CN105484311B - Without spill losses loader hydraulic work system and its control method - Google Patents
Without spill losses loader hydraulic work system and its control method Download PDFInfo
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- CN105484311B CN105484311B CN201610027774.2A CN201610027774A CN105484311B CN 105484311 B CN105484311 B CN 105484311B CN 201610027774 A CN201610027774 A CN 201610027774A CN 105484311 B CN105484311 B CN 105484311B
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- high pressure
- pressure accumulator
- reversal valve
- bit triplet
- accumulator
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of loader hydraulic work system of no spill losses, original engine, power transmission shaft, filter, fuel tank, constant displacement pump, banked direction control valves, rotary ink tank, boom cylinder, safety valve, double-acting safety valve construction on the basis of, install the first two-bit triplet reversal valve, high pressure accumulator additional between banked direction control valves and constant displacement pump, install low pressure accumulator and the second two-bit triplet reversal valve additional on oil return circuit, and measure the pressure value of accumulator respectively using pressure sensor.By controlling the first two-bit triplet reversal valve and the second two-bit triplet reversal valve, achieve that quantitative pump output flow matches with load (outer load and accumulator) demand volume, energy resource consumption caused by avoiding spill losses completely, energy resource consumption caused by reducing restriction loss, improves overall efficiency.And potential energy is declined using low pressure accumulator recovery swing arm, for driving steering mechanism, further increases capacity usage ratio.
Description
Technical field
The present invention relates to technical field of engineering machinery, energy-conserving hydraulic work of more particularly to a kind of loading machine without spill losses
System and its control method
Background technology
Hydraulic system is the important component of loading machine, and loading machine is widely used in mine, road administration, building etc.
Field.Current middle-size and small-size loading machine generally uses constant displacement pump, occurs that pump and loading demand flow are unmatched in the course of work
Phenomenon, spill losses is caused, cause fuel economy to decline and the rise of hydraulic oil oil temperature.So it is unfavorable for environmental protection and liquid can be reduced
The service life of force feed and then the reliability and efficiency for influenceing whole hydraulic systems and components.Large-duty loader generally uses variable
Pump, cost is high and sensitive to pollution.
The power-saving technology that product mainly uses at present has Dual-pump flow-converging technology and Dual-pump flow-converging equivalence off-load technology, but
Do not solve flooding problems thoroughly, so energy-saving effect is very limited.Although variable pump technology can reduce power loss,
Because it involves great expense, it is difficult to popularize at present.
The present invention proposes a kind of energy-conserving hydraulic work system, by being improved to Constant Pump System, so that it may keep away completely
Exempt from spill losses, there is identical energy-saving effect with variable pump systems, while avoid high cost.
The content of the invention
It is an object of the invention to provide a kind of loader hydraulic work system of no spill losses and its control method.
The loader hydraulic work system without spill losses of the present invention is by engine 21, power transmission shaft 20, filter 17, oil
Case 18, constant displacement pump 19, two-bit triplet reversal valve, banked direction control valves, rotary ink tank 4, boom cylinder 5, controller 6, safety valve, accumulation of energy
Device, check valve 15, double-acting safety valve, pressure sensor composition.The banked direction control valves includes three six-way transfer valves 2, four four
Logical reversal valve 3.The two-bit triplet reversal valve includes the first two-bit triplet reversal valve 1, the second two-bit triplet reversal valve 13.It is described
Safety valve includes the first safety valve 14, the second safety valve 16.The accumulator includes high pressure accumulator 7 and low pressure accumulator 8.Institute
Stating double-acting safety valve includes the first double-acting safety valve 11, the second double-acting safety valve 12.The pressure sensor includes the
One pressure sensor 9, second pressure sensor 10.The engine 21 is connected by power transmission shaft 20 with constant displacement pump 19；It is described fixed
Amount the oil inlet of pump 19 be connected by filter 17 with fuel tank 18, oil-out divides two-way, all the way with the P of the first two-bit triplet reversal valve 1
Mouth is connected, and another way is connected with the second safety valve 16；The oil-out of second safety valve 16 is connected by filter 17 with fuel tank 18；First
A points of 1 oil-out of two-bit triplet reversal valve is two-way, and P, P1 mouth with three six-way transfer valves 2 are connected all the way, another way and high pressure
Accumulator 7 is connected, and oil-out B is connected by filter 17 with fuel tank 18；The T mouths of three six-way transfer valves 2 and the second two three
The P mouths of logical reversal valve 13 are connected, and the A mouths of three six-way transfer valves 2 are connected with the P mouths of four position and four-way reversing valves 3, and A1 mouths are divided to two
Road, it is connected all the way with the rod chamber of rotary ink tank 4, all the way by the first double-acting safety valve 11 through the second two-bit triplet reversal valve 13
It is connected with fuel tank 18；B mouths divide two-way, are connected all the way with the rodless cavity of rotary ink tank 4, and another way passes through the second double-acting safety valve 12
It is connected via the second two-bit triplet reversal valve 13 with fuel tank 18.The P mouths of four position and four-way reversing valves 3 and the A of three six-way transfer valves 2
Mouth is connected, and T mouths are connected with the P mouths of the second two-bit triplet reversal valve 13, and A mouths are connected with the rod chamber of boom cylinder 5, and B mouths are with moving
The rodless cavity of arm oil cylinder 5 is connected.The T mouths with reversal valve 2,3, double acting are safe respectively for the P mouths of second two-bit triplet reversal valve 13
The outlet of valve 11,12 is connected；A mouths are divided into two-way, and the B mouths with the first two-bit triplet reversal valve 1 are connected all the way, all the way via filtering
Device 17 is connected with fuel tank 18；B mouths are connected by check valve 15 with low pressure accumulator 8.The signal input part of controller 6 is respectively with changing
To the control crank of valve 2,3, the signal output part of pressure sensor 9,10 is connected.The signal output part of controller 6 is respectively with changing
It is connected to the signal input part of valve 1,13.Pressure sensor 9,10 is connected by fluid pressure line with accumulator 8,7 respectively.
