CN104613055A - Hydraulic type energy recovery system for potential energy of boom of excavator - Google Patents
Hydraulic type energy recovery system for potential energy of boom of excavator Download PDFInfo
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- CN104613055A CN104613055A CN201510049958.4A CN201510049958A CN104613055A CN 104613055 A CN104613055 A CN 104613055A CN 201510049958 A CN201510049958 A CN 201510049958A CN 104613055 A CN104613055 A CN 104613055A
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- control valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2201/00—Accumulators
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A hydraulic type energy recovery system for potential energy of a boom of an excavator comprises a variable motor, two variable pumps, an energy accumulator, a control valve, an ECU, a pressure sensor, a revolution speed transducer, a hydraulic cylinder, an oil tank and an engine. Aiming at solving the problems that a great deal of potential energy of a boom of an existing hydraulic excavator under the working condition of severe change is wasted, a hydraulic type energy recovery system is arranged in parallel on the basis of not changing a hydraulic system and the operation performance of the existing excavator; the hydraulic type energy recovery system can recover the potential energy generated when the boom is released downwards, achieve flow regeneration of the boom in order to reduce oil consumption of the hydraulic excavator, and achieve the purpose of saving energy and reducing consumption.
Description
[technical field]
The present invention relates to the field of energy-saving technology of hydraulic shovel, particularly relate to a kind of hydraulic accumulator that adopts as energy-storage travelling wave tube, the excavator swing arm potential energy hydraulic type energy-recuperation system being energy conversion component with variable displacement motor-variable displacement pump.
[background technique]
Hydraulic shovel in the course of the work, swing arm swings up and down more frequent, hydraulic digger operating device Heavy Weight, inertia are large, for anti-stopper lever oil hydraulic cylinder epicoele produces suction sky because swing arm decline is too fast, generally carry out speed governing by main valve throttling, but the potential energy that during retarding braking, equipment the is a large amount of overwhelming majority is converted into heat energy at main valve restriction, not only causes energy dissipation, system temperature rising and the reduction in hydraulic component life-span also can be caused.
At present, the research of energy regenerating mainly concentrates on automotive field, engineering machinery field especially hydraulic shovel energy regenerating research be also in the starting stage, and general adopt electric power type energy regenerating (using super capacitor or storage battery as energy-storage travelling wave tube), but because the battery technologies such as super capacitor are not yet ripe, the excavator of electric power type energy regenerating is not slowly approved by market; And adopt hydraulic accumulator to decrease transformation of energy link as the hydraulic type energy regenerating of energy-storage travelling wave tube compared with electric power type energy regenerating, and specific power is high, entirety is reliably compact.
Prior art, such as, Chinese invention patent: excavator energy-recuperation system (application number: CN200910306447.0), it comprises oil hydraulic cylinder, fuel tank, metering pump, valve and motor.Its key technology is that metering pump coaxially installs the first variable displacement pump and the photoelectric encoder that tests the speed, and metering pump one end is connected with oil hydraulic cylinder by selector valve, and the metering pump the other end divides two-way to be connected with fuel tank and oil hydraulic cylinder respectively; First variable displacement pump one end is connected with fuel tank, and the other end connects accumulator by selector valve; Coaxially install the second variable displacement pump with motor, second variable displacement pump one end connects fuel tank, and the other end connects one-way valve, the oil outlet of one-way valve divides three tunnels, the first via connects accumulator by selector valve, and the second tunnel is connected with oil hydraulic cylinder by selector valve, and the 3rd tunnel is connected with oil hydraulic cylinder by selector valve.The program combines both flow regeneration and potential energy being reclaimed, and can realize flow regeneration and energy regenerating recycling simultaneously.But the program has three aspects to be further improved: 1. Problems existing in speeds control: when swing arm decline starts, fixed displacement motor-variable displacement pump rotating speed is lower, it is relatively long that variable displacement pump outlet pressure sets up the response time, within this period, the load of motor is close to 0, and fixed displacement motor-variable displacement pump rotary inertia is very little, cannot be controlled the rotating speed of fixed displacement motor by Moderator Variable pump delivery, speed stability when causing it to start is poor; 2. Problems existing in energy recovery efficiency: the rotating speed of the energy conversion unit of fixed displacement motor-variable displacement pump composition depends on the speed that swing arm declines, when speed is lower, lower its volumetric efficiency that makes of the rotating speed of energy conversion unit is low, and during speed fluctuation, the speed of energy conversion unit also fluctuates thereupon, cause fixed displacement motor-variable displacement pump can not be operated in efficient district, system effectiveness awaits further raising; 3. during flow regeneration, adopt fixed throttle port to control motor outlet pressure, when changes in flow rate, its outlet pressure is unstable, can cause inhaling empty or restriction loss is excessive.In addition, this system needs to carry out larger change to conventional excavators hydraulic system, operating characteristics and original system difference to some extent.
