CN102852184A - Hydraulic control system for loader and control method - Google Patents
Hydraulic control system for loader and control method Download PDFInfo
- Publication number
- CN102852184A CN102852184A CN2012101355933A CN201210135593A CN102852184A CN 102852184 A CN102852184 A CN 102852184A CN 2012101355933 A CN2012101355933 A CN 2012101355933A CN 201210135593 A CN201210135593 A CN 201210135593A CN 102852184 A CN102852184 A CN 102852184A
- Authority
- CN
- China
- Prior art keywords
- pressure accumulator
- swing arm
- turn
- rotating bucket
- judged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides a hydraulic control system for a loader and a control method. The hydraulic control system for the loader comprises a hydraulic control unit, a movable arm cylinder, a rotary bucket cylinder, a high-pressure energy accumulator, a medium-pressure energy accumulator, a low-pressure closed oil tank, an oil filter, a hydraulic pump, an electric control unit, a first pressure sensor, a second pressure sensor, a brake switch, a movable arm ascending switch, a movable arm descending switch, a rotary bucket upward rotation switch and a rotary bucket downward rotation switch. The control method for the hydraulic control system for the loader comprises the following steps of: detecting each sensor signal, judging whether the loader is braked, recovering and controlling brake energy, judging whether the movable arm ascends or descends, controlling the movable arm to ascend or descend, judging upward rotation or downward rotation of the rotary bucket, controlling the upward rotation or downward rotation of the rotary bucket, detecting the pressure in the high-pressure energy accumulator and the medium-pressure energy accumulator, controlling the energy accumulation of the high-pressure energy accumulator and the medium-pressure energy accumulator, and performing unloading control on the hydraulic pump, and the like. The brake energy recovery and potential energy recovery in the movable arm descending process are realized, the fuel consumption of the loader is reduced, and the working efficiency of the loader is improved.
Description
Technical field
The present invention relates to a kind of loader hydraulic control system and control method, belong to loader control technology field.
Background technology
Loader is widely used in the construction such as mining site, capital construction, road maintenance occasion, mainly is that to shovel bulk materials such as filling native stone, mineral be main.Because it is simple and convenient, can save in a large number manpower, increases work efficiency, loader has become important engineering machinery.
Along with the application scale of loader is increasing, people also require more and more higher to its performance indications, and efficient, low consumption, comfortableness, intellectuality are the inexorable trends of loader development.In the prior art, loader hydraulic system comprises that working barrel, boom cylinder, rotary ink tank, safety valve, oil filter, double-acting safety valve, swing arm manually join guiding valve, rotating bucket and manually join guiding valve and open type oil tank.The loading operation process comprise travel, spading, moved arm lifting, the scraper bowl that falls, the swing arm that falls etc. carry out cycle operation, the engine load of spading process need maximum wherein, landing process motor still drives the hydraulic pump running and can not reclaim the potential energy that swing arm falls, braking procedure also can't reclaim the kinetic energy of loader, thereby the oil consumption of loader is high, loading operation efficient is low.
Summary of the invention
The loader hydraulic control system and the control method that the purpose of this invention is to provide a kind of oil consumption that can overcome defects, reduce loader, raising loading operation efficient.Its technical scheme is:
A kind of loader hydraulic control system, described hydraulic control system comprises on the first pressure sensor, the second pressure sensor, brake switch, swing arm rising switch, swing arm decline switch, the rotating bucket that turn-off closes, turn-off pass, ECU, hydraulic control unit, boom cylinder, high pressure accumulator, intermediate-pressure accumulator, rotary ink tank, low pressure sealed reservoir, oil filter, hydraulic pump under the rotating bucket, it is characterized in that:
The hydraulic control unit integrated installation has the first one way valve, the second one way valve, the 3rd one way valve, the first safety valve, the second safety valve, the 3rd safety valve, the first pressure sensor, the second pressure sensor, the first solenoid operated directional valve, the second solenoid operated directional valve, the 3rd solenoid operated directional valve, the first solenoid-operated proportional reversal valve, the second solenoid-operated proportional reversal valve, the 3rd solenoid-operated proportional reversal valve and the 4th solenoid-operated proportional reversal valve;
ECU adopts single-chip microcomputer, the signal of telecommunication is measured in the output of the input of ECU and the first pressure sensor and the second pressure sensor, brake switch, swing arm rising switch, swing arm decline switch, turn-off closes on the rotating bucket, turn-off closes and connects the first solenoid operated directional valve electromagnetic coil on the output of ECU and the hydraulic control unit under the rotating bucket, the second solenoid operated directional valve electromagnetic coil, the 3rd solenoid operated directional valve electromagnetic coil, the first solenoid-operated proportional reversal valve electromagnetic coil, the second solenoid-operated proportional reversal valve electromagnetic coil, the 3rd solenoid-operated proportional reversal valve electromagnetic coil, the 4th solenoid-operated proportional reversal valve electromagnetic coil connects.
The first pressure sensor and the second pressure sensor are the pressure sensors of 4～20mA current-output type or 0～5V Voltage-output type.
