CN104790457A - Electric and hydraulic control method for positive flow system and application of electric and hydraulic control method to hydraulic grab - Google Patents
Electric and hydraulic control method for positive flow system and application of electric and hydraulic control method to hydraulic grab Download PDFInfo
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Abstract
The invention discloses an electric and hydraulic control method for a positive flow system and belongs to the field of electric and hydraulic control systems. The method includes the following steps that firstly, when a controller detects an acting load, needed flow parameters and relationship coefficients are calculated; secondly, according to the difference of the flow parameters, different handle coefficients are acquired; thirdly, according to the differences of the flow parameters and the relationship coefficients, the current of an electric proportional decompression valve of a main pump is acquired, and the displacement of the main pump is adjusted according to the current. The invention further provides application of the electric and hydraulic control method to a hydraulic grab. According to electric signals of electric proportional handles, the electric proportional decompression valve of the main pump is controlled, and any action is completely matched with the adjusting power of the pump. By the adoption of the method, through positive flow control and adjustment of a positive control pump and an electric and hydraulic multi-way valve, the power of the pump and the power of an engine are completely matched in real time, the power of the load and the power of the pump are completely matched in real time, the system is free of throttling loss and overflow loss, emitted heat of the system is reduced, fuel consumption is reduced, hysteresis is avoided, and the responding speed is high.
Description
Technical field
The present invention relates to a kind of electrohydraulic control method of positive flow system, particularly a kind of electrohydraulic control method of positive flow system and the application on hydraulic grab thereof, belong to electrohydraulic control system field.
Background technology
Along with urban land day is becoming tight, the appearance of high level and super highrise building, diaphragm wall becomes highrise building load-bearing basis from developing into as outer wall of basement, and the scope of application is more and more wider, acts on also day by day obvious.Diaphragm wall is intercept water antiseepage, gear soil, the continuous wall constructed of load-bearing at below ground, and because its Construction Vibration is little, noise is low, wall stiffness is large, and the advantages such as barrier performance is good, application prospect, market prospects are quite wide.
Current subterranean continuous wall hydraulic grab control system many employings load-sensitive hydraulic control on the market, namely the pressure, the flow that need according to load mate the output pressure of pump, flow to improve the control efficiency of hydraulic system, use middle discovery, existing control system mainly has the following disadvantages:
1) plural action compound tense, the pressure due to each load etc. can not cause the waste on power;
2) realize variable from the action of hydraulic controlled operation handle to pump, intermediate link is more, can cause that power match is delayed, slow movement;
3) simple hydraulic control system cannot mate the absorbed power of motor realtime power and pump.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of electrohydraulic control method of positive flow system and the application on hydraulic grab thereof, effectively meet the demand of subterranean continuous wall hydraulic grab when various operation to flow system flow, pump and engine power, load and pump power are matched completely in real time, improves operating efficiency.
To achieve these goals, the electrohydraulic control method of a kind of positive flow system that the present invention adopts, the method comprises the following steps,
(1) controller detects the load of action, and calculate wherein each load valve core of main valve standard-sized sheet time the flow Q that needs altogether, required flow Q0 when handle and left and right walking pressure sensor signal real-time action;
Calculate two main pumps supply maximum stream flow Qmax;
According to engine power curve, calculate engine speed rate of change and pump absorbed power rate of change coefficient of relationship K2;
(2) according to the parameter Q, Q0 and the Qmax that obtain in step (1),
As Q<Qmax, each pilot signal changes corresponding and each spool open degree 0-100% from minimum to maximum, now, and the handle COEFFICIENT K 1=1 of each pilot signal;
As Q >=Qmax, each pilot signal controls the handle COEFFICIENT K 1=Qmax/Q that each spool is opened;
(3) according to the parameter Q, Q0 and the K2 that draw in step (1), (2),
As Q<Qmax, according to electric current and the discharge relation curve of main pump electricity proportional pressure-reducing valve, calculate the electric current I 1 when flow is Q, the electric current I=I 1*K2*Q0/Q of main pump electricity proportional pressure-reducing valve;
As Q >=Qmax, the electric current I=Imax*K2*Q0/Q of main pump electricity proportional pressure-reducing valve, electric current when wherein Imax is main pump electricity proportional pressure-reducing valve standard-sized sheet;
Above formula is for drawing when hypothesis main pump electric proportional valve firing current is 0mA;
After drawing the electric current of main pump electricity proportional pressure-reducing valve, complete and main pump delivery is regulated.