In view of this, the present inventor furthers investigate for the defect of prior art, then has this case to produce.
[summary of the invention]
Technical problem to be solved by this invention is to provide a kind of excavator swing arm potential energy hydraulic type energy-recuperation system, to improve the oil consumption of excavator, reaches energy-saving and cost-reducing object.
The present invention is achieved in that
Excavator swing arm potential energy hydraulic type energy-recuperation system, comprises a variable displacement motor (8), two variable displacement pumps (71,72), accumulator (10), control valve (2,31,32,33,51,52,53,9,131,132,14,15), ECU control unit (18), pressure transducer (61,62,63,64), speed probe (4), oil hydraulic cylinder (11), fuel tank (1), motor (16);
Described variable displacement motor (8) coaxially installs described first variable displacement pump (71) and described speed probe (4), described variable displacement motor (8) import is connected with control valve (52), and described variable displacement motor (8) the other end divides two-way connection control valve (51) and control valve (9) respectively;
Described control valve (52) the other end connection control valve (9), two working oil chambers of control valve (9) connect the upper and lower cavity of described oil hydraulic cylinder (11) respectively;
The import of described first variable displacement pump (71) is connected with fuel tank (1), the other end divides two-way after control valve (31), the first via connects accumulator (10), and the second tunnel connects control valve (2) and is connected to fuel tank (1);
Described motor (16) coaxially installs the second variable displacement pump (72), second variable displacement pump (72) one end connects fuel tank (1), the other end connection control valve (32), the outlet of control valve (32) divides two-way, first via connection control valve (33), the second tunnel is connected with oil hydraulic cylinder (11) by control valve (14); Control valve (33) import connection control valve (53), control valve (53) the other end connects accumulator (10);
The left hydraulic control mouth of control valve (14) is connected with control valve (131), right hydraulic control mouth is connected with control valve (15) one end, and control valve (15) the other end connects fuel tank (1) and control valve (132) respectively;
Control valve (131,132) is controlled by a Joystick (12), at upper installation one angular displacement sensor (17) of described Joystick (12), and angular displacement signal is fed back to ECU control unit (18);
Pressure transducer (62,63) is arranged in the import and export of control valve (52), arrange pressure transducer (61) in the outlet of variable displacement motor (8), arrange pressure transducer (64) in accumulator (10) outlet;
The pressure signal of pressure transducer (61,62,63,64) feeds back to ECU control unit (18), ECU control unit (18), according to gathered signal, distinguishes controlled variable motor (8), the first variable displacement pump (71), control valve (9), control valve (51,52,53) by calculating to send instructions.
Further, described control valve (51,52,53) is throttle valve.
Further, described control valve (2) is relief valve.
Further, described control valve (31,32,33) is one-way valve.
Further, described control valve (9,14,15) is selector valve.
Further, described control valve (131,132) is pilot valve.
The invention has the advantages that: 1, cooperation control is carried out to variable displacement motor-variable pump delivery and rotating speed, make it be operated in the reuse efficiency of efficient district raising energy-recuperation system; 2, pressure transducer is adopted to record the inlet and outlet pressure of throttle valve, the inlet pressure carrying out motor in controlled variable motor-variable displacement pump by ECU compensates the outlet pressure of throttle valve, make the inlet outlet pressure differential of throttle valve substantially constant, realize swing arm and decline only relevant with the aperture of throttle valve; 3, at variable displacement motor outlet Bonding pressure sensor, throttle valve is installed in bypass; During flowed fluctuation, automatically regulate throttle valve opening by ECU, to make motor outlet pressure basicly stable, make the fluid of oil hydraulic cylinder epicoele all come from motor, realize flow regeneration and oil hydraulic cylinder epicoele can be avoided to occur inhaling sky.
[accompanying drawing explanation]
The invention will be further described in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is energy-recuperation system flow chart of the present invention.
Fig. 2 is the hydraulic system principle figure of energy-recuperation system of the present invention.
Fig. 3 is energy-recuperation system theory diagram of the present invention.