A kind of control method of loader hydraulic control system may further comprise the steps:
Step S100 detects each sensor signal: a. and detects the brake switch signal, b. detection swing arm rising switching signal, and c. detects swing arm decline switching signal, and d. detects turn-off pass signal on the rotating bucket, and e. detects turn-off pass signal under the rotating bucket;
Step S200, judge whether loader is braked: when brake switch is closed, be judged as mechanical loader braking, carry out step S201, otherwise, be judged as loader and do not brake, carry out step S300;
Step S201, carry out the control of braking energy removal process: ECU is controlled the energising of the second solenoid operated directional valve electromagnetic coil, braking energy is reclaimed be stored in the high pressure accumulator;
Step S202, judge whether the braking energy removal process finishes: when brake switch is closed, is judged as the braking energy removal process and does not finish, turn back to step S201, otherwise, be judged as the braking energy removal process and finish, turn back to step S100;
Step S300, judge whether swing arm rises: when swing arm rising switch closure, be judged as swing arm and rise, carry out step S301, otherwise, be judged as non-swing arm and rise, carry out step S400;
Step S301, the control of swing arm uphill process: ECU is controlled the energising of the second solenoid operated directional valve electromagnetic coil, control simultaneously the electrical current of the first solenoid-operated proportional reversal valve electromagnetic coil, make the large chamber that enters boom cylinder from the high pressure liquid force feed interflow of hydraulic pump and high pressure accumulator, realize that swing arm rises;
Step S302, judge whether the swing arm uphill process finishes: when swing arm rising switch closure, be judged as the swing arm uphill process and do not finish, turn back to step S301, otherwise, be judged as the swing arm uphill process and finish, turn back to step S100;
Step S400, judge whether swing arm descends: when swing arm decline switch closure, be judged as swing arm and descend, carry out step S401, otherwise, be judged as non-swing arm and descend, carry out step S500;
Step S401, swing arm decline process control: ECU is controlled the electrical current of the second solenoid-operated proportional reversal valve electromagnetic coil, make the loculus that enters boom cylinder from the hydraulic oil of intermediate-pressure accumulator, the realization swing arm descends, simultaneously, ECU is controlled the energising of the second solenoid operated directional valve electromagnetic coil, and the high pressure liquid force feed that hydraulic pump is pumped is stored in the high pressure accumulator;
Step S402, judge whether swing arm decline process finishes: when swing arm decline switch closure, be judged as swing arm decline process and do not finish, turn back to step S401, otherwise, be judged as swing arm decline process and finish, turn back to step S100;
Step S500, judge on whether rotating bucket to turn: when turning switch closure on the rotating bucket, be judged as on the rotating bucket and turn, carry out step S501, otherwise, be judged as on the non-rotating bucket and turn, carry out step S600;
Step S501, turn over process control on the rotating bucket: ECU is controlled the energising of the second solenoid operated directional valve electromagnetic coil, control simultaneously the electrical current of the 3rd solenoid-operated proportional reversal valve electromagnetic coil, make the large chamber that enters rotary ink tank from the high pressure liquid force feed interflow of hydraulic pump and high pressure accumulator, realize turning on the rotating bucket;
Step S502, judge whether turn over journey on the rotating bucket finishes: when turning switch closure on the rotating bucket, be judged as and turn over the Cheng Wei end on the rotating bucket, turn back to step S501, otherwise, be judged as and turn over the journey end on the rotating bucket, turn back to step S100;
Step S600, judge whether rotating bucket turns down: when turning switch closure under the rotating bucket, be judged as under the rotating bucket and turn, carry out step S601, otherwise, be judged as under the non-rotating bucket and turn, carry out step S700;
Step S601, turn over process control under the rotating bucket: ECU is controlled the electrical current of the 4th solenoid-operated proportional reversal valve electromagnetic coil, enter the loculus of rotary ink tank from the hydraulic oil of intermediate-pressure accumulator, make under the rotating bucket and turn, simultaneously, ECU is controlled the energising of the second solenoid operated directional valve electromagnetic coil, and the high pressure liquid force feed that hydraulic pump is pumped is stored in the high pressure accumulator;
Step S602, judge whether turn over journey under the rotating bucket finishes: when turning switch closure under the rotating bucket, be judged as and turn over not end of journey under the rotating bucket, turn back to step S601, otherwise, be judged as and turn over the journey end under the rotating bucket, turn back to step S100;
Step S700, the pressure detecting of intermediate-pressure accumulator: detect the output signal of the second pressure sensor, and calculate the detected pressure value of intermediate-pressure accumulator;
Step S701, judge whether intermediate-pressure accumulator needs accumulation of energy: the detected pressure value of central pressure accumulator is less than the intermediate-pressure accumulator maximum pressure P that sets
Middle maxThe time, judge that intermediate-pressure accumulator needs accumulation of energy, carry out step S702, otherwise, judge that intermediate-pressure accumulator does not need accumulation of energy, carry out step S800;
Step S702, intermediate-pressure accumulator accumulation of energy process control: ECU is controlled the energising of the 3rd solenoid operated directional valve electromagnetic coil, and the hydraulic oil that pumps from hydraulic pump stores the intermediate-pressure accumulator;
Step S703 judges whether intermediate-pressure accumulator stops accumulation of energy: turn the detected pressure value that turns switch closure or intermediate-pressure accumulator under switch closure or the rotating bucket greater than the intermediate-pressure accumulator maximum pressure P that sets on swing arm rising switch closure or swing arm decline switch closure or rotating bucket
Middle maxThe time, be judged as intermediate-pressure accumulator and stop accumulation of energy, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator and continue accumulation of energy, turn back to step S702;
Step S800, the pressure detecting of high pressure accumulator: detect the output signal of the first pressure sensor, and calculate the detected pressure value of high pressure accumulator;
Step S801, judge whether high pressure accumulator needs accumulation of energy: when the detected pressure value of high pressure accumulator less than the high pressure accumulator maximum pressure P that sets
High maxThe time, judge that high pressure accumulator needs accumulation of energy, carry out step S802, otherwise, judge that high pressure accumulator does not need accumulation of energy, carry out step S900;
Step S802, high pressure accumulator accumulation of energy process control: ECU is controlled the energising of the second solenoid operated directional valve electromagnetic coil, and the high pressure liquid force feed that pumps from hydraulic pump is stored in the high pressure accumulator;
Step S803 judges whether high pressure accumulator accumulation of energy process stops: turn the detected pressure value that turns switch closure or high pressure accumulator under switch closure or the rotating bucket greater than the high pressure accumulator maximum pressure P that sets on swing arm rising switch closure or swing arm decline switch closure or rotating bucket
High maxThe time, be judged as high pressure accumulator accumulation of energy process and stop, turn back to step S100, otherwise, be judged as high pressure accumulator and continue accumulation of energy, turn back to step S802;
Step S900, hydraulic pump off-load control: ECU is controlled the energising of the first solenoid operated directional valve electromagnetic coil, hydraulic pump off-load;
Step S901, judge whether the hydraulic pump off-load stops: turn on closed or swing arm rising switch closure or swing arm decline switch closure or the rotating bucket when brake switch turn switch closure or high pressure accumulator under switch closure or the rotating bucket detected pressure value less than the high pressure accumulator maximum pressure P that sets
High max, or the detected pressure value of intermediate-pressure accumulator less than the intermediate-pressure accumulator maximum pressure P that sets
Middle maxThe time, be judged as hydraulic pump and stop off-load, turn back to step S100, otherwise, be judged as hydraulic pump and continue off-load, turn back to step S900.