Present invention also offers a kind of application of electrohydraulic control method on hydraulic grab of above-mentioned positive flow system, hydraulic grab comprises controller, main pump and main valve, main pump is connected with main valve by pipeline, controller is connected with providing the motor of power, also comprise the left side be arranged in this hydraulic grab machine driver's cabin, right electric ratio twin shaft handle, be arranged on the left side on grab claw hydraulic control foot pedal guide oil circuit respectively, right lateral walks pressure sensor, be arranged on the electric proportional pressure-reducing valve on main pump, elevator automatic/hand change-over switch on the control panel and front/rear elevator change-over switch are installed, described main valve is electro-hydraulic proportional multi-way valve, main valve comprises revolution electro hydraulic valve, oil cylinder electro hydraulic valve, grab bucket electro hydraulic valve, front elevator electro hydraulic valve, rear elevator electro hydraulic valve, grab bucket closed jet electro hydraulic valve, left lateral walks pilot operated valve device and right lateral walks pilot operated valve device, this application process comprises the following steps:
(1) during subterranean continuous wall hydraulic grab work, actuating signal is detected by controller, wherein analog signal is converted to data signal, analog signal has right handles grab bucket opening and closing signal value A1 respectively, elevator signal value A2 before right handles, elevator signal value A3 after right handles, left handle revolution signal value A4, left handle oil cylinder signal value A5, left threading walking pressure P 1, right threading walking pressure P 2, switching signal has right handles to carry grab bucket closed jet switch S 1, elevator automatic/hand change-over switch S2, front elevator/rear elevator change-over switch S3 respectively;
(2) when controller detects that elevator automatic/hand change-over switch S2 is 0, be elevator automatic mode, the two pattern of front and back elevator;
Be elevator manual mode when S2 is 1, front and back elevator single action mode, current elevator/rear elevator change-over switch S3 is front elevator single action when being 0, is rear elevator single action when S3 is 1;
(3) controller detects the load of action, and calculate wherein each load valve core of main valve standard-sized sheet time the flow Q that needs altogether, required flow Q0 when handle and left and right walking pressure sensor signal real-time action;
Calculate two main pumps supply maximum stream flow Qmax;
According to engine power curve, calculate engine speed rate of change and pump absorbed power rate of change coefficient of relationship K2;
(4) according to the parameter Q, Q0 and the Qmax that obtain in step (3),
As Q<Qmax, each pilot signal changes corresponding and each spool open degree 0-100% from minimum to maximum, now, and the handle COEFFICIENT K 1=1 of each pilot signal;
As Q >=Qmax, each pilot signal controls the handle COEFFICIENT K 1=Qmax/Q that each spool is opened;
(5) according to the parameter Q, Q0 and the K2 that draw in step (3), (4),
As Q<Qmax, according to electric current and the discharge relation curve of main pump electricity proportional pressure-reducing valve, calculate the electric current I 1 when flow is Q, the electric current I=I 1*K2*Q0/Q of main pump electricity proportional pressure-reducing valve;
As Q >=Qmax, the electric current I=Imax*K2*Q0/Q of main pump electricity proportional pressure-reducing valve, electric current when wherein Imax is main pump electricity proportional pressure-reducing valve standard-sized sheet;
Above formula is for drawing when hypothesis main pump electric proportional valve firing current is 0mA;
After drawing the electric current of main pump electricity proportional pressure-reducing valve, complete and main pump delivery is regulated;
(6) according to the parameter drawn in step (4), last handle COEFFICIENT K=K1*K2, draw right handles grab bucket opening and closing signal value A1*K, elevator signal value A2*K before right handles, elevator signal value A3*K after right handles, left handle revolution signal value A4*K, left handle oil cylinder signal value A5*K;
By the actuating signal that monitoring control devices is above-mentioned, after being translated into data signal, the positive flow realizing main pump and main valve regulates, and main pump is mated with pump power with engine power, load.
As a further improvement on the present invention, on the motor of grab claw, speed probe is installed, the main pump of grab claw is two, electric proportional pressure-reducing valve is installed, with guide be housed go beyond one's commission electric proportional pressure-reducing valve, controller detects engine speed and falls fast situation, is had precedence over main pump electricity proportional pressure-reducing valve and is regulated pump power, cause engine misses when preventing speed to be greater than 7% of idler revolutions by guide's electric proportional valve of going beyond one's commission.