Compared with prior art the beneficial effects of the invention are as follows：
1st, the present invention realize make in the case of less to the transformation of original loader hydraulic system the output flow of pump with
Load (outer load and accumulator) demand volume of equipment matches, energy resource consumption caused by avoiding spill losses, subtracted
Energy resource consumption caused by small restriction loss, improves overall efficiency.
2nd, the present invention, which realizes, makes Constant Pump System have and variable pump systems identical energy-saving effect.The system employs
Contamination resistance is stronger, lower-cost constant displacement pump, reduces manufacturing cost and maintenance cost.Absorbed and pressed by accumulator simultaneously
Power is impacted, and is improved the stability and reliability of hydraulic system, is improved the component fatigue life-span.With bearing using variable pump
Carry sensory system to compare, the system can realize identical energy-saving effect by control.
3rd, the present invention declines potential energy using the higher low pressure accumulator recovery swing arm of power density, for driving turning machine
Structure, further increase capacity usage ratio.
4th, the present invention reduces engine installed power, improves complete machine economy by accumulator storage energy.
5th, hydraulic system due to the presence of accumulator, reduces the time that work clothes set up pressure, improved whole in the present invention
The operating efficiency of machine.
Brief description of the drawings
Fig. 1 is the structure composition and operation principle schematic diagram of the present invention.
Fig. 2 is energy transmission route map under the independent powered mode of high pressure accumulator under present invention receipts bucket operating mode.
Fig. 3 is energy transmission route map under high pressure accumulator under present invention receipts bucket operating mode and the common powered mode of constant displacement pump.
Fig. 4 is energy transmission route map under the independent powered mode of high pressure accumulator under moved arm lifting operating mode of the present invention.
Fig. 5 is energy transmission route under high pressure accumulator under moved arm lifting operating mode of the present invention and the common powered mode of constant displacement pump
Figure.
Fig. 6 is energy transmission route map under the independent powered mode of high pressure accumulator under discharging operating mode of the present invention.
Fig. 7 is energy transmission route map under high pressure accumulator under discharging operating mode of the present invention and the common powered mode of constant displacement pump.
Fig. 8 is that low pressure accumulator reclaims potential energy energy under the independent powered mode of high pressure accumulator under swing arm of the present invention decline operating mode
Measure transfer route figure.
Fig. 9 is that low pressure accumulator does not reclaim potential energy under the independent powered mode of high pressure accumulator under swing arm of the present invention decline operating mode
Energy transmission route map.
Figure 10 is low pressure accumulator under high pressure accumulator under swing arm of the present invention decline operating mode and the common powered mode of constant displacement pump
Potential energy energy transmission route map is not reclaimed.
Embodiment
Referring to Fig. 1, it is embodiments of the invention, the embodiment is by engine 21, power transmission shaft 20, filter 17, fuel tank
18th, constant displacement pump 19, two-bit triplet reversal valve, banked direction control valves, rotary ink tank 4, boom cylinder 5, controller 6, safety valve, accumulator,
Check valve 15, double-acting safety valve, pressure sensor composition.The banked direction control valves changes including three six-way transfer valves, 2, four four-ways
To valve 3.The two-bit triplet reversal valve includes the first two-bit triplet reversal valve 1, the second two-bit triplet reversal valve 13.The safety
Valve includes the first safety valve 14, the second safety valve 16.The accumulator includes high pressure accumulator 7 and low pressure accumulator 8.It is described double
Acting on safety valve includes the first double-acting safety valve 11, the second double-acting safety valve 12.The pressure sensor includes the first pressure
Force snesor 9, second pressure sensor 10.The engine 21 is connected by power transmission shaft 20 with constant displacement pump 19；The constant displacement pump
19 oil inlets are connected by filter 17 with fuel tank 18, and oil-out divides two-way, all the way with the P mouth phases of the first two-bit triplet reversal valve 1
Even, another way is connected with the second safety valve 16；The oil-out of second safety valve 16 is connected by filter 17 with fuel tank 18；The first two
A points of 1 oil-out of three-way diverter valve is two-way, and P, P1 mouth with three six-way transfer valves 2 are connected all the way, another way and high-voltage energy-storage
Device 7 is connected, and oil-out B is connected by filter 17 with fuel tank 18；The T mouths of three six-way transfer valves 2 change with the second two-bit triplet
It is connected to the P mouths of valve 13, the A mouths of three six-way transfer valves 2 are connected with the P mouths of four position and four-way reversing valves 3, and A1 mouths divide two-way, and one
Road is connected with the rod chamber of rotary ink tank 4, all the way by the first double-acting safety valve 11 through the second two-bit triplet reversal valve 13 and oil
Case 18 is connected；B mouths divide two-way, are connected all the way with the rodless cavity of rotary ink tank 4, another way by the second double-acting safety valve 12 via
Second two-bit triplet reversal valve 13 is connected with fuel tank 18.The A mouth phases of the P mouths of four position and four-way reversing valves 3 and three six-way transfer valves 2
Even, T mouths are connected with the P mouths of the second two-bit triplet reversal valve 13, and A mouths are connected with the rod chamber of boom cylinder 5, B mouths and swing arm oil
The rodless cavity of cylinder 5 is connected.The P mouths of second two-bit triplet reversal valve 13 T mouths with reversal valve 2,3 respectively, double-acting safety valve 11,
12 outlet is connected；A mouths are divided into two-way, and the B mouths with the first two-bit triplet reversal valve 1 are connected all the way, all the way via filter 17
It is connected with fuel tank 18；B mouths are connected by check valve 15 with low pressure accumulator 8.The signal input part of controller 6 respectively with reversal valve
2nd, 3 control crank, the signal output part of pressure sensor 9,10 are connected.The signal output part of controller 6 respectively with reversal valve
1st, 13 signal input part is connected.Pressure sensor 9,10 is connected by fluid pressure line with accumulator 8,7 respectively.