The detected pressure value of the intermediate-pressure accumulator described in the step S700 is the average of 8～24 interior samplings of circulating sampling cycle, and the circulating sampling cycle is a set time value of being determined by system clock, and the circulating sampling periodic regime is at 1～10ms.
The detected pressure value of the high pressure accumulator described in the step S800 is the average of 8～24 interior samplings of circulating sampling cycle, and the circulating sampling cycle is a set time value of being determined by system clock, and the circulating sampling periodic regime is at 1～10ms.
Intermediate-pressure accumulator maximum pressure P among step S701 and the step S703
Middle maxSpan be 5～18MPa.
High pressure accumulator maximum pressure P among step S801, step S803 and the step S901
High maxSpan be 20～35MPa.
The present invention compared with prior art has following advantage:
By detecting the brake switch signal, the first pressure sensor signal, the second pressure sensor signal, swing arm rising switching signal, swing arm decline switching signal, turn-off closes signal on the rotating bucket, turn-off closes signal under the rotating bucket, judge loader drive person's operation intention and the residing duty of loader, control the first solenoid operated directional valve by ECU, the second solenoid operated directional valve, the 3rd solenoid operated directional valve, the first solenoid-operated proportional reversal valve, the second solenoid-operated proportional reversal valve, the 3rd solenoid-operated proportional reversal valve, the action of the 4th solenoid-operated proportional reversal valve, realize the swing arm rise and fall, turn on the rotating bucket with under turn, braking energy reclaims, potential energy reclaims in the swing arm decline process, the function that engine power stores, the motor of loader operates in high efficiency region all the time, reduce the fuel consume of loader, improve the operating efficiency of loader.
Description of drawings
Fig. 1 is hydraulic control system structure chart of the present invention;
Fig. 2 is the control method flow chart of hydraulic control system of the present invention;
Among the figure: 1. the first solenoid operated directional valve, 1a. the first solenoid operated directional valve electromagnetic coil 2. first one way valves, 3. the second solenoid operated directional valve, 3a. the second solenoid operated directional valve electromagnetic coil 4. first solenoid-operated proportional reversal valves, 4a. the first solenoid-operated proportional reversal valve electromagnetic coil, 5. the second solenoid-operated proportional reversal valve, 5a. the second solenoid-operated proportional reversal valve electromagnetic coil, 6. hydraulic control unit, 7. the 3rd one way valve, 8. the 3rd safety valve, 9. the second one way valve, 10. the second safety valve, 11. the 3rd solenoid-operated proportional reversal valves, 11a. the 3rd solenoid-operated proportional reversal valve electromagnetic coil, 12. the 4th solenoid-operated proportional reversal valve, 12a. the 4th solenoid-operated proportional reversal valve electromagnetic coil, 13. the 3rd solenoid operated directional valves, 13a. the 3rd solenoid operated directional valve electromagnetic coil, 14. the first safety valve, 15. boom cylinder, 16. high pressure accumulators, 17. first pressure sensors, 18. intermediate-pressure accumulator, 19. the second pressure sensor, 20. rotary ink tanks, 21. low pressure sealed reservoirs, 22. oil filter, 23. hydraulic pump, 24. ECUs, 25. brake switches, 26. swing arm rising switch, 27. swing arm decline switch, turn-off closes on 28. rotating buckets, and turn-off closes under 28. rotating buckets.
The specific embodiment
As shown in Figure 1, hydraulic control system comprises on the first pressure sensor 17, the second pressure sensor 19, brake switch 25, swing arm rising switch 26, swing arm decline switch 27, the rotating bucket that turn-off closes 28, under the rotating bucket turn-off close 29, ECU 24, hydraulic control unit 6, boom cylinder 15, high pressure accumulator 16, intermediate-pressure accumulator 18, rotary ink tank 20, low pressure sealed reservoir 21, oil filter 22, hydraulic pump 23, it is characterized in that:
Described hydraulic control unit 6 integrated installations have the first one way valve 2, the second one way valve 9, the 3rd one way valve 7, the first safety valve 14, the second safety valve 10, the 3rd safety valve 8, the first pressure sensor 17, the second pressure sensor 19, the first solenoid operated directional valve 1, the second solenoid operated directional valve 3, the 3rd solenoid operated directional valve 13, the first solenoid-operated proportional reversal valve 4, the second solenoid-operated proportional reversal valve 5, the 3rd solenoid-operated proportional reversal valve 11 and the 4th solenoid-operated proportional reversal valve 12;
Described ECU 24 adopts single-chip microcomputer, the signal of telecommunication is measured in the output of the input of ECU 24 and the first pressure sensor 17 and the second pressure sensor 19, brake switch 25, swing arm rising switch 26, swing arm decline switch 27, turn-off closes 28 on the rotating bucket, turn-off closes 29 connections, the first solenoid operated directional valve electromagnetic coil 1a on the output of ECU 24 and the hydraulic control unit 7 under the rotating bucket, the second solenoid operated directional valve electromagnetic coil 3a, the 3rd solenoid operated directional valve electromagnetic coil 13a, the first solenoid-operated proportional reversal valve electromagnetic coil 4a, the second solenoid-operated proportional reversal valve electromagnetic coil 5a, the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a, the 4th solenoid-operated proportional reversal valve electromagnetic coil 12a connects.
The first pressure sensor 17 and the second pressure sensor 19 are Voltage-output type pressure sensors, the pressure limit of 0～5V correspondence, 0～40MPa.
