristics of loader at the big chamber of operating mode downward moving arm oil cylinder commonly used, boom cylinder loculus, the big chamber of bucket cylinder, bucket cylinder loculus then, test philosophy is following:
Experimental facilities: flowmeter, displacement transducer: pressure transducer, data collecting instrument.
Each sensor is installed on the equipment; Main mounting point is following: turbine flowmeter and pressure transducer are installed in the exit position at metering pump; Flowmeter is mainly measured the delivery side of pump flow; Pump is constant in the engine speed down-off of setting, so but since the flow of the volumetric efficiency pump of pump can change with delivery side of pump pressure.Pressure transducer mainly is to measure delivery side of pump pressure.Setting pressure sensor on the oil inlet and outlet of boom cylinder, and on the cylinder barrel of boom cylinder the installation position displacement sensor, the pressure and the displacement of boom cylinder in experimentation of measuring the boom cylinder oil inlet and outlet respectively; Identical with boom cylinder, also be that two pressure transducers and a displacement transducer are installed on the rotary ink tank.These sensors are linked to each other with data collecting instrument, carry out data capture.
Through with the correctness of the contrast verification simulation result of simulation result, and further experimental result is analyzed.
Experimental result and simulation result to big chamber of main power consumption parts bucket cylinder and the big chamber of boom cylinder compare checking, and analytic process is following:
(1) to the experiment and the simulation result contrast of the big cavity pressure of boom cylinder, like Fig. 2, shown in Figure 7, the experimental result in the big chamber of swing arm has identical trend with simulation result, and analysis of simulation result is following:
1) A1 is that swing arm begins the lifting point, because factor affecting such as frictional force, acceleration, the big cavity pressure of swing arm cylinder has produced vibration during the beginning lifting.Herein, emulation is 19.6% with experiment pressure maximum relative error, and the pressure minimum relative error is 10.8%;
2) A2 is the moved arm lifting end point, and emulation and test pressure relative error are 3.7%;
3) A3 is that moved arm lifting finishes that boom cylinder is spacing to build the pressure, and emulation is 1.2% with test pressure maximum relative error.Actual experiment result pressure here begins to remain on 18.53MPa, drops to 17.84MPa then gradually; Do not consider internal leakage when mainly being emulation, and due to the physical presence internal leakage reason;
4) A4 be bucket cylinder in the highest lift location, the scraper bowl discharging big cavity pressure of the boom cylinder that causes of bump limiting stopper that finishes produces vibration.Emulation here is 7.6% with test pressure maximum relative error, does not consider due to the internal leakage when difference wherein also is emulation;
5) A5 is the pressure surge of swing arm decline starting point.Herein, the simulation result pressure minimum is 2.3MPa; Actual experiment pressure minimum as a result is 0.86Mpa, and relative error is bigger, mainly is because due to the valve rod switch speed difference under two kinds of situation;
6) A6 is a swing arm decline end position.Herein, emulation and experimental pressure relative error are 1%.
At last, the simulated environment of whole system is identical with the experiment maintenance with initial value, and simulation curve and the empirical curve with each action compares respectively, and the energy loss situation of each several part is calculated.
(2) like Fig. 4, shown in Figure 9, the experimental result in the big chamber of bucket cylinder with simulation result identical trend is arranged, analysis of simulation result is following:
1) the B1 point is received bucket for the ground location scraper bowl.Herein, the big cavity pressure of bucket cylinder vibrates during beginning, and emulation and experimental pressure relative error are 3.7%;
2) the B2 point is received the bucket end for scraper bowl and is built the pressure.Emulation here and experimental pressure relative error are 8.5%, and main cause is that the condition when scraper bowl is received the bucket end is different, and the actual conditions scraper bowl certain deformation can take place can cause instantaneous peak value pressure to increase;
3) the B3 point is that bucket cylinder produces change in displacement in the moved arm lifting process under linkage mechanism drives, and then causes bucket cylinder size cavity pressure to change.Emulation here and experimental pressure relative error are 9.4%, and the error of generation mainly is to consider the factor affecting of leakage in the simulation process;
4) the B4 point is for to carry out the scraper bowl discharge process in the highest lift location.Herein, the basic indifference of simulation result and experimental result;
5) the B5 point is received the bucket process for carry out scraper bowl in the highest lift location.Emulation here and experimental pressure relative error are 9.3%;
6) the B6 point is to receive bucket to finish to the process of building the pressure, and is identical with ground location receipts bucket situation basically.Owing to the internal leakage reason, the pressure of the rotary ink tank in the actual experiment reduces gradually equally;
7) the B7 point causes big loculus enclosed volume to change for bucket cylinder displacement in the swing arm decline process changes causing pressure to change.This process, the pressure in the big chamber of bucket cylinder all are the existing earlier back reduction that increases under two kinds of situation.