[embodiment]
Refer to shown in Fig. 1 to Fig. 3, excavator swing arm potential energy hydraulic type energy-recuperation system, comprise variable displacement motor 8, two variable displacement pump 71,72, accumulator 10, control valve 2,31,32,33,51,52,53,9,131,132,14,15, ECU control unit 18, pressure transducer 61,62,63,64 speed probe 4, oil hydraulic cylinder 11 and fuel tank 1, motor 16;
Variable displacement motor 8 coaxially installs the first variable displacement pump 71 and speed probe 4, and variable displacement motor 8 import is connected with throttle valve 52, and variable displacement motor 8 the other end divides two-way to connect throttle valve 51 and selector valve 9 respectively; Throttle valve 52 the other end connects selector valve 9, the upper and lower cavity of two working oil chambers difference connecting fluid cylinder pressures 11 of selector valve 9; Variable displacement pump 71 import is connected with fuel tank 1, and the other end is point two-way after one-way valve 31, and the first via connects accumulator 10, and the second tunnel connects relief valve 2; Install variable displacement pump 72 with motor 16 is coaxial, variable displacement pump 72 one end connects fuel tank 1, and the other end connects one-way valve 32, and the outlet of one-way valve 32 divides two-way, and the first via is connected one-way valve 33, second tunnel and is connected with oil hydraulic cylinder 11 by selector valve 14; One-way valve 33 import connects throttle valve 53, and throttle valve 53 the other end connects accumulator 10.The left hydraulic control mouth of selector valve 14 is connected with pilot valve 131, and right hydraulic control mouth is connected with selector valve 15 one end, and selector valve 15 the other end is connected tank 1 and pilot valve 132 respectively; Pilot valve 131,132 is controlled by Joystick 12, established angle displacement transducer 17 on Joystick 12, and angular displacement signal is fed back to ECU control unit 18; Arrange pressure transducer 62,63 in the import and export of throttle valve 52, arrange pressure transducer 61 in the outlet of variable displacement motor 8, export at accumulator 10 and arrange pressure transducer 64.The pressure signal of pressure transducer 61,62,63,64 feeds back to ECU control unit 18, ECU control unit 18 according to gathered signal, issues instruction control selector valve 9, variable displacement motor 8, first variable displacement pump 71, throttle valve 51,52,53 by calculating.
It is as follows that this swing arm energy-recuperation system realizes energy-conservation working principle:
1, energy-recuperation system is in closed condition
Each solenoid directional control valve or electro-hydraulic reversing valve process are in off-position, and energy-recuperation system is inoperative, keep original movable arm loop.
2, energy-recuperation system is in opening state
(1) transfer
When Joystick 12 turns right (controlling swing arm to transfer), identify swing arm by angular displacement sensor 17 to decline, by Joystick 12 open degree feedback in ECU controller 18, ECU sends instructions and valve 9,15 is energized, cut off the pilot pressure oil of original system control valve 14 after valve 15 is energized, under action of reset spring, be in meta.ECU controls the opening of throttle valve 52 according to the angular displacement that sensor 17 feeds back, simultaneously feding back through ECU according to the inlet and outlet pressure of throttle valve 52, automatically to control the discharge capacity of variable displacement pump 71 and variable displacement motor 8 in energy conversion unit substantially constant with the inlet outlet pressure differential realizing throttle valve 52, make the output flow of oil hydraulic cylinder cavity of resorption only relevant with the opening degree of throttle valve 52, and have nothing to do with the load of frequent fluctuation, the speed stabilizing realized when swing arm declines controls.Be accumulator 10 topping up by the variable displacement pump 71 in energy conversion unit, realize the recovery of energy; At the outlet side of variable displacement motor 8, throttle valve 51 and pressure transducer 6.1 are installed, throttle valve 51 the other end connects fuel tank, automatically throttle valve 51 aperture is regulated by ECU control unit 18, to make variable displacement motor 8 outlet pressure basicly stable, the fluid of oil hydraulic cylinder 11 epicoele is made all to come from oil hydraulic cylinder 11 cavity of resorption, realize flow regeneration, a part of fluid namely in swing arm oil hydraulic cylinder cavity of resorption supplies epicoele by valve 52 and motor 8, and a part of oil return gets back to fuel tank 1 by throttle valve 51.
(2) rise
When Joystick 12 turns left (controlling swing arm to rise), the Signal analysis fed back by angular displacement sensor 17 goes out swing arm in rising, ECU control unit sends instructions and makes valve 9,15 power-off, adjustment throttle valve 5.3 opening is to control its output flow, accumulator 10 release pressure fluid, for system provides extra high pressure oil, accelerate swing arm and rise.
The a large amount of movable arm potential energies that the present invention is directed under hydraulic shovel drastic change operating mode are wasted, on the basis not changing existing excavator hydraulic system and operating characteristics, for its a set of hydraulic type energy-recuperation system in parallel, reclaim potential energy that swing arm discharges when transferring and realize the regeneration of swing arm flow, to improve the oil consumption of hydraulic shovel, reach energy-saving and cost-reducing object.