Working process and principle of the invention are as follows：
1st, operating mode is inserted：
Loading machine straight-line travelling under the driving of running gear, material is horizontally inserted by scraper bowl, and when scraper bowl, to enter pan feeding heap straight
To material is sufficiently loaded with, halt, in the process, three six-way transfer valves 2, four position and four-way reversing valves 3 work respectively
In middle position, the first two-bit triplet reversal valve 1 is operated in right position, and the second two-bit triplet reversal valve 13 is operated in left position, rotary ink tank 4
With the locking of boom cylinder 5, high pressure accumulator 7 and low pressure accumulator 8 are in and keep pressure state, do not energize outwardly.Constant displacement pump
Fluid is discharged into fuel tank by 19 under the driving of engine 21 by the first two-bit triplet reversal valve 1, and now constant displacement pump 19 is in and unloaded
Lotus state.
According to actual condition, loading machine meets non-loose material in operating mode is inserted, and during the larger situation of demand spading power, drives
The person of sailing can shake scraper bowl by operating rotary ink tank 4, loosen material, load material as much as possible in single cycle.
Three six-way transfer valves 2 are voluntarily regulated and controled by pilot control, aperture by driver in the process；Now controller 6 passes through
Pressure in two pressure sensors 10 measurement high pressure accumulator 7, calculates the rate of change of pressure in accumulator, while detects three six
The operation handle angle (operation handle and the angle in its home position) of logical reversal valve 2：
(1) if now operation handle angle is not 0, illustrate that three six-way transfer valves 2 are operated in left position or right position, this
When controller 6 pressure change rate is calculated by the input signal of second pressure sensor 10, if predicting high pressure by calculating and storing
Energy device 7 pressure value subsequent time is more than the low pressure limit value of setting, and pressure change rate is more than corresponding grasp in high pressure accumulator 7
Make corresponding rate of change lower limit under handle angle, illustrate that the self-energy of high pressure accumulator 7 is enough to drive rotary ink tank, so now
First two-bit triplet reversal valve 1 is operated in right position, and constant displacement pump 19 continues off-load, and reversal valve 3,13 is failure to actuate, and rotary ink tank 4 works
Driven completely by high pressure accumulator 7, rotary ink tank fuel feeding passes through three six-way transfer valves 2 of control by driver in the process
Aperture is adjusted.
(2) if now operation handle angle is not 0, illustrate that three six-way transfer valves 2 are operated in left position or right position, this
When controller 6 pressure change rate is calculated by the input signal of second pressure sensor 10, calculate prediction high-voltage energy-storage if passing through
The pressure value subsequent time of device 7 is less than low pressure limit value set in advance, then illustrates that possessing energy in accumulator can not move in cut-out
Equipment is independently driven to complete a state of cyclic operation in the case of power；If pressure change rate is less than corresponding behaviour in high pressure accumulator 7
Make corresponding energy storage pressure rate of change lower limit under handle angle, then illustrate that rotating bucket speed declines, accumulator can not provide foot
Enough flows ensure the speed of rotating bucket.So there is one to be less than lower limit in both forecast pressure value and pressure change rate, just
Constant displacement pump 19 is needed to be energized for hydraulic system, the first two-bit triplet reversal valve 1 is operated in left position under the driving of controller 6, the
The effect of one or two internal check valve of three-way diverter valve 1 be prevent constant displacement pump 19 access when due to constant displacement pump build pressure during caused by
Action is sluggish, and three six-way transfer valves 2 are operated in left position or right position under pilot control, and four position and four-way reversing valves 3 are operated in
Middle position, the second two-bit triplet reversal valve 13 are operated in left position.Now high pressure accumulator 7 supplies for hydraulic system jointly with constant displacement pump 19
Oil, because high pressure accumulator 7 still possesses the energy of one state of cyclic operation of satisfaction, so constant displacement pump will not be supplied preferentially to accumulator
Energy.In the process, if the big pressure of rotary ink tank demand volume is small, high pressure accumulator 7 is commonly fed hydraulic pressure with constant displacement pump 19
Oil；If the small pressure of rotating bucket hydraulic cylinder demand volume is big, high pressure accumulator 7, which absorbs, comes from the unnecessary flow of constant displacement pump 19, protects
Card does not produce spill losses, and once the first two-bit triplet reversal valve 1 is operated in left position, until the pressure value of high pressure accumulator 7
Reach upper pressure limit value set in advance, the first two-bit triplet reversal valve 1 always works at left position, prevents frequent movement from bringing not
Necessary restriction loss, in the process the fuel feeding of rotary ink tank 4 by driver by control three six-way transfer valves 2 aperture enter
Row regulation.
(3) if now operation handle angle is 0, illustrate that scraper bowl stops shake, reversal valve 2,3 is operated in middle position；Control
Device 6 processed detects the feedback signal of the first two-bit triplet reversal valve 1 and the pressure of high pressure accumulator 7, if the first two-bit triplet commutates
Valve 1 is operated in left position and the pressure of high pressure accumulator 7 is less than higher limit, then constant displacement pump 19 fills energy until accumulation of energy to high pressure accumulator 7
Device pressure reaches higher limit, and then controller 6 drives the first two-bit triplet reversal valve 1 to be operated in right position, the off-load of constant displacement pump 19, stores
Can device holding pressure；If the first two-bit triplet reversal valve 1 is operated in left position and the pressure of high pressure accumulator 7 reaches higher limit, control
Device 6 processed drives the first two-bit triplet reversal valve 1 to be operated in right position, constant displacement pump off-load, and accumulator keeps pressure；If the first two three
Logical reversal valve 1 is operated in right position, then keeps original state, the off-load of constant displacement pump 19, and accumulator keeps pressure.
2nd, bucket operating mode is received：
Insert after the completion of operating mode, loading machine moves on, and three six-way transfer valves 2 of pilot control are operated in right position, turns
Struggled against the rodless cavity oil-feed of oil cylinder 4, and rod chamber is fuel-displaced, and rotary ink tank driving scraper bowl is turned over.In this operating mode, scraper bowl is by itself
Gravity, the gravity of material, material reach to the resistances of bucket motions and maximum, and now machining device hydraulic system is operated in
High-pressure low-flow state.
Under this operating mode, controller 6 is by detecting the operation handle angles of three six-way transfer valves 2, high pressure accumulator 7
Pressure, the pressure change rate of calculating high pressure accumulator 7 drive the first two-bit triplet reversal valve 1 to work, and make the flow of constant displacement pump 19
Match with load (workload and accumulator) demand volume, avoid overflow.Specific implementation process is as follows, and controller 6 detects
It is not 0 to three operation handle angles of six-way transfer valve 2, then the pressure of high pressure accumulator 7 is detected by second pressure sensor 10
Power and calculating pressure change rate, there is following situation：
The initial time of first two-bit triplet reversal valve 1 is operated in right position：
The operation handle angle of (1) three six-way transfer valve 2 is not 0, and controller 6 predicts high pressure accumulator 7 by calculating
Pressure value subsequent time is more than low pressure limit value set in advance and energy storage pressure rate of change is more than corresponding operating handle angle
Energy storage pressure rate of change lower limit, illustrates that the self-energy of high pressure accumulator 7 is enough to drive rotary ink tank 4 corresponding to lower, so this
When the first two-bit triplet reversal valve 1 be operated in right position, constant displacement pump 19 continues off-load, and four position and four-way reversing valves 3 are operated in middle position, the
Two two-bit triplet reversal valves 13 are operated in left position, and rotary ink tank work is driven by high pressure accumulator 7 completely.
The operation handle angle of (2) three six-way transfer valves 2 is not 0, and controller 6 is defeated by second pressure sensor 10
Go out the pressure change rate of signal of change high pressure accumulator 7, if being less than in advance by calculating prediction energy storage pressure value subsequent time
The low pressure limit value of setting, then illustrate that possessing energy in accumulator can not independently drive equipment complete in the case of power is cut off
Into a state of cyclic operation；If pressure change rate is less than corresponding energy storage pressure change under corresponding operating handle angle in accumulator
Rate lower limit, then illustrate that accumulator supply capability declines, accumulator can not provide enough flows to ensure the speed of rotating bucket.Institute
To there is one to be less than lower limit in both forecast pressure value or pressure change rate, it is necessary to constant displacement pump energizes for hydraulic system,
First two-bit triplet reversal valve 1 is operated in left position under the driving of controller 6, and four position and four-way reversing valves 3 are operated in middle position, and second
Two-bit triplet reversal valve 13 is operated in left position.Now high pressure accumulator 7 and constant displacement pump 19 are jointly hydraulic system fuel feeding, due to height
Pressure accumulator 7 still possesses the energy for meeting a state of cyclic operation, so constant displacement pump 19 will not be energized preferentially to high pressure accumulator 7.
In the process, rotary ink tank 4 is in heavily loaded low discharge state, and high pressure accumulator 7, which absorbs, comes from the unnecessary of constant displacement pump 19
Flow, guarantee does not produce spill losses, and once the first two-bit triplet reversal valve 1 is operated in left position, until high pressure accumulator 7
Pressure value reaches upper pressure limit value set in advance, and the first two-bit triplet reversal valve 1 always works at left position, prevents frequent movement
Bring unnecessary restriction loss；When the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the first two
Three-way diverter valve 1 is operated in right position, and high pressure accumulator 7 starts individually to energize to system.In the process the fuel feeding of rotary ink tank 4 by
Driver is by controlling the aperture of three six-way transfer valves 2 to be adjusted.
The initial time of first two-bit triplet reversal valve 1 is operated in left position：
The operation handle angle of (3) three six-way transfer valves 2 is not 0, and high pressure accumulator 7 and constant displacement pump 19 are hydraulic pressure jointly
System fuel feeding, in the process, rotary ink tank are in heavily loaded low discharge state, and high pressure accumulator 7, which absorbs, comes from constant displacement pump 19
Unnecessary flow, guarantee do not produce spill losses, and the first two-bit triplet reversal valve 1 is operated in left position, until high-voltage energy-storage
The pressure value of device 7 reaches upper pressure limit value set in advance, and the first two-bit triplet reversal valve 1 always works at left position, prevents frequency
Numerous action brings unnecessary restriction loss；When the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the
One or two three-way diverter valve 1 is operated in right position, and high pressure accumulator 7 starts individually to energize to system, into 2 (1) discrimination models.
Fuel feeding of rotary ink tank 4 is adjusted by driver by the aperture of three six-way transfer valves 2 of control during this.
Operating mode 2 (1), 2 (2), 2 (3) are moved in circles until scraper bowl receives bucket and reaches inclination maximum, and pilot control three six is logical
Reversal valve 2 is operated in middle position, receives bucket and completes.
3rd, moved arm lifting operating mode
After the completion of receiving bucket, the position and four-way reversing valve 3 of pilot control four is operated in right position, and swing arm is controlled using Throttle Principle
The speed of lifting.Require in the process the quick and stable of boom cylinder 5 move, boom cylinder by material gravity and be moved through
Caused inertia force in journey.So now machining device hydraulic system is in high-pressure high-flow state, during this and it is not present
Spill losses.
Under this operating mode, controller 6 is by detecting the operation handle angles of four position and four-way reversing valves 3, high pressure accumulator 7
Pressure, the pressure change rate of calculating high pressure accumulator 7 drive the first two-bit triplet reversal valve 1 to work, and make constant displacement pump 19 and high pressure
Accumulator 7 is the fuel feeding of boom cylinder 5, realizes the quick lifting of material.Specific implementation process is as follows, and controller 6 detects four
Four-way reversing valve 3 is operated in right position, then detects the pressure of high pressure accumulator 7 by second pressure sensor 10 and calculate pressure and become
Rate, there is following situation：
The initial time of first two-bit triplet reversal valve 1 is operated in right position：
The operation handle angle of (1) four position and four-way reversing valve 3 is not 0, and controller 6 is defeated by second pressure sensor 10
Go out the signal of change prediction pressure value subsequent time of high pressure accumulator 7 and be more than low pressure limit value set in advance, and high-voltage energy-storage
The pressure change rate of device 7 is more than corresponding rate of change lower limit under corresponding operating handle angle, illustrates the self-energy of high pressure accumulator 7 foot
To drive boom cylinder 5, so now the first two-bit triplet reversal valve 1 is operated in right position, constant displacement pump 19 continues off-load, three six
Logical reversal valve 2 is operated in middle position, and the second two-bit triplet reversal valve 13 is operated in left position, and boom cylinder 5 works to be stored by high pressure completely
Energy device 7 drives.
The operation handle angle of (2) four position and four-way reversing valves 3 is not 0, and controller 6 is believed by the output of pressure sensor 10
Number pressure change rate is calculated, if being less than by calculating prediction high pressure accumulator 7 pressure value subsequent time under pressure set in advance
Limit value, then illustrate that possessing energy in high pressure accumulator 7 can not independently drive equipment to complete one in the case of power is cut off
State of cyclic operation；If pressure change rate is less than corresponding energy storage pressure change under corresponding operating handle angle in high pressure accumulator 7
Rate lower limit, then illustrate that accumulator supply capability declines, accumulator can not provide enough flows to ensure the speed of boom cylinder 5
Degree.So there is one to be less than lower limit in both forecast pressure value or pressure change rate, it is necessary to which constant displacement pump 19 is hydraulic pressure system
System energy supply, the first two-bit triplet reversal valve 1 are operated in left position under the driving of controller 6, and four position and four-way reversing valves 3 are operated in the right side
Position, the second two-bit triplet reversal valve 13 are operated in left position.Now high pressure accumulator 7 supplies for hydraulic system jointly with constant displacement pump 19
Oil, because high pressure accumulator 7 still possesses the energy of one state of cyclic operation of satisfaction, so constant displacement pump 19 will not be supplied preferentially to accumulator
Energy.In the process, boom cylinder is in heavily loaded big flow state, and high pressure accumulator 7 and constant displacement pump 19 are jointly to boom cylinder
Fuel feeding, while the absorption pressure of high pressure accumulator 7 is vibrated, and ensures the quick and stable lifting of boom cylinder, and once the first two three
Logical reversal valve 1 is operated in left position, until the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the first two
Three-way diverter valve 1 always works at left position, prevents frequent movement from bringing unnecessary restriction loss；When the pressure of high pressure accumulator 7
When force value reaches upper pressure limit value set in advance, the first two-bit triplet reversal valve 1 is operated in right position, and high pressure accumulator 7 starts
Individually energized to system.
The initial time of first two-bit triplet reversal valve 1 is operated in left position：
The operation handle angle of (3) four position and four-way reversing valves 3 is not 0, and high pressure accumulator 7 and constant displacement pump 19 are hydraulic pressure jointly
System fuel feeding, because boom cylinder 5 is in heavily loaded big flow state, high pressure accumulator 7 is with constant displacement pump 19 jointly to boom cylinder 5
Fuel feeding, ensure the quick and stable lifting of swing arm, and the first two-bit triplet reversal valve 1 is operated in left position, until high pressure accumulator 7
Pressure value reaches upper pressure limit value set in advance, and the first two-bit triplet reversal valve 1 always works at left position, prevents frequent movement
Bring unnecessary restriction loss；When the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the first two
Three-way diverter valve 1 is operated in right position, and high pressure accumulator 7 starts individually to energize to system, into 3 (1) discrimination models.In this process
Middle boom cylinder fuel feeding is by driver by controlling the aperture of four position and four-way reversing valves 3 to be adjusted.
Operating mode 3 (1), 3 (2), 3 (3) are moved in circles until scraper bowl rises to demand height, and four four-ways of pilot control change
Middle position is operated in valve 3, moved arm lifting is completed.
4th, discharging operating mode：
For moved arm lifting to after predetermined altitude, pilot control running gear makes loading machine reach precalculated position, manipulates three
Six-way transfer valve 2, the speed of rotating bucket oil cylinder of loading machine is controlled using Throttle Principle, realized using material self gravitation in scraper bowl
Discharging.Rotary ink tank by caused inertia force and equipment motion process in the gravity of material, motion process itself
Resistance.In the process, quality of material changes quickly, so now machining device hydraulic system is in flow status in underloading,
And spill losses is not present.
Under this operating mode, three six-way transfer valves 2 are operated in left position, the rod chamber oil-feed of rotary ink tank 4, and rodless cavity is fuel-displaced.
Controller 6 passes through the operation handle angle of three six-way transfer valves 2 of detection, the pressure of high pressure accumulator 7, calculating high pressure accumulator
7 pressure change rate drives the first two-bit triplet reversal valve 1 to work, and it is that rotary ink tank 4 supplies to make constant displacement pump 19, high pressure accumulator 7
Oil, realize quickly discharging material.Specific implementation process is as follows, and controller 6 detects that three operation handle angles of six-way transfer valve 2 are not
0, then the pressure of high pressure accumulator 7 is detected by pressure sensor 10 and calculates pressure change rate, there is following situation：
The initial time of first two-bit triplet reversal valve 1 is operated in right position：
The operation handle angle of (1) three six-way transfer valve 2 is not 0, and controller 6 predicts high pressure accumulator 7 by calculating
Pressure value subsequent time is more than low pressure limit value set in advance, and its pressure change rate is more than under corresponding operating handle angle
Corresponding rate of change lower limit, illustrate that accumulator self-energy is enough to drive rotary ink tank 4, so now the first two-bit triplet commutates
Valve 1 is operated in right position, and constant displacement pump 19 continues off-load, and three six-way transfer valves 2 are operated in left position, and four position and four-way reversing valves 3 work
In middle position, the second two-bit triplet reversal valve 13 is operated in left position, and rotary ink tank 4 works and driven completely by high pressure accumulator 7.
The operation handle angle of (2) three six-way transfer valves 2 is not 0, and controller 6 is defeated by second pressure sensor 10
Enter signal of change pressure change rate, if being less than pressure set in advance by calculating the prediction pressure value subsequent time of high pressure accumulator 7
Power lower limit, then illustrate that possessing energy in accumulator can not independently drive equipment completion one to follow in the case of power is cut off
Ring operating mode；If pressure change rate is less than corresponding pressure change rate lower limit under corresponding operating handle angle in high pressure accumulator 7,
Then illustrate that its supply capability declines, accumulator can not provide enough flows to ensure the speed of rotating bucket.So forecast pressure value
Or both pressure change rate in there is one to be less than lower limit, it is necessary to constant displacement pump 19 is hydraulic system energy supply, the first two three
Logical reversal valve 1 is operated in left position under the driving of controller 6, and four position and four-way reversing valves 3 are operated in middle position, and the second two-bit triplet changes
Left position is operated in valve 13.Now high pressure accumulator 7 and constant displacement pump 19 are hydraulic system fuel feeding jointly.In the process, rotating bucket
Oil cylinder 4 is in flow status in underloading, and high pressure accumulator 7, jointly to rotary ink tank rod chamber fuel feeding, is realized fast with constant displacement pump 19
Fast discharging, and once the first two-bit triplet reversal valve 1 is operated in left position, is set in advance until the pressure value of high pressure accumulator 7 reaches
Fixed upper pressure limit value, the first two-bit triplet reversal valve 1 always work at left position, prevent frequent movement from bringing unnecessary throttling
Loss；When the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the first two-bit triplet reversal valve 1 works
In right position, high pressure accumulator 7 starts individually to energize to system.The fuel feeding of rotary ink tank 4 passes through control by driver in the process
The aperture of three six-way transfer valves 2 is adjusted.
The initial time of first two-bit triplet reversal valve 1 is operated in left position：
The operation handle angle of (3) three six-way transfer valves 2 is not 0, and high pressure accumulator 7 and constant displacement pump 19 are hydraulic pressure jointly
System fuel feeding.In the process, rotary ink tank 4 is in flow status in underloading, and high pressure accumulator 7 and constant displacement pump 19 are jointly to turning
Struggle against cylinder rod chamber fuel feeding, realizes quickly discharging material, and the first two-bit triplet reversal valve 1 is operated in left position, until high pressure accumulator 7
Pressure value reach upper pressure limit value set in advance, the first two-bit triplet reversal valve 1 always works at left position, prevents frequently dynamic
Bring unnecessary restriction loss；When the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, first liang
Position three-way diverter valve 1 is operated in right position, and high pressure accumulator 7 starts individually to energize to system, into 4 (1) discrimination models.Cross herein
The fuel feeding of rotary ink tank 4 is adjusted by driver by the aperture of three six-way transfer valves 2 of control in journey.
Operating mode 4 (1), 4 (2), 4 (3) move in circles until scraper bowl discharging finishes, three six-way transfer valves 2 of pilot control
Middle position is operated in, bucket is received and completes.
5th, it is unloaded to receive bucket operating mode
After the completion of discharging, three six-way transfer valves 2 of pilot control are operated in right position, and the rodless cavity oil-feed of rotary ink tank 4 has
Rod cavity is fuel-displaced, scraper bowl is quickly recovered to horizontal level under no-load condition.Hydraulic system is in the big stream of underloading in the process
Amount state.
Specific implementation process is with reference to receipts bucket operating mode.
6th, swing arm declines recovery potential energy operating mode
After scraper bowl receives bucket, the position and four-way reversing valve 3 of pilot control four is operated in left 1, the rod chamber oil-feed of boom cylinder 5 without
Rod cavity is fuel-displaced, and swing arm steadily drops to initial position, and hydraulic system is in underloading big flow state under this operating mode.
Under this operating mode, controller 6 is by detecting the operation handle angles of four position and four-way reversing valves 3, high pressure accumulator 7
Pressure, the pressure change rate of calculating high pressure accumulator 7 drive the first two-bit triplet reversal valve 1 to work, and realize swing arm rapid decrease
Energy regenerating is carried out simultaneously, and the energy of recovery is used to drive steering.Specific implementation process is as follows, and controller 6 detects four
Position and four-way reversing valve 3 is operated in left 1, then detects by second, first pressure sensor 10,9 high pressure accumulator 7 and low respectively
Press the pressure of accumulator 8 and calculate pressure change rate and realize swing arm decline and energy regenerating, specifically there is following situation：
The initial time of first two-bit triplet reversal valve 1 is operated in right position：
(1) four position and four-way reversing valve 3 is operated in 1, a left side, and pressure is less than its higher limit in low pressure accumulator 8：
Controller 6 is more than low pressure limit value set in advance by calculating the prediction pressure value subsequent time of high pressure accumulator 7,
And its pressure change rate is more than corresponding rate of change lower limit under corresponding operating handle angle, illustrates the interior energy of high pressure accumulator 7
Amount is enough to drive boom cylinder 5, while controller 6 detects pressure in low pressure accumulator 8 by first pressure sensor 9 and is less than it
Higher limit, illustrate that low pressure accumulator 8 can recover energy.So now the first two-bit triplet reversal valve 1 is operated in right position, it is quantitative
Pump 19 continues off-load, and three six-way transfer valves 2 are operated in middle position, and the second two-bit triplet reversal valve 13 is operated in right position, swing arm oil
Fluid in the rodless cavity of boom cylinder 5 is discharged into low pressure accumulator 8 by cylinder 5 in the presence of high pressure accumulator 7 and self gravitation,
Realize the recovery of movable arm potential energy.
(2) four position and four-way reversing valves 3 are operated in 1, a left side, and pressure is equal to its higher limit in low pressure accumulator 8：
Controller 6 is more than low pressure limit value set in advance by calculating the prediction pressure value subsequent time of high pressure accumulator 7,
And energy storage pressure rate of change is more than corresponding rate of change lower limit under corresponding operating handle angle, illustrates high pressure accumulator 7
Self-energy is enough to drive boom cylinder 5, while controller 6 detects pressure etc. in low pressure accumulator 8 by first pressure sensor 9
Limit value thereon, illustrate that low pressure accumulator 8 can not continue to recover energy, so now the first two-bit triplet reversal valve 1 is operated in
Right position, constant displacement pump 19 continue off-load, and three six-way transfer valves 2 are operated in middle position, and the second two-bit triplet reversal valve 13 is operated in a left side
Rodless cavity fluid is discharged into fuel tank by position, boom cylinder 5 under the driving of high pressure accumulator 7, is completed swing arm and is declined.