The electrohydraulic control method of positive flow system of the present invention is by controlling to adjust the positive flow in electric liquid machinery, pump is mated with pump power completely with engine power, load, ensure that each one action or composite move power realize real-time speed regulating, real-time matching, composite move limits some action, prevent maloperation, system, without throttling, spill losses, reduces system heating, reduces fuel consume.When the inventive method is used for subterranean continuous wall hydraulic grab, by left and right electric ratio twin shaft handle, hydraulic control foot pedal pilot pressure, positive flow control and regulation are carried out to main pump electricity proportional pressure-reducing valve, respond well.
Accompanying drawing explanation
Fig. 1 is electric principle schematic of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
An electrohydraulic control method for positive flow system, the method comprises the following steps,
(1) controller detects the load of action, and calculate wherein each load valve core of main valve standard-sized sheet time the flow Q that needs altogether, required flow Q0 when handle and left and right walking pressure sensor signal real-time action;
Calculate two main pumps supply maximum stream flow Qmax;
According to engine power curve, calculate engine speed rate of change and pump absorbed power rate of change coefficient of relationship K2;
(2) according to the parameter Q, Q0 and the Qmax that obtain in step (1),
As Q<Qmax, each pilot signal changes corresponding and each spool open degree 0-100% from minimum to maximum, now, and the handle COEFFICIENT K 1=1 of each pilot signal;
As Q >=Qmax, each pilot signal controls the handle COEFFICIENT K 1=Qmax/Q that each spool is opened;
(3) according to the parameter Q, Q0 and the K2 that draw in step (1), (2),
As Q<Qmax, according to electric current and the discharge relation curve of main pump electricity proportional pressure-reducing valve, calculate the electric current I 1 when flow is Q, the electric current I=I1*K2*Q0/Q of main pump electricity proportional pressure-reducing valve;
As Q >=Qmax, the electric current I=Imax*K2*Q0/Q of main pump electricity proportional pressure-reducing valve, electric current when wherein Imax is main pump electricity proportional pressure-reducing valve standard-sized sheet;
Above formula is for drawing when hypothesis main pump electric proportional valve firing current is 0mA;
After drawing the electric current of main pump electricity proportional pressure-reducing valve, complete and main pump delivery is regulated.
As shown in Figure 1, when said method is applied on subterranean continuous wall hydraulic grab, hydraulic grab comprises controller, main pump and main valve, main pump is connected with main valve by pipeline, controller is connected with providing the motor of power, also comprise the left side be arranged in this hydraulic grab machine driver's cabin, right electric ratio twin shaft handle, be arranged on the left side on grab claw hydraulic control foot pedal guide oil circuit respectively, right lateral walks pressure sensor, be arranged on the electric proportional pressure-reducing valve on main pump, elevator automatic/hand change-over switch on the control panel and front/rear elevator change-over switch are installed, described main valve is electro-hydraulic proportional multi-way valve, main valve comprises revolution electro hydraulic valve, oil cylinder electro hydraulic valve, grab bucket electro hydraulic valve, front elevator electro hydraulic valve, rear elevator electro hydraulic valve, grab bucket closed jet electro hydraulic valve, left lateral walks pilot operated valve device and right lateral walks pilot operated valve device,
Described left electric ratio twin shaft handle is connected with the electric proportional pressure-reducing valve on main pump, the revolution electro hydraulic valve in main valve and oil cylinder electro hydraulic valve respectively by controller, and the left and right revolution and the oil cylinder that control grab claw stretch;
Described right electric ratio twin shaft handle is connected with the electric proportional pressure-reducing valve on main pump, the front elevator in main valve and rear elevator electro hydraulic valve, closed jet electro hydraulic valve of grabbing bucket, electro hydraulic valve of grabbing bucket respectively by controller, controls the grab bucket opening and closing of grab claw, hoisting, grab bucket interflow;
Left lateral on described grab claw hydraulic control foot pedal walks pressure sensor, right lateral is walked pressure sensor and is all connected with the electric proportional pressure-reducing valve on main pump by controller;
Described grab claw hydraulic control foot pedal walks pilot operated valve device with the left lateral in main valve respectively, right lateral is walked pilot operated valve device and is connected by pipeline;
Described elevator automatic/hand change-over switch is connected with controller respectively with front/rear elevator change-over switch, and the switching realizing elevator pattern regulates.
