CN106542448A - A kind of hydraulic closed system, hydraulic closed walking and hoisting system - Google Patents
A kind of hydraulic closed system, hydraulic closed walking and hoisting system Download PDFInfo
- Publication number
- CN106542448A CN106542448A CN201611239556.1A CN201611239556A CN106542448A CN 106542448 A CN106542448 A CN 106542448A CN 201611239556 A CN201611239556 A CN 201611239556A CN 106542448 A CN106542448 A CN 106542448A
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- hydraulic
- choke valve
- pipeline
- closed system
- hydraulic closed
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- 239000012530 fluid Substances 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 239000012492 regenerant Substances 0.000 description 7
- 239000010705 motor oil Substances 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002706 hydrostatic effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A kind of hydraulic closed system disclosed in the embodiment of the present invention, including：Hydraulic pump；Hydraulic motor, the oil-out of the hydraulic pump are connected with the oil-in of the hydraulic motor by the first pipeline, and the oil-out of the hydraulic motor is connected with the oil-in of the hydraulic pump by the second pipeline；3rd pipeline, one end and first pipeline connection of the 3rd pipeline, the other end and second pipeline connection；Choke valve, the choke valve are series on the 3rd pipeline.The present invention is directed to normal work operating mode, in the case where keeping original output speed constant, can reduce the discharge capacity of hydraulic pump, so as to use power reducing engine, realizes saving energy consumption.For hydraulic pump towing astern operating mode, can open choke valve makes its certain aperture of holding, while adjusting the displacement variation of hydraulic pump, in the case of hydraulic motor output speed is not reduced, reduces hypervelocity " driving " phenomenon.The invention also discloses a kind of hydraulic closed running gear and hydraulic closed hoisting system.
Description
Technical field
The present invention relates to hydrostatic drive technical field, more particularly, it relates to a kind of hydraulic closed system, hydraulic closed
Walking and hoisting system.
Background technology
Hydrostatic drive is the hydraulic closed system that closed circuit is made up of hydraulic pump and hydraulic motor.Hydraulic pump absorbs to be sent out
The power of motivation converts it into hydraulic energy, hydraulic motor by hydraulic energy transfer into kinetic energy and by speed change gear drive vehicle or
The walking transmission solution of crawler belt operating.
Hydrostatic drive has that simple structure, noise are low, starting torque is big, reliability is high and operation comfort is high etc. definitely
Advantage, which is mainly used in mechanically moving field (engineering machinery, agricultural machinery, municipal machinery and some special vehicles etc.).
As depicted in figs. 1 and 2, hydraulic pump 102 drives rotation by engine 101, and hydraulic motor 103 is executing agency, can
To drive reductor connecting band track or tire walking mechanism to realize moving forward and backward for vehicle, Fig. 1 is seen；Or can drive and subtract
Fast machine connection hoisting mechanism realizes raising and the decentralization of weight, sees Fig. 2.
Controller 104 be used to controlling the discharge capacity of hydraulic pump 102 by 0 to positive maximum change when, drive hydraulic motor 103 by
0 rotates to positive maximal rate；The discharge capacity of hydraulic pump 102 drives hydraulic motor 103 by 0 to negative maximum when 0 to negative maximum changes
Speed rotates.
There is following technical problem in hydraulic closed system of the prior art：
It is executing agency for hydraulic motor 103, the side of reductor connecting band track or tire walking mechanism can be driven
Case, during normal walking operating mode (normal work operating mode), executing agency's full speed operation of hydraulic closed system, hydraulic pump 102 must
Maximum pump discharge must be in, now engine 101 is in maximum power state, machine system power consumption is larger；
Heavily loaded descending operating mode (i.e. hydraulic pump towing astern operating mode), executing agency's heavy duty work of hydraulic closed system.Now liquid
Operating mode of the press pump 102 for hydraulic motor 103, and working in maximum pump discharge, there is provided driving torque can maximum, if now
The moment of torsion of hydraulic pump 102 has exceeded the maximum friction moment of resistance of engine 101, can cause 101 over speed of rotation driving of engine, car
Descent run speed is uncontrollable.
Therefore, how on the premise of target velocity is not reduced, engine operating power is reduced, saves energy consumption, during descending
Engine speed hypervelocity driving is avoided, becomes those skilled in the art's technical problem urgently to be resolved hurrily.
The content of the invention
In view of this, it is an object of the invention to provide a kind of hydraulic closed system, with before target velocity is not reduced
Put, reduce engine operating power, save energy consumption, during descending, avoid engine speed hypervelocity driving；
Another object of the present invention is to provide a kind of hydraulic closed running gear and hydraulic closed hoisting system.