ECU control unit is by control valve assembly respectively hydraulic control accumulator charge and discharge liquid, and swing arm hydraulic cylinder extension, pressure transducer, speed probe and angular displacement sensor by sensor cluster gather pressure respectively, rotating speed, angular displacement signal come controlled variable motor-variable displacement pump, control valve assembly; The swing arm of swing arm Driven by Hydraulic Cylinder excavator, realizes the recovery and reuse of excavator swing arm potential energy; Thus reach energy-conservation object.
The present invention adopts hydraulic type energy regenerating, regenerating in conjunction with flow with hydraulic accumulator is energy-storage travelling wave tube, with variable displacement motor-variable displacement pump for energy conversion unit adds the novel movable arm potential energy energy-recuperation system of series throttle, control by throttle grverning the speed that swing arm transfers when swing arm is transferred initial, improve its stability; When load big ups and downs, by ECU gather tach signal automatic Moderator Variable motor-both variable displacement pumps discharge capacity with controls rotating speed make its operate in efficient district (efficient district: controlled variable pump and and variable displacement motor certain rotating speed and certain displacement range internal efficiency higher); In addition, by the Driving Torque of ECU Moderator Variable motor-variable displacement pump and the inlet pressure of controlled variable motor, outlet pressure compensation is carried out to institute's series throttle, the inlet and outlet pressure of throttle valve is remained unchanged substantially, realize the speed that swing arm transfers only relevant with throttle valve opening area, on the basis ensureing energy recovery efficiency, namely improve the stability of swing arm rate of descent.
The foregoing is only better enforcement use-case of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. an excavator swing arm potential energy hydraulic type energy-recuperation system, is characterized in that:
Comprise a variable displacement motor (8), two variable displacement pumps (71,72), accumulator (10), control valve (2,31,32,33,51,52,53,9,131,132,14,15), ECU control unit (18), pressure transducer (61,62,63,64), speed probe (4), oil hydraulic cylinder (11), fuel tank (1), motor (16);
Described variable displacement motor (8) coaxially installs described first variable displacement pump (71) and described speed probe (4), described variable displacement motor (8) import is connected with control valve (52), and described variable displacement motor (8) the other end divides two-way connection control valve (51) and control valve (9) respectively;
Described control valve (52) the other end connection control valve (9), two working oil chambers of control valve (9) connect the upper and lower cavity of described oil hydraulic cylinder (11) respectively;
The import of described first variable displacement pump (71) is connected with fuel tank (1), the other end divides two-way after control valve (31), the first via connects accumulator (10), and the second tunnel connects control valve (2) and is connected to fuel tank (1);
Described motor (16) coaxially installs the second variable displacement pump (72), second variable displacement pump (72) one end connects fuel tank (1), the other end connection control valve (32), the outlet of control valve (32) divides two-way, first via connection control valve (33), the second tunnel is connected with oil hydraulic cylinder (11) by control valve (14); Control valve (33) import connection control valve (53), control valve (53) the other end connects accumulator (10);
The left hydraulic control mouth of control valve (14) is connected with control valve (131), right hydraulic control mouth is connected with control valve (15) one end, and control valve (15) the other end connects fuel tank (1) and control valve (132) respectively;
Control valve (131,132) is controlled by a Joystick (12), at upper installation one angular displacement sensor (17) of described Joystick (12), and angular displacement signal is fed back to ECU control unit (18);
Pressure transducer (62,63) is arranged in the import and export of control valve (52), arrange pressure transducer (61) in the outlet of variable displacement motor (8), arrange pressure transducer (64) in accumulator (10) outlet;
The pressure signal of pressure transducer (61,62,63,64) feeds back to ECU control unit (18), ECU control unit (18), according to gathered signal, distinguishes controlled variable motor (8), the first variable displacement pump (71), control valve (9), control valve (51,52,53) by calculating to send instructions.
2. a kind of excavator swing arm potential energy hydraulic type energy-recuperation system as claimed in claim 1, is characterized in that: described control valve (51,52,53) is throttle valve.
3. a kind of excavator swing arm potential energy hydraulic type energy-recuperation system as claimed in claim 1, is characterized in that: described control valve (2) is relief valve.
4. a kind of excavator swing arm potential energy hydraulic type energy-recuperation system as claimed in claim 1, is characterized in that: described control valve (31,32,33) is one-way valve.
5. a kind of excavator swing arm potential energy hydraulic type energy-recuperation system as claimed in claim 1, is characterized in that: described control valve (9,14,15) is selector valve.