This application process specifically comprises the following steps:
(1) flow of two main pumps in this positive flow system is for a main valve, valve core of main valve often joins and comprises front elevator electro hydraulic valve, rear elevator electro hydraulic valve, oil cylinder electro hydraulic valve, revolution electro hydraulic valve, left lateral walks pilot operated valve device, right lateral walks pilot operated valve device, grab bucket opening and closing electro hydraulic valve, grab bucket closed jet electro hydraulic valve totally 8, and each connection spool standard-sized sheet flow is not identical;
(2) according to the operational motion demand of subterranean continuous wall hydraulic grab, main valve events is divided into 20 groups of operating states, wherein, simply connected action comprises front hoisting, rear hoisting, grab bucket opening and closing, left lateral is walked, right lateral is walked, left and right is turned round, flexible totally 7 groups of oil cylinder;
Duplex action comprises front hoisting+rear hoisting, a left side+right lateral is walked, opening and closing of grabbing bucket+grab bucket is collaborated, opening and closing is turned round+grabbed bucket in left and right, left lateral is walked+and left and right is turned round, right lateral is walked+left and right revolution totally 6 groups;
Three interlock works comprise front hoisting+rear hoisting+grab bucket opening and closing, the revolution of front hoisting+rear hoisting+left and right, left lateral are walked+and right lateral walks+left and right revolution, left lateral is walked+right lateral walks+and flexible, the front hoisting+rear hoisting+luffing of oil cylinder stretches totally 5 groups;
Tetrad action comprises front hoisting+rear hoisting+left lateral to be walked+and right lateral walks, front hoisting+rear hoisting+grab bucket opening and closing+left and right revolution totally 2 groups.Composite move limits some action, and not all compound can action, effectively can prevent maloperation;
(3) during subterranean continuous wall hydraulic grab work, actuating signal is detected by controller, wherein analog signal is converted to data signal, analog signal has right handles grab bucket opening and closing signal value A1 respectively, elevator signal value A2 before right handles, elevator signal value A3 after right handles, left handle revolution signal value A4, left handle oil cylinder signal value A5, left threading walking pressure P 1, right threading walking pressure P 2;
(4) when controller detects that elevator automatic/hand change-over switch S2 is 0, be elevator automatic mode, the two pattern of front and back elevator;
Be elevator manual mode when S2 is 1, front and back elevator single action mode, current elevator/rear elevator change-over switch S3 is front elevator single action when being 0, is rear elevator single action when S3 is 1;
(5) controller detects the load of action, and calculate wherein each load valve core of main valve standard-sized sheet time the flow Q that needs altogether, required flow Q0 when handle (comprising grab bucket closed jet switching signal) and left and right walking pressure sensor signal (hydraulic control foot pedal) real-time action;
Calculate two main pumps supply maximum stream flow Qmax;
According to engine power curve, calculate engine speed rate of change and pump absorbed power rate of change coefficient of relationship K2;
(6) according to the parameter Q, Q0 and the Qmax that obtain in step (3),
As Q<Qmax, each pilot signal changes corresponding and each spool open degree 0-100% from minimum to maximum, now, and the handle COEFFICIENT K 1=1 of each pilot signal;
As Q >=Qmax, each pilot signal controls the handle COEFFICIENT K 1=Qmax/Q that each spool is opened;
(7) according to the parameter Q, Q0 and the K2 that draw in step (3), (4),
As Q<Qmax, according to electric current and the discharge relation curve of main pump electricity proportional pressure-reducing valve, calculate the electric current I 1 when flow is Q, the electric current I=I 1*K2*Q0/Q of main pump electricity proportional pressure-reducing valve;
As Q >=Qmax, the electric current I=Imax*K2*Q0/Q of main pump electricity proportional pressure-reducing valve, electric current when wherein Imax is main pump electricity proportional pressure-reducing valve standard-sized sheet;
Above formula is for drawing when hypothesis main pump electric proportional valve firing current is 0mA;
After drawing the electric current of main pump electricity proportional pressure-reducing valve, complete and main pump delivery is regulated;
(8) according to the parameter drawn in step (4), last handle COEFFICIENT K=K1*K2, draw right handles grab bucket opening and closing signal value A1*K, elevator signal value A2*K before right handles, elevator signal value A3*K after right handles, left handle revolution signal value A4*K, left handle oil cylinder signal value A5*K;
By the actuating signal that monitoring control devices is above-mentioned, after being translated into data signal, the positive flow realizing main pump and main valve regulates, and main pump is mated with pump power with engine power, load.