As shown in Figure 2, the control method of hydraulic control system of the present invention may further comprise the steps:
Step S100 detects each sensor signal: a. and detects brake switch 25 signals, and b. detects swing arm rising switch 26 signals, and c. detects swing arm decline switch 27 signals, and turn-off closes 28 signals on the d. detection rotating bucket, and turn-off closes 29 signals under the e. detection rotating bucket;
Step S200, judge whether loader is braked: when brake switch 25 closure, be judged as mechanical loader braking, carry out step S201, otherwise, be judged as loader and do not brake, carry out step S300;
Step S201, carry out the control of braking energy removal process: ECU 24 controls the second solenoid operated directional valve electromagnetic coil 3a energising, hydraulic oil pumps from the oil-out of hydraulic pump 23, P3 and T3 hydraulic fluid port through one way valve 2, the second solenoid operated directional valve 3 enter high pressure accumulator 18, the pressure of high pressure accumulator 16 is raise, and is that air pressure potential energy is stored in the high pressure accumulator 16 with the kinetic transformation of loader;
Step S202, judge whether the braking energy removal process finishes: when brake switch 25 closure, be judged as the braking energy removal process and do not finish, turn back to step S201, otherwise, be judged as the braking energy removal process and finish, turn back to step S100;
Step S300, judge whether swing arm rises: when swing arm rising switch 26 closure, be judged as swing arm and rise, carry out step S301, otherwise, be judged as non-swing arm and rise, carry out step S400;
Step S301, swing arm uphill process control: ECU 24 controls the first solenoid-operated proportional reversal valve electromagnetic coil 4a energising and the size of regulating its electrical current, after the first solenoid-operated proportional reversal valve electromagnetic coil 4a energising, the high pressure liquid force feed flows out from high pressure accumulator 16, pass through successively the 6h hydraulic fluid port of hydraulic control unit 6, the P4 hydraulic fluid port of the first solenoid-operated proportional reversal valve 4, the A4 hydraulic fluid port, the inside oil duct of hydraulic control unit 6, the 6j hydraulic fluid port of hydraulic control unit 6, enter boom cylinder 15 large chambeies through fluid pressure line, make moved arm lifting, moved arm lifting speed can be regulated by the electrical current size that changes the first solenoid-operated proportional reversal valve electromagnetic coil 4a, and the fluid of boom cylinder 15 loculuses is under the effect of oil cylinder piston, pass through successively the 6i hydraulic fluid port of hydraulic control unit 6, the B4 hydraulic fluid port of the first solenoid-operated proportional reversal valve 4, the T4 hydraulic fluid port, the 6b hydraulic fluid port of hydraulic control unit 6 enters low pressure sealed reservoir 21 through fluid pressure line; Meanwhile, the second solenoid operated directional valve electromagnetic coil 3a energising, after the second solenoid operated directional valve electromagnetic coil 3a energising, from the high pressure liquid force feed of hydraulic pump 23 behind the P3 of one way valve 2, the second solenoid operated directional valve 3, T3 hydraulic fluid port, with the high pressure liquid force feed interflow of flowing out from high pressure accumulator 16, P4, A4 hydraulic fluid port by the first solenoid-operated proportional reversal valve 4 enter boom cylinder 15 large chambeies, make in the moved arm lifting process in the situation that do not increase engine load and hydraulic pump 23 rotating speeds, acceleration moved arm lifting speed;
Step S302, judge whether the swing arm uphill process finishes: when swing arm rising switch 26 closure, be judged as the swing arm uphill process and do not finish, turn back to step S301, otherwise, be judged as the swing arm uphill process and finish, turn back to step S100;
Step S400, judge whether swing arm descends: when swing arm decline switch 27 closure, be judged as swing arm and descend, carry out step S401, otherwise, be judged as non-swing arm and descend, carry out step S500;
Step S401, swing arm decline process control: ECU 24 controls the second solenoid-operated proportional reversal valve electromagnetic coil 5a energising and the size of regulating its electrical current, after the second solenoid-operated proportional reversal valve electromagnetic coil 5a energising, middle hydraulic fluid force feed flows out from intermediate-pressure accumulator 18, pass through successively the 6f hydraulic fluid port of hydraulic control unit 6, the P5 of the second solenoid-operated proportional reversal valve 5, the A5 hydraulic fluid port enters boom cylinder 15 loculuses, swing arm is descended, the swing arm decrease speed can be regulated by the size that changes the second solenoid-operated proportional reversal valve electromagnetic coil 5a electrical current, and the fluid in boom cylinder 15 large chambeies is under the effect of oil cylinder piston, pass through successively the 6j hydraulic fluid port of hydraulic control unit 6, the B5 hydraulic fluid port of the second solenoid-operated proportional reversal valve 5, the T5 hydraulic fluid port, behind the 6b hydraulic fluid port of hydraulic control unit 6, enter low pressure sealed reservoir 21 through fluid pressure line; Because in swing arm decline process, the fluid in boom cylinder 15 large chambeies, behind the B5 hydraulic fluid port and T5 hydraulic fluid port through the second solenoid-operated proportional reversal valve 5, enter low pressure sealed reservoir 21, and low pressure sealed reservoir 21 is enclosed air tanks, the blowing pressure of low pressure sealed reservoir 21 is raise, thereby the mode of the gravitional force in the swing arm decline process with gas pressure potential energy can be stored in the low pressure sealed reservoir 21; Meanwhile, the second solenoid operated directional valve electromagnetic coil 3a energising, high pressure liquid force feed from hydraulic pump 23 enters high pressure accumulator 16 through P3, the T3 hydraulic fluid port of one way valve 2, the second solenoid operated directional valve 3, the high pressure liquid force feed that hydraulic pump 23 is produced is stored in the high pressure accumulator 16, to store the energy of motor and hydraulic pump 23, like this, not only the recovery of the gravitional force in the swing arm decline process can be stored in the low pressure sealed reservoir 21, and can be with the energy storage in motor and hydraulic pump 23 operation process in high pressure accumulator 16;
Step S402, judge whether swing arm decline process finishes: when swing arm decline switch 27 closure, be judged as swing arm decline process and do not finish, turn back to step S401, otherwise, be judged as swing arm decline process and finish, turn back to step S100;
Step S500, judge on whether rotating bucket to turn: when turn-off on the rotating bucket closes 28 when closed, be judged as on the rotating bucket to turn, carry out step S501, otherwise, be judged as on the non-rotating bucket and turn, carry out step S600;
