CN108658019A - A kind of working bucket leveling system of high-altitude operation vehicle - Google Patents
A kind of working bucket leveling system of high-altitude operation vehicle Download PDFInfo
- Publication number
- CN108658019A CN108658019A CN201810715474.2A CN201810715474A CN108658019A CN 108658019 A CN108658019 A CN 108658019A CN 201810715474 A CN201810715474 A CN 201810715474A CN 108658019 A CN108658019 A CN 108658019A
- Authority
- CN
- China
- Prior art keywords
- valve
- oil
- pressure
- leveling
- hydraulic fluid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
- B66C23/821—Bracing equipment for booms
- B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
- B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
-
- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- 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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- 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
- F15B2013/002—Modular valves, i.e. consisting of an assembly of interchangeable components
- F15B2013/004—Cartridge valves
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
- F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40553—Flow control characterised by the type of flow control means or valve with pressure compensating valves
- F15B2211/40569—Flow control characterised by the type of flow control means or valve with pressure compensating valves the pressure compensating valve arranged downstream of the flow control means
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41509—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50563—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
- F15B2211/5157—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a return line
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7057—Linear output members being of the telescopic type
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
Abstract
The invention discloses a kind of working bucket leveling systems of high-altitude operation vehicle, and wherein main valve can be inserted valve or multi-way valve；Maximum load pressure on telescopic oil cylinder and amplitude oil cylinder feeds back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump；The oil circuit that the main valve pressure oil port P is connect with leveling valve pressure oil port P is equipped with reversal valve, when reversal valve is in spring position, the pressure oil port P pressure of leveling valve is zero, when reversal valve commutates, constant-pressure drop variable pump pressure oil port P is connected to by speed governing valve with the P of leveling valve mouths, and P mouthfuls of pressure of leveling valve feed back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump by being connected to the check valve of reversal valve oil outlet.Working bucket leveling of the present invention is convenient for control, and leveling action is without lag, and system response is fast, and simultaneity factor is always load sensitive system, energy-saving.
Description
Technical field
The present invention relates to a kind of engineering truck leveling systems, and in particular to a kind of working bucket leveling system of high-altitude operation vehicle,
Belong to engineering machinery hydraulic control technology field.
Background technology
High-altitude operation vehicle is that staff and equipment are transported to a kind of equipment that specified altitude assignment carries out operation, belongs to extraordinary
Implement, structure as shown in Figure 1, including chassis 1, turntable 2, amplitude oil cylinder 3, telescopic oil cylinder 4, basic arm 5, two joint arms 6,
Leveling cyclinder 7 and working bucket 8, amplitude oil cylinder 3 drive luffing range of cantilever support, telescopic oil cylinder 4 to drive the flexible of arm support, and leveling cyclinder 7 is used
In the angle for adjusting working bucket 8.
When high-lift operation car require working bucket 8 always with horizontal plane keeping parallelism, to ensure the peace of operating personnel
It is complete and comfortable.Therefore leveling performance is to weigh an important indicator of vehicle.8 leveling operation principle of working bucket, as shown in Figure 2.
When luffing range of cantilever support, 8 bottom surface of working bucket will no longer keep horizontal, at this time 9 collecting work bucket of obliquity sensor, 8 dip angle signal, warp
After crossing the processing of controller 10, driving 11 spool of electro-hydraulic proportional valve makes corresponding actions, and 7 cylinder rod of leveling cyclinder is made to stretch out or retract,
To directly drive rotation or backspin in working bucket 8, realize that working bucket 8 is horizontal.
There are two types of 8 leveling fuel system of working bucket is usual：1. gear pump (constant displacement pump) individually gives leveling fuel feeding；2. working bucket
8 leveling action shares a plunger pump (variable pump) with boom frame telescopic, luffing action.Wherein, the 2. kind leveling fuel system due to
The gear pump of the independent fuel feeding of leveling need not be allocated to and have the advantages that at low cost, easy arrangement and be widely used.
In 2. the plants leveling fuel system, usual oil pump is located at lower chassis, between oil pump and working bucket 8 compared with pipeline
It is long.8 leveling flow of working bucket is smaller, if working bucket 8 leveling conventional load sensory system, system responds slow, leveling
Lag is than more serious, so 8 leveling system of working bucket mostly uses greatly constant-voltage system, as long as system is constant pressure system when that is, luffing acts
System.
8 leveling system of working bucket in the prior art includes mainly constant-pressure drop variable pump, main valve, leveling valve, telescopic oil cylinder
4, amplitude oil cylinder 3 and leveling cyclinder 7.Constant-pressure drop variable pump controls telescopic oil cylinder 4 by main valve and amplitude oil cylinder 3 acts, simultaneously
Fluid is provided to leveling cyclinder 7.When independent expanding-contracting action, system is load sensitive system, constant-pressure drop variable pump discharge pressure
A preset fixed value higher than load pressure, rate of discharge are loaded work piece flow；When independent luffing acts, constant-pressure drop becomes
Amount pump is used as constant pressure variable displacement pump, and system is constant-voltage system, is changed by changing the openings of sizes of electromagnetic proportional valve in leveling valve
Leveling flow；When flexible, luffing composite move, constant-pressure drop variable pump is used as constant pressure variable displacement pump at this time, and system is constant-voltage system,
Change leveling flow by changing the openings of sizes of electromagnetic proportional valve in leveling valve.