(9) on the motor of grab claw, speed probe is installed, the main pump of grab claw is two, electric proportional pressure-reducing valve is installed, with guide be housed go beyond one's commission electric proportional pressure-reducing valve, controller detects engine speed and falls fast situation, have precedence over main pump electric proportional valve regulate pump power by guide's electric proportional valve of going beyond one's commission, when preventing speed to be greater than 7% of idler revolutions, cause engine misses.
Often organize action to above-mentioned, according to often join spool uninterrupted, often organize action standard-sized sheet time the relation of Q and Qmax, the realtime power of motor, during controller control bound electro hydraulic valve valve core opening, handle signal times with COEFFICIENT K, K=K1*K2; And controller controls electric current I=Imax*K2*Q0/Q or the I=I 1*K2*Q0/Q (supposing that the firing current of electric proportional pressure-reducing valve is 0mA) of main pump electricity proportional pressure-reducing valve; Realize the power of each action or composite move pump and the realtime power of motor and load matched.
Flow required altogether when the Q occurred in the present invention is each load valve core of main valve standard-sized sheet when often organizing operating state; Flow when Q0 is the real-time action of each handle signal when often organizing operating state (comprising grab bucket closed jet) and left and right walking pressure sensor signal; Qmax is supplied maximum stream flow by two main pumps; The handle coefficient of K1 for determining according to the magnitude relationship of Q and Qmax; K2 is engine speed rate of change and pump absorbed power rate of change coefficient of relationship; I 1 is as Q<Qmax, the maximum current of main pump electricity proportional pressure-reducing valve; Electric current when Imax is main pump electricity proportional pressure-reducing valve standard-sized sheet.
Claims (3)
1. an electrohydraulic control method for positive flow system, is characterized in that, the method comprises the following steps,
(1) controller detects the load of action, and calculate wherein each load valve core of main valve standard-sized sheet time the flow Q that needs altogether, required flow Q0 when handle and left and right walking pressure sensor signal real-time action;
Calculate two main pumps supply maximum stream flow Qmax;
According to engine power curve, calculate engine speed rate of change and pump absorbed power rate of change coefficient of relationship K2;
(2) according to the parameter Q, Q0 and the Qmax that obtain in step (1),
As Q<Qmax, each pilot signal changes corresponding and each spool open degree 0-100% from minimum to maximum, now, and the handle COEFFICIENT K 1=1 of each pilot signal;
As Q >=Qmax, each pilot signal controls the handle COEFFICIENT K 1=Qmax/Q that each spool is opened;
(3) according to the parameter Q, Q0 and the K2 that draw in step (1), (2),
As Q<Qmax, according to electric current and the discharge relation curve of main pump electricity proportional pressure-reducing valve, calculate the electric current I 1 when flow is Q, the electric current I=I1*K2*Q0/Q of main pump electricity proportional pressure-reducing valve;
As Q >=Qmax, the electric current I=Imax*K2*Q0/Q of main pump electricity proportional pressure-reducing valve, electric current when wherein Imax is main pump electricity proportional pressure-reducing valve standard-sized sheet;
Above formula is for drawing when hypothesis main pump electric proportional valve firing current is 0mA;
After drawing the electric current of main pump electricity proportional pressure-reducing valve, complete and main pump delivery is regulated.