Step S501, turn over process control on the rotating bucket: ECU 24 controls the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a energising and the size of regulating its electrical current, after the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a energising, the high pressure liquid force feed flows out from high pressure accumulator 16, pass through successively the 6h hydraulic fluid port of hydraulic control unit 6, the P11 hydraulic fluid port of the 3rd solenoid-operated proportional reversal valve 11, the A11 hydraulic fluid port enters the large chamber of rotary ink tank 20, make on the rotating bucket and turn, the speed that turns on the rotating bucket can be regulated by changing the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a electrical current, and the fluid of rotary ink tank 20 loculuses passes through the 6c hydraulic fluid port of hydraulic control unit 6 successively under the effect of oil cylinder piston, the B11 hydraulic fluid port of the 3rd solenoid-operated proportional reversal valve 11, the T11 hydraulic fluid port, the 6b hydraulic fluid port of hydraulic control unit 6 enters low pressure sealed reservoir 21; Meanwhile, control the second solenoid operated directional valve electromagnetic coil 3a energising, after the second solenoid operated directional valve electromagnetic coil 3a energising, from the high pressure liquid force feed of hydraulic pump 23 through one way valve 2, the P3 hydraulic fluid port of the second solenoid operated directional valve 3, T3 hydraulic fluid port, with the large chamber of collaborating to enter rotary ink tank 20 from the high pressure liquid force feed of high pressure accumulator 16 outflows, make to turn over Cheng Zhongzai on the rotating bucket and do not increase in the situation of engine load, accelerate rotary speed on the rotating bucket;
Step S502, judge whether turn over journey on the rotating bucket finishes: when turn-off on the rotating bucket closes 28 closure, be judged as and turn over the Cheng Wei end on the rotating bucket, turn back to step S501, otherwise, be judged as and turn over the journey end on the rotating bucket, turn back to step S100;
Step S600, judge whether rotating bucket turns down: when turn-off under the rotating bucket closes 29 when closed, be judged as under the rotating bucket to turn, carry out step S601, otherwise, be judged as under the non-rotating bucket and turn, carry out step S700;
Step S601, turn over process control under the rotating bucket: ECU 24 controls the 4th solenoid-operated proportional reversal valve electromagnetic coil 12a electrical current, middle hydraulic fluid force feed flows out from intermediate-pressure accumulator 18, pass through successively the 6f hydraulic fluid port of hydraulic control unit 6, the P12 of the 4th solenoid-operated proportional reversal valve 12, the A12 hydraulic fluid port, the 6c hydraulic fluid port of hydraulic control unit 6, enter the loculus of rotary ink tank 20 through fluid pressure line, make unloading soil under the rotating bucket, and the fluid in rotary ink tank 20 large chambeies is under the effect of oil cylinder piston, pass through successively the 6d hydraulic fluid port of hydraulic control unit 6, the B12 hydraulic fluid port of the 4th solenoid-operated proportional reversal valve 12, the T12 hydraulic fluid port, enter low pressure sealed reservoir 21 behind the 6b hydraulic fluid port of hydraulic control unit 6, because low pressure sealed reservoir 21 is the enclosed air tank, the blowing pressure of low pressure sealed reservoir 21 is raise, thereby the gravitional force that turns under the rotating bucket in the journey can be stored in the low pressure sealed reservoir 21 in the mode of gas pressure potential energy, simultaneously, ECU 24 controls the second solenoid operated directional valve electromagnetic coil 3a energising, from the high pressure liquid force feed of hydraulic pump 23 through one way valve 2, the P3 of the second solenoid operated directional valve 3, the T3 hydraulic fluid port enters high pressure accumulator 16, the high pressure liquid force feed that hydraulic pump 23 is produced is stored in the high pressure accumulator 18, to store the energy of motor and hydraulic pump 23;
Step S602, judge whether turn over journey under the rotating bucket finishes: when turn-off under the rotating bucket closes 29 closure, be judged as and turn over not end of journey under the rotating bucket, turn back to step S601, otherwise, be judged as and turn over the journey end under the rotating bucket, turn back to step S100;
Step S700, the pressure detecting of intermediate-pressure accumulator 18: detect the output signal of the second pressure sensor 19, and calculate the detected pressure value of intermediate-pressure accumulator 18;
Step S701, judge whether intermediate-pressure accumulator needs accumulation of energy: the detected pressure value of central pressure accumulator 18 is less than the intermediate-pressure accumulator maximum pressure P that sets
Middle maxThe time, judge that intermediate-pressure accumulator 18 needs accumulation of energy, carry out step S702, otherwise, judge that intermediate-pressure accumulator 18 does not need accumulation of energy, carry out step S800;
Step S702, intermediate-pressure accumulator accumulation of energy process control: ECU 24 controls the 3rd solenoid operated directional valve electromagnetic coil 13a energising, the hydraulic oil that pumps from hydraulic pump 23 stores the intermediate-pressure accumulator 18;
Step S703, judge whether intermediate-pressure accumulator 18 stops accumulation of energy: turn-off closes turn-off under 28 closures or the rotating bucket and closes the detected pressure value of 29 closures or intermediate-pressure accumulator 18 greater than the maximum pressure P that sets on swing arm rising switch 26 closures or swing arm decline switch 27 closures or rotating bucket
Middle maxThe time, be judged as intermediate-pressure accumulator 18 and stop accumulation of energy, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator 18 and continue accumulation of energy, turn back to step S702;
Step S800, the pressure detecting of high pressure accumulator 16: detect the output signal of the first pressure sensor 17, and calculate the detected pressure value of high pressure accumulator 16;
Step S801, judge whether high pressure accumulator 16 needs accumulation of energy: when the detected pressure value of high pressure accumulator 16 less than the high pressure accumulator maximum pressure P that sets
High maxThe time, P wherein
High max=35MPa judges that high pressure accumulator 16 needs accumulation of energy, carries out step S802, otherwise, judge that high pressure accumulator 16 does not need accumulation of energy, carry out step S900;
Step S802, high pressure accumulator 16 accumulation of energy process control: ECU 24 controls the second solenoid operated directional valve electromagnetic coil 3a energising, the high pressure liquid force feed that pumps from hydraulic pump 23 is stored in the high pressure accumulator 16;
Step S803, judge whether high pressure accumulator accumulation of energy process stops: turn-off closes turn-off under 28 closures or the rotating bucket and closes the detected pressure value of 29 closures or high pressure accumulator 16 greater than the maximum pressure P that sets on swing arm rising switch 26 closures or swing arm decline switch 27 closures or rotating bucket
High maxThe time, be judged as high pressure accumulator 16 accumulation of energy processes and stop, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator 18 and continue accumulation of energy, turn back to step S802;
Step S900, hydraulic pump 23 off-loads control: ECU 24 controls the first solenoid operated directional valve electromagnetic coil 1a energising, the hydraulic oil that hydraulic pump 23 pumps is through P1 hydraulic fluid port, T1 hydraulic fluid port, the oil duct of hydraulic control unit 6, the 6b hydraulic fluid port of the first solenoid operated directional valve 1, flow back to low pressure sealed reservoir 21 through hydraulic tube, hydraulic pump 23 off-loads;
Step S901, judge whether hydraulic pump 23 off-loads stop: turn-off closes turn-off under 28 closures or the rotating bucket and closes the detected pressure value of 29 closures or high pressure accumulator 16 less than the high pressure accumulator maximum pressure P that sets on brake switch 25 closures or swing arm rising switch 26 closures or swing arm decline switch 27 closures or rotating bucket
High max, or the detected pressure value of intermediate-pressure accumulator 18 less than the intermediate-pressure accumulator maximum pressure P that sets
Middle maxThe time, be judged as hydraulic pump 23 and stop off-load, turn back to step S100, otherwise, be judged as hydraulic pump 23 and continue off-load, turn back to step S900.