There are following technological deficiencies for above-mentioned leveling system：1), when independent luffing acts or flexible, luffing composite move
When, system is constant-voltage system, therefore 13 outlet pressure of constant-pressure drop variable pump is always held at maximum value, with load sensitive system phase
Than energy consumption is big；2), working bucket leveling action will appear the phenomenon that system low-response, leveling lag；3), electromagnetism ratio in leveling valve
Example valve both ends pressure difference changes with load and is changed, therefore the leveling of working bucket 8 is not easy to control.
Invention content
In order to overcome deficiencies of the prior art, the present invention to provide a kind of working bucket leveling system of high-altitude operation vehicle
System, working bucket leveling is convenient for control, and without lag, system response is fast while energy-saving for leveling action.
To solve the above-mentioned problems, a kind of working bucket leveling system of high-altitude operation vehicle of the present invention, including constant-pressure drop variable
Pump, main valve, leveling valve, telescopic oil cylinder, amplitude oil cylinder and leveling cyclinder；Constant-pressure drop variable pump pressure oil port P and main valve pressure oil
Mouth P is connected, and constant-pressure drop variable pump load feedback hydraulic fluid port LS is connected with main valve load feedback hydraulic fluid port LS, and hydraulic oil is entered by main valve
Telescopic oil cylinder and amplitude oil cylinder are to control expanding-contracting action and luffing action；The pressure oil of the pressure oil port P and leveling valve of main valve
Mouth P is connected, and the oil return inlet T of main valve is connected with the oil return inlet T of leveling valve, and hydraulic oil enters leveling cyclinder to control by leveling valve
The leveling of leveling cyclinder processed acts；It is characterized in that, the main valve can be inserted valve or multi-way valve；Telescopic oil cylinder and luffing
Maximum load pressure on oil cylinder feeds back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump；The main valve pressure oil port P with
The oil circuit of leveling valve pressure oil port P connections is equipped with reversal valve, when reversal valve is in spring position, the pressure oil port P of leveling valve
Pressure is zero, and when reversal valve commutates, constant-pressure drop variable pump pressure oil port P connects by the P mouths of flow rate adjustment device and leveling valve
Lead to, and feeds back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump by being connected to the check valve of reversal valve oil outlet.
Since the maximum load pressure on telescopic oil cylinder and amplitude oil cylinder feeds back to the load-sensitive of constant-pressure drop variable pump
Hydraulic fluid port LS, and the pressure oil port P of leveling valve feeds back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump also by check valve, therefore
Either expanding-contracting action, luffing action or luffing stretch composite move when, system is load sensitive system, energy conservation and environmental protection；
When independent expanding-contracting action, reversal valve is in spring position, therefore no pressure oil enters leveling valve and leveling cyclinder, becomes when independent
When width action or flexible luffing composite move, reversal valve is in commutation, therefore pressure oil passes through stream while entering main valve
Velocity modulation regulating device and reversal valve enter leveling cyclinder, and leveling is swift in motion no lag.
Further, the leveling valve includes the first shuttle valve, 3-position 4-way electromagnetic proportional valve and pressure-differentially-set valve, pressure-differentially-set valve
A hydraulic fluid ports, c hydraulic fluid ports and 3-position 4-way electromagnetic proportional valve oil inlet be connected in parallel at the pressure oil port P of leveling valve simultaneously, three
First oil outlet of four-way electromagnetic proportioning valve and the first oil inlet of the first shuttle valve are connected in parallel on the rod chamber end of leveling cyclinder, and three
Second oil outlet of position four-way electromagnetic proportioning valve and the second oil inlet of the first shuttle valve are connected in parallel on the rodless cavity end of leveling cyclinder,
The oil outlet of first shuttle valve is by the d hydraulic fluid ports of pressure feedback to pressure-differentially-set valve, the oil return opening and level pressure of 3-position 4-way electromagnetic proportional valve
The b hydraulic fluid ports of difference limen are connected in parallel to the oil return line T of system.
First shuttle valve feeds back to pressure-differentially-set valve using the larger pressure in leveling cyclinder both ends as feedback pressure, therefore makes three four
The pressure difference of logical electromagnetic proportional valve oil inlet and oil return opening remains constant always, passes through the flow of 3-position 4-way electromagnetic proportional valve at this time
It is only related with the openings of sizes of 3-position 4-way electromagnetic proportional valve, therefore the opening of the first three position four-way electromagnetic valve of change can be passed through
Size changes leveling flow, and control is more simple, leveling action more it is accurate fast.