2. the application of electrohydraulic control method on hydraulic grab of a positive flow system according to claim 1, it is characterized in that, hydraulic grab comprises controller, main pump and main valve, main pump is connected with main valve by pipeline, controller is connected with providing the motor of power, also comprise the left side be arranged in this hydraulic grab machine driver's cabin, right electric ratio twin shaft handle, be arranged on the left side on grab claw hydraulic control foot pedal guide oil circuit respectively, right lateral walks pressure sensor, be arranged on the electric proportional pressure-reducing valve on main pump, elevator automatic/hand change-over switch on the control panel and front/rear elevator change-over switch are installed, described main valve is electro-hydraulic proportional multi-way valve, main valve comprises revolution electro hydraulic valve, oil cylinder electro hydraulic valve, grab bucket electro hydraulic valve, front elevator electro hydraulic valve, rear elevator electro hydraulic valve, grab bucket closed jet electro hydraulic valve, left lateral walks pilot operated valve device and right lateral walks pilot operated valve device, this application process comprises the following steps:
(1) during subterranean continuous wall hydraulic grab work, actuating signal is detected by controller, wherein analog signal is converted to data signal, analog signal has right handles grab bucket opening and closing signal value A1 respectively, elevator signal value A2 before right handles, elevator signal value A3 after right handles, left handle revolution signal value A4, left handle oil cylinder signal value A5, left threading walking pressure P 1, right threading walking pressure P 2, switching signal has right handles to carry grab bucket closed jet switch S 1, elevator automatic/hand change-over switch S2, front elevator/rear elevator change-over switch S3 respectively;
(2) when controller detects that elevator automatic/hand change-over switch S2 is 0, be elevator automatic mode, the two pattern of front and back elevator;
Be elevator manual mode when S2 is 1, front and back elevator single action mode, current elevator/rear elevator change-over switch S3 is front elevator single action when being 0, is rear elevator single action when S3 is 1;
(3) controller detects the load of action, and calculate wherein each load valve core of main valve standard-sized sheet time the flow Q that needs altogether, required flow Q0 when handle and left and right walking pressure sensor signal real-time action;
Calculate two main pumps supply maximum stream flow Qmax;
According to engine power curve, calculate engine speed rate of change and pump absorbed power rate of change coefficient of relationship K2;
(4) according to the parameter Q, Q0 and the Qmax that obtain in step (3),
As Q<Qmax, each pilot signal changes corresponding and each spool open degree 0-100% from minimum to maximum, now, and the handle COEFFICIENT K 1=1 of each pilot signal;
As Q >=Qmax, each pilot signal controls the handle COEFFICIENT K 1=Qmax/Q that each spool is opened;
(5) according to the parameter Q, Q0 and the K2 that draw in step (3), (4),
As Q<Qmax, according to electric current and the discharge relation curve of main pump electricity proportional pressure-reducing valve, calculate the electric current I 1 when flow is Q, the electric current I=I1*K2*Q0/Q of main pump electricity proportional pressure-reducing valve;
As Q >=Qmax, the electric current I=Imax*K2*Q0/Q of main pump electricity proportional pressure-reducing valve, electric current when wherein Imax is main pump electricity proportional pressure-reducing valve standard-sized sheet;
Above formula is for drawing when hypothesis main pump electric proportional valve firing current is 0mA;
After drawing the electric current of main pump electricity proportional pressure-reducing valve, complete and main pump delivery is regulated;
(6) according to the parameter drawn in step (4), last handle COEFFICIENT K=K1*K2, draw right handles grab bucket opening and closing signal value A1*K, elevator signal value A2*K before right handles, elevator signal value A3*K after right handles, left handle revolution signal value A4*K, left handle oil cylinder signal value A5*K;
By the actuating signal that monitoring control devices is above-mentioned, after being translated into data signal, the positive flow realizing main pump and main valve regulates, and main pump is mated with pump power with engine power, load.
3. the application of electrohydraulic control method on hydraulic grab of a kind of positive flow system according to claim 2, it is characterized in that, on the motor of grab claw, speed probe is installed, the main pump of grab claw is two, electric proportional pressure-reducing valve is installed, with guide be housed go beyond one's commission electric proportional pressure-reducing valve, controller detects engine speed and falls fast situation, have precedence over main pump electricity proportional pressure-reducing valve regulate pump power by guide's electric proportional valve of going beyond one's commission, when preventing speed to be greater than 7% of idler revolutions, cause engine misses.
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| CN105113563A (en) * | 2015-08-14 | 2015-12-02 | 徐州徐工基础工程机械有限公司 | Double winch control system of continuous wall grab bucket and control method of double winch control system |
| CN105438990A (en) * | 2015-12-30 | 2016-03-30 | 上海佩纳沙士吉打机械有限公司 | Self-detection and safety system and method of hydraulic grab |
| CN105438990B (en) * | 2015-12-30 | 2017-07-21 | 上海佩纳沙士吉打机械有限公司 | Hydraulic grab Autonomous test and security system and method |
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