(3) four position and four-way reversing valves 3 are operated in left 1, the output signal meter that controller 6 passes through second pressure sensor 10
The pressure change rate of high pressure accumulator 7 is calculated, is preset if being less than by calculating prediction high pressure accumulator 7 pressure value subsequent time
Low pressure limit value, then illustrate to possess in accumulator energy equipment can not be driven to complete one in the case of power is cut off and follow
Ring operating mode；If pressure change rate is less than corresponding rate of change lower limit under corresponding operating handle angle in accumulator, illustrate to store
Energy device supply capability declines, and high pressure accumulator 7 can not provide enough flows to ensure the speed of boom cylinder 5.So prediction
There is one to be less than lower limit in both pressure value and pressure change rate, it is necessary to constant displacement pump 19 is hydraulic system energy supply, now the
One or two three-way diverter valve 1 is operated in left position under the driving of controller 6, and four position and four-way reversing valves 3 are operated in 1, a left side, when fixed
When amount pump 19 starts to energize for system, the increase of the input power of constant displacement pump 19 can be caused by continuing recovery movable arm potential energy, not reach saving
The purpose of energy, so when the first two-bit triplet reversal valve 1 is operated in left position, the second two-bit triplet reversal valve 13 is operated in a left side
Position.Now high pressure accumulator 7 and constant displacement pump 19 are hydraulic system fuel feeding jointly.In the process, it is big to be in underloading for boom cylinder 5
Flow status, high pressure accumulator 7 and constant displacement pump 19 to boom cylinder fuel feeding, ensure that the quick and stable of boom cylinder declines jointly,
And once the first two-bit triplet reversal valve 1 is operated in left position, until the pressure value of high pressure accumulator 7 reaches pressure set in advance
Higher limit, the first two-bit triplet reversal valve 1 always work at left position, prevent frequent movement from bringing unnecessary restriction loss；When
When the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the first two-bit triplet reversal valve 1 is operated in right position,
High pressure accumulator 7 starts individually to energize to system.
The initial time of first two-bit triplet reversal valve 1 is operated in left position：
The operation handle angle of (4) four position and four-way reversing valves 3 is not 0, and high pressure accumulator 7 and constant displacement pump 19 are hydraulic pressure jointly
System fuel feeding, ensure that the quick and stable of swing arm declines, boom cylinder is in underloading big flow state.And first two-bit triplet commutation
Valve 1 is operated in left position, until the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the first two-bit triplet changes
Left position is always worked to valve 1, prevents frequent movement from bringing unnecessary restriction loss.And the work of the first two-bit triplet reversal valve 1
Make at left position, to reduce the power output of engine 21 without energy regenerating, so the work of the second two-bit triplet reversal valve 13
Make in left position.When the pressure value of high pressure accumulator 7 reaches upper pressure limit value set in advance, the first two-bit triplet reversal valve 1
It is operated in right position.High pressure accumulator 7 starts individually to energize to system, into 6 (1), 6 (2) discrimination models.Operating mode 6 (1), 6 (2),
6 (3), 6 (4) are moved in circles until scraper bowl drops to demand height, and the position and four-way reversing valve 3 of pilot control four is operated in middle position,
Swing arm, which declines, to be completed.
Claims (5)
1. one kind is without spill losses loader hydraulic work system, it is characterised in that：In original engine (21), power transmission shaft
(20), filter (17), fuel tank (18), constant displacement pump (19), banked direction control valves, rotary ink tank (4), boom cylinder (5), safety valve, double
On the basis of the construction for acting on safety valve, the first two-bit triplet reversal valve (1), high pressure are installed additional between banked direction control valves and constant displacement pump (19)
Accumulator (7), install low pressure accumulator (8) and the second two-bit triplet reversal valve (13) additional on oil return circuit, and use pressure
Sensor measures the pressure value of high pressure accumulator (7) respectively；The banked direction control valves includes three six-way transfer valves (2), four four-ways
Reversal valve (3)；Controller (6) signal input part receive first pressure sensor (9), second pressure sensor (10), three six
Logical reversal valve (2), the output signal of four position and four-way reversing valves (3), wherein：Three six-way transfer valves (2), four position and four-way reversing valves
(3) operation handle angle signal is exported respectively, and first pressure sensor (9), second pressure sensor (10) signal input part lead to
Fluid pressure line is crossed to be connected with low pressure accumulator (8), high pressure accumulator (7) respectively；Controller (6) is to output control after signal transacting
Signal drives the first two-bit triplet reversal valve (1), the work of the second two-bit triplet reversal valve (13).
2. one kind according to claim 1 is without spill losses loader hydraulic work system, it is characterised in that：Loading machine liquid
Rotary ink tank (4) and boom cylinder (5) can be operated alone in high pressure accumulator (7) in pressure work system, can also pass through controller
(6) the first two-bit triplet reversal valve (1) of control is operated in left position, realizes that constant displacement pump (19) collaborates with high pressure accumulator (7), ensures
The regular event of equipment；Install check valve additional in the first two-bit triplet reversal valve (1) simultaneously, avoid adding in constant displacement pump (19)
Cause equipment action sluggish during pressure；The low pressure accumulator (8) installed additional on oil return circuit and the second two-bit triplet change
It is used to realize recovery potential energy to valve (13), while is installed additional between low pressure accumulator (8) and the second two-bit triplet reversal valve (13)
Check valve, equipment is avoided to be back-driven into；High pressure accumulator (7) and constant displacement pump (19) can be used as power source, and pass through
First two-bit triplet reversal valve (1) realizes that the two cooperates or worked independently.
3. one kind according to claim 1 or 2 is without spill losses loader hydraulic work system, it is characterised in that：Three
Six-way transfer valve (2), four position and four-way reversing valves (3) are without middle position oil return function, it is possible to achieve high pressure during equipment attonity
Accumulator (7) pressurize simultaneously reduces restriction loss in the course of the work.