Specifically, when main valve be inserted valve when, including overflow valve, operated proportional flow control valve, three-position four-way electromagnetic directional valve,
Shuttle valve and check valve, the oil inlet of the overflow valve, the oil inlet of the first operated proportional flow control valve and the control of the second proportional flow
The oil inlet of valve is connected with the pressure oil port P of main valve, the oil outlet of the first operated proportional flow control valve and the first 3-position 4-way electricity
The oil inlet of magnetic reversal valve is connected, the oil inlet of the oil outlet of the second operated proportional flow control valve and the second three-position four-way electromagnetic directional valve
Mouth is connected, and the first oil outlet of the first three-position four-way electromagnetic directional valve and the first oil inlet of the second shuttle valve are connected in parallel on telescopic oil cylinder
Rod chamber end, the second oil outlet of the first three-position four-way electromagnetic directional valve is connected in parallel on flexible with the second oil inlet of the second shuttle valve
The rodless cavity end of oil cylinder, the first oil outlet of the second three-position four-way electromagnetic directional valve are connected in parallel on the first oil inlet of third shuttle valve
The rod chamber end of amplitude oil cylinder, the second oil outlet of the second three-position four-way electromagnetic directional valve and the second oil inlet of third shuttle valve are simultaneously
It is associated in the rodless cavity end of amplitude oil cylinder, the oil outlet of the second shuttle valve is connected with the oil inlet of the second check valve, and third shuttle valve goes out
Hydraulic fluid port is connected with the oil inlet of third check valve, the oil outlet of the first check valve, the second check valve and third check valve with master
The load feedback hydraulic fluid port LS of valve is connected, the oil return opening of the first three-position four-way electromagnetic directional valve, the second three-position four-way electromagnetic directional valve
Oil return opening, the oil return opening of reversal valve and the oil outlet of overflow valve be connected with the oil return inlet T of main valve.
The reversal valve is two-bit triplet solenoid directional control valve, and the flow rate adjustment device is speed governing valve.
Specifically, when main valve is multi-way valve, including first, flexible connection, luffing connection, leveling connection and tail connection, wherein flexible
Connection, luffing connection and leveling connection include pressure-differentially-set valve, hydraulic control proportional reversing valve and check valve, the first hydraulic control proportional reversing valve, the
Two hydraulic control proportional reversing valves, third hydraulic control proportional reversing valve oil inlet be connected with the pressure oil port P of main valve, the first hydraulic control ratio
Example reversal valve, the second hydraulic control proportional reversing valve, third hydraulic control proportional reversing valve oil return opening be connected with the oil return inlet T of main valve；
The control port of first pressure-differentially-set valve, the second pressure-differentially-set valve and third pressure-differentially-set valve with the load-sensitive hydraulic fluid port LS phases of main valve
Even；The left side control port of first hydraulic control proportional reversing valve is connected with the first electric proportional pressure-reducing valve, the first hydraulic control proportional reversing valve
Right side control port be connected with the second electric proportional pressure-reducing valve, the left side control port of the second hydraulic control proportional reversing valve and third are electric
Proportional pressure-reducing valve is connected, and the right side control port of the second hydraulic control proportional reversing valve is connected with the 4th electric proportional pressure-reducing valve, third liquid
The left side control port for controlling proportional reversing valve is connected with the 5th electric proportional pressure-reducing valve, the right side control of third hydraulic control proportional reversing valve
Hydraulic fluid port is directly connected with fuel tank.
Further, the first hydraulic control proportional reversing valve, the second hydraulic control proportional reversing valve, third hydraulic control proportional reversing valve are
Three eight logical reversal valves, a hydraulic fluid ports of reversal valve are connected to c hydraulic fluid ports, and are connected in parallel to oil return inlet T, b hydraulic fluid ports with pressure oil port T
It is connected, the d hydraulic fluid ports and h hydraulic fluid ports of the first hydraulic control proportional reversing valve are connected with the rod chamber end of telescopic oil cylinder and rodless cavity end respectively,
The d hydraulic fluid ports and h hydraulic fluid ports of second hydraulic control proportional reversing valve are connected with the rod chamber end of amplitude oil cylinder and rodless cavity end respectively, third liquid
The d hydraulic fluid ports and h hydraulic fluid ports for controlling proportional reversing valve are connected with the pressure oil port P and oil return inlet T of main valve respectively, the commutation of the first hydraulic control ratio
The e hydraulic fluid ports and g hydraulic fluid ports of valve are connected in parallel to the oil outlet of the first pressure-differentially-set valve, while the oil outlet of the first pressure-differentially-set valve and the 4th list
It is connected to the oil inlet of valve, the e hydraulic fluid ports and g hydraulic fluid ports of the second hydraulic control proportional reversing valve are connected in parallel to the oil outlet of the second pressure-differentially-set valve
Place, while the oil outlet of the second pressure-differentially-set valve is connected with the oil inlet of the 5th check valve, the e hydraulic fluid ports of third hydraulic control proportional reversing valve
Be connected in parallel to the oil outlet of third pressure-differentially-set valve with g hydraulic fluid ports, at the same the oil outlet of third pressure-differentially-set valve and the 6th check valve into
Hydraulic fluid port is connected；The oil inlet that the f hydraulic fluid ports of first hydraulic control proportional reversing valve determine differential valve with first is connected, the commutation of the second hydraulic control ratio
The oil inlet that the f hydraulic fluid ports of valve determine differential valve with second is connected, and f hydraulic fluid ports and the third of third hydraulic control proportional reversing valve determine differential valve
Oil inlet is connected.