The detected pressure value of the intermediate-pressure accumulator described in the step S700 is the average of 16 interior samplings of circulating sampling cycle, and the circulating sampling cycle is a set time value of being determined by system clock, and the circulating sampling cycle is 10 ms.
The detected pressure value of the high pressure accumulator described in the step S800 is the average of 16 interior samplings of circulating sampling cycle, and the circulating sampling cycle is a set time value of being determined by system clock, and the circulating sampling cycle is 10 ms.
Pressure value P among step S701, the step S703
Middle max=18MPa.
Pressure value P among step S801, step S803, the step S901
High max=35MPa.
The above has done detailed description to embodiments of the present invention by reference to the accompanying drawings, but the present invention is not limited to above-mentioned embodiment, in the ken that affiliated technical field those of ordinary skill possesses, can also under the prerequisite that does not break away from aim of the present invention, make various variations.
Claims (9)
1. loader hydraulic control system, described loader hydraulic control system comprises the first pressure sensor (17), the second pressure sensor (19), brake switch (25), swing arm rising switch (26), swing arm decline switch (27), turn-off closes (28) on the rotating bucket, turn-off closes (29) under the rotating bucket, ECU (24), hydraulic control unit (6), boom cylinder (15), high pressure accumulator (16), intermediate-pressure accumulator (18), rotary ink tank (20), low pressure sealed reservoir (21), oil filter (22), hydraulic pump (23) is characterized in that:
Described hydraulic control unit (6) integrated installation has the first one way valve (2), the second one way valve (9), the 3rd one way valve (7), the first safety valve (14), the second safety valve (10), the 3rd safety valve (8), the first pressure sensor (17), the second pressure sensor (19), the first solenoid operated directional valve (1), the second solenoid operated directional valve (3), the 3rd solenoid operated directional valve (13), the first solenoid-operated proportional reversal valve (4), the second solenoid-operated proportional reversal valve (5), the 3rd solenoid-operated proportional reversal valve (11) and the 4th solenoid-operated proportional reversal valve (12);
The signal of telecommunication is measured in the output of the input of described ECU (24) and the first pressure sensor (17) and the second pressure sensor (19), brake switch (25), swing arm rising switch (26), swing arm decline switch (27), turn-off closes (28) on the rotating bucket, turn-off closes (29) connection, the first solenoid operated directional valve electromagnetic coil (1a) on the output of ECU (24) and the hydraulic control unit (7) under the rotating bucket, the second solenoid operated directional valve electromagnetic coil (3a), the 3rd solenoid operated directional valve electromagnetic coil (13a), the first solenoid-operated proportional reversal valve electromagnetic coil (4a), the second solenoid-operated proportional reversal valve electromagnetic coil (5a), the 3rd solenoid-operated proportional reversal valve electromagnetic coil (11a), the 4th solenoid-operated proportional reversal valve electromagnetic coil (12a) connects.
2. loader hydraulic control system as claimed in claim 1 is characterized in that: described ECU (24) employing single-chip microcomputer.
3. loader hydraulic control system as claimed in claim 1, it is characterized in that: described the first pressure sensor (17) and the second pressure sensor (19) are 4～20mA current-output type pressure sensors.
4. loader hydraulic control system as claimed in claim 1, it is characterized in that: described the first pressure sensor (17) and the second pressure sensor (19) are 0～5V Voltage-output type pressure sensors.
5. the control method of a loader hydraulic control system is characterized in that may further comprise the steps:
Step S100, detect each sensor signal: a. and detect brake switch (25) signal, b. detects swing arm rising switch (26) signal, and c. detects swing arm decline switch (27) signal, d. detect turn-off pass (28) signal on the rotating bucket, e. detects turn-off pass (29) signal under the rotating bucket;
Step S200, judge whether loader is braked: when brake switch (25) is closed, be judged as mechanical loader braking, carry out step S201, otherwise, be judged as loader and do not brake, carry out step S300;
Step S201, carry out the control of braking energy removal process: the energising of ECU (24) control the second solenoid operated directional valve electromagnetic coil (3a) is stored in the braking energy recovery in the high pressure accumulator (16);
Step S202, judge whether the braking energy removal process finishes: when brake switch (25) is closed, is judged as the braking energy removal process and does not finish, turn back to step S201, otherwise, be judged as the braking energy removal process and finish, turn back to step S100;
Step S300, judge whether swing arm rises: when swing arm rising switch (26) is closed, is judged as swing arm and rises, carry out step S301, otherwise, be judged as non-swing arm and rise, carry out step S400;
Step S301, swing arm uphill process control: ECU (24) control the second solenoid operated directional valve electromagnetic coil (3a) energising, control simultaneously the electrical current of the first solenoid-operated proportional reversal valve electromagnetic coil (4a), make the large chamber that enters boom cylinder (15) from the high pressure liquid force feed interflow of hydraulic pump (23) and high pressure accumulator (16), realize that swing arm rises;
Step S302, judge whether the swing arm uphill process finishes: when swing arm rising switch (26) is closed, is judged as the swing arm uphill process and does not finish, turn back to step S301, otherwise, be judged as the swing arm uphill process and finish, turn back to step S100;
Step S400, judge whether swing arm descends: when swing arm decline switch (27) is closed, is judged as swing arm and descends, carry out step S401, otherwise, be judged as non-swing arm and descend, carry out step S500;
Step S401, swing arm decline process control: the electrical current of ECU (24) control the second solenoid-operated proportional reversal valve electromagnetic coil (5a), make the loculus that enters boom cylinder (15) from the hydraulic oil of intermediate-pressure accumulator (18), the realization swing arm descends, simultaneously, the energising of ECU (24) control the second solenoid operated directional valve electromagnetic coil (3a), the high pressure liquid force feed that hydraulic pump (23) is pumped is stored in the high pressure accumulator (16);
Step S402, judge whether swing arm decline process finishes: when swing arm decline switch (27) is closed, is judged as swing arm decline process and does not finish, turn back to step S401, otherwise, be judged as swing arm decline process and finish, turn back to step S100;
