CN105257613A - Electric control system for driving super-large heavy equipment - Google Patents
Electric control system for driving super-large heavy equipment Download PDFInfo
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- CN105257613A CN105257613A CN201510833289.XA CN201510833289A CN105257613A CN 105257613 A CN105257613 A CN 105257613A CN 201510833289 A CN201510833289 A CN 201510833289A CN 105257613 A CN105257613 A CN 105257613A
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Abstract
The invention discloses an electric control system for driving super-large heavy equipment. The electric control system is characterized by comprising a main controller and a motor control board, wherein the main controller is connected with the motor control board; the motor control board is connected with four adjustable-speed motors in a hydraulic system through four servo amplification circuits respectively; first oil supply pressure sensors, proportional overflow valves, two-position three-way electromagnetic valves, jacking oil cylinder displacement sensors, jacking first pressure sensors, jacking second pressure sensors, supporting oil cylinder displacement sensors, supporting oil cylinder gravity sensors, supporting first pressure sensors, supporting second pressure sensors, first electromagnetic change valves, second electromagnetic change valves, first stop valves, second stop valves and third stop valves in four jacking and supporting hydraulic subsystems are connected with the main controller. The electric control system can be used for accurately controlling the jacking process of the super-large heavy equipment.
Description
Technical field
The present invention relates to a kind of hydraulic equipment, particularly relate to a kind of automatical control system driving super large jumbo.
Background technique
In impeller dynamic test, one of them important test event is placed in super sized type water tank by guide plate to test.This superhuge water tank, wide 3 meters, long 6 meters, weigh 132 tons when storing full water.In test process, water tank can require to fall after rise to ground in the flat surface from surface uplift to 3.2m and from flat surface, and be very difficult thing on water tank large and heavy for this span is from surface uplift to plane, and require in the process promoted, water tank has not allowed skew, otherwise water tank will be blocked by track, cannot lifting be continued, even can cause the damage of water tank.
Afterwards, someone expected utilizing screw body to promote the lifting of this super large jumbo.Although utilize screw body to carry out lifting have the high advantage of precision, super large jumbo can be avoided not offset in lifting process, but the power that screw body can provide is limited, the power needed for lifting super large jumbo can not be reached, therefore, finally utilize screw body to carry out this super large jumbo of lifting still cannot realize.
Therefore, claimant expects utilizing hydraulic way to carry out this lifting super large jumbo.In order to realize the accurate control in lifting process, need a kind of automatical control system.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of automatical control system driving super large jumbo, to realize the accurate control to super large jumbo lifting process, to overcome the deficiency that prior art exists.
For solving the problems of the technologies described above, the present invention adopts following technological scheme:
Drive an automatical control system for super large jumbo, include master controller and motor control panel; Described master controller is connected with described motor control panel, and described motor control panel is connected with the speed-adjustable motor of four in hydraulic system respectively by four servo amplification circuits; Four jackings with the first charge oil pressure sensor in support hydraulic pressure subtense angle, proportional pressure control valve, two-bit triplet solenoid valve, jacking cylinder displacement transducer, jacking first pressure transducer, jacking second pressure transducer, support cylinder displacement transducer, support cylinder gravity sensor, support the first pressure transducer, support the second pressure transducer, the first solenoid directional control valve, the second solenoid directional control valve, the first stop valve, the second stop valve, the 3rd stop valve be all connected master controller; The second charge oil pressure sensor in latch hydraulic subsystem, the 3rd solenoid directional control valve, slotting formula relief valve all connect master controller.
Described master controller is connecting fluid level sensor, temperature transducer, cooler also.
Described master controller also connects the 4th stop valve.
Described master controller is attended operation interface and man-machine interface also.
Adopt technique scheme, the present invention accurately can control the lifting process of super large jumbo.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail:
Fig. 1 is the mechanical device structure schematic diagram of equipment;
Fig. 2 is the hydraulic schematic of equipment;
Fig. 3 is the hydraulic station structure schematic diagram of equipment;
Fig. 4 is A-A direction view in Fig. 3;
Fig. 5 is automatical control system schematic diagram of the present invention.
Embodiment
The automatical control system of driving super large jumbo of the present invention, is applied in the lifting equipment of super large jumbo.For making to understand the invention with those skilled in the art know that, first the lifting equipment of super large jumbo is described in detail.
Lifting equipment is made up of mechanical device, hydraulic system and automatical control system.Super large jumbo of the present invention is for the heavy water tank of the super large mentioned by background technique.
As shown in Figure 1, described mechanical device comprises four jacking cylinders, 20, four support cylinders 21 and four plugging pin oil cylinder 22.
Wherein, four jacking cylinders 20 are fixed in the foundation ditch 01 below water tank 1100.The both sides outer wall of water tank 1100 is distributed with four sidewall engaging lugs 1101 all around symmetrically close to tip position, and jacking cylinder 20 is positioned at the below of sidewall engaging lug 1101.The external part of jacking cylinder 20 is connected on sidewall engaging lug 1101.
Four plugging pin oil cylinder 22 are fixedly mounted on four angles place bottom water tank 1100 respectively, and all toward the outer side, fixed end is also connected to by strut 1102 on the bottom engaging lug 1103 of the centre of water tank bottom external part.Such structure makes plugging pin oil cylinder 22 firmly be fixed on four angles bottom water tank 10.
The position distribution of four support cylinders, 21 correspondences, four plugging pin oil cylinder 22 is in flat surface 02.The external part of plugging pin oil cylinder 22 stretches out and just can be supported by support cylinder 21 jack-up afterwards.
The working method of this jacking mechanical device is:
Water tank jacking process: four jacking cylinders 20 by water tank 1100 from ground 03 jacking to flat surface 02, then four plugging pin oil cylinder 22 are protruding respectively, then, the support cylinder 21 be positioned at below plugging pin oil cylinder 22 rises, until support plugging pin oil cylinder 22, then water tank 1100 is upwards continued the little segment distance of jacking (about 40mm) by support cylinder 21 again, and finally supports water tank 1100, makes water tank 1100 be seated in the position of flat surface more than 02.
Water tank descent: jacking cylinder 20 is by slightly upward for water tank 1100 jacking (approximately upwards jacking 2-3mm), plugging pin oil cylinder 22 is made upwards to depart from support cylinder 21, then plugging pin oil cylinder 22 is retracted, subsequently jacking cylinder 20 is shortened, water tank is slowly declined until fall after rise to ground 03.
As shown in Figure 2, hydraulic system, comprises fuel tank 1, four jackings and support hydraulic pressure subtense angle 201,202,203,204 and latch hydraulic subsystem 300.
Often organize in jacking and support hydraulic pressure subtense angle and include the duplex pump 8, two-bit triplet solenoid valve 32, proportional pressure control valve 12, first solenoid directional control valve 161, second solenoid directional control valve 162, first stop valve 311, second stop valve 312, the 3rd stop valve 313, first equilibrium valve 291, second equilibrium valve 292, the 3rd equilibrium valve 293, the 4th equilibrium valve 294 that are driven by speed-adjustable motor 7, accumulator 26.
Wherein, the filler opening of duplex pump 8 is connected to fuel tank 1 through the first ball valve 151, and the oil outlet of the main oil pump of duplex pump 8 is connected to the first hydraulic fluid port of two-bit triplet solenoid valve 32, and the second hydraulic fluid port of two-bit triplet solenoid valve 32 connects the filler opening of the first one-way valve 111.
The oil outlet of the auxiliary oil pump of duplex pump 8 is directly connected to the filler opening of the first one-way valve 111, and the oil outlet of the first one-way valve 111 is connected respectively to the filler opening of proportional pressure control valve 12, the first hydraulic fluid port of the first solenoid directional control valve 161, the first hydraulic fluid port of the second solenoid directional control valve 162.
The oil outlet of the first one-way valve 111 is also connected with the first charge oil pressure sensor 141 and pressure gauge 17.
Second hydraulic fluid port of the first solenoid directional control valve 161 is connected to the reverse hydraulic fluid port of jacking cylinder through the first equilibrium valve 291, the 3rd hydraulic fluid port of the first solenoid directional control valve 161 is connected to the forward hydraulic fluid port of jacking cylinder through the second equilibrium valve 292.First equilibrium valve 291 is also connected to the filler opening of the first stop valve 311.Second equilibrium valve 292 is also connected to the filler opening of the second stop valve 312.Jacking cylinder 20 has jacking displacement transducer 301.The oil outlet of the first equilibrium valve 291 and the oil outlet of the second equilibrium valve 292 are also connected to jacking first pressure transducer 142 and jacking second pressure transducer 143.
Second hydraulic fluid port of the second solenoid directional control valve 162 is connected to the reverse hydraulic fluid port of support cylinder 21 through the 3rd equilibrium valve 293, the 3rd hydraulic fluid port of the second solenoid directional control valve 162 is connected to the forward hydraulic fluid port of support cylinder 21 through the 4th equilibrium valve 294.4th equilibrium valve 294 is also connected to accumulator 26 by the 3rd stop valve 313.Support cylinder 21 have bracing displacement sensor 302 and gravity sensor 303.The oil outlet of the 3rd equilibrium valve 293 and the oil outlet of the 4th equilibrium valve are also connected to support first pressure transducer 144 and support the second pressure transducer 145.
3rd hydraulic fluid port, the oil outlet of proportional pressure control valve 12, the 4th hydraulic fluid port of the first solenoid directional control valve 161, the 4th hydraulic fluid port of the second solenoid directional control valve 162, the oil outlet of the first stop valve 311 of the two-bit triplet solenoid valve 32 in four jackings and support hydraulic pressure subtense angle 201,202,203,204, the oil outlet of the second stop valve 312 all connects oil sump tank 1 by return line.
In the present invention, the solenoid valve of duplex pump 8 must not be electric, only main oil pump work; Solenoid valve obtains electric, and main oil pump and auxiliary oil pump work simultaneously.
The working method of jacking and support hydraulic pressure subtense angle is: speed-adjustable motor 7 drives duplex pump 8 to work, when the first hydraulic fluid port of two-bit triplet solenoid valve 31 is communicated with the second hydraulic fluid port, the main oil pump of duplex pump 8 and auxiliary oil pump pass through the first one-way valve 111 to jacking and support hydraulic pressure subtense angle fuel feeding simultaneously, when the first hydraulic fluid port and the cut-off of the second hydraulic fluid port of two-bit triplet solenoid valve 31, when first hydraulic fluid port is communicated with the 3rd hydraulic fluid port, only the auxiliary oil pump of duplex pump 8 passes through the first one-way valve 111 to jacking and support hydraulic pressure subtense angle fuel feeding, the main oil pump of duplex pump 8 then flows back to fuel tank 1 through the first hydraulic fluid port of two-bit triplet solenoid valve 31 and the 3rd hydraulic fluid port.
Proportional pressure control valve 12 is for realizing changing the pressure of the hydraulic oil entering jacking and support hydraulic pressure subtense angle.
When the first solenoid directional control valve 161 is when connecting, for driving jacking cylinder 20 to work, at this moment the second electromagnetic switch solenoid valve 162 ends, and support cylinder 21 does not work.When the second electromagnetic switch solenoid valve 162 is when connecting, for driving support cylinder 21 to work, at this moment the first solenoid directional control valve 161 ends, and jacking cylinder 20 does not work.
First solenoid directional control valve 161 has two kinds of getting types: when the first hydraulic fluid port of the first solenoid directional control valve 161 is communicated with the second hydraulic fluid port, when 3rd hydraulic fluid port is communicated with the 4th hydraulic fluid port, hydraulic oil then enters from the reverse hydraulic fluid port of jacking cylinder 20, drives jacking cylinder 20 to shorten, for the water tank 1100 that lands.When the first hydraulic fluid port of the first solenoid directional control valve 161 is communicated with the 3rd hydraulic fluid port, when the second hydraulic fluid port is communicated with the 4th hydraulic fluid port, hydraulic oil then enters from the forward hydraulic fluid port of jacking cylinder 20, drives jacking cylinder 20 to extend, for by water tank jack-up.
Second solenoid directional control valve 162 also has two kinds of getting types: when the first hydraulic fluid port of the first solenoid directional control valve 162 is communicated with the second hydraulic fluid port, when 3rd hydraulic fluid port is communicated with the 4th hydraulic fluid port, hydraulic oil then enters from the reverse hydraulic fluid port of support cylinder 21, drives support cylinder 21 to shorten, for being separated with water tank.When the first hydraulic fluid port of the first solenoid directional control valve 162 is communicated with the 3rd hydraulic fluid port, when the second hydraulic fluid port is communicated with the 4th hydraulic fluid port, hydraulic oil then enters from the forward hydraulic fluid port of support cylinder 21, drives support cylinder 21 to extend, for supporting water tank.
3rd stop valve 313 is in cut-off state usually, after support cylinder 21 supports water tank, the 3rd stop valve 313 is opened connection, makes to utilize accumulator 26 pairs of support cylinders 21 to carry out pressurize.
First stop valve 311 and the second stop valve 312 are also in cut-off state usually, when support cylinder 21 carries out work, because jacking cylinder 20 also will do accompany movement, at this moment because the first solenoid directional control valve 161 is in cut-off state, emptying phenomenon is there is for avoiding jacking cylinder 20, need to open the first stop valve 311 and the second stop valve 312 for this reason, jacking cylinder 20 is communicated with fuel tank 1, avoids emptying phenomenon.
Latch hydraulic subsystem 300 comprise driven by motor 9 gear pump 10, the 3rd solenoid directional control valve 163, insert formula relief valve 13, the unidirectional adjustable restrictive valve 272 of hydraulic lock the 19, first unidirectional adjustable restrictive valve 271, second.Hydraulic lock 19 is made up of two one-way valves, the forward hydraulic fluid port mutual induction of two one-way valves in hydraulic lock 19, as long as the forward hydraulic fluid port of one of them one-way valve has pressure to be opened, the forward hydraulic fluid port of another one one-way valve also can be opened by the pressure responded to simultaneously, and namely hydraulic lock 19 has two one-way valves and opens the function of simultaneously closing simultaneously.
The filler opening of gear pump 10 is connected to fuel tank 1 through the second ball valve 152, the oil outlet of gear pump 10 is connected to the first hydraulic fluid port of the 3rd solenoid directional control valve 163 and the filler opening of slotting formula relief valve 13 through the second one-way valve 112, second hydraulic fluid port of the 3rd solenoid directional control valve 163 is connected to the reverse hydraulic fluid port of four plugging pin oil cylinder 22 through one of them one-way valve of hydraulic lock 19, the first unidirectional adjustable restrictive valve 271, and the 3rd hydraulic fluid port of the 3rd solenoid directional control valve 163 is connected to the forward hydraulic fluid port of four plugging pin oil cylinder 22 through another one-way valve of hydraulic lock 19, the second unidirectional adjustable restrictive valve 272.
4th hydraulic fluid port of the 3rd solenoid directional control valve 163 is connected oil sump tank 1 with the oil outlet of slotting formula relief valve 13 by return line.
The oil outlet of the first unidirectional adjustable restrictive valve 271 and the oil outlet of the second unidirectional adjustable restrictive valve 272 are also connected with pressure gauge 17.The oil outlet of the second one-way valve 112 is also connected with fuel feeding second pressure transducer 146 and pressure gauge 17.
The working method of this latch hydraulic subsystem 300 is: gear pump 10 to latch hydraulic subsystem 300 fuel feeding, inserts formula relief valve 13 for setting the oil pressure entering latch hydraulic subsystem 300 under motor 9 drives.
3rd solenoid directional control valve 163 also has two kinds of getting types: when the first hydraulic fluid port of the 3rd solenoid directional control valve 163 is communicated with the second hydraulic fluid port, when 3rd hydraulic fluid port is communicated with the 4th hydraulic fluid port, hydraulic oil then enters from the reverse hydraulic fluid port of four plugging pin oil cylinder 22, drives plugging pin oil cylinder 22 to retract to be separated with support cylinder 21.When the first hydraulic fluid port of the 3rd solenoid directional control valve 163 is communicated with the 3rd hydraulic fluid port, when the second hydraulic fluid port is communicated with the 4th hydraulic fluid port, hydraulic oil then enters from the forward hydraulic fluid port of four plugging pin oil cylinder 22, drives plugging pin oil cylinder 22 to extend can be seated on support cylinder 21.
And when the 3rd solenoid valve selector valve 163 ends, two one-way valves all can end in hydraulic lock 19, thus the hydraulic oil of plugging pin oil cylinder 22 piston both sides can not be flowed, thus make plugging pin oil cylinder 22 hold mode.
Return line is connected to cooler 23 and filter 24 close to the location strings of fuel tank 1.
Fuel tank 1 has level meter 3, liquid level relay 4, air filter 5 and temperature transducer 6.
In addition, the 4th stop valve 314 is also connected with between the oil outlet of the second ball valve 152 and the return line entering before cooler 23.4th stop valve 314 ends usually, synchronously opens, jacking cylinder 20 is communicated with fuel tank 1 when the first stop valve 311, second stop valve 312 is opened, and avoids occurring above-mentioned emptying phenomenon.
As shown in Figure 3 and Figure 4, fuel tank 1, the gear pump 10 of motor 9 driving, cooler 23,4 duplex pumps driven by speed-adjustable motor 78, filters 24 constitute hydraulic station 400.
This hydraulic station 400 is arranged on two layers of steelframe 401, wherein fuel tank 1 is arranged on the top layer 402 of steelframe 401, the gear pump 10 driven by motor 9, cooler 23,4 duplex pumps driven by speed-adjustable motor 78 are disposed side by side on the bottom 411 of steelframe 401, and filter 24 is arranged on the top of fuel tank 1.Gear pump 10,4 duplex pumps 8 are communicated to the bottom of fuel tank 1 by oil pipe.Cooler 23 is also communicated to filter 24 by oil pipe.Cooler 23 is forced air cooler.
Fuel tank 1 inside is provided with level meter 3, and 17, multiple pressure gauge is arranged on the base side of fuel tank 1.
The top of fuel tank 1 is provided with pouring orifice 403 and the air filter 5 of plunger shutoff.The sidewall of fuel tank 1 is provided with maintenance window 404.Have by the fuel outlet 405 of plunger shutoff bottom an end wall in fuel tank 1.
Adopt said structure, fuel tank 1 is arranged on the top of gear pump 20,4 duplex pumps 8, even if gear pump 10, duplex pump 8 do not work like this, fuel tank also can give the pressure that system is certain, can meet the partial pressure demand of system, have the effect of energy-saving and emission-reduction.
In addition, terminal box 406 is also provided with in the tip position of the bottom of steelframe 402.
For convenience of lifting, the two ends of steelframe 401 have lifting earhole 407.
As shown in Figure 5, in automatical control system, core component has master controller and motor control panel.Master controller is connected with motor control panel, and motor control panel is also connected with the speed-adjustable motor of 4 in hydraulic system respectively by 4 servo amplification circuits, controls the rotating speed of each speed-adjustable motor for realizing, and and then controls each duplex pump work.
The first charge oil pressure sensor in four jackings and support hydraulic pressure subtense angle, proportional pressure control valve, two-bit triplet solenoid valve, jacking cylinder absolute displacement transducer, jacking first pressure transducer, jacking second pressure transducer, support cylinder mimotope displacement sensor, support cylinder gravity sensor, support the first pressure transducer, support the second pressure transducer, first solenoid directional control valve, second solenoid directional control valve, first stop valve, second stop valve, 3rd stop valve all connects master controller.
The second charge oil pressure sensor in latch hydraulic subsystem, the 3rd solenoid directional control valve, slotting formula relief valve all connect main control.
Liquid level sensor, temperature transducer, cooler, the 4th stop valve also connect master controller.
Operation interface is connected with master controller with man-machine interface.
In the automatic control of invention, the method for flow control and pressure compensation is adopted to realize synchronization control.In order to reduce error, system adopts band to carry Starting mode.The displacement of all oil cylinders of master controller Real-time Obtaining, pressure, gravity, temperature data, and set each displacement of the subtense angle of one of them jacking and support hydraulic pressure, pressure, gravimetric data (arranging according to real work demand) be Reference data, and differential is carried out, segment movement to the whole travel displacement of each oil cylinder.Segmented compensation (guaranteeing stable movement).And each displacement in other jacking and support hydraulic pressure subtense angle, pressure, gravimetric data are compared in real time with Reference data, and according to showing that difference carries out analyzing and stepping, then the positive and negative offset in each interval is calculated (just for accelerating by shelves, bear as slowing down or stopping), respectively to the motor speed-regulating in other jacking and support hydraulic pressure subtense angle and proportional pressure control valve pressure regulation, each jacking cylinder or support cylinder is made to remain synchronous.When group oil cylinder error is greater than EE Error Excepted intermediate value in addition, seed oil cylinder adopts main pump fuel feeding auxiliary pump surging repairing mode, and seed oil cylinder is caught up with fast; When master cylinder lags behind seed oil cylinder.Master cylinder adopts main pump fuel feeding auxiliary pump surging repairing mode, and master cylinder is caught up with fast.Owing to being closed loop followup system, can not oil temperature be subject to, gravity, the impact of oil cylinder and pump volumetric efficiency.
Can be operated system by operation interface and man-machine interface, data monitoring, parameter adjustment (according to authority, adjustment different parameters), information is pointed out, and text is reported to the police, failure reset.Carry out operation to the speed-adjustable motor in system, motor and each valve to control.
The all analog amount digital quantity of native system is all by Internet Transmission, and transmission speed is exceedingly fast, and antijamming capability is extremely strong, system stability.
Can be found out by foregoing detailed description, the present invention has the advantage reposefully super large jumbo being lifted to reposefully flat surface from ground.
Claims (4)
1. drive an automatical control system for super large jumbo, it is characterized in that: include master controller and motor control panel; Described master controller is connected with described motor control panel, and described motor control panel is connected with the speed-adjustable motor of four in hydraulic system respectively by four servo amplification circuits; Four jackings with the first charge oil pressure sensor in support hydraulic pressure subtense angle, proportional pressure control valve, two-bit triplet solenoid valve, jacking cylinder displacement transducer, jacking first pressure transducer, jacking second pressure transducer, support cylinder displacement transducer, support cylinder gravity sensor, support the first pressure transducer, support the second pressure transducer, the first solenoid directional control valve, the second solenoid directional control valve, the first stop valve, the second stop valve, the 3rd stop valve be all connected master controller; The second charge oil pressure sensor in latch hydraulic subsystem, the 3rd solenoid directional control valve, slotting formula relief valve all connect master controller.
2. the automatical control system of driving super large jumbo according to claim 1, is characterized in that: described master controller is connecting fluid level sensor, temperature transducer, cooler also.
3. the automatical control system of driving super large jumbo according to claim 1, is characterized in that: described master controller also connects the 4th stop valve.
4. the automatical control system of the driving super large jumbo according to the arbitrary claim of claims 1 to 3, is characterized in that: described master controller is attended operation interface and man-machine interface also.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510833289.XA CN105257613A (en) | 2015-11-25 | 2015-11-25 | Electric control system for driving super-large heavy equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510833289.XA CN105257613A (en) | 2015-11-25 | 2015-11-25 | Electric control system for driving super-large heavy equipment |
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| CN201510833289.XA Pending CN105257613A (en) | 2015-11-25 | 2015-11-25 | Electric control system for driving super-large heavy equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106640825A (en) * | 2017-03-17 | 2017-05-10 | 上海同禾土木工程科技有限公司 | Supporting axial force computer numerical control hydraulic device and frequency conversion control method thereof |
| CN112922929A (en) * | 2019-12-05 | 2021-06-08 | 上海智远弘业智能技术股份有限公司 | AGV hydraulic jacking device and heating control method based on system overflow |
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| CN205349892U (en) * | 2015-11-25 | 2016-06-29 | 上海电气液压气动有限公司 | Electrical system of drive super large jumbo |
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| JPH06341408A (en) * | 1993-06-01 | 1994-12-13 | Kayaba Ind Co Ltd | Synchronously controlling circuit of hydraulic actuator |
| EP1911695A2 (en) * | 2006-10-09 | 2008-04-16 | MT-Energie GmbH & Co. KG | Method for controlling the synchronism of at least two pressurising medium cylinders and synchronism control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106640825A (en) * | 2017-03-17 | 2017-05-10 | 上海同禾土木工程科技有限公司 | Supporting axial force computer numerical control hydraulic device and frequency conversion control method thereof |
| CN112922929A (en) * | 2019-12-05 | 2021-06-08 | 上海智远弘业智能技术股份有限公司 | AGV hydraulic jacking device and heating control method based on system overflow |
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Application publication date: 20160120 |
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