Constant-pressure drop variable pump in the present invention acts fuel feeding with constant flow rate by main valve and leveling valve to working bucket leveling,
Due to the pressure-differentially-set valve of the 3-position 4-way electromagnetic proportional valve both ends setting in leveling valve, it can ensure 3-position 4-way electromagnetism ratio
Example valve both ends pressure difference is constant, only related with 3-position 4-way electromagnetic proportional valve opening by flow, therefore working bucket leveling is convenient for control
System；It is controlled and is commutated by reversal valve, leveling valve is flowed into without hydraulic oil when only expanding-contracting action, when luffing or flexible luffing are compound
When action, hydraulic oil will also pass through speed governing valve and flow into leveling valve while flowing into amplitude oil cylinder, so working bucket leveling action is not
It will appear system low-response, leveling hysteresis；Arm support is multiple in independent expanding-contracting action, the action of independent luffing and flexible luffing simultaneously
Conjunction is load sensitive system when acting, energy-saving；The main valve in this system is not limited only to inserted valve simultaneously, can also be applicable in
In multi-way valve, therefore it can be used for various working, the scope of application is wider.
Description of the drawings
Fig. 1 is high-altitude operation vehicle structural schematic diagram；
Fig. 2 is the working bucket leveling operation principle structural schematic diagram in Fig. 1；
Fig. 3 is a kind of working bucket leveling system structure diagram of the present invention；
Fig. 4 is another working bucket leveling system structure diagram of the present invention；
Fig. 5 is the first hydraulic control proportional reversing valve or the second hydraulic control proportional reversing valve or third hydraulic control proportional reversing valve in Fig. 4
Enlarged diagram；
In figure：1, chassis, 2, turntable, 3, amplitude oil cylinder, 4, telescopic oil cylinder, 5, basic arm, 6, two joint arms, 7, leveling oil
Cylinder, 8, working bucket, 9, obliquity sensor, 10, controller, 11, electro-hydraulic proportional valve, 12, leveling cyclinder balanced valve；
23, constant-pressure drop variable pump, 28, main valve, 281, speed governing valve, 282, overflow valve, the 283, first operated proportional flow control valve,
284, the first three-position four-way electromagnetic directional valve, the 285, second shuttle valve, the 286, second operated proportional flow control valve, 287, the 2nd 3 four
Electric change valve, 288, third shuttle valve, 289, two-bit triplet solenoid directional control valve, the 2810, second check valve, 2811, third list
To valve, the 2812, first check valve, 29, leveling valve, the 291, first three-position four-way electromagnetic directional valve, the 292, first shuttle valve, 293, fixed
Valve for pressure difference, 33, amplitude oil cylinder, 34, telescopic oil cylinder, 37, leveling cyclinder, 41, first, 42, flexible connection, the 421, first electric ratio subtracts
Pressure valve, the 422, second electric proportional pressure-reducing valve, the 423, first hydraulic control proportional reversing valve, the 424, first pressure-differentially-set valve, the 425, the 4th is single
To valve, 43, luffing connection, 431, third electricity proportional pressure-reducing valve, the 432, the 4th electric proportional pressure-reducing valve, the commutation of the 433, second hydraulic control ratio
Valve, the 434, second pressure-differentially-set valve, the 435, the 5th check valve, 44, leveling connection, the 441, the 5th electric proportional pressure-reducing valve, 442, third liquid
Control proportional reversing valve, 443, third pressure-differentially-set valve, the 444, the 6th check valve, 45, tail connection
Specific implementation mode
The present invention is described in detail in the following with reference to the drawings and specific embodiments.