Step S500, judge on whether rotating bucket to turn: when turn-off on the rotating bucket closes (28) when closed, be judged as on the rotating bucket to turn, carry out step S501, otherwise, be judged as on the non-rotating bucket and turn, carry out step S600;
Step S501, turn over process control on the rotating bucket: the energising of ECU (24) control the second solenoid operated directional valve electromagnetic coil (3a), control simultaneously the 3rd solenoid-operated proportional reversal valve electromagnetic coil (11a) electrical current, make the large chamber that enters rotary ink tank (20) from the high pressure liquid force feed interflow of hydraulic pump (23) and high pressure accumulator (16), realize turning on the rotating bucket;
Step S502, judge whether turn over journey on the rotating bucket finishes: when turn-off on the rotating bucket closes (28) closure, be judged as and turn over the Cheng Wei end on the rotating bucket, turn back to step S501, otherwise, be judged as and turn over the journey end on the rotating bucket, turn back to step S100;
Step S600, judge whether rotating bucket turns down: when turn-off under the rotating bucket closes (29) when closed, be judged as under the rotating bucket to turn, carry out step S601, otherwise, be judged as under the non-rotating bucket and turn, carry out step S700;
Step S601, turn over process control under the rotating bucket: the electrical current of ECU (24) control the 4th solenoid-operated proportional reversal valve electromagnetic coil (12a), enter the loculus of rotary ink tank (20) from the hydraulic oil of intermediate-pressure accumulator (18), make under the rotating bucket and turn, simultaneously, the energising of ECU (24) control the second solenoid operated directional valve electromagnetic coil (3a), the high pressure liquid force feed that hydraulic pump (23) is pumped is stored in the high pressure accumulator (16);
Step S602, judge whether turn over journey under the rotating bucket finishes: when turn-off under the rotating bucket closes (29) closure, be judged as and turn over not end of journey under the rotating bucket, turn back to step S601, otherwise, be judged as and turn over the journey end under the rotating bucket, turn back to step S100;
Step S700, the pressure detecting of intermediate-pressure accumulator (18): detect the output signal of the second pressure sensor (19), and calculate the detected pressure value of intermediate-pressure accumulator (18);
Step S701, judge whether intermediate-pressure accumulator (18) needs accumulation of energy: the detected pressure value of central pressure accumulator (18) is less than the intermediate-pressure accumulator maximum pressure P that sets
Middle maxThe time, judge that intermediate-pressure accumulator (18) needs accumulation of energy, carry out step S702, otherwise, judge that intermediate-pressure accumulator (18) does not need accumulation of energy, carries out step S800;
Step S702, intermediate-pressure accumulator accumulation of energy process control: the energising of ECU (24) control the 3rd solenoid operated directional valve electromagnetic coil (13a), the hydraulic oil that pumps from hydraulic pump (23) stores into the intermediate-pressure accumulator (18);
Step S703, judge whether intermediate-pressure accumulator (18) stops accumulation of energy: turn-off closes the detected pressure value of (29) closure or intermediate-pressure accumulator (18) greater than the maximum pressure P of setting under turn-off pass (28) closure or rotating bucket on swing arm rising switch (26) closure or swing arm decline switch (27) closure or the rotating bucket
Middle maxThe time, be judged as intermediate-pressure accumulator (18) and stop accumulation of energy, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator (18) and continue accumulation of energy, turn back to step S702;
Step S800, the pressure detecting of high pressure accumulator (16): detect the output signal of the first pressure sensor (17), and calculate the detected pressure value of high pressure accumulator (16);
Step S801, judge whether high pressure accumulator (16) needs accumulation of energy: when the detected pressure value of high pressure accumulator (16) less than the high pressure accumulator maximum pressure P that sets
High maxThe time, judge that high pressure accumulator (16) needs accumulation of energy, carry out step S802, otherwise, judge that high pressure accumulator (16) does not need accumulation of energy, carries out step S900;
Step S802, high pressure accumulator (16) accumulation of energy process control: the energising of ECU (24) control the second solenoid operated directional valve electromagnetic coil (3a), the high pressure liquid force feed that pumps from hydraulic pump (23) is stored in the high pressure accumulator (16);
Step S803, judge whether high pressure accumulator accumulation of energy process stops: turn-off closes the detected pressure value of (29) closure or high pressure accumulator (16) greater than the maximum pressure P of setting under turn-off pass (28) closure or rotating bucket on swing arm rising switch (26) closure or swing arm decline switch (27) closure or the rotating bucket
High maxThe time, be judged as high pressure accumulator (16) accumulation of energy process and stop, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator (18) and continue accumulation of energy, turn back to step S802;
Step S900, hydraulic pump (23) off-load control: the energising of ECU (24) control the first solenoid operated directional valve electromagnetic coil (1a), hydraulic pump (23) off-load;
Step S901, judge whether hydraulic pump (23) off-load stops: the detected pressure value of turn-off pass (29) closure or high pressure accumulator (16) is less than the high pressure accumulator maximum pressure P of setting under turn-off pass (28) closure or rotating bucket on brake switch (25) closure or swing arm rising switch (26) closure or swing arm decline switch (27) closure or the rotating bucket
High max, or the detected pressure value of intermediate-pressure accumulator (18) less than the intermediate-pressure accumulator maximum pressure P that sets
Middle maxThe time, be judged as hydraulic pump (23) and stop off-load, turn back to step S100, otherwise, be judged as hydraulic pump (23) and continue off-load, turn back to step S900.
6. the control method of loader hydraulic control system as claimed in claim 5, it is characterized in that: the detected pressure value of the intermediate-pressure accumulator described in the described step S700 (18) is the average of 8～24 interior samplings of circulating sampling cycle, the circulating sampling cycle is a set time value of being determined by system clock, and the circulating sampling periodic regime is at 1～10ms.
7. the control method of loader hydraulic control system as claimed in claim 5, it is characterized in that: the detected pressure value of the high pressure accumulator described in the described step S800 (16) is the average of 8～24 interior samplings of circulating sampling cycle, the circulating sampling cycle is a set time value of being determined by system clock, and the circulating sampling periodic regime is at 1～10ms.
