CN105485071B - Hatch door transient state acting device and driving method based on valve control variable displacement motor - Google Patents
Hatch door transient state acting device and driving method based on valve control variable displacement motor Download PDFInfo
- Publication number
- CN105485071B CN105485071B CN201510887888.XA CN201510887888A CN105485071B CN 105485071 B CN105485071 B CN 105485071B CN 201510887888 A CN201510887888 A CN 201510887888A CN 105485071 B CN105485071 B CN 105485071B
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- Prior art keywords
- displacement motor
- oil
- hatch door
- oil inlet
- valve
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
Abstract
The application is related to a kind of hatch door transient state acting device and driving method based on valve control variable displacement motor.One embodiment of described device includes servo valve, becomes displacement motor and load-sensitive mechanism.Wherein, the first oil-out of the first oil inlet and servo valve that become displacement motor is connected, and the second oil-out of the first oil return opening and servo valve that become displacement motor is connected, and the output shaft for becoming displacement motor is connected with hatch door load, the moment of torsion loaded to output driving hatch door；Load-sensitive mechanism is used for the inclination angle for becoming the swash plate of displacement motor based on the hydraulic pressure difference regulation become between the first oil inlet and the first oil return opening of displacement motor.Using the scheme of the application, become the discharge capacity of displacement motor by the perception regulation to load, realize in the case where loading uneven or small load behavior, throttling action weakens at servo valve, and then improve the capacity usage ratio of system.
Description
Technical field
The application is related to a kind of aircraft door actuation techniques field, particularly a kind of hatch door wink based on valve control variable displacement motor
State acting device and driving method.
Background technology
Appearance with advanced air weapon and the design requirement to the succinct aerodynamic configuration of aircraft, the force of contemporary fighter plane
Device device systems are changed into built-in type via original external hanging type.Particularly with new-generation fighter height is stealthy, supersonic cruising
Required with super maneuver etc., weapon built-in type is loaded turns into inevitable choice.Therefore when fighter duel and bomber are dropped a bomb
Its weapon hatch door is just switched on to carry out arm discharge and drop a bomb.The key that loading technology is buried in weapon is hatch door start system
System.Its feature is exactly big inertia and fast opening and closing, it is necessary to momentary high power.
As shown in figure 1, being schematic structure Figure 100 of existing airborne hatch door actuating system.
At present, the high-speed hydraulic motor by servo valve control is all directly driven using host hydraulic system both at home and abroad, is led to
Cross the mode that larger speed reducing ratio drives hatch door to open.
In Fig. 1, two oil inlets of servo valve 1 connect airborne high pressure fuel source 3 and fuel tank 4, the basis of fixed displacement motor 2 respectively
The oil-out A of servo valve 1 output oil pressure produces the moment of torsion that driving hatch door is turned on and off.
Because the installed power of hatch door actuating system is very big, while needing host hydraulic system to provide larger its peak work
Rate, or even more than half of complete machine hydraulic system general power can be accounted for, bring very big burden to host hydraulic system.Such as typical case three
Hydraulic system general power for opportunity of combat is about 240kW, and the hydraulic system general power of four generation opportunities of combat is then about up to 560kW, increased
Plus power be mainly used in hatch door start.
The content of the invention
The brief overview on the application is given below, so as to provide on the application it is some in terms of basic reason
Solution.It should be appreciated that this general introduction is not the exhaustive general introduction on the application.It is not intended to determine the key of the application
Or pith, nor intended limitation scope of the present application.Its purpose only provides some concepts in simplified form, with
This is used as the preamble in greater detail discussed later.
The main purpose of the application is to provide a kind of new dress of the hatch door transient state start based on valve control variable displacement motor
Put and driving method, it is intended to solve technical problem as described above.
In a first aspect, this application provides a kind of hatch door transient state acting device based on valve control variable displacement motor, including servo
Valve, change displacement motor and load-sensitive mechanism；Wherein, become displacement motor include the first oil inlet, the first oil return opening, swash plate and
Output shaft；Servo valve includes control end, the second oil inlet, the second oil return opening, the first oil-out and the second oil-out, the second oil-feed
Mouth is connected to airborne high pressure fuel source, and the second oil return opening is connected to fuel tank, and control end receives external control instruction, and based on outside control
System instruction control output extremely becomes the flow of the first oil inlet of displacement motor；Become first oil inlet and servo valve of displacement motor
First oil-out is connected, and the second oil-out of the first oil return opening and servo valve that become displacement motor is connected, and becomes the defeated of displacement motor
Shaft is connected with hatch door load, the moment of torsion loaded to output driving hatch door；Load-sensitive mechanism is used for based on change displacement motor
The first oil inlet and the first oil return opening between hydraulic pressure difference regulation become displacement motor swash plate inclination angle.
In certain embodiments, the load-sensitive mechanism in the hatch door transient state acting device based on valve control variable displacement motor includes
Shuttle valve and single-action hydraulic cylinder；Shuttle valve is used for based on the hydraulic pressure difference become between the first oil inlet and the first oil return opening of displacement motor
Drive single-action hydraulic cylinder；Single-action hydraulic cylinder promotes the swash plate for becoming displacement motor under the driving of shuttle valve so that swash plate inclines
Angle changes.
In certain embodiments, shuttle valve includes the 3rd oil inlet, the 4th oil inlet and the 3rd oil-out；
3rd oil inlet be connected with becoming the first oil inlet of displacement motor, the 4th oil inlet and change first time of displacement motor
Hydraulic fluid port is connected；Single-action hydraulic cylinder includes cylinder body and asymmetry piston；Asymmetry piston includes piston part and vertical with piston part is connected
Post portion, form an airtight chamber between piston part and cylinder body, one end of the remote piston part in post portion connects with becoming the swash plate of displacement motor
Connect；The 4th oil inlet, the 3rd oil-out connection of the 4th oil inlet and shuttle valve are offered in airtight chamber.
In certain embodiments, the hatch door transient state acting device based on valve control variable displacement motor also includes on-board controller, machine
The control instruction of difference generation control servo valve of the set controller based on hatch door command signal, to control the first oil-out of servo valve
Output flow.
Second aspect, the application also provides a kind of for controlling the hatch door transient state start based on valve control variable displacement motor as above
The control method of device, including：When the first oil-out and the hydraulic pressure difference of the first oil return opening that become displacement motor reduce, load quick
Sense mechanism reduces the power for promoting swash plate, to reduce the inclination angle of swash plate；When the first oil-out for becoming displacement motor and first time
During the hydraulic pressure difference increase of hydraulic fluid port, load-sensitive mechanism increases the power for promoting swash plate, to increase the inclination angle of swash plate.
The hatch door transient state acting device and driving method based on valve control variable displacement motor of the application, passes through the perception to load
Regulation becomes the discharge capacity of displacement motor, realizes in the case where loading uneven or small load behavior, throttling action weakens at servo valve, and then
The capacity usage ratio of raising system, while reducing flow system flow, mitigates engine burden, reduction hatch door transient state acting device is to master
The requirement of machine peak power.
Brief description of the drawings
With reference to explanation below in conjunction with the accompanying drawings to the embodiment of the present application, can be more readily understood that the application more than and its
Its objects, features and advantages.Part in accompanying drawing is intended merely to show the principle of the application.In the accompanying drawings, identical or similar
Technical characteristic or part will be represented using same or similar reference.
Fig. 1 is the schematic diagram of existing airborne hatch door actuating system；
Fig. 2 is the schematic structure of the hatch door transient state acting device based on valve control variable displacement motor of the application first embodiment
Figure；
Fig. 3 is the schematic structure of the hatch door transient state acting device based on valve control variable displacement motor of the application second embodiment
Figure；
Fig. 4 is the shuttle valve and the schematic diagram of single-action hydraulic cylinder in Fig. 3；
Fig. 5 is the schematic structure of the hatch door transient state acting device based on valve control variable displacement motor of the application 3rd embodiment
Figure；
Fig. 6 shows for the control method for being used to control the hatch door transient state acting device based on valve control variable displacement motor of the application
Meaning property flow chart.
Embodiment
Illustrate embodiments herein with reference to the accompanying drawings.Retouched in the accompanying drawing of the application or a kind of embodiment
The element and feature that the element and feature stated can be shown in one or more other accompanying drawings or embodiment are combined.Should
Work as attention, for purposes of clarity, eliminated in accompanying drawing and explanation known to, those of ordinary skill in the art unrelated with the application
Part and processing expression and description.
It is shown in Figure 2, it is the hatch door transient state acting device based on valve control variable displacement motor of the application first embodiment
Schematic structure Figure 200.
The hatch door transient state acting device based on valve control variable displacement motor of the present embodiment includes servo valve 210, becomes displacement motor
220 and load-sensitive mechanism 230.
Wherein, becoming displacement motor 220 includes the first oil inlet D, the first oil return opening E, swash plate 221 and output shaft 222.
Servo valve 210 includes control end C, the second oil inlet P, the second oil return inlet T, the first oil-out A and the second oil-out
B.Wherein, the second oil inlet P is connected to airborne high pressure fuel source 10, and the second oil return inlet T is connected to fuel tank 30.Control end C receives outer
Portion's control instruction, and output is controlled to the flow for the first oil inlet D for becoming displacement motor 220 based on external control instruction.
The the first oil inlet D for becoming displacement motor 220 is connected with the first oil-out A of servo valve 210, becomes displacement motor 220
The first oil return opening E be connected with the second oil-out B of servo valve 210, output shaft 222 and the hatch door for becoming displacement motor 220 are loaded
Connection, the moment of torsion loaded to output driving hatch door.
Load-sensitive mechanism 230 is used between the first oil inlet D and the first oil return opening E based on change displacement motor 220
Hydraulic pressure difference regulation becomes the inclination angle of the swash plate 221 of displacement motor 220.
The hydraulic pressure difference between the first oil inlet D and the first oil return opening E due to becoming displacement motor 220 reflects its driving
The size of hatch door load, therefore, the hatch door transient state acting device based on valve control variable displacement motor of the present embodiment passes through load-sensitive
The signal of hydraulic pressure difference between the first oil inlet D and the first oil return opening E of the mechanism 230 to gather change displacement motor 220, and be based on
The signal becomes the swashplate angle of displacement motor 220 to adjust, and then changes the discharge capacity for becoming displacement motor 220, so that becoming row
Measure the output displacement size of motor 220 and the hatch door load of its driving is more matched.
It is shown in Figure 3, it is the second embodiment of the hatch door transient state acting device based on valve control variable displacement motor of the application
Schematic diagram 300.
Similar with the embodiment shown in Fig. 2, the hatch door transient state acting device based on valve control variable displacement motor of the present embodiment is same
Sample includes servo valve 310 and becomes displacement motor 320, and the structure and the connection of the two of servo valve 310 and change displacement motor 320 are closed
System is identical with the embodiment shown in Fig. 2.
From unlike the embodiment shown in Fig. 2, load-sensitive mechanism in the present embodiment includes shuttle valve 331 and single-acting
Hydraulic cylinder 332.
Shuttle valve 331 is used to drive based on the hydraulic pressure difference between the first oil inlet D and the first oil return opening E that become displacement motor 320
Dynamic single-action hydraulic cylinder 332.
Single-action hydraulic cylinder 332 promotes the swash plate 321 for becoming displacement motor 320 so that swash plate under the driving of shuttle valve 331
321 inclination angle changes.
It is shown in Figure 4, it is the annexation schematic diagram 400 of shuttle valve 331 and single-action hydraulic cylinder 332 in Fig. 3.
Shuttle valve includes the 3rd oil inlet F, the 4th oil inlet G and the 3rd oil-out H.
With reference to shown in Fig. 3 and Fig. 4, the 3rd oil inlet F of shuttle valve is connected with becoming the first oil inlet D of displacement motor 320, the
Four oil inlet G are connected with becoming the first oil return opening E of displacement motor 320.
Single-action hydraulic cylinder 332 includes cylinder body 421 and asymmetry piston 422.Asymmetry piston 422 include piston part and with plug
The post portion that portion is vertically connected, forms an airtight chamber, one end of the remote piston part in post portion is with becoming discharge capacity horse between piston part and cylinder body
Swash plate 321 up to 320 is connected.The 4th oil inlet I, the 4th oil inlet I and shuttle valve the 3rd oil-out H are offered in airtight chamber
Connection.
It is shown in Figure 5, it is the 3rd embodiment of the hatch door transient state acting device based on valve control variable displacement motor of the application
Schematic diagram 500.
Similar with the embodiment shown in Fig. 2, the hatch door transient state acting device based on valve control variable displacement motor of the present embodiment is same
Sample includes servo valve 510, becomes displacement motor 520 and load-sensitive mechanism 530, and servo valve 310 and the knot for becoming displacement motor 320
Structure and the annexation of the two are identical with the embodiment shown in Fig. 2.
From unlike the embodiment shown in Fig. 2, the present embodiment based on valve control variable displacement motor the start of hatch door transient state dress
Putting also includes on-board controller 540, and on-board controller generates the control instruction of control servo valve 510 based on hatch door command signal,
With the output flow for the first oil-out A for controlling servo valve 510.
It is shown in Figure 6, it is that the hatch door transient state start based on valve control variable displacement motor of control as above that is used for of the application is filled
The indicative flowchart 600 for the control method put.
The method of the present embodiment includes：
Step 610, when the first oil-out and the hydraulic pressure difference of the first oil return opening that become displacement motor reduce, load-sensitive machine
Structure reduces the power for promoting swash plate, to reduce the inclination angle of swash plate.
Step 620, when the hydraulic pressure difference increase for the first oil-out and the first oil return opening for becoming displacement motor, load-sensitive machine
Structure increases the power for promoting swash plate, to increase the inclination angle of swash plate.
Below, by the airborne hatch door actuating system of the prior art shown in qualitative explanation Fig. 1 and the application based on valve control
During the hatch door transient state acting device driving identical hatch door load of variable displacement motor, the main engine power W extracted needed for the two.
Main engine power W is met：
W=PQ (1)
Wherein, P is the hydraulic pressure of airborne high pressure fuel source, the flow that Q provides for host computer system for hatch door actuating system.
Flow Q is met：
Q=DN (2)
Wherein, D is the discharge capacity of motor, and N is the rotating speed of motor.
Formula (2) is substituted into formula (1), it is known that：
W=PDN (3)
In other words, as the hydraulic pressure P and motor rotary speed N constant of airborne high pressure fuel source, the cabin based on valve control variable displacement motor
The main engine power P that door transient state acting device is extracted is directly proportional to the discharge capacity D of motor.
In the airborne hatch door actuating system of prior art shown in Fig. 1, the discharge capacity of fixed displacement motor is constant.And Fig. 2,
In the hatch door transient state acting device based on valve control variable displacement motor of the application shown in Fig. 3 or Fig. 5, the discharge capacity of motor can be according to negative
The size of load is adjusted, and when driving smaller load, load-sensitive mechanism can adjust the swash plate of motor, so that swashplate angle
Reduce, and then reduce the discharge capacity of motor.So, when driving smaller load, the application based on valve control variable displacement motor
The main engine power that extracts needed for hatch door transient state acting device will be extracted needed for the airborne hatch door actuating system less than prior art
Main engine power.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes formed by any combination.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical characteristic of energy carries out technical scheme formed by replacement mutually.
In the apparatus and method of the application, it is clear that each part or each step are after can decomposing, combine and/or decomposing
Reconfigure.These decompose and/or reconfigured the equivalents that should be regarded as the application.It may also be noted that on performing
The step of stating series of processes can order naturally following the instructions perform in chronological order, but and need not it is certain according to when
Between sequentially perform.Some steps can be performed parallel or independently of one another.Meanwhile, the application specific embodiment is retouched above
In stating, the feature for describing and/or showing for a kind of embodiment can be in same or similar mode one or more
Used in other embodiment, it is combined with feature in other embodiment, or substitute the feature in other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, key element, step or component when being used herein, but simultaneously
It is not excluded for the presence or additional of one or more further features, key element, step or component.
Although the application and its advantage has been described in detail it should be appreciated that without departing from by appended claim
Various changes can be carried out in the case of the spirit and scope limited, substitutes and converts.Moreover, the model of the application
Enclose the process described by specification of being not limited only to, equipment, means, the specific embodiment of method and steps.In the art is common
Technical staff be will readily appreciate that from present disclosure, and execution and corresponding reality described herein can be used according to the application
Apply the essentially identical function of example or obtain process essentially identical with it result, existing and that future is to be developed, equipment,
Means, method or step.Therefore, appended claim includes such process, equipment, hand in the range of being directed at them
Section, method or step.
Claims (5)
1. a kind of hatch door transient state acting device based on valve control variable displacement motor, it is characterised in that including servo valve, become displacement motor
And load-sensitive mechanism；
Wherein, the change displacement motor includes the first oil inlet, the first oil return opening, swash plate and output shaft；
The servo valve includes control end, the second oil inlet, the second oil return opening, the first oil-out and the second oil-out, described the
Two oil inlets are connected to airborne high pressure fuel source, and second oil return opening is connected to fuel tank, and the control end receives outside control and referred to
Order, and output is controlled to the flow of first oil inlet of the change displacement motor based on the external control instruction；
First oil inlet for becoming displacement motor is connected with the first oil-out of the servo valve, and the of the change displacement motor
One oil return opening is connected with the second oil-out of the servo valve, and the output shaft for becoming displacement motor is connected with hatch door load, is used
The moment of torsion loaded with output driving hatch door；
The load-sensitive mechanism be used for first oil inlet and first oil return opening based on the change displacement motor it
Between hydraulic pressure difference regulation it is described become displacement motor swash plate inclination angle.
2. the hatch door transient state acting device according to claim 1 based on valve control variable displacement motor, it is characterised in that：
The load-sensitive mechanism includes shuttle valve and single-action hydraulic cylinder；
The hydraulic pressure that the shuttle valve is used between first oil inlet based on the change displacement motor and first oil return opening
The difference driving single-action hydraulic cylinder；
The single-action hydraulic cylinder promotes the swash plate for becoming displacement motor so that the swash plate under the driving of the shuttle valve
Inclination angle change.
3. the hatch door transient state acting device according to claim 2 based on valve control variable displacement motor, it is characterised in that：
The shuttle valve includes the 3rd oil inlet, the 4th oil inlet and the 3rd oil-out；
3rd oil inlet is connected with the first oil inlet of the change displacement motor, the 4th oil inlet and the change discharge capacity
The first oil return opening connection of motor；
The single-action hydraulic cylinder includes cylinder body and asymmetry piston；
The asymmetry piston includes piston part and the post portion being connected vertical with the piston part, shape between the piston part and the cylinder body
Into an airtight chamber, one end of the remote piston part in the post portion is connected with the swash plate of the change displacement motor；
The 4th oil inlet I is offered in the airtight chamber, the 3rd oil-out of the 4th oil inlet I and the shuttle valve connects
Connect.
4. the hatch door transient state acting device based on valve control variable displacement motor according to claim 1-3 any one, its feature
It is, in addition to on-board controller；
The on-board controller generates the control instruction of the control servo valve based on hatch door command signal, to control the servo
The output flow of first oil-out of valve.
5. a kind of dress of the hatch door transient state start based on valve control variable displacement motor for being used to control as described in claim 1-4 any one
The control method put, it is characterised in that including：
When first oil-out of the change displacement motor and the hydraulic pressure difference of first oil return opening reduce, the load is quick
Sense mechanism reduces the power for promoting the swash plate, to reduce the inclination angle of the swash plate；
When first oil-out of the change displacement motor and the hydraulic pressure difference of first oil return opening increase, the load is quick
Sense mechanism increases the power for promoting the swash plate, to increase the inclination angle of the swash plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887888.XA CN105485071B (en) | 2015-12-07 | 2015-12-07 | Hatch door transient state acting device and driving method based on valve control variable displacement motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887888.XA CN105485071B (en) | 2015-12-07 | 2015-12-07 | Hatch door transient state acting device and driving method based on valve control variable displacement motor |
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| Publication Number | Publication Date |
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| CN105485071A CN105485071A (en) | 2016-04-13 |
| CN105485071B true CN105485071B (en) | 2017-10-31 |
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|---|---|---|---|
| CN201510887888.XA Expired - Fee Related CN105485071B (en) | 2015-12-07 | 2015-12-07 | Hatch door transient state acting device and driving method based on valve control variable displacement motor |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109611267B (en) * | 2018-11-22 | 2020-08-04 | 上海中联重科桩工机械有限公司 | Power head motor control device and control method |
| CN110296120B (en) * | 2019-06-14 | 2020-10-20 | 庆安集团有限公司 | Hatch door transient state of low power demand actuates device |
| CN112648134A (en) * | 2020-12-29 | 2021-04-13 | 中国航空工业集团公司西安飞机设计研究所 | Variable displacement hydraulic motor control system |
| CN112814515B (en) * | 2021-01-08 | 2022-03-08 | 北京航空航天大学 | Direct-drive cabin door actuating system and actuating method |
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|---|---|---|---|---|
| CN85108834A (en) * | 1985-12-10 | 1987-06-24 | 株式会社小松制作所 | Control device for hydraulic motor |
| CN1654832A (en) * | 2003-10-15 | 2005-08-17 | 纳博特斯克株式会社 | Automatic transmission mechanism of hydraulic motor |
| CN101482088A (en) * | 2009-01-20 | 2009-07-15 | 胡世璇 | Flow distributor of axial plunger variable hydraulic motor |
| CN103438044A (en) * | 2013-09-12 | 2013-12-11 | 上海三一重机有限公司 | Structure for reducing switching frequency of high speed and low speed and machinery vehicle |
| CN203452575U (en) * | 2013-08-08 | 2014-02-26 | 贵州航天天马机电科技有限公司 | Cabin door |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6922991B2 (en) * | 2003-08-27 | 2005-08-02 | Moog Inc. | Regulated pressure supply for a variable-displacement reversible hydraulic motor |
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2015
- 2015-12-07 CN CN201510887888.XA patent/CN105485071B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85108834A (en) * | 1985-12-10 | 1987-06-24 | 株式会社小松制作所 | Control device for hydraulic motor |
| CN1654832A (en) * | 2003-10-15 | 2005-08-17 | 纳博特斯克株式会社 | Automatic transmission mechanism of hydraulic motor |
| CN101482088A (en) * | 2009-01-20 | 2009-07-15 | 胡世璇 | Flow distributor of axial plunger variable hydraulic motor |
| CN203452575U (en) * | 2013-08-08 | 2014-02-26 | 贵州航天天马机电科技有限公司 | Cabin door |
| CN103438044A (en) * | 2013-09-12 | 2013-12-11 | 上海三一重机有限公司 | Structure for reducing switching frequency of high speed and low speed and machinery vehicle |
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| CN105485071A (en) | 2016-04-13 |
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