Embodiment one
As shown in figure 3, a kind of working bucket leveling system of high-altitude operation vehicle, including constant-pressure drop variable pump 23, main valve 28, tune
Flat valve 29, telescopic oil cylinder 34, amplitude oil cylinder 33 and leveling cyclinder 37；23 pressure oil port P of constant-pressure drop variable pump and 28 pressure of main valve
Hydraulic fluid port P is connected, and 23 load feedback hydraulic fluid port LS of constant-pressure drop variable pump is connected with 28 load feedback hydraulic fluid port LS of main valve, and hydraulic oil passes through master
Valve 28 enters telescopic oil cylinder 34 and amplitude oil cylinder 33 to control expanding-contracting action and luffing action；The pressure oil port P1 of main valve 28 with
The pressure oil port P of leveling valve 29 is connected, and the oil return inlet T 1 of main valve 28 is connected with the oil return inlet T of leveling valve 29, and hydraulic oil passes through tune
Flat valve 29 enters leveling cyclinder 37 to control the leveling action of leveling cyclinder 37；The main valve 28 is inserted valve；Telescopic oil cylinder
34 and amplitude oil cylinder 33 on maximum load pressure feed back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump 23；
The main valve 28 includes overflow valve 282, operated proportional flow control valve, three-position four-way electromagnetic directional valve, shuttle valve, unidirectional
Valve, two-bit triplet solenoid directional control valve 289 and speed governing valve 281., the oil inlet of the overflow valve 282, the first operated proportional flow control valve
The oil inlet of 283 oil inlet and the second operated proportional flow control valve 286 is connected with the pressure oil port P of main valve 28, the first ratio
The oil outlet of flow control valve 283 is connected with the oil inlet of the first three-position four-way electromagnetic directional valve 284, the control of the second proportional flow
The oil outlet of valve 286 is connected with the oil inlet of the second three-position four-way electromagnetic directional valve 287, the first three-position four-way electromagnetic directional valve
First oil inlet of 284 the first oil outlet and the second shuttle valve 285 is connected in parallel on the rod chamber end of telescopic oil cylinder 34, the one or three four
Second oil inlet of the second oil outlet of electric change valve 284 and the second shuttle valve 285 is connected in parallel on the rodless cavity of telescopic oil cylinder 34
End, the first oil outlet of the second three-position four-way electromagnetic directional valve 287 are connected in parallel on luffing oil with the first oil inlet of third shuttle valve 288
The rod chamber end of cylinder 33, the second oil outlet of the second three-position four-way electromagnetic directional valve 287 and the second oil inlet of third shuttle valve 288
It is connected in parallel on the rodless cavity end of amplitude oil cylinder 33, the oil outlet of the second shuttle valve 285 is connected with the oil inlet of the second check valve 2810, the
The oil outlet of three shuttle valves 288 is connected with the oil inlet of third check valve 2811, the first check valve 2812,2810 and of the second check valve
The oil outlet of third check valve 2811 is connected with the load feedback hydraulic fluid port LS of main valve 28, the first three-position four-way electromagnetic directional valve
284 oil return opening, the oil return opening of the second three-position four-way electromagnetic directional valve 287, the oil return opening of reversal valve 289 and overflow valve 282
Oil outlet is connected with the oil return inlet T of main valve 28；The oil that 28 pressure oil port P of the main valve is connect with 29 pressure oil port P of leveling valve
Road is equipped with two-bit triplet solenoid directional control valve 289, when two-bit triplet 289 dead electricity of solenoid directional control valve, the pressure oil of leveling valve 29
Mouth P pressure is zero, and when two-bit triplet solenoid directional control valve 289 obtains electric commutation, 23 pressure oil port P of constant-pressure drop variable pump passes through speed governing
Valve 281 is connected to the P of leveling valve 29 mouths, and first by being connected to 289 oil outlet of two-bit triplet solenoid directional control valve unidirectional
Valve 2812 feeds back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump 23；
The leveling valve 29 includes the first shuttle valve 292,3-position 4-way electromagnetic proportional valve 291 and pressure-differentially-set valve 293, and level pressure is poor
The a hydraulic fluid ports of valve 293, the oil inlet of c hydraulic fluid ports and 3-position 4-way electromagnetic proportional valve 291 while the pressure oil for being connected in parallel on leveling valve 29
At mouth P, the first oil inlet of the first oil outlet of 3-position 4-way electromagnetic proportional valve 291 and the first shuttle valve 292 is connected in parallel on leveling
The rod chamber end of oil cylinder 37, the second oil outlet of 3-position 4-way electromagnetic proportional valve 291 and the second oil inlet of the first shuttle valve are simultaneously
It is associated in the rodless cavity end of leveling cyclinder, the oil outlet of the first shuttle valve 292 is by the d hydraulic fluid ports of pressure feedback to pressure-differentially-set valve 293, three
The oil return opening of four-way electromagnetic proportioning valve 291 is connected in parallel to the oil return line T of system with the b hydraulic fluid ports of pressure-differentially-set valve 293.
Concrete operating principle is as follows：
A) when independent expanding-contracting action, the first three-position four-way electromagnetic directional valve 284 obtains electric, the second 3-position 4-way electromagnetic switch
289 dead electricity of valve 287 and two-bit triplet solenoid directional control valve, hydraulic oil individually flow into telescopic oil cylinder 34, two-bit triplet solenoid directional control valve
289 oil outlet mouths are connected with oil return opening, i.e. 2812 inlet pressure of the first check valve is zero, i.e. the P mouth pressure of leveling valve 29 is also
Zero；Expanding-contracting action load pressure is passed to the LS mouths of constant-pressure drop variable pump 23 by the second shuttle valve 285 by the second check valve 2810,
System is load sensitive system at this time.
B) when independent luffing acts, 284 dead electricity of the first three-position four-way electromagnetic directional valve, the second 3-position 4-way electromagnetic switch
Valve 287 and two-bit triplet solenoid directional control valve 289 obtain electric, hydraulic oil inflow amplitude oil cylinder 33；Two-bit triplet solenoid directional control valve 289 into
Hydraulic fluid port is connected to oil outlet, and oil return opening is closed, and hydraulic oil is oily with the P confessions of constant flow rate to leveling valve 29 by speed governing valve 281,
Excess traffic pours off from pressure-differentially-set valve 293, and working bucket leveling action at this time is not in system low-response, leveling hysteresis；
Pressure-differentially-set valve 293 keeps 291 both ends pressure difference of 3-position 4-way electromagnetic proportional valve constant, passes through 3-position 4-way electromagnetic proportional valve 291 at this time
Flow only it is related with the opening of 3-position 4-way electromagnetic proportional valve 291, pass through change 3-position 4-way electromagnetic proportional valve 291 opening
Size changes leveling flow, easily facilitates control；The load pressure that third shuttle valve 288 is used to that luffing to be selected to act, third list
Luffing operating duty pressure and leveling operating duty pressure are compared to valve 2811 and the first check valve 2812, it will be larger
Load passes to the LS mouths of constant-pressure drop variable pump 23, and luffing moving system is load sensitive system at this time.