All from simulation model, obtain like Figure 11, Figure 12, Figure 13,, after process experiment and simulation result contrast proof simulation model are correct, confirm that these power curve also are believable in the laboratory data that in actual experiment, is difficult to obtain power.
Each operating mode energy consumption statistic of table 1 working device of loader
Embodiment 1: scraper bowl is received bucket operating mode energy consumption analysis
Simulation model is referring to Fig. 1, and simulation result is referring to Fig. 4, Fig. 5, Fig. 6, and test result is referring to figure Fig. 9, Figure 10, and power is referring to Figure 11.
Receive in the bucket course of action at scraper bowl, the energy that working pump provides comprises the energy that promotes the rotating bucket cylinder piston rod six bar mechanism is done work, high pressure spill losses, the restriction loss of multi-way valve and the linear loss of pipeline that safety valve produces.The product of working pump flow and pumping hole pressure is the power that working pump produces under the scraper bowl receipts bucket operating mode.Wherein Pmech is the output power of pump, and PA is the power in the big chamber of rotating bucket cylinder, and PB is a rotating bucket cylinder loculus institute wasted work rate, and PCD is the total output of rotating bucket cylinder.Below in conjunction with simulation result and test result the energy loss under the scraper bowl receipts bucket operating mode is analyzed.
0.8s scraper bowl begins to receive bucket; Because the displacement of selector valve is the start signal of moment; Power produces fluctuation under the influence of scraper bowl weight and turning torque, and 0.8 ~ 2.4s is stabilized in 7.73KW, can be known that by diagram the power in the big chamber of rotating bucket cylinder when scraper bowl is received bucket is 6.15KW; The power consumption of rotating bucket cylinder loculus is 0.98KW, and the total output that pump provides for the rotating bucket cylinder is that the remaining power of 7.15KW is restriction loss power.Output power at 2.4 ~ 2.5s pump is exactly the maximum output 75KW of hydraulic system.
By above simulation result, the energy consumption situation that draws hydraulic system receipts bucket operating mode is following
Hydraulic system input total work 19.868KJ
The big chamber of rotating bucket cylinder oil-feed acting 9.84KJ
Rotating bucket cylinder loculus oil return energy consumption 1.568KJ
High pressurized overflow energy consumption 7.5KJ
The useful work that unloaded receipts bucket operating mode working pump is done is 9.84KJ, and the efficient of receiving bucket operating mode hydraulic system is 9.84/19.868=49.7%, and the ratio that the high pressure spill losses accounts for is 7.5/19.868=37.9%.
Embodiment 2: moved arm lifting operating mode energy consumption analysis
In conjunction with simulation result and test result the energy loss under the moved arm lifting operating mode is analyzed.
Simulation model is referring to Fig. 1, and simulation result is referring to Fig. 2, Fig. 3, Fig. 6, and test result is referring to Fig. 7, Fig. 8, and power is referring to Figure 12.
At the initial time of moved arm lifting, because joining the moment of selector valve, the gravity of scraper bowl etc. and swing arm open, and working pump produces bigger pressure surge, and the pressure of swing arm cylinder increases gradually in the lifting process afterwards, arrives upper limit position until moved arm lifting.
The energy that working pump produces promotes the gravity acting that boom cylinder overcomes six bar mechanism on the one hand, and the spill losses of relief valve and the restriction loss of swing arm couplet selector valve etc. will be provided on the other hand.The power curve of idle condition downward moving arm lifting process is shown in figure 12.Wherein Pmech is the output power of pump, and PA is the power in the big chamber of swing arm cylinder, and PB is a cursor loculus institute wasted work rate, and PCD is the total output of swing arm cylinder.