6. a kind of excavator swing arm potential energy hydraulic type energy-recuperation system as claimed in claim 1, is characterized in that: described control valve (131,132) is pilot valve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510049958.4A CN104613055B (en) | 2015-01-30 | 2015-01-30 | Hydraulic type energy recovery system for potential energy of boom of excavator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510049958.4A CN104613055B (en) | 2015-01-30 | 2015-01-30 | Hydraulic type energy recovery system for potential energy of boom of excavator |
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| CN104613055A true CN104613055A (en) | 2015-05-13 |
| CN104613055B CN104613055B (en) | 2017-02-22 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105465056A (en) * | 2016-01-06 | 2016-04-06 | 张旭蓝 | Hydraulic system for recycling elastic potential energy generated by deformation of test pieces |
| CN105485069A (en) * | 2016-02-16 | 2016-04-13 | 江苏师范大学 | Electric-control hydraulic energy-saving device for load-sensitive ratio control system and working method |
| CN106223393A (en) * | 2016-09-18 | 2016-12-14 | 唐忠盛 | A kind of digitized electric hydraulic excavating machine |
| CN106286429A (en) * | 2016-10-28 | 2017-01-04 | 山河智能装备股份有限公司 | A kind of can the energy-saving control valve of multi-stage booster |
| CN106594008A (en) * | 2016-12-28 | 2017-04-26 | 徐工集团工程机械有限公司 | Material transport control system and method and underground construction machinery |
| CN106678131A (en) * | 2015-11-09 | 2017-05-17 | 卡特彼勒公司 | System and method of hydraulic energy recovery for machine start-stop and machine ride control |
| CN108591144A (en) * | 2018-07-02 | 2018-09-28 | 福建工程学院 | The distributed direct of the double accumulators of the double constant displacement pumps of motor driving drives excavator hydraulic system |
| CN108678066A (en) * | 2018-06-07 | 2018-10-19 | 马鞍山松鹤信息科技有限公司 | A kind of excavator with accumulator |
| CN111043089A (en) * | 2018-10-11 | 2020-04-21 | 徐州工业职业技术学院 | Movable arm potential energy recycling and reusing system of mechanical hydraulic combined excavator |
| CN111577682A (en) * | 2020-05-19 | 2020-08-25 | 华侨大学 | Two-way speed regulating valve based on variable pressure difference active control |
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| CN106678131B (en) * | 2015-11-09 | 2020-03-03 | 卡特彼勒公司 | Hydraulic energy recovery system and method for machine start-stop and machine running control |
| CN106678131A (en) * | 2015-11-09 | 2017-05-17 | 卡特彼勒公司 | System and method of hydraulic energy recovery for machine start-stop and machine ride control |
| CN105465056A (en) * | 2016-01-06 | 2016-04-06 | 张旭蓝 | Hydraulic system for recycling elastic potential energy generated by deformation of test pieces |
| CN105485069A (en) * | 2016-02-16 | 2016-04-13 | 江苏师范大学 | Electric-control hydraulic energy-saving device for load-sensitive ratio control system and working method |
| CN105485069B (en) * | 2016-02-16 | 2017-04-12 | 江苏师范大学 | Electric-control hydraulic energy-saving device for load-sensitive ratio control system and working method |
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| CN106286429A (en) * | 2016-10-28 | 2017-01-04 | 山河智能装备股份有限公司 | A kind of can the energy-saving control valve of multi-stage booster |
| CN106594008B (en) * | 2016-12-28 | 2018-07-17 | 徐工集团工程机械有限公司 | conveying control system, method and underground construction machinery |
| CN106594008A (en) * | 2016-12-28 | 2017-04-26 | 徐工集团工程机械有限公司 | Material transport control system and method and underground construction machinery |
| CN108678066A (en) * | 2018-06-07 | 2018-10-19 | 马鞍山松鹤信息科技有限公司 | A kind of excavator with accumulator |
| CN108591144A (en) * | 2018-07-02 | 2018-09-28 | 福建工程学院 | The distributed direct of the double accumulators of the double constant displacement pumps of motor driving drives excavator hydraulic system |
| CN108591144B (en) * | 2018-07-02 | 2023-07-25 | 福建工程学院 | Hydraulic system of motor-driven double-dosing pump double-accumulator distributed direct-drive excavator |
| CN111043089A (en) * | 2018-10-11 | 2020-04-21 | 徐州工业职业技术学院 | Movable arm potential energy recycling and reusing system of mechanical hydraulic combined excavator |
| CN111577682A (en) * | 2020-05-19 | 2020-08-25 | 华侨大学 | Two-way speed regulating valve based on variable pressure difference active control |
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| CN104613055B (en) | 2017-02-22 |
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