C) when flexible, luffing composite move, the first three-position four-way electromagnetic directional valve 284, the second 3-position 4-way electromagnetism change
Must be electric to valve 287 and two-bit triplet solenoid directional control valve 289, hydraulic oil flows into telescopic oil cylinder 34 and amplitude oil cylinder 33 simultaneously；Two
289 oil inlet of three-way solenoid valve is connected to oil outlet, and oil return opening is closed, and hydraulic oil is by speed governing valve 281 with constant flow rate
To the P confession oil of leveling valve 29, excess traffic pours off from pressure-differentially-set valve 293, and working bucket leveling action at this time is not in system
Low-response, leveling hysteresis；Pressure-differentially-set valve 293 keeps 291 both ends pressure difference of 3-position 4-way electromagnetic proportional valve constant, passes through three at this time
The flow of position four-way electromagnetic proportioning valve 291 is only related with the opening of 3-position 4-way electromagnetic proportional valve 291, by changing 3-position 4-way
The openings of sizes of electromagnetic proportional valve 291 changes leveling flow, easily facilitates control；Second shuttle valve 285 takes expanding-contracting action to load
Pressure, third shuttle valve 288 take luffing operating duty pressure, the first check valve 2812, the second check valve 2810 and third check valve
2811 are compared leveling operating duty pressure, expanding-contracting action load pressure, luffing operating duty pressure, by larger load
The LS mouths of constant-pressure drop variable pump 23 are passed to, are stretched at this time, luffing composite move system is load sensitive system.
Embodiment two
A kind of working bucket leveling system of high-altitude operation vehicle, including constant-pressure drop variable pump 23, main valve 28, leveling valve 29, stretch
Contracting oil cylinder 34, amplitude oil cylinder 33 and leveling cyclinder 37；23 pressure oil port P of constant-pressure drop variable pump is connected with 28 pressure oil port P of main valve,
23 load feedback hydraulic fluid port LS of constant-pressure drop variable pump is connected with 28 load feedback hydraulic fluid port LS of main valve, and hydraulic oil is entered by main valve 28 to be stretched
Contracting oil cylinder 34 and amplitude oil cylinder 33 are to control expanding-contracting action and luffing action；The pressure oil port P1 of main valve 28 and leveling valve 29
Pressure oil port P is connected, and the oil return inlet T 1 of main valve 28 is connected with the oil return inlet T of leveling valve 29, and hydraulic oil is entered by leveling valve 29
Leveling cyclinder 37 is to control the leveling action of leveling cyclinder 37；The main valve is multi-way valve, including first 41, flexible connection 42,
Luffing connection 43, leveling connection 44 and tail connection 45, wherein flexible connection 42, luffing connection 43 and leveling connection 44 include pressure-differentially-set valve, hydraulic control
Proportional reversing valve and check valve, the first hydraulic control proportional reversing valve 423, the second hydraulic control proportional reversing valve 433, third hydraulic control ratio are changed
It is connected to the oil inlet of valve 442 with the pressure oil port P of main valve, the first hydraulic control proportional reversing valve 423, the commutation of the second hydraulic control ratio
Valve 433, third hydraulic control proportional reversing valve 442 oil return opening be connected with the oil return inlet T of main valve；First pressure-differentially-set valve 424, second
The control port of pressure-differentially-set valve 434 and third pressure-differentially-set valve 443 is connected with the load-sensitive hydraulic fluid port LS of main valve；First hydraulic control ratio
The left side control port of example reversal valve 423 is connected with the first electric proportional pressure-reducing valve 421, the right side of the first hydraulic control proportional reversing valve 423
Side control port is connected with the second electric proportional pressure-reducing valve 422, the left side control port of the second hydraulic control proportional reversing valve 433 and third
Electric proportional pressure-reducing valve 431 is connected, the right side control port of the second hydraulic control proportional reversing valve 433 and the 4th electric proportional pressure-reducing valve 432
It is connected, the left side control port of third hydraulic control proportional reversing valve 442 is connected with the 5th electric proportional pressure-reducing valve 441, third hydraulic control ratio
The right side control port of example reversal valve 442 is directly connected with fuel tank；
As shown in Figure 4 and Figure 5, the first hydraulic control proportional reversing valve 423, the second hydraulic control proportional reversing valve 433, third hydraulic control ratio
Example reversal valve 442 is three eight logical reversal valves, and a hydraulic fluid ports of reversal valve are connected to c hydraulic fluid ports, and are connected in parallel to oil return inlet T, b oil
Mouth connects with pressure oil port T-phase, and the d hydraulic fluid ports and h hydraulic fluid ports of the first hydraulic control proportional reversing valve 423 have bar with telescopic oil cylinder 34 respectively