For achieving the above object, the present invention provides following technical scheme：
A kind of hydraulic closed system, including：
Hydraulic pump；
Hydraulic motor, the oil-out of the hydraulic pump are connected with the oil-in of the hydraulic motor by the first pipeline, institute
The oil-out for stating hydraulic motor is connected with the oil-in of the hydraulic pump by the second pipeline；
3rd pipeline, one end and first pipeline connection of the 3rd pipeline, the other end are connected with second pipeline
It is logical；
Choke valve, the choke valve are series on the 3rd pipeline.
Preferably, in above-mentioned hydraulic closed system, the choke valve is electric proportional throttle valve.
Preferably, in above-mentioned hydraulic closed system, also include for controlling the flow area size of the choke valve
Controller.
Preferably, in above-mentioned hydraulic closed system, also include：
For detecting the first pressure sensor of one lateral pressure of the choke valve；
For detecting the second pressure sensor of another lateral pressure of choke valve；
The controller is according to aperture flow formulaControl the flow area size of the choke valve with
The flow Q by the choke valve is adjusted, wherein, K is constant, the flow area that A is the choke valve, and Δ P is the throttling
The pressure differential of valve both sides.
Preferably, in above-mentioned hydraulic closed system, when in normal work operating mode, the controller is additionally operable to control
Reduce the discharge capacity of the hydraulic pump.
Preferably, in above-mentioned hydraulic closed system, when in hydraulic pump towing astern operating mode, the controller is additionally operable to root
Reduce the discharge capacity of the hydraulic pump according to the variable quantity control that the rotating speed of engine increases.
A kind of hydraulic closed running gear, including hydraulic closed system, the hydraulic closed system are as above any one institute
The hydraulic closed system stated.
Preferably, in above-mentioned hydraulic closed running gear, the output shaft of the hydraulic motor and the input of decelerator
Connection, the output end of the decelerator are connected with tire or traveling crawler.
A kind of hydraulic closed hoisting system, including hydraulic closed system, the hydraulic closed system are as above any one institute
The hydraulic closed system stated.
Preferably, in above-mentioned hydraulic closed hoisting system, the output shaft of the hydraulic motor passes through decelerator and elevator
Machine connects.
It can be seen from above-mentioned technical scheme that, the hydraulic closed system that the present invention is provided, in connection hydraulic motor height
Choke valve is in series with 3rd pipeline of pressure side, during for normal work operating mode, if keeping hydraulic pump to work with maximum pump discharge,
Its certain aperture of holding is made by opening choke valve so that the hydraulic oil that the oil-out of hydraulic motor flows out is straight by the 3rd pipeline
The oil-in for flowing back to hydraulic motor is connect, i.e., using hydraulic motor regenerant flow, adds additional the speed of hydraulic motor；If
In the case of keeping original output speed constant, the discharge capacity of hydraulic pump can be reduced, reduce the use power of existing hydraulic pump, from
And power is used to reduce engine, realize saving energy consumption.During for hydraulic pump towing astern operating mode, can open choke valve protects which
Hold certain aperture so that the hydraulic oil that the oil-out of hydraulic motor flows out directly flows back to the oil-feed of hydraulic motor by the 3rd pipeline
Mouthful, while adjusting the displacement variation of hydraulic pump, the moment is matched with engine resistance torque, and the hypervelocity during reduction use " flies
Car " phenomenon, makes full use of hydraulic motor oil return regenerant flow, in the case of hydraulic motor output speed is not reduced, reduces super
Fast " driving " phenomenon.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of hydraulic closed running gear of the prior art；
Fig. 2 is the structural representation of hydraulic closed hoisting system of the prior art；
The structural representation of the hydraulic closed running gear that Fig. 3 is provided by the embodiment of the present invention；
The structural representation of the hydraulic closed hoisting system that Fig. 4 is provided by the embodiment of the present invention.
Wherein, 101 is engine, and 102 is hydraulic pump, and 103 is hydraulic motor, and 104 is controller；
201 is engine, and 202 is hydraulic pump, and 203 is hydraulic motor, and 204 is controller, and 205 is decelerator, and 206 are wheel
Tire or traveling crawler, 207 is first pressure sensor, and 208 is second pressure sensor, and 209 is choke valve, and 210 is hoist engine.
Specific embodiment
The core of the present invention is to provide a kind of hydraulic closed system, on the premise of not reducing in target velocity, is reduced
Engine operating power, saves energy consumption, and engine speed hypervelocity driving is avoided during descending；
Another core of the present invention is to provide a kind of hydraulic closed running gear and hydraulic closed hoisting system.