Swing arm begins lifting in the moment of 4s; 11.7s constantly moved arm lifting is to upper limit position, power reaches 17.12KW, and the power of the big chamber of swing arm and swing arm loculus is respectively 15.17KW and 0.97KW at this moment; The total output of the big loculus of swing arm is 16.15KW, 11.7 ~ 12s working pump Maximum Power Output 75KW.
By above simulation result, the energy consumption situation that draws hydraulic system moved arm lifting operating mode is following
Hydraulic system input total work 88.412KJ
The big chamber of swing arm cylinder oil-feed acting 58.4KJ
Swing arm cylinder loculus oil return energy consumption 3.73KJ
High pressurized overflow energy consumption 22.5KJ
The useful work that unloaded moved arm lifting operating mode working pump is done is 58.4KJ, and the efficient of moved arm lifting operating mode hydraulic system is 58.4/88.412=66.05%, and the ratio that the high pressure spill losses accounts for is 22.5/88.412=25.4%.Join the selector valve switching-over though when moved arm lifting arrives the extreme higher position, handle swing arm, the high pressure spill losses still accounts for significant proportion.
Embodiment 3: scraper bowl discharging, receipts bucket operating mode energy consumption analysis
Simulation model is referring to Fig. 1, and simulation result is referring to figure Fig. 4, Fig. 5, Fig. 6, and test result is referring to figure Fig. 9, Figure 10, and power is referring to Figure 13.
Scraper bowl discharging and receipts bucket operating mode, the scraper bowl cylinder at first is loculus oil-feed big chamber oil return, receives the oil return of the big chamber oil-feed of bucket stage scraper bowl cylinder loculus, the power of the big loculus of rotating bucket cylinder and the power of working pump are shown in figure 13.Wherein Pmech is the output power of pump, and PA is the power in the big chamber of rotating bucket cylinder, and PB is a rotating bucket cylinder loculus institute wasted work rate, and PCD is the total output of rotating bucket cylinder.
Because after the center of gravity of scraper bowl turned over the articulating point of scraper bowl and swing arm, scraper bowl relied on deadweight to descend, the oil back chamber of scraper bowl couplet selector valve will produce chock pressure difference and guarantee that scraper bowl does not exceed the speed limit; So can produce the throttling energy consumption, can know by energy consumption figure, when the scraper bowl discharging has just begun 13.6s in the big chamber of scraper bowl; Because working pump produces compression shock; So power has produced the peak value of 33KW, be that the power that 13.7 ~ 14.7s working pump provides drops to 1.698KW from 10.93KW in the scraper bowl discharge process, the power of rotating bucket cylinder loculus is reduced to 0.59KW from 8.73KW; The power in the big chamber of rotating bucket cylinder is close to and remains on 8.3KW, and working pump produced spill losses when the scraper bowl cylinder reached maximum displacement.Receive in the process of bucket at 15 ~ 16.7s scraper bowl; The big chamber oil-feed of rotating bucket cylinder, the output-power fluctuation of working pump is bigger, behind two secondary undulations, drops to 4.476KW from maximum 50KW; The power in big chamber drops to 3.08KW from 45.37KW; The power of rotating bucket loculus is close to and remains on 2.7KW, and the rotating bucket cylinder reaches maximum position behind the 16.7s, and working pump produces spill losses.
By above simulation result, the energy consumption situation that draws hydraulic system scraper bowl discharging receipts bucket operating mode is like expression
Hydraulic system input total work 9.116+20+38=67.116KJ
The big chamber of rotating bucket cylinder oil-feed acting 8.57KJ
Rotating bucket cylinder loculus oil return energy consumption 8.3KJ
Rotating bucket cylinder loculus oil-feed acting 19KJ
The big chamber oil return of rotating bucket cylinder energy consumption 4.59KJ
High pressurized overflow energy consumption 38KJ
The useful work that unloaded discharging receipts bucket operating mode working pump is done is 27.57KJ; The efficient of receiving bucket operating mode hydraulic system is 27.57/67.116=41.07%; The ratio that the high pressure spill losses accounts for is 38/67.116=56.6%; Scraper bowl relies on deadweight to descend under the scraper bowl discharging operating mode, and the working pump acting is less, and the efficient of hydraulic system is lower.