Chamber end is connected with rodless cavity end, and the d hydraulic fluid ports and h hydraulic fluid ports of the second hydraulic control proportional reversing valve 433 have bar with amplitude oil cylinder 33 respectively
Chamber end is connected with rodless cavity end, the d hydraulic fluid ports and h hydraulic fluid ports of third hydraulic control proportional reversing valve 442 respectively with the pressure oil port P1 of main valve
It is connected with oil return inlet T 1, the e hydraulic fluid ports and g hydraulic fluid ports of the first hydraulic control proportional reversing valve 423 are connected in parallel to the fuel-displaced of the first pressure-differentially-set valve 424
At mouthful, while the oil outlet of the first pressure-differentially-set valve 424 is connected with the oil inlet of the 4th check valve 425, the commutation of the second hydraulic control ratio
The e hydraulic fluid ports and g hydraulic fluid ports of valve 433 are connected in parallel to the oil outlet of the second pressure-differentially-set valve 434, while the second pressure-differentially-set valve 434 is fuel-displaced
Mouth is connected with the oil inlet of the 5th check valve 435, and the e hydraulic fluid ports and g hydraulic fluid ports of third hydraulic control proportional reversing valve 442, which are connected in parallel to third, to be determined
The oil outlet of valve for pressure difference 443, while the oil outlet of third pressure-differentially-set valve 443 is connected with the oil inlet of the 6th check valve 444；The
The oil inlet that the f hydraulic fluid ports of one hydraulic control proportional reversing valve 423 determine differential valve 424 with first is connected, the second hydraulic control proportional reversing valve 433
F hydraulic fluid ports determine the oil inlet of differential valve 434 with second and be connected, f hydraulic fluid ports and the third of third hydraulic control proportional reversing valve 442 determine differential pressure
The oil inlet of valve 443 is connected；
The leveling valve 29 includes the first shuttle valve 292,3-position 4-way electromagnetic proportional valve 291 and pressure-differentially-set valve 293, and level pressure is poor
The a hydraulic fluid ports of valve 293, the oil inlet of c hydraulic fluid ports and 3-position 4-way electromagnetic proportional valve 291 while the pressure oil for being connected in parallel on leveling valve 29
At mouth P, the first oil inlet of the first oil outlet of 3-position 4-way electromagnetic proportional valve 291 and the first shuttle valve 292 is connected in parallel on leveling
The rod chamber end of oil cylinder 37, the second oil outlet of 3-position 4-way electromagnetic proportional valve 291 and the second oil inlet of the first shuttle valve are simultaneously
It is associated in the rodless cavity end of leveling cyclinder, the oil outlet of the first shuttle valve 292 is by the d hydraulic fluid ports of pressure feedback to pressure-differentially-set valve 293, three
The oil return opening of four-way electromagnetic proportioning valve 291 is connected in parallel to the oil return line T of system with the b hydraulic fluid ports of pressure-differentially-set valve 293.
When the 5th electric 441 dead electricity of proportional pressure-reducing valve in leveling connection, 442 control terminal no pressure of third hydraulic control proportional reversing valve
Input, thus act on middle position, at this time without hydraulic oil by third hydraulic control proportional reversing valve 442, thus the P1 mouths of leveling connection 44,
T1 mouthfuls of pressure are zero, and 444 inlet pressure of the 6th check valve is zero；When 5th electric proportional pressure-reducing valve 441 obtains electric, hydraulic control ratio is changed
It is operated in left position to valve 442,442 control terminal of third hydraulic control proportional reversing valve controls its commutation, hydraulic pressure with a constant pressure
Oil is transferred to by third hydraulic control proportional reversing valve 442, third pressure-differentially-set valve 443 at the oil inlet of the 6th check valve 444, with this
It feeds back to leveling by third hydraulic control proportional reversing valve 442 again to join at pressure oil port P1, due to third hydraulic control proportional reversing valve 442
Both ends connection third pressure-differentially-set valve 443, thus keep the pressure at its both ends constant, so the P1 mouths of leveling connection 44 are with steady flow
It measures to 29 fuel feeding of leveling valve, at this time the 5th electric proportional pressure-reducing valve 441, third hydraulic control proportional reversing valve 442 and third pressure-differentially-set valve
443 collective effect is identical as the effect of two-bit triplet solenoid directional control valve and speed governing valve in inserted valve.
Concrete operating principle is as follows：
A) when independent expanding-contracting action, the 5th 441 dead electricity of electric proportional pressure-reducing valve, third hydraulic control proportional reversing valve 442 works
In middle position, the P1 mouths of leveling connection 44, T1 mouthfuls of pressure are zero, and 444 inlet pressure of the 6th check valve is zero；42 load pressure of flexible connection
Power passes to the LS mouths of constant-pressure drop variable pump 23 by the 4th check valve 425, and system is load sensitive system at this time.