Hereinafter, referring to the drawings embodiment is illustrated.Additionally, embodiments illustrated below is not to described in claim
The content of the invention rise any restriction effect.In addition, the full content of the composition represented by example below is not limited to as right
Require necessary to the solution of described invention.
Refer to the structural representation of the hydraulic closed running gear that Fig. 3 and Fig. 4, Fig. 3 are provided by the embodiment of the present invention；
The structural representation of the hydraulic closed hoisting system that Fig. 4 is provided by the embodiment of the present invention.
Hydraulic closed system disclosed in the embodiment of the present invention includes hydraulic pump 202, hydraulic motor 203 and choke valve 209.
Wherein, hydraulic pump 202 drives the oil-out of work, hydraulic pump 202 to pass through the first pipeline and liquid by engine 101
The oil-in connection of pressure motor 203, the oil-out of hydraulic motor 203 are connected with the oil-in of hydraulic pump 202 by the second pipeline,
So as to form hydraulic closed system.
One end of 3rd pipeline and the first pipeline connection, the other end and the second pipeline connection, i.e. the 3rd pipeline connection hydraulic pressure
The high-pressure side of motor 203 and low-pressure side.Choke valve 209 is series on the 3rd pipeline, so as to adjust the flow area of the 3rd pipeline,
It is when choke valve 209 cuts out, identical with conventional hydraulic closed system, when choke valve 209 is opened, hydraulic motor can be produced again
Raw flow.
The hydraulic closed system that the present invention is provided, is in series with the 3rd pipeline of connection 203 high and low pressure side of hydraulic motor
Choke valve 209, during for normal work operating mode, if keeping hydraulic pump 202 to work with maximum pump discharge, by opening choke valve
209 make its certain aperture of holding so that the hydraulic oil that the oil-out of hydraulic motor 203 flows out passes through the direct flow back fluid of the 3rd pipeline
The oil-in of pressure motor 203, i.e., using 203 regenerant flow of hydraulic motor, adds additional the speed of hydraulic motor 203；If
In the case where keeping original output speed constant, the discharge capacity of hydraulic pump 202 can be reduced, reduce making for existing hydraulic pump 202
With power, so as to use power reducing engine 201, realize saving energy consumption.
For 202 towing astern operating mode of hydraulic pump, heavy load potential energy can make hydraulic pump 202 become motor operating conditions, hydraulic pump now
202 can overcome engine resistance torque, can make the hypervelocity driving of engine 201, cause descent run speed uncontrollable, cause when serious
Serious consequence；At present, it is by reducing the discharge capacity of hydraulic pump 202 slowing down 211 decrease speed of car load descending speed or weight, sacrificial
Domestic animal descent run speed or weight 211 decrease speed are avoiding producing the potential safety hazard of " engine mounted longitudinally racing ".
For 202 towing astern operating mode of hydraulic pump, can open choke valve 209 makes its certain aperture of holding so that hydraulic motor
The hydraulic oil that 203 oil-out flows out directly flows back to the oil-in of hydraulic motor 203 by the 3rd pipeline, while adjusting hydraulic pump
202 displacement variation, moment are matched with engine resistance torque, reduce hypervelocity " driving " phenomenon during use, fully profit
With hydraulic motor oil return regenerant flow, in the case of hydraulic motor output speed is not reduced, hypervelocity " driving " phenomenon is reduced.
In a specific embodiment of the invention, choke valve 209 is electric proportional throttle valve, and electric proportional throttle valve is capable of achieving automatic
Control, conveniently realizes the automation adjustment of hydraulic closed system.
In a specific embodiment of the invention, the present invention is may also include for controlling the flow area size of choke valve 209
Controller 204, those skilled in the art can be built in control instruction in controller 204 according to actual service condition,
To be controlled to the openings of sizes of choke valve 209 according to corresponding requirements.For example when needing to increase Vehicle Speed, can be with
The corresponding openings of sizes for increasing choke valve 209, correspondingly, the opening of choke valve 209 is bigger, and Vehicle Speed is bigger；Section
The opening of stream valve 209 is bigger, and in the case where keeping original output speed constant, the discharge capacity that can reduce hydraulic pump 202 is bigger.
The opening of choke valve 209 is bigger, and the discharge capacity that can reduce hydraulic pump 202 is bigger so that hydraulic pump 202 can moment and engine drag
Square matches, and reduces hypervelocity " driving " phenomenon during use, makes full use of hydraulic motor oil return regenerant flow, make hydraulic pressure horse
In the case of not reducing up to output speed, hypervelocity " driving " phenomenon is reduced.