Claims (6)
1. the analytical method of a working device of loader hydraulic system energy loss; It is characterized in that: adopt the method that emulation and laboratory facilities are combined; Energy loss link to the working device of loader hydraulic system is analyzed quantitatively, and this method may further comprise the steps:
(a) working principle of grasp working device of loader hydraulic system; Obtain the major parameter of each element; Set up the model of whole equipment hydraulic system at SimulationX, corresponding hydraulic element model is linked to each other through hydraulic tubing according to the working device of loader schematic diagram;
(b) according to the parameter that needs in the model specification analogue system of each hydraulic element;
(c) operation simulation software obtains the simulation result of the parameter characteristics such as pressure, flow of each element;
(d) flowmeter, displacement transducer, pressure transducer, data collecting instrument are installed on the working device of loader; And, draw loader and using the pressure under the operating mode, the experimental result of Flow characteristics always through test to the dynamic characteristic of loader under each operating mode commonly used;
(e) simulation result and experimental result are compared, the correctness of checking simulation result, and further experimental result is analyzed;
(f), calculate the concrete numerical value and the ratio of this part energy consumption in total energy consumption of correlation energy loss thus through the power consumpiton situation of each link of simulation curve acquisition.
2. the analytical method of working device of loader hydraulic system energy loss according to claim 1 is characterized in that: the simulation system parameters that needs are set in the said step (b) comprises:
1) setting of the flow of pump;
2) action of swing arm and scraper bowl is set;
3) load set.
3. the analytical method of working device of loader hydraulic system energy loss according to claim 1; It is characterized in that: each sensor mounting point of said step (d) is following: turbine flowmeter and pressure transducer are installed in the exit position at metering pump; Setting pressure sensor on the oil inlet and outlet of boom cylinder; And on the cylinder barrel of boom cylinder the installation position displacement sensor, identical with boom cylinder, also be that two pressure transducers and a displacement transducer are installed on the rotary ink tank.
4. the analytical method of working device of loader hydraulic system energy loss according to claim 1; It is characterized in that: said step (e) operating method is: judge the correctness of simulation result through contrasting the relative error of calculating simulation curve and empirical curve, and the reason of analytical error generation.
5. the analytical method of working device of loader hydraulic system energy loss according to claim 1 is characterized in that: hydraulic system mainly is made up of swing arm oil hydraulic circuit and scraper bowl oil hydraulic circuit.
6. the analytical method of working device of loader hydraulic system energy loss according to claim 1; It is characterized in that: the content of energy consumption analysis comprises output work, useful work, the high pressurized overflow energy consumption that obtains each operating mode working pump in the said step (f); And calculate the system efficient of each several part hydraulic pressure system and the ratio that the high pressure spill losses accounts for through the data that obtain; Wherein, Hydraulic system efficient=useful work/hydraulic system input total work, high pressure spill losses=high pressurized overflow energy consumption/hydraulic system input total work.
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| CN111237068A (en) * | 2020-02-27 | 2020-06-05 | 淮阴工学院 | Control method for improving power utilization rate of loader |
| CN111237068B (en) * | 2020-02-27 | 2022-06-03 | 淮阴工学院 | Control method for improving power utilization rate of loader |
| CN111810491A (en) * | 2020-07-29 | 2020-10-23 | 中国人民解放军陆军装甲兵学院 | Energy consumption analysis method for hydraulic system of quadruped robot |
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| CN102748340B (en) | 2014-08-27 |
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Effective date of registration: 20171205 Address after: Licheng Alexander Road in Ji'nan City, Shandong province 250100 No. 27 Co-patentee after: Shandong Lingong Construction Machinery Co., Ltd. Patentee after: Shandong University Address before: 276023 Linyi Economic Development Zone, Shandong Shandong Lingong Construction Machinery Co Patentee before: Shandong Lingong Construction Machinery Co., Ltd. |