4. a kind of control method of no spill losses loader hydraulic work system, this method comprise the following steps：
In the equipment course of work：
(1), originate operation time the first two-bit triplet reversal valve (1) and be operated in right position, constant displacement pump (19) off-load：Controller (6)
Three six-way transfer valves (2), four position and four-way reversing valves (3) operation handle angle are detected, passes through second pressure sensor (10)
The pressure value of output signal detection high pressure accumulator (7) simultaneously calculates pressure change rate；Controller (6) is become by pressure value and pressure
Rate predicts the pressure value of high pressure accumulator (7) subsequent time；High pressure accumulator if (7) forecast pressure value is more than set in advance
Low pressure limit value and high pressure accumulator (7) pressure change rate are more than corresponding high pressure accumulator (7) under corresponding operating handle angle
Pressure change rate lower limit, illustrate that high pressure accumulator (7) self-energy is enough to drive equipment, the first two-bit triplet reversal valve
(1) right position is operated in, constant displacement pump (19) continues off-load, and equipment is driven by high pressure accumulator (7) completely；If high pressure accumulator
(7) forecast pressure value is less than low pressure limit value set in advance or pressure change rate is less than corresponding under corresponding operating handle angle
High pressure accumulator (7) pressure change rate lower limit, illustrate that high pressure accumulator (7) self-energy is not enough to drive equipment, control
Device (6) drives the first two-bit triplet reversal valve (1) to be operated in left position, because high pressure accumulator (7) still possesses one circulation of satisfaction
The energy of operating mode, so constant displacement pump (19) will not be energized preferentially to high pressure accumulator (7)；Now high pressure accumulator (7) both can be with
Being energized to work system, the excess traffic for coming from constant displacement pump (19) can also be absorbed, guarantee system does not produce spill losses, and
Once the first two-bit triplet reversal valve (1) is operated in left position, until the pressure value of high pressure accumulator (7) reaches pressure set in advance
Power higher limit, the first two-bit triplet reversal valve (1) always work at left position, prevent frequent movement from bringing unnecessary throttling to damage
Lose；When the pressure value of high pressure accumulator (7) reaches upper pressure limit value set in advance, first two-bit triplet reversal valve (1) work
Make in right position, high pressure accumulator (7) starts individually to system energy supply or pressurize, constant displacement pump (19) off-load；
(2) operation time the first two-bit triplet reversal valve (1), is originated to energize to system in the left position that works, constant displacement pump (19)：Control
Device (6) processed detects three six-way transfer valves (2), four position and four-way reversing valves (3) operation handle angle, passes through second pressure sensor
(10) pressure value of output signal detection high pressure accumulator (7) simultaneously calculates pressure change rate；Controller (6) by pressure value and
Pressure change rate predicts the pressure value of high pressure accumulator (7) subsequent time；First two-bit triplet reversal valve (1) in the left position of working,
Until the forecast pressure value of high pressure accumulator (7) reaches upper pressure limit value set in advance, the first two-bit triplet reversal valve (1) one
Left position is directly operated in, prevents frequent movement from bringing unnecessary restriction loss；When the forecast pressure value of high pressure accumulator (7) reaches
During upper pressure limit value set in advance, the first two-bit triplet reversal valve (1) is operated in right position, and high pressure accumulator (7) starts independent
To system energy supply or pressurize, constant displacement pump (19) off-load, step (1) pattern discrimination is carried out；
During equipment attonity：
Controller (6) detects three six-way transfer valves (2), four position and four-way reversing valves (3) operation handle angle, passes through second pressure
The pressure value of the output signal detection high pressure accumulator (7) of sensor (10) simultaneously calculates pressure change rate；In three six logical commutations
In the case that valve (2), four position and four-way reversing valves (3) operation handle angle are 0, the first two-bit triplet reversal valve (1) is operated in
Zuo Wei, constant displacement pump (19) fill energy to high pressure accumulator (7), until high pressure accumulator (7) forecast pressure value reaches its higher limit, the
One or two three-way diverter valve (1) is operated in right position, and high pressure accumulator (7) starts individually to system energy supply or pressurize, constant displacement pump
(19) off-load.
5. control method according to claim 4, it is characterised in that：Controller (6) is by detecting three six-way transfer valves
(2), four position and four-way reversing valves (3) operation handle angle, identification loading machine be in discharging or swing arm decline operating mode, and and if only if the
When one or two three-way diverter valve (1) is operated in right position, i.e. constant displacement pump (19) off-load, the second two-bit triplet reversal valve (13) is operated in
Right position, low pressure accumulator (8) recovery system potential energy.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610027774.2A CN105484311B (en) | 2016-01-16 | 2016-01-16 | Without spill losses loader hydraulic work system and its control method |
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| CN107303856B (en) * | 2016-04-25 | 2020-10-27 | 上海汽车集团股份有限公司 | Power system and vehicle |
| CN107044459B (en) * | 2017-06-06 | 2018-06-22 | 吉林大学 | A kind of loading machine joint energy supply hydraulic system and its control method |
| CN108179780B (en) * | 2018-02-23 | 2023-10-24 | 吉林大学 | Electro-hydraulic composite control system of electric drive loader and control method thereof |
| CN111852973B (en) * | 2019-07-22 | 2022-07-01 | 深圳东风汽车有限公司 | Control method of hydraulic system of compression mechanism of rear-mounted compression type garbage truck |
| CN115962167B (en) * | 2023-01-03 | 2023-05-26 | 吉林大学 | Hydraulic hybrid power system based on multistage constant-pressure network and servo motor pump group |
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| CN101705700B (en) * | 2009-09-25 | 2011-06-29 | 徐工集团工程机械有限公司 | Hydraulic hybrid power system of excavator |
| JP2012013156A (en) * | 2010-07-01 | 2012-01-19 | Hitachi Constr Mach Co Ltd | Working machine |
| US20140060030A1 (en) * | 2012-08-31 | 2014-03-06 | Caterpillar Inc. | Hydraulic accumulator health monitor |
| CN103758173B (en) * | 2013-12-16 | 2016-03-30 | 上海三一重机有限公司 | A kind of excavator electrohydraulic mixed power structure and excavator |
| CN205329757U (en) * | 2016-01-16 | 2016-06-22 | 吉林大学 | No spill losses loader hydraulic pressure work systems |
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