8. the control method of loader hydraulic control system as claimed in claim 5 is characterized in that: the intermediate-pressure accumulator maximum pressure P among described step S701 and the step S703
Middle maxSpan be 5～18MPa.
9. the control method of loader hydraulic control system as claimed in claim 5 is characterized in that: the high pressure accumulator maximum pressure P among described step S801, step S803 and the step S901
High maxSpan be 20～35MPa.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210135593.3A CN102852184B (en) | 2012-05-04 | 2012-05-04 | Hydraulic control system for loader and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210135593.3A CN102852184B (en) | 2012-05-04 | 2012-05-04 | Hydraulic control system for loader and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102852184A true CN102852184A (en) | 2013-01-02 |
| CN102852184B CN102852184B (en) | 2014-09-17 |
Family
ID=47399127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210135593.3A Expired - Fee Related CN102852184B (en) | 2012-05-04 | 2012-05-04 | Hydraulic control system for loader and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102852184B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103225321A (en) * | 2013-05-07 | 2013-07-31 | 山东理工大学 | Elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method |
| CN103243753A (en) * | 2013-05-07 | 2013-08-14 | 山东理工大学 | Elastic rubber band energy accumulator type loader movable arm potential energy recovery and regeneration control system |
| CN103882901A (en) * | 2014-03-11 | 2014-06-25 | 山河智能装备股份有限公司 | Excavator rotation braking energy recovery control method |
| CN104831774A (en) * | 2015-04-16 | 2015-08-12 | 湖南网大科技有限公司 | Loader walking and braking energy recovery auxiliary driving device and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005155230A (en) * | 2003-11-27 | 2005-06-16 | Komatsu Ltd | Hydraulic circuit for suppressing traveling vibration of wheel type construction machine |
| CN101278130A (en) * | 2005-09-30 | 2008-10-01 | 卡特彼勒公司 | Hydraulic system for recovering potential energy |
| US7823379B2 (en) * | 2006-11-14 | 2010-11-02 | Husco International, Inc. | Energy recovery and reuse methods for a hydraulic system |
| CN102203434A (en) * | 2008-10-22 | 2011-09-28 | 卡特彼勒Sarl公司 | Hydraulic control system in working machine |
| CN102232132A (en) * | 2008-12-01 | 2011-11-02 | 住友重机械工业株式会社 | Hybrid construction machine |
-
2012
- 2012-05-04 CN CN201210135593.3A patent/CN102852184B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005155230A (en) * | 2003-11-27 | 2005-06-16 | Komatsu Ltd | Hydraulic circuit for suppressing traveling vibration of wheel type construction machine |
| CN101278130A (en) * | 2005-09-30 | 2008-10-01 | 卡特彼勒公司 | Hydraulic system for recovering potential energy |
| US7823379B2 (en) * | 2006-11-14 | 2010-11-02 | Husco International, Inc. | Energy recovery and reuse methods for a hydraulic system |
| CN102203434A (en) * | 2008-10-22 | 2011-09-28 | 卡特彼勒Sarl公司 | Hydraulic control system in working machine |
| CN102232132A (en) * | 2008-12-01 | 2011-11-02 | 住友重机械工业株式会社 | Hybrid construction machine |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103225321A (en) * | 2013-05-07 | 2013-07-31 | 山东理工大学 | Elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method |
| CN103243753A (en) * | 2013-05-07 | 2013-08-14 | 山东理工大学 | Elastic rubber band energy accumulator type loader movable arm potential energy recovery and regeneration control system |
| CN103882901A (en) * | 2014-03-11 | 2014-06-25 | 山河智能装备股份有限公司 | Excavator rotation braking energy recovery control method |
| CN103882901B (en) * | 2014-03-11 | 2016-01-20 | 山河智能装备股份有限公司 | Digger revolving Brake energy recovery control method |
| CN104831774A (en) * | 2015-04-16 | 2015-08-12 | 湖南网大科技有限公司 | Loader walking and braking energy recovery auxiliary driving device and control method |
| CN104831774B (en) * | 2015-04-16 | 2017-07-07 | 湖南网大科技有限公司 | A kind of loading machine walking Brake energy recovery auxiliary drive and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102852184B (en) | 2014-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102635143B (en) | Energy-saving hydraulic control system of loading machine and control method | |
| CN102635579B (en) | Energy-saving hydraulic system for loaders | |
| CN101438064A (en) | Hydraulic control system for working machine | |
| CN102852184B (en) | Hydraulic control system for loader and control method | |
| CN103403271A (en) | Shovel and method for controlling shovel | |
| CN103148031A (en) | Energy-saving control system of hydraulic movable arm loop | |
| CN106640799B (en) | A kind of energy-saving upper dress system of pure electric compression type garbage truck | |
| CN102588359A (en) | Hydraulic system, excavator and control method of hydraulic system | |
| CN105604121B (en) | A kind of control loop of engineer operation armament-related work device | |
| CN105544631B (en) | A kind of control loop of hydraulic shovel equipment | |
| CN103161190A (en) | Hybrid power full hydraulic loading machine hydraulic system based on pressure common rail system | |
| CN101413523A (en) | Independent energy accumulator energy recovery hydraulic system of engineering machinery load port | |
| CN203834553U (en) | Energy-saving rotary table driving system for electrically-driven hydraulic excavator | |
| CN107447803A (en) | The mechanical mining excavator of combination drive | |
| CN108978774B (en) | Series-parallel hybrid power system for excavator | |
| CN108383039A (en) | A kind of energy-saving stepping type lifter structure hydraulic control system | |
| KR20090092616A (en) | The potential energy recovery apparatus of the hydraulic cylinder | |
| CN112726693A (en) | Loader work vibration reduction control system and fuzzy control method | |
| CN105507362A (en) | Hydraulic system of overflow-loss-free loader and control method of hydraulic system | |
| CN102635144B (en) | Hydraulic system for loader | |
| CN202544015U (en) | Hydraulic system of loader | |
| CN105484311A (en) | Hydraulic working system of non-overflow-loss loader and control method of hydraulic working system | |
| CN205618450U (en) | Hydraulic system divides fender energy storage ware energy recuperation device | |
| CN204982991U (en) | Excavator swing arm decline hydraulic control system | |
| CN102954057B (en) | The threeway proportional pressure-reducing valve of electricity closed loop control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140917 Termination date: 20170504 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |