CN105317788B - Concrete pumping equipment, the travel control system of serial oil cylinders, method and apparatus - Google Patents
Concrete pumping equipment, the travel control system of serial oil cylinders, method and apparatus Download PDFInfo
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- CN105317788B CN105317788B CN201410359255.7A CN201410359255A CN105317788B CN 105317788 B CN105317788 B CN 105317788B CN 201410359255 A CN201410359255 A CN 201410359255A CN 105317788 B CN105317788 B CN 105317788B
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Abstract
The invention discloses a kind of travel control system of serial oil cylinders, method and device, wherein working condition acquiring device is used for the pressure and discharge capacity gear for gathering hydraulic system of pump；Stroke harvester is used for the stroke state for gathering two serial oil cylinders；Draining hydraulic system is mended to be used to carry out repairing or draining to the connection chamber of two serial oil cylinders；Controller includes default run-length data module, hydraulic system of pump is contained in run-length data module under different pressure and discharge capacity gear, there are two serial oil cylinders the time that draining hydraulic system needs to connection chamber mend draining is mended during stroke state in place；The stroke state for two serial oil cylinders that controller is used to be gathered according to stroke harvester judges that connection chamber needs repairing or draining, and according to working condition acquiring device gather hydraulic system of pump pressure and discharge capacity gear select from run-length data module corresponding to mend the draining time, control mend draining hydraulic system to connection chamber carry out benefit draining operate.
Description
Technical field
The present invention relates to concrete pumping field, more particularly to a kind of serial oil cylinders applied to concrete pumping equipment
Travel control system, method and apparatus.
Background technology
Concrete pump is to realize the uninterrupted pumping of concrete by the reciprocating motion of two serial oil cylinders.Two series connection oil
The cylinder diameter of cylinder, bar footpath all same, it can keep being synchronized with the movement in theory.But due to reasons such as the accuracy of manufacture, load, leakages, it can lead
Cause two oil cylinders asynchronous, and accumulation over time, its synchronous error gradually increase, and such as do not have control device, can increase to
System can not normal work.
The stroke of two serial oil cylinders is generally adjusted using pressure relief type buffer gear on concrete pump.As shown in figure 1,
The rodless cavity 123 of first oil cylinder 12 of serial oil cylinders is connected together with the rodless cavity 143 of the second oil cylinder 14 as chamber is connected, the
The rod chamber 141 of the oil cylinder 14 of rod chamber 121 and second of one oil cylinder 12 is oil suction chamber.When 121 oil-feed of rod chamber, cylinder rod
125 retreat, and cylinder rod 145 stretches out；When 141 oil-feed of rod chamber, cylinder rod 145 retreats, and cylinder rod 125 stretches out.First oil cylinder
12 are provided with pressure release type buffer gear 127, and the second oil cylinder 14 is provided with pressure release type buffer gear 147.The stroke of first oil cylinder 12
It is equal with the stroke of the second oil cylinder 12, while be also the stroke of serial oil cylinders, i.e. oil cylinder stroke.
Two serial oil cylinders can also take the mode that rod chamber connects, as shown in Fig. 2 the first oil cylinder 12 of serial oil cylinders
Rod chamber 121 and the rod chamber 141 of the second oil cylinder 14 be connected together as chamber, the rodless cavity 123 of the first oil cylinder 12 is connected
Rodless cavity 143 with the second oil cylinder 14 is oil suction chamber.When 123 oil-feed of rodless cavity, cylinder rod 125 stretches out, after cylinder rod 145
Move back；When 143 oil-feed of rodless cavity, cylinder rod 145 stretches out, and cylinder rod 125 retreats.In fact, two series connection oil of concrete pump
The connected state of the connection chamber of cylinder can be switched over by manual operations switch；When the rodless cavity shown in selection Fig. 1 connects
It is the low pressure pumping state of concrete pump when logical；It is the high-pressure pump of concrete pump when selecting the connection of the rod chamber shown in Fig. 2
Send state.That is, the handover mechanism provided with a set of connection chamber for being used to switch serial oil cylinders in concrete pump, low in selection
The connection chamber of two serial oil cylinders is switched into rodless cavity connection when press pump is sent, when selection is pumped by by two serial oil cylinders
Connection chamber switch to rod chamber connection.
But pressure relief type buffer gear need to punch on oil cylinder, therefore its position is unable to flexible modulation, and with hydraulic pressure system
The pressure and flow of system, the cylinder diameter of oil cylinder and the difference of bar footpath and reversing control system, cylinder buffer distance is also different, institute
To be difficult in adapt to complex working condition, the failure that oil cylinder stroke shortens or stroke is elongated is caused sometimes, causes to be used for delivering concrete
The not in place or suction of concrete cylinder lubrication be deteriorated, this will have a significant impact to the antiwear characteristic of hydraulic system of pump and efficiency.
Separately there is a kind of control device for the stroke for adjusting two serial oil cylinders, be to mend draining hydraulic system to two by setting
The connection chamber of individual serial oil cylinders carries out repairing or draining, when the fluid volume for connecting intracavitary is very few, by benefit draining hydraulic system
Repairing is carried out to connection chamber；When the fluid volume for connecting intracavitary is excessive, draining is carried out to connection chamber by benefit draining hydraulic system.
The benefit draining time of draining hydraulic system is mended by benefit draining solenoid valve control, it is electric by setting obtaining for initial benefit draining magnetic valve
Or the dead electricity time is t, is then gradually approached with algorithm t*K2 or t/K1, make oil cylinder stroke all the time in suitable scope, i.e.,
Oil cylinder stroke is in normal condition, ensures the synchronization of two serial oil cylinders；Wherein K1, K2 numerical value are, for example, K1=1.2, K2=
1.1。
But in this travel control device, the original state of each regulation benefit draining magnetic valve obtains electric or dead electricity
Time is t, and control mode is dumb；In addition, under different operating modes, the supplement and discharge rate of the fluid of oil cylinder connection chamber have
Very big difference, causing under some operating modes, the above-mentioned regulating cycle gradually approached can be very long, or even in very long regulating cycle
All adjust to come over inside, that is, occur " mending draining time out fault ".
The content of the invention
In view of the above, it is necessary to which a kind of more flexible, quickly series connection available for concrete pumping equipment is provided
The travel control system of oil cylinder, method and apparatus.
The present invention provides a kind of travel control system of serial oil cylinders, for being controlled to the stroke of two serial oil cylinders
System, the travel control system include hydraulic system of pump, mend draining hydraulic system, controller, working condition acquiring device, Yi Jihang
Journey harvester；The working condition acquiring device is used for the pressure and discharge capacity gear for gathering the hydraulic system of pump；The stroke
Harvester is used for the stroke state for gathering described two serial oil cylinders；The benefit draining hydraulic system is used for described two strings
The connection chamber for joining oil cylinder carries out repairing or draining；The controller includes default run-length data module, the run-length data mould
The hydraulic system of pump is contained in block under different pressure and discharge capacity gear, described two serial oil cylinders is had in place
Stroke state when the draining hydraulic system of mending need to connection chamber mend the time of draining；The controller is used for basis
The stroke state of described two serial oil cylinders of the stroke harvester collection judges that connection chamber needs repairing or draining,
And the pressure and discharge capacity gear of the hydraulic system of pump gathered according to the working condition acquiring device are from the run-length data mould
The draining time is mended corresponding to being selected in block, controls the benefit draining hydraulic system to carry out mending draining operation to connection chamber.
Further, the benefit draining hydraulic system is connected with the connection chamber of described two serial oil cylinders, the benefit draining
Hydraulic system includes mending draining magnetic valve, the break-make of the connection chamber for mending draining hydraulic system and described two serial oil cylinders by
The benefit draining solenoid valve control, the benefit draining magnetic valve have three kinds of states：Repairing state, draining state and neither repairing
Also the not state of draining.
Further, the hydraulic system of pump is listed in different pressure and discharge capacity shelves in the run-length data module
Under position, the opening time for mending draining magnetic valve needs when making described two serial oil cylinders that there is stroke state in place.
Further, the hydraulic system of pump includes main pump, reversal valve and fuel tank, and the main pump is used for from described
Hydraulic oil is pumped out in fuel tank into fluid pressure line, the reversal valve is used to realize pumping commutation；It is described benefit draining hydraulic system with
The hydraulic system of pump is connected, and both share a main pump, and hydraulic pressure is provided for the benefit draining hydraulic system by the main pump
Oil sources.
Further, the benefit draining hydraulic system also includes solenoid directional control valve, and the solenoid directional control valve is used to select institute
It is to be in rod chamber connected state in rodless cavity connected state to state two serial oil cylinders；When described two serial oil cylinders
Chamber is connected when be rodless cavity, the hydraulic system of pump is from the rod chamber oil-feeds of described two serial oil cylinders, and corresponding to described in
The low pressure pumping state of hydraulic system of pump；When the connection chamber of described two serial oil cylinders is rod chamber, the pumps hydraulic
System is pumped by state from the rodless cavity oil-feeds of described two serial oil cylinders, and corresponding to the hydraulic system of pump.
Further, preceding proximity switch of the stroke harvester including two relative misalignments installations is opened with close afterwards
Close, and whether in place the stroke of described two serial oil cylinders is determined according to the signal condition of described two proximity switches.
Further, the working condition acquiring device includes oil pressure sensor and rotary switch, the hydraulic system of pump
Pressure is detected using the oil pressure sensor, and the discharge capacity gear of the hydraulic system of pump is selected by the rotary switch
Select.
The present invention also provides a kind of concrete pumping equipment, including two serial oil cylinders and for controlling described two series connection
The travel control system of oil cylinder, the travel control system are above-mentioned travel control system.
The present invention also provides a kind of stroke control method of serial oil cylinders, including：
The stroke state of two serial oil cylinders from the collection of stroke harvester is received, and is sentenced according to the stroke state of oil cylinder
Disconnection cavity needs repairing or draining；
The pressure and discharge capacity gear of the hydraulic system of pump from the collection of working condition acquiring device are received, and according to pumps hydraulic system
Accordingly the opening time that draining magnetic valve needs is mended in selection to the pressure and discharge capacity gear of system from run-length data module；
The judged result of repairing or draining is needed according to connection chamber and mends the opening time that draining magnetic valve needs,
Control mends draining hydraulic system and connection chamber is carried out to mend draining operation.
Further, in the process, the unlatching of the benefit draining magnetic valve is have recorded in the run-length data module
Corresponding relation of the time from the hydraulic system of pump under different pressure and different discharge capacity gears, using controller according to
The pressure and discharge capacity gear of the received hydraulic system of pump, selection and current pressure from the run-length data module
The opening time that the benefit draining magnetic valve corresponding with discharge capacity gear needs, and the benefit draining magnetic valve is controlled according to this
Electromagnet obtains the electric time.
Further, in the process, during the regulation of oil cylinder stroke, if working condition acquiring device collects institute
The pressure or discharge capacity gear for stating hydraulic system of pump are changed, then controller is adjusted in real time according to the change of pressure or discharge capacity gear
The whole corresponding opening time for mending draining magnetic valve.
The present invention also provides a kind of travel control device of serial oil cylinders, including：
Receiving module, for receiving the stroke state information of two serial oil cylinders from the collection of stroke harvester, and
For receiving the pressure and discharge capacity gear information of the hydraulic system of pump from the collection of working condition acquiring device；
Determining module, for judging that connection chamber needs repairing or draining according to the stroke state of oil cylinder, and it is used for
According to the pressure of hydraulic system of pump and discharge capacity gear, accordingly selection mends what draining magnetic valve needed from run-length data module
Opening time；
Control module, for needing the judged result of repairing or draining according to connection chamber and mending draining magnetic valve need
The opening time wanted, control mend draining hydraulic system and connection chamber are carried out to mend draining operation.
Further, in said device, the unlatching of the benefit draining magnetic valve is have recorded in the run-length data module
Corresponding relation of the time from the hydraulic system of pump under different pressure and different discharge capacity gears, the determining module are used
In pressure and discharge capacity gear according to the received hydraulic system of pump, selection is with working as from the run-length data module
The opening time that the corresponding benefit draining magnetic valve of preceding pressure and discharge capacity gear needs, controlled according to this by the control module
The electromagnet for mending draining magnetic valve obtains the electric time.
Further, in said device, during the regulation of oil cylinder stroke, if receiving module receives the pump
The pressure or discharge capacity gear for sending hydraulic system change, it is determined that module adjusts in real time according to the change of pressure or discharge capacity gear
The corresponding opening time for mending draining magnetic valve.
Compared to prior art, concrete pumping equipment of the invention, serial oil cylinders travel control system, method and device
It is to be made decision to mend the optimal opening time t of draining magnetic valve, energy in different pressure and discharge capacity gear according to hydraulic system of pump
Optimal the dead electricity time t of the electromagnet of draining magnetic valve is mended in quick selection, though different pressure with connected under discharge capacity gear
Supplement or the discharge rate change of chamber fluid are very greatly, it is not required that prolonged adjustment, avoid " mending draining time out fault "；And energy
According to different operating modes and load, adjustment in real time changes control signal, and to ensure under various operating modes, oil cylinder stroke is in all the time
State in place；The concrete pumping equipment, serial oil cylinders travel control system, the control mode of method and device are flexible, operation
Simply, intelligence degree is high, is avoided that serial oil cylinders not in place or the occurrence of cross in place, therefore can extend concrete piston
Service life, the operating efficiency for improving pumping equipment.
Brief description of the drawings
Fig. 1 is structural representation of the serial oil cylinders of the prior art when rodless cavity connects；
Fig. 2 is structural representation of the serial oil cylinders of the prior art when rod chamber connects；
Fig. 3 is the block diagram of the serial oil cylinders travel control system of the embodiment of the present invention；
Fig. 4 is the structural representation of the serial oil cylinders travel control system of the embodiment of the present invention；
Fig. 5 is a kind of schematic layout pattern of the stroke harvester of the embodiment of the present invention on serial oil cylinders；
Fig. 6 is another schematic layout pattern of the stroke harvester of the embodiment of the present invention on serial oil cylinders；
Fig. 7 is the hydraulic schematic diagram of the benefit draining hydraulic system of the embodiment of the present invention；
Fig. 8 is to illustrate oil cylinder stroke from benefit draining electromagnetism valve opening time when not being returned to " in place " " in place " and oil cylinder row
Relation curve between journey；
Fig. 9 is to illustrate to mend draining electromagnetism valve opening time and oil cylinder row when oil cylinder stroke is returned to " in place " from " crossing in place "
Relation curve between journey；
Figure 10 is the flow chart of the serial oil cylinders stroke control method of the embodiment of the present invention；And
Figure 11 is the structure chart of the serial oil cylinders travel control device of the embodiment of the present invention.
Embodiment
To describe the technology contents of the present invention, construction feature, the objects and the effects in detail, below in conjunction with embodiment
And accompanying drawing is coordinated to be explained in detail.
It please join Fig. 3, the serial oil cylinders travel control system of the embodiment of the present invention is used for the row to two serial oil cylinders 42,44
Journey is controlled, and the travel control system includes hydraulic system of pump 20, mends draining hydraulic system 30, controller 50, operating mode
Harvester 60 and stroke harvester 70.Working condition acquiring device 60 is used for pressure and the row for gathering hydraulic system of pump 20
Measure gear；The stroke state that stroke harvester 70 is used to gather two serial oil cylinders 42,44 (does not arrive in place, in place or excessively
Position)；Draining hydraulic system 30 is mended to be used to carry out repairing or draining to the connection chamber of two serial oil cylinders 42,44；Controller 50 wraps
Default run-length data module 51 is included, hydraulic system of pump 20 is contained in run-length data module 51 in different pressure and discharge capacity
Under gear, make two serial oil cylinders 42,44 that there is benefit draining hydraulic system 30 during stroke state in place to need to enter connection chamber
Row mends the time of draining；Controller 50 is used for the stroke shape of two serial oil cylinders 42,44 gathered according to stroke harvester 70
State judges that connection chamber needs repairing or draining, and the pressure of the hydraulic system of pump 20 gathered according to working condition acquiring device 60
The corresponding benefit draining time is selected from run-length data module 51 with discharge capacity gear, control mends draining hydraulic system 30 to connecting chamber
Carry out mending draining operation.
Incorporated by reference to Fig. 4, show that the travel control system of the embodiment of the present invention (connects chamber to have in the state that is pumped by
Rod cavity) under principle, wherein hydraulic system of pump 20 includes main pump 21, reversal valve 22, (figure is not for fuel tank 23 and miscellaneous part
Show).Main pump 21 is used to pump out hydraulic oil from fuel tank 23 into fluid pressure line.Two actuator ports of reversal valve 22 are respectively with two
The rodless cavity of individual serial oil cylinders 42,44 is connected, and now the rod chamber of two serial oil cylinders 42,44 is connected, that is, connects chamber to there is bar
Chamber.Reversal valve 22 is mainly used in realizing pumping commutation, can be electro-hydraulic reversing valve, solenoid directional control valve or pilot operated directional control valve；When changing
When being operated in first position (such as left position) to valve 22, from the rodless cavity oil-feed of serial oil cylinders 42, from serial oil cylinders 44 without bar
Chamber oil return；When reversal valve 22 is operated in the second place (such as right position), from the rodless cavity oil-feed of serial oil cylinders 44, from series connection oil
The rodless cavity oil return of cylinder 42；With this repeatedly, concrete is realized by the reciprocating motion of two serial oil cylinders 42,44 continuous and adjustables
Uninterrupted pumping.
Mend draining hydraulic system 30 with the connection chamber of two serial oil cylinders 42,44 to be connected, mend draining hydraulic system 30 and string
The break-make for joining the connection chamber of oil cylinder is controlled by benefit draining magnetic valve 31, that is to say, that whether mends draining hydraulic system 30 to series connection
The connection chamber of oil cylinder carries out mending gain and loss electric control of the draining operation by benefit draining magnetic valve 31, when mending the unlatching of draining magnetic valve 31
Between also determine the benefit dredge oil amount for mending draining hydraulic system 30 to connecting chamber.It is appreciated that draining hydraulic system 30 is mended with connecting
The break-make of the connection chamber of oil cylinder can also be controlled by other control units beyond benefit draining magnetic valve, such as electro-hydraulic reversing valve, liquid
Reversal valve etc. is controlled, simply solenoid directional control valve is more easy to control, and implements simpler.Run-length data module 51 is to be preset in control
Database in device 50, it lists hydraulic system of pump 20 under different pressure and discharge capacity gear, has serial oil cylinders
Draining hydraulic system 30 is mended during stroke state in place needs that connection chamber mend the time of draining, that is, to mend draining magnetic valve 31
Opening time.In the present embodiment, mend draining hydraulic system 30 with hydraulic system of pump 20 to be connected, both share a main pump
21, i.e. benefit draining hydraulic system 30 and the oil supply system of dependent, but one point of the working oil path of hydraulic system of pump 20
Branch oil circuit, hydraulic oil source is provided to mend draining hydraulic system 30 by main pump 21.
Principle shown in Fig. 4 is the principle under being pumped by.If low pressure pumps, then by two actuator ports of reversal valve 22
The rod chamber with two serial oil cylinders 42,44 is connected respectively, and now the rodless cavity of two serial oil cylinders 42,44 is connected, that is, connects
Chamber is rodless cavity, meanwhile, by mend draining magnetic valve 31 with connect chamber be connected to carry out benefit draining, remaining principle can join it is above-mentioned,
This is repeated no more.
In the present embodiment, working condition acquiring device 60 includes oil pressure sensor and rotary switch, hydraulic system of pump 20
Pressure can be detected using oil pressure sensor, and the discharge capacity gear of hydraulic system of pump 20 is by manual hand manipulation's rotary switch
Selected.That is, when hydraulic system of pump 20 needs to have compared with low discharge, relatively low gear, such as 1 can be selected
Shelves are to 5 grades；When hydraulic system of pump 20 is needed with larger flow, higher gear, such as 6 grades to 10 grades can be selected.
In general, the increase with construction height, it would be desirable to rate of pumping is slow, thus the gear selected will somewhat low spot,
But the relation that neither one is absolute.
In the present embodiment, stroke harvester 70 includes the proximity switch of two relative misalignments installations, i.e., preceding approach is opened
Close 71 and rear proximity switch 72.Stroke harvester 70 is mountable on cylinder rod chamber or oil cylinder rodless cavity or water tank, or its
The place of its detectable piston or piston rod position.Fig. 5 and Fig. 6 shows two kinds of layout signals of stroke harvester 70
Figure, the first concrete cylinder 41 and the second concrete cylinder 43 are used for delivering concrete, and the first oil cylinder 42 and the second oil cylinder 44 are hydraulic system of pump
20 executing agency, the first concrete cylinder 41 are connected with the first oil cylinder 42, and the second concrete cylinder 43 is connected with the second oil cylinder 44.Water tank 45 is set
Between two concrete cylinders 41,43 and two oil cylinders 42,44, parts space is changed to cool down and provide.Proximity switch 71,72
On water tank 45 between oil cylinder and concrete cylinder, for the stroke state of oil cylinder to be detected and judged.Proximity switch 71,72
(or being referred to as being staggeredly arranged) one in front and one in back is arranged, its control area L's (i.e. two proximity switches 71, the distance between 72) is big
The small control accuracy that will determine oil cylinder stroke.Control area L is smaller, and control is more accurate.In Figure 5, preceding proximity switch 71 is used for
The stroke of the first oil cylinder 42 is detected, its position is forward；Proximity switch 72 is used for the stroke for detecting the second oil cylinder 44 afterwards, and its position is leaned on
Afterwards.In figure 6, proximity switch 71,72 is used for the stroke for detecting same oil cylinder, and one in front and one in back sets.In addition, two approach and open
The arrangement for closing 71,72 is changed according to different requirements, therefore is not defined, and has been merely given as citing, in the art
Technical staff can be made adjustment according to being actually needed.
Foregoing oil cylinder stroke includes three kinds of states：
Not in place：I.e. oil cylinder stroke does not reach control area, and the stroke of oil cylinder is not in normal range (NR)；
In place：I.e. oil cylinder stroke is located in control area, and the stroke of oil cylinder is in normal range (NR)；
Cross in place：I.e. oil cylinder stroke exceedes control area, and the stroke of oil cylinder is not in normal range (NR).
The signal SQ2 of the signal SQ1 for the preceding proximity switch 71 that stroke harvester 70 collects and rear proximity switch 72 and
There is relation as shown in the following chart between the stroke state of oil cylinder：
| SQ1 signals | SQ2 signals | Oil cylinder stroke state |
| Nothing | Nothing | Not in place |
| Have | Nothing | In place |
| Have | Have | Cross in place |
According to upper table, whether controller 50 can judge oil cylinder stroke in normal range (NR) according to the signal of proximity switch 71,72
It is interior.
It please join Fig. 7, in the present embodiment, mending draining hydraulic system 30 includes mending draining magnetic valve 31 and solenoid directional control valve
32, wherein, solenoid directional control valve 32 is two solenoid directional control valves, and it is to be in nothing that solenoid directional control valve 32, which is used to select serial oil cylinders,
Rod cavity connected state is in rod chamber connected state, when operating personnel select low pressure pumping, now in concrete pump
The connection chamber of two serial oil cylinders switch to rodless cavity connection, rod chamber it is separated, solenoid directional control valve 32 be in first work
Position (being left position in Fig. 7) is simultaneously connected with the rodless cavity of the connection of two serial oil cylinders；When operating personnel's selection is pumped by,
Now the connection chamber of two serial oil cylinders in concrete pump switches to rod chamber connection, separated, the electromagnetic switch of rodless cavity
Valve 32 is in the second operating position (being right position in Fig. 7) and is connected with the rod chamber of the connection of two serial oil cylinders.Specifically, it is electric
Magnetic reversal valve 32 has oil-out A and oil-out B, and the oil-out of draining magnetic valve 31 is mended in the oil inlet connection of solenoid directional control valve 32
A, the oil return opening closure of solenoid directional control valve 32.Wherein, when the connection chamber of two serial oil cylinders is rodless cavity, electromagnet T1a is obtained
Electricity is in left position, mends the rodless cavity that draining hydraulic system 30 is communicated to two serial oil cylinders, when mending the action of draining magnetic valve 31
Can be using to carrying out repairing or draining as the rodless cavity of connection chamber, now rod chamber of the hydraulic system of pump 20 from serial oil cylinders
Oil-feed, corresponding to the low pressure pumping state of hydraulic system of pump 20；When the connection chamber of two serial oil cylinders is rod chamber, electromagnetism
Iron T1a dead electricity is in right position, mends the rod chamber that draining hydraulic system 30 is communicated to two serial oil cylinders, when benefit draining magnetic valve 31
Can be using to carrying out repairing or draining as the rod chamber of connection chamber during action, now hydraulic system of pump 20 is from serial oil cylinders
Rodless cavity oil-feed, state is pumped by corresponding to hydraulic system of pump 20.
It is a three-position electromagnetic reversal valve to mend draining magnetic valve 31, mends the oil-out B closure of draining magnetic valve 31, oil inlet
P connects main pump 21, and oil return inlet T connects fuel tank with oil return.Mending two electromagnet T2a and T2b of draining magnetic valve 31 can control
Mend three kinds of states of draining magnetic valve 31：Repairing state, draining state and the neither state of repairing nor draining.
The stroke control method of serial oil cylinders is as follows：One control is formed by the proximity switch 71,72 of two relative misalignments
Region, judge to connect the fluid volume conditions of chamber by judging the relation of oil cylinder stroke and the control area, on this basis
Repairing or the operation of draining are carried out again, to realize the control of oil cylinder stroke.Specifically, closed by the logic of proximity switch 71,72
System can determine whether out the fluid volume conditions of connection chamber, and combine the control for mending draining magnetic valve 31, realize the fluid to connecting chamber
Volume is controlled, so as to which control cylinder stroke is pumping stroke.
Relation such as following table between the signal condition of proximity switch, oil cylinder stroke state and connection chamber fluid volume：
Exemplified by selecting low pressure pumping state (connecting chamber as rodless cavity), if proximity switch 71,72 detects oil cylinder
Stroke not in place when, controller 30 can judge to connect that chamber fluid is excessive, it is necessary to which draining, controller 30, which passes through to control, mends draining
The electromagnet T2a of magnetic valve 31 obtains electric, benefit draining magnetic valve 31 is operated in left position, you can to realize draining；If proximity switch
71st, 72 when detecting that oil cylinder stroke is crossed in place, and controller 30 can be judged to connect chamber fluid very few, it is necessary to repairing, controller
30 is electric by controlling the electromagnet T2b of benefit draining magnetic valve 31 to obtain, and benefit draining magnetic valve 31 is operated in right position, you can to realize and mend
Oil.
In various operating modes at the construction field (site), the situation in place of pumping stroke (or oil cylinder stroke) depends primarily on series connection oil
Cylinder connection chamber in fluid number, draining is carried out when fluid is excessive in connecting chamber, is carried out when fluid is very few in connecting chamber
Repairing, so that fluid is in just and reached one " dynamic equilibrium " in connection chamber；As it was previously stated, mend draining hydraulic system 30
It is connected with the connection chamber of serial oil cylinders, and its connection with connecting chamber is controlled with disconnecting by benefit draining magnetic valve 31, mends draining liquid
The repairing of pressure system 30 or draining, mend draining time be by benefit draining magnetic valve 31 unlatching (by electromagnet T2a or
T2b dead electricity) and the opening time (electromagnet T2a or T2b electric time) be controlled, therefore mend draining electromagnetism
The opening time t of valve is linear with to the repairing amount or dredge oil amount for connecting chamber, and to connection chamber benefit dredge oil amount number
Depend primarily on the pressure P and flow q of hydraulic system of pump 20；And flow q be decided by operating mode pump when rotating speed n and discharge capacity
E, for now, corresponding rotating speed n and discharge capacity e are also different under different discharge capacity gear N, but same discharge capacity gear N is corresponding
Unique rotating speed n and discharge capacity e, i.e., to connection chamber benefit dredge oil amount number depend primarily on the pressure P of hydraulic system of pump 20
With discharge capacity gear N；
If assume：Mend the electromagnet of draining magnetic valve 31 the electric time be t, the pressure of hydraulic system of pump 20 be P, to
Connection chamber benefit dredge oil amount be V, the flow of hydraulic system of pump 20 is q, the rotating speed of main pump 21 is n, the discharge capacity of main pump 21 be e,
The discharge capacity gear of hydraulic system of pump 20 is N, then has following functional relation：
T=k*f (V) wherein k is correction factor
V=f (P, q)
Q=f (n, e)=f (N)
It is correction factor to have t=k (P, N) wherein k
Therefore, the opening time t (i.e. electromagnet T2a's or T2b obtains the electric time) and pumps hydraulic of draining magnetic valve 31 are mended
Matching relationship between the pressure and discharge capacity gear of system 20 be present, this is just embodied in run-length data module 51 mentioned above
Kind matching relationship, run-length data module 51 are exemplified below shown in table：
The data of the run-length data module 51 in upper table are that is, hydraulic system of pump 20 is in difference by experiment gained
Pressure and different discharge capacity gears under, the opening time t of draining magnetic valve 31 is mended by changing, while detect proximity switch
71st, 72 signal, if mended after draining magnetic valve 31 experienced opening time t, oil cylinder stroke is not from initial " in place "
Replying state to " in place " state, as shown in figure 8, or oil cylinder stroke from initial " crossing in place " replying state to " in place " shape
State, as shown in figure 9, then this time t and corresponding pressure and discharge capacity gear are recorded in run-length data module 51, time t
As hydraulic system of pump 20 is under a certain pressure and a certain discharge capacity gear, and making oil cylinder stroke, never state turns in place in place or excessively
It is changed into mending the optimal opening time t needed for draining magnetic valve 31 during state in place.
For example, when proximity switch 71,72 judges the current stroke of oil cylinder for " not in place ", and the pressure of hydraulic system of pump 20
When power is P1 and discharge capacity gear is N3, the opening time that controller 50 checks in needed for benefit draining magnetic valve 31 from upper table is t3,
Then the control of controller 50 mends draining magnetic valve 31 and opens simultaneously duration t3, and connection chamber is mended by benefit draining hydraulic system 30
Draining operates, and the stroke of oil cylinder is returned to " in place " state；In another example when proximity switch 71,72 judges the current row of oil cylinder
Journey is " cross in place ", and the pressure of hydraulic system of pump 20 is P2 and when discharge capacity gear is N2, and controller 50 checks in from upper table
The opening time mended needed for draining magnetic valve 31 is t6, then the control of controller 50 mends draining magnetic valve 31 and opens the simultaneously duration
T6, benefit draining is carried out to connection chamber by benefit draining hydraulic system 30 and operated, the stroke of oil cylinder is returned to " in place " state；Successively
Analogize.
When oil cylinder stroke is adjusted, the opening time t for mending draining magnetic valve 31 is generally Millisecond, and hydraulic system of pump
20 pressure P is the direct feedback of extraneous load pressure, i.e., the size of extraneous load pressure determines hydraulic system of pump 20
Pressure P, and the change of extraneous load pressure generally requires several seconds or the longer time, therefore typically can be in each oil cylinder stroke
Oil cylinder stroke regulation is next time adjusted and then has carried out.If during oil cylinder stroke regulation, pumps hydraulic system is detected
The pressure or discharge capacity gear of system 20 change, then controller 50 can adjust corresponding in real time according to the change of pressure or discharge capacity gear
The optimal opening time t for mending draining magnetic valve 31, i.e., when the new optimal unlatching of draining magnetic valve 31 is mended in selection of tabling look-up again
Between t so that connect the fluid of chamber all the time in a kind of " dynamic equilibrium ".
It please join Figure 10, serial oil cylinders stroke control method of the invention comprises the following steps：
The stroke state of two serial oil cylinders 42,44 gathered from stroke harvester 70 is received, and according to the row of oil cylinder
Journey condition adjudgement connection chamber needs repairing or draining；
The pressure and discharge capacity gear of the hydraulic system of pump 20 gathered from working condition acquiring device 60 are received, and according to pumping liquid
Accordingly the unlatching that draining magnetic valve 31 needs is mended in selection to the pressure and discharge capacity gear of pressure system 20 from run-length data module 51
Time t；
When needing the judged result of repairing or draining according to connection chamber and mending the unlatching of the needs of draining magnetic valve 31
Between t, control mends draining hydraulic system 30 and connection chamber carried out to mend draining operation.
In the above-mentioned methods, draining hydraulic system 30 is mended with the break-make of the connection chamber of serial oil cylinders by benefit draining magnetic valve 31
Control, that is to say, that mending draining hydraulic system 30, whether the connection chamber to serial oil cylinders mend draining operation by benefit draining electricity
The gain and loss electric control of magnet valve 31, the opening time for mending draining magnetic valve 31 also determine benefit draining hydraulic system 30 to connection chamber
Mend dredge oil amount.Mend that draining hydraulic system 30 is repairing or draining, to mend the time length of draining be by benefit draining magnetic valve 31
Electromagnet electric or dead electricity, the length of electric time controls.
In the above-mentioned methods, the stroke state for judging oil cylinder is after the completion of two pumping circulations, is approached and opened according to two
The presence or absence of 71,72 signals are closed to judge the stroke of oil cylinder whether in normal range (NR).Specifically determination methods are：In two pumpings
After the completion of circulation, if two proximity switches do not have signal to represent oil cylinder stroke not in place, the stroke of oil cylinder is not in normal range (NR)；
Preceding proximity switch has signal, and then proximity switch no signal represents oil cylinder stroke in place, and the stroke of oil cylinder is in normal range (NR)；Two
Individual proximity switch has signal to represent that oil cylinder stroke is crossed in place, and the stroke of oil cylinder is not in normal range (NR).
In the above-mentioned methods, opening time t (the i.e. electromagnet for mending draining magnetic valve 31 is have recorded in run-length data module 51
T2a or T2b the electric time) corresponding relation from hydraulic system of pump 20 under different pressure and different discharge capacity gears,
Pressure and discharge capacity gear using controller 50 according to received hydraulic system of pump 20, are selected from run-length data module 51
The opening time t that mends draining magnetic valve 31 need corresponding with current pressure and discharge capacity gear is selected, and draining is mended in control according to this
The electromagnet of magnetic valve 31 obtains the electric time.During the regulation of oil cylinder stroke, if working condition acquiring device 60 collects pump
The pressure or discharge capacity gear for sending hydraulic system 20 change, then the meeting of controller 50 is real-time according to the change of pressure or discharge capacity gear
Adjust the corresponding optimal opening time t for mending draining magnetic valve 31 so that connect the fluid of chamber all the time in a kind of " dynamically flat
Weighing apparatus ".
It please join Figure 11, serial oil cylinders travel control device of the invention includes：
Receiving module 81, for receiving the stroke state of two serial oil cylinders 42,44 gathered from stroke harvester 70
Information, and for receiving the pressure and discharge capacity gear information of the hydraulic system of pump 20 gathered from working condition acquiring device 60；
Determining module 82, for judging that connection chamber needs repairing or draining, Yi Jiyong according to the stroke state of oil cylinder
In the pressure according to hydraulic system of pump 20 and discharge capacity gear, accordingly draining magnetic valve is mended in selection from run-length data module 51
The 31 opening time t needed；
Control module 83, for needing the judged result of repairing or draining according to connection chamber and mending draining magnetic valve
The 31 opening time t needed, control mend draining hydraulic system 30 and connection chamber are carried out to mend draining operation.
In said apparatus, control module 83 is used to control the logical of the connection chamber for mending draining magnetic valve 31 and serial oil cylinders
It is disconnected, that is to say, that mending draining hydraulic system 30, whether the connection chamber to serial oil cylinders mend draining operation by benefit draining electromagnetism
The gain and loss electric control of valve 31, the opening time for mending draining magnetic valve 31 also determine the benefit for mending draining hydraulic system 30 to connecting chamber
Dredge oil amount.Mend that draining hydraulic system 30 is repairing or draining, to mend the time length of draining be by the electricity of benefit draining magnetic valve 31
Magnet electric or dead electricity, the length of electric time controls.
In said apparatus, receiving module 81 is used to receive the signal that two proximity switches 71,72 are transmitted.Determining module
Whether 82 be used to judge the stroke of oil cylinder in normal range (NR) according to the presence or absence of signal of two proximity switches 71,72.Specifically
Determination methods be：After the completion of two pumping circulations, if two proximity switches do not have signal to represent oil cylinder stroke not in place, oil
The stroke of cylinder is not in normal range (NR)；Preceding proximity switch has signal, and then proximity switch no signal represents oil cylinder stroke in place, oil
The stroke of cylinder is in normal range (NR)；Two proximity switches have signal to represent that oil cylinder stroke is crossed in place, and the stroke of oil cylinder is not in
Normal range (NR).
In said apparatus, opening time t (the i.e. electromagnet for mending draining magnetic valve 31 is have recorded in run-length data module 51
T2a or T2b the electric time) corresponding relation from hydraulic system of pump 20 under different pressure and different discharge capacity gears,
Determining module 82 is used for pressure and discharge capacity gear according to received hydraulic system of pump 20, from run-length data module 51
Selection corresponding with the current pressure and discharge capacity gear opening time for mending the needs of draining magnetic valve 31, and by control module 83 according to
The electromagnet of this control benefit draining magnetic valve 31 obtains the electric time.During oil cylinder stroke regulation, if receiving module 81 connects
The pressure or discharge capacity gear for receiving hydraulic system of pump 20 change, it is determined that module 82 can be according to pressure or discharge capacity gear
The corresponding optimal opening time t for mending draining magnetic valve 31 of change adjustment in real time so that connect the fluid of chamber all the time in one kind
" dynamic equilibrium ".
It is to lead to it will be appreciated by those skilled in the art that realizing all or part in above-described embodiment method and device
Computer program is crossed to instruct the hardware of correlation to complete, described program can be stored in a computer read/write memory medium
In, upon execution, the function in above-described embodiment method and device can be achieved in the program.Wherein, described storage medium can be
Magnetic disc, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The present invention also provides a kind of concrete pumping equipment, including two serial oil cylinders 42,44 and for controlling two strings
Join the travel control system of oil cylinder 42,44, the travel control system is above-mentioned travel control system.
The concrete pumping equipment of the present invention, serial oil cylinders travel control system, method and device are according to pumps hydraulic
System is made decision in different pressure and discharge capacity gear mends the optimal opening time t of draining magnetic valve, can quickly select to mend draining
Optimal the dead electricity time t of the electromagnet of magnetic valve, though different pressure and the supplement that chamber fluid is connected under discharge capacity gear or
Discharge rate changes very greatly, it is not required that prolonged adjustment, avoids " mending draining time out fault "；And can be according to different operating modes
And load, adjustment in real time changes control signal, and to ensure under various operating modes, oil cylinder stroke is all the time in state in place；This is mixed
Coagulate native pumping equipment, serial oil cylinders travel control system, flexible, simple to operate, the intelligent journey of the control mode of method and device
Degree is high, is avoided that serial oil cylinders not in place or the occurrence of cross in place, therefore can extend the service life of concrete piston, improve
The operating efficiency of pumping equipment.
Herein, term " comprising ", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, are removed
Those listed key elements are included, but also the other element being not expressly set out can be included.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located at parts in accompanying drawing in figure and zero
The mutual position of part is intended merely to the clear of expression technology scheme and conveniently come what is defined.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
In the case where not conflicting, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (11)
1. a kind of travel control system of serial oil cylinders, for being controlled to the stroke of two serial oil cylinders (42,44), it is special
Sign is：
The travel control system includes hydraulic system of pump (20), benefit draining hydraulic system (30), controller (50), operating mode and adopted
Acquisition means (60) and stroke harvester (70)；
The working condition acquiring device (60) is used for the pressure (p) and discharge capacity gear (N) for gathering the hydraulic system of pump (20)；
The stroke harvester (70) is used for the stroke state for gathering described two serial oil cylinders (42,44)；
The draining hydraulic system (30) of mending is used to carry out repairing to the connection chamber of described two serial oil cylinders (42,44) or let out
Oil；
The controller (50) includes default run-length data module (51), is contained in the run-length data module (51) described
Hydraulic system of pump (20) makes described two serial oil cylinders (42,44) have in place under different pressure and discharge capacity gear
The draining hydraulic system (30) of mending needs to connection chamber mend the time of draining during stroke state；
The controller (50) is used for the described two serial oil cylinders (42,44) gathered according to the stroke harvester (70)
Stroke state judges that connection chamber needs repairing or draining, and the pumping gathered according to the working condition acquiring device (60)
The pressure and discharge capacity gear of hydraulic system (20) are mended the draining time from the run-length data module (51) corresponding to selection, control
The benefit draining hydraulic system (30) carries out mending draining operation to connection chamber；
Wherein, the benefit draining hydraulic system (30) is connected with the connection chamber of described two serial oil cylinders (42,44), and the benefit is let out
Oily hydraulic system (30) includes mending draining magnetic valve (31), the benefit draining hydraulic system (30) and described two serial oil cylinders
The break-make of the connection chamber of (42,44) is controlled by the benefit draining magnetic valve (31), is listed in the run-length data module (51)
The hydraulic system of pump (20) has described two serial oil cylinders (42,44) and arrived under different pressure and discharge capacity gear
The opening time (t) mended draining magnetic valve (31) and the needed during stroke state of position.
2. the travel control system of serial oil cylinders according to claim 1, it is characterised in that：The benefit draining magnetic valve
(31) there are three kinds of states：Repairing state, draining state and the neither state of repairing nor draining.
3. the travel control system of serial oil cylinders according to claim 2, it is characterised in that：The hydraulic system of pump
(20) main pump (21), reversal valve (22) and fuel tank (23) are included, the main pump (21) is used to pump out from the fuel tank (23)
Into fluid pressure line, the reversal valve (22) is used to realize pumping commutation hydraulic oil；The benefit draining hydraulic system (30) and institute
State hydraulic system of pump (20) to be connected, both share a main pump (21), are the benefit draining hydraulic pressure system by the main pump (21)
System (30) provides hydraulic oil source.
4. the travel control system of serial oil cylinders according to claim 2, it is characterised in that：The benefit draining hydraulic system
(30) solenoid directional control valve (32) is also included, the solenoid directional control valve (32) is for selecting described two serial oil cylinders (42,44)
Rod chamber connected state is in rodless cavity connected state；When the connection chamber of described two serial oil cylinders (42,44) is
During rodless cavity, the hydraulic system of pump (20) corresponds to institute from the rod chamber oil-feeds of described two serial oil cylinders (42,44)
State the low pressure pumping state of hydraulic system of pump (20)；When the connection chamber of described two serial oil cylinders (42,44) is rod chamber,
The hydraulic system of pump (20) corresponds to the pumping liquid from the rodless cavity oil-feeds of described two serial oil cylinders (42,44)
Pressure system (20) is pumped by state.
5. the travel control system of serial oil cylinders according to claim 2, it is characterised in that：The stroke harvester
(70) the preceding proximity switch (71) and rear proximity switch (72) of two relative misalignment installations are included, and according to the preceding proximity switch
(71) and whether in place the signal condition of rear proximity switch (72) determines the stroke of described two serial oil cylinders (42,44).
6. the travel control system of serial oil cylinders according to claim 2, it is characterised in that：The working condition acquiring device
(60) oil pressure sensor and rotary switch are included, the pressure of the hydraulic system of pump (20) is carried out using the oil pressure sensor
Detection, the discharge capacity gear of the hydraulic system of pump (20) are selected by the rotary switch.
7. a kind of concrete pumping equipment, including two serial oil cylinders (42,44) and for controlling described two serial oil cylinders
The travel control system of (42,44), it is characterised in that the travel control system is the row described in any one of claim 1 to 6
Process control system.
8. a kind of stroke control method of serial oil cylinders, including：
The stroke state of two serial oil cylinders (42,44) from stroke harvester (70) collection is received, and according to the row of oil cylinder
Journey condition adjudgement connection chamber needs repairing or draining；
The pressure (P) and discharge capacity gear (N) for the hydraulic system of pump (20) that reception gathers from working condition acquiring device (60), and according to
Accordingly draining magnetic valve is mended in selection to the pressure and discharge capacity gear of hydraulic system of pump (20) from run-length data module (51)
(31) opening time (t) needed；
The judged result of repairing or draining is needed according to connection chamber and mends the opening time that draining magnetic valve (31) needs
(t), control mends draining hydraulic system (30) and connection chamber is carried out to mend draining operation；
Wherein, in the process, the unlatching of the benefit draining magnetic valve (31) is have recorded in the run-length data module (51)
Corresponding relation of the time (t) from the hydraulic system of pump (20) under different pressure and different discharge capacity gears, utilizes control
Device (50) processed is according to the pressure and discharge capacity gear of the received hydraulic system of pump (20), from the run-length data module
(51) opening time (t) that the selection benefit draining magnetic valve (31) corresponding with current pressure and discharge capacity gear needs in,
And control according to this it is described benefit draining magnetic valve (31) electromagnet the electric time.
9. the stroke control method of serial oil cylinders according to claim 8, it is characterised in that：In the process, in oil
During the regulation of cylinder stroke, if working condition acquiring device (60) collects the pressure or discharge capacity of the hydraulic system of pump (20)
Gear changes, then controller (50) adjusts the corresponding benefit draining electromagnetism in real time according to the change of pressure or discharge capacity gear
The opening time (t) of valve (31).
10. a kind of travel control device of serial oil cylinders, including：
Receiving module (81), for receiving the stroke shape of two serial oil cylinders (42,44) from stroke harvester (70) collection
State information, and for receiving pressure and discharge capacity gear letter from the hydraulic system of pump (20) of working condition acquiring device (60) collection
Breath；
Determining module (82), for judging that connection chamber needs repairing or draining according to the stroke state of oil cylinder, and it is used for
According to the pressure of hydraulic system of pump (20) and discharge capacity gear, accordingly draining electromagnetism is mended in selection from run-length data module (51)
The opening time (t) that valve (31) needs；
Control module (83), for needing the judged result of repairing or draining according to connection chamber and mending draining magnetic valve
(31) opening time (t) needed, control mend draining hydraulic system (30) and connection chamber are carried out to mend draining operation；
Wherein, in said device, the unlatching of the benefit draining magnetic valve (31) is have recorded in the run-length data module (51)
Corresponding relation of the time (t) from the hydraulic system of pump (20) under different pressure and different discharge capacity gears, it is described true
Cover half block (82) is used for pressure and discharge capacity gear according to the received hydraulic system of pump (20), from the number of strokes
During according to the unlatching that the benefit draining magnetic valve (31) needs corresponding with current pressure and discharge capacity gear are selected in module (51)
Between, by the control module (83) control according to this it is described benefit draining magnetic valve (31) electromagnet the electric time.
11. the travel control device of serial oil cylinders according to claim 10, it is characterised in that：In said device, exist
During the regulation of oil cylinder stroke, if receiving module (81) receives the pressure or discharge capacity shelves of the hydraulic system of pump (20)
Position changes, it is determined that module (82) adjusts the corresponding benefit draining electromagnetism in real time according to the change of pressure or discharge capacity gear
The opening time (t) of valve (31).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410359255.7A CN105317788B (en) | 2014-07-25 | 2014-07-25 | Concrete pumping equipment, the travel control system of serial oil cylinders, method and apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410359255.7A CN105317788B (en) | 2014-07-25 | 2014-07-25 | Concrete pumping equipment, the travel control system of serial oil cylinders, method and apparatus |
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| CN105317788B true CN105317788B (en) | 2017-12-05 |
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| DE3834678A1 (en) * | 1988-10-12 | 1990-04-19 | Putzmeister Maschf | METHOD AND DEVICE FOR CORRECTING THE PISTON STROKE IN THE CYLINDERS OF A TWO-CYLINDER FUEL PUMP |
| CN100385126C (en) * | 2005-10-28 | 2008-04-30 | 三一重工股份有限公司 | Valve oil supplement method for series connection cylinders and apparatus therefor |
| CN100569375C (en) * | 2007-03-07 | 2009-12-16 | 上海建设路桥机械设备有限公司 | Heavy type hydraulic jaw crusher and method of operating thereof |
| CN101776107B (en) * | 2010-03-24 | 2012-05-30 | 中联重科股份有限公司 | Exact stroke control method and stroke control device of serial oil cylinders |
| CN102330715B (en) * | 2011-07-14 | 2013-03-27 | 中联重科股份有限公司 | Concrete pumping equipment, serial oil cylinder and stroke self-adaptive tail end compensation method thereof |
| CN102705282B (en) * | 2012-06-28 | 2015-07-15 | 中联重科股份有限公司 | Concrete pumping equipment and travel control device and method for series oil cylinders |
| CN103148062B (en) * | 2013-03-19 | 2015-03-25 | 中联重科股份有限公司 | Stroke control system, method and device of cylinders in series |
| CN103470573B (en) * | 2013-09-04 | 2016-02-03 | 中联重科股份有限公司 | Pumping unit mends draining control apparatus, system, method and engineering machinery |
| CN103644174B (en) * | 2013-12-16 | 2016-04-20 | 中联重科股份有限公司 | The stroke control method of serial oil cylinders, device and system |
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