B) when independent luffing acts, the 5th electric proportional pressure-reducing valve 441 must be electric, and voltage is a steady state value, third hydraulic control
Proportional reversing valve 442 is operated in left position, and the P1 mouths of leveling connection 44 are with constant flow rate to 29 fuel feeding of leveling valve, and excess traffic is from level pressure
Difference limen 293 pours off, and working bucket leveling action at this time is not in system low-response, leveling hysteresis；Pressure-differentially-set valve 293 makes three
Position four-way electromagnetic 291 both ends pressure differences of proportioning valve are constant, pass through the flow of 3-position 4-way electromagnetic proportional valve 291 and three four at this time
The opening of logical electromagnetic proportional valve 291 is related, changes leveling stream by changing the openings of sizes of 3-position 4-way electromagnetic proportional valve 291
Amount；Luffing operating duty pressure and leveling operating duty pressure are compared by the 5th check valve 435 and the 6th check valve 444,
Larger load is passed to the LS mouths of constant-pressure drop variable pump 23, system is load sensitive system at this time.
C) when flexible, luffing composite move, the 5th electric proportional pressure-reducing valve 441 it is electric, and voltage is a steady state value, third
Hydraulic control proportional reversing valve 442 is operated in left position, the P1 mouths of leveling connection 44 with constant flow rate to 29 fuel feeding of leveling valve, excess traffic from
Pressure-differentially-set valve 293 pours off, and working bucket leveling action at this time is not in system low-response, leveling hysteresis；Pressure-differentially-set valve 293
Keep 291 both ends pressure difference of 3-position 4-way electromagnetic proportional valve constant, passes through the flow of 3-position 4-way electromagnetic proportional valve 291 and three at this time
The opening of position four-way electromagnetic proportioning valve 291 is related, is adjusted by changing the openings of sizes of 3-position 4-way electromagnetic proportional valve 291 to change
Advection amount；4th check valve 425, the 5th check valve 435 and the 6th check valve 444 act expanding-contracting action load pressure, luffing
Load pressure and leveling operating duty pressure are compared, and larger load is passed to the LS mouths of constant-pressure drop variable pump 23, this
When system be load sensitive system.
Claims (6)
1. a kind of working bucket leveling system of high-altitude operation vehicle, including constant-pressure drop variable pump (23), main valve (28), leveling valve
(29), telescopic oil cylinder (34), amplitude oil cylinder (33) and leveling cyclinder (37)；Constant-pressure drop variable pump (23) pressure oil port P and main valve
(28) pressure oil port P is connected, and constant-pressure drop variable pump (23) load feedback hydraulic fluid port LS is connected with main valve (28) load feedback hydraulic fluid port LS,
Hydraulic oil enters telescopic oil cylinder (34) and amplitude oil cylinder (33) by main valve (28) and is acted to control expanding-contracting action and luffing；It is main
The pressure oil port P1 of valve (28) is connected with the pressure oil port P of leveling valve (29), oil return inlet T 1 and the leveling valve (29) of main valve (28)
Oil return inlet T be connected, hydraulic oil by leveling valve (29) enter leveling cyclinder (37) to control the leveling of leveling cyclinder (37)
Action；It is characterized in that, the main valve (28) can be inserted valve or multi-way valve；Telescopic oil cylinder (34) and amplitude oil cylinder (33)
On maximum load pressure feed back to the load-sensitive hydraulic fluid port LS of constant-pressure drop variable pump (23)；Main valve (28) pressure oil port
The oil circuit that P is connect with leveling valve (29) pressure oil port P is equipped with reversal valve, when reversal valve is in spring position, leveling valve (29)
Pressure oil port P pressure be zero, when reversal valve commutates, constant-pressure drop variable pump (23) pressure oil port P pass through flow rate adjustment device
It is connected to the P mouths of leveling valve (29), and constant-pressure drop variable pump is fed back to by being connected to the check valve of reversal valve oil outlet
(23) load-sensitive hydraulic fluid port LS.
2. the working bucket leveling system of high-altitude operation vehicle according to claim 1, which is characterized in that the leveling valve (29)
Including the first shuttle valve (292), 3-position 4-way electromagnetic proportional valve (291) and pressure-differentially-set valve (293), a oil of pressure-differentially-set valve (293)
The oil inlet of mouth, c hydraulic fluid ports and 3-position 4-way electromagnetic proportional valve (291) is connected in parallel at the pressure oil port P of leveling valve (29) simultaneously,
First oil outlet of 3-position 4-way electromagnetic proportional valve (291) and the first oil inlet of the first shuttle valve (292) are connected in parallel on leveling oil
The rod chamber end of cylinder (37), the second oil outlet of 3-position 4-way electromagnetic proportional valve (291) and the second oil inlet of the first shuttle valve
It is connected in parallel on the rodless cavity end of leveling cyclinder, the oil outlet of the first shuttle valve (292) is oily by the d of pressure feedback to pressure-differentially-set valve (293)
Mouthful, the oil return opening of 3-position 4-way electromagnetic proportional valve (291) is connected in parallel to the oil return line T of system with the b hydraulic fluid ports of pressure-differentially-set valve (293).
3. the working bucket leveling system of high