In a specific embodiment of the invention, present invention additionally comprises first pressure sensor 207 and second pressure sensor
208。
First pressure sensor 207 is used for the pressure for detecting 209 side of choke valve, and second pressure sensor 208 is used to examine
Survey the pressure of 209 opposite side of choke valve.Controller 204 is according to aperture flow formulaControl choke valve 209
Flow area size (openings of sizes) to adjust by the flow Q of choke valve 209, wherein, it is choke valve 209 that K is constant, A
Flow area, Δ P for 209 both sides of choke valve pressure differential, flow Q be hydraulic motor oil return regenerant flow.
When in normal work operating mode (operating mode of normally driving a vehicle), controller 204 is additionally operable to control to reduce hydraulic pump 202
Discharge capacity.Certain aperture is opened in the control choke valve 209 of controller 204, and when controlling to reduce the discharge capacity of hydraulic pump 202, Ke Yibao
Card keeps original output speed constant, or the change of very little.Through the flow of choke valve 209, with the row for reducing hydraulic pump 202
Amount is adapted, and original output speed can be kept constant.
During due to slope operating mode (hydraulic pump towing astern operating mode) under heavy loads, the rotating speed of hydraulic pump 202 is higher, or even hydraulic pump
202 can drag engine so that engine speed hypervelocity driving, in order to avoid engine speed hypervelocity driving, the control of the present invention
Device processed 204 is additionally operable to the discharge capacity for reducing hydraulic pump 202 according to the variable quantity control that the rotating speed of engine increases, i.e. engine speed
Increase it is more, need accordingly control hydraulic pump 202 discharge capacity reduce it is more, so as to prevent engine speed too high.By
The descending speed of vehicle can be dragged down in the rotating speed for reducing hydraulic pump 202, in order to the descending speed for ensureing vehicle is not reduced or micro-
Amount is reduced, and takes full advantage of hydraulic motor oil return regenerant flow, to supplement the output speed of motor.
As shown in figure 3, a kind of hydraulic closed running gear provided in an embodiment of the present invention, including being performed as described above disclosed in example
Hydraulic closed system, therefore have all technique effects of above-mentioned hydraulic closed system concurrently, repeat no more herein.Hydraulic motor
203 output shaft is connected with the input of decelerator 205, and the output end of decelerator 205 is connected with tire or traveling crawler 206.
As shown in figure 4, a kind of hydraulic closed hoisting system provided in an embodiment of the present invention, including being performed as described above disclosed in example
Hydraulic closed system, therefore have all technique effects of above-mentioned hydraulic closed system concurrently, repeat no more herein.Hydraulic motor
203 output shaft is connected with hoist engine 210 by decelerator 205.The unloaded raising of hydraulic closed hoisting system, decentralization operating mode phase
When in the normal walking operating mode of vehicle；Heavily loaded descending operating mode of the heavy-load lowering operating mode equivalent to vehicle.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (10)
1. a kind of hydraulic closed system, it is characterised in that include：
Hydraulic pump (202)；
Hydraulic motor (203), the oil-out of the hydraulic pump (202) are entered by the first pipeline and the hydraulic motor (203)
Hydraulic fluid port is connected, and the oil-out of the hydraulic motor (203) is connected with the oil-in of the hydraulic pump (202) by the second pipeline；
3rd pipeline, one end and first pipeline connection of the 3rd pipeline, the other end and second pipeline connection；
Choke valve (209), the choke valve (209) are series on the 3rd pipeline.
2. hydraulic closed system as claimed in claim 1, it is characterised in that the choke valve (209) is electric proportional throttle valve.
3. hydraulic closed system as claimed in claim 2, it is characterised in that also include for controlling the choke valve (209)
Flow area size controller (204).
4. hydraulic closed system as claimed in claim 3, it is characterised in that also include：
For detecting the first pressure sensor (207) of (209) one lateral pressure of the choke valve；
For detecting the second pressure sensor (208) of another lateral pressure of the choke valve (209)；
The controller (204) is according to aperture flow formulaControl the flow area of the choke valve (209)
Size to adjust the flow Q by the choke valve (209), wherein, K be constant, A for the choke valve (209) through-flow face
Product, pressure differentials of the Δ P for the choke valve (209) both sides.
5. hydraulic closed system as claimed in claim 4, it is characterised in that when in normal work operating mode, the control
Device (204) is additionally operable to the discharge capacity for controlling to reduce the hydraulic pump (202).
6. hydraulic closed system as claimed in claim 4, it is characterised in that when in hydraulic pump towing astern operating mode, the control
Device (204) processed is additionally operable to the discharge capacity for reducing the hydraulic pump (202) according to the variable quantity control that the rotating speed of engine increases.
7. a kind of hydraulic closed running gear, including hydraulic closed system, it is characterised in that the hydraulic closed system is such as power
Profit requires the hydraulic closed system described in any one of 1-6.
8. hydraulic closed running gear as claimed in claim 7, it is characterised in that the output shaft of the hydraulic motor (203)
It is connected with the input of decelerator (205), the output end of the decelerator (205) is connected with tire or traveling crawler (206).
9. a kind of hydraulic closed hoisting system, including hydraulic closed system, it is characterised in that the hydraulic closed system is such as power
Profit requires the hydraulic closed system described in any one of 1-6.
10. hydraulic closed hoisting system as claimed in claim 9, it is characterised in that the output shaft of the hydraulic motor (203)
It is connected with hoist engine (210) by decelerator (205).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611239556.1A CN106542448A (en) | 2016-12-28 | 2016-12-28 | A kind of hydraulic closed system, hydraulic closed walking and hoisting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611239556.1A CN106542448A (en) | 2016-12-28 | 2016-12-28 | A kind of hydraulic closed system, hydraulic closed walking and hoisting system |
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| Publication Number | Publication Date |
|---|---|
| CN106542448A true CN106542448A (en) | 2017-03-29 |
Family
ID=58396306
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611239556.1A Pending CN106542448A (en) | 2016-12-28 | 2016-12-28 | A kind of hydraulic closed system, hydraulic closed walking and hoisting system |
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| CN (1) | CN106542448A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107902574A (en) * | 2017-12-04 | 2018-04-13 | 苏州海霸设备制造有限公司 | Grab bucket jib lubbing mechanism fluid power system for grab bucket dredger |
| CN110439695A (en) * | 2019-08-15 | 2019-11-12 | 济宁医学院 | Engineering vehicle engine overspeed protection control system and its control method |
| CN110469647A (en) * | 2019-06-28 | 2019-11-19 | 中冶宝钢技术服务有限公司 | A kind of anti-overspeed hydraulic device for hydrostatic driving vehicle |
| CN111017839A (en) * | 2020-01-02 | 2020-04-17 | 湖南星邦智能装备股份有限公司 | Driving control method, controller, control system and overhead working truck |
| CN112744730A (en) * | 2019-10-31 | 2021-05-04 | 国网甘肃省电力公司建设分公司 | Single-cylinder 50KN hydrostatic grinding cylinder type tractor |
| CN114183258A (en) * | 2021-12-07 | 2022-03-15 | 潍柴动力股份有限公司 | Vehicle downhill braking method adopting closed type traveling system and vehicle |
| CN115010026A (en) * | 2022-07-12 | 2022-09-06 | 恒天九五重工有限公司 | Method for monitoring main winch sucking idle sliding rod of rotary drilling rig |
| WO2023045238A1 (en) * | 2021-09-22 | 2023-03-30 | 江苏徐工工程机械研究院有限公司 | Water hose reel system for use in drainage emergency vehicle, control method, and drainage emergency vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107902574A (en) * | 2017-12-04 | 2018-04-13 | 苏州海霸设备制造有限公司 | Grab bucket jib lubbing mechanism fluid power system for grab bucket dredger |
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| CN111017839A (en) * | 2020-01-02 | 2020-04-17 | 湖南星邦智能装备股份有限公司 | Driving control method, controller, control system and overhead working truck |
| WO2023045238A1 (en) * | 2021-09-22 | 2023-03-30 | 江苏徐工工程机械研究院有限公司 | Water hose reel system for use in drainage emergency vehicle, control method, and drainage emergency vehicle |
| CN114183258A (en) * | 2021-12-07 | 2022-03-15 | 潍柴动力股份有限公司 | Vehicle downhill braking method adopting closed type traveling system and vehicle |
| CN114183258B (en) * | 2021-12-07 | 2023-07-18 | 潍柴动力股份有限公司 | Vehicle downhill braking method adopting closed traveling system and vehicle |
| CN115010026A (en) * | 2022-07-12 | 2022-09-06 | 恒天九五重工有限公司 | Method for monitoring main winch sucking idle sliding rod of rotary drilling rig |
| CN115010026B (en) * | 2022-07-12 | 2023-04-18 | 恒天九五重工有限公司 | Method for monitoring main winch sucking idle sliding rod of rotary drilling rig |
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Application publication date: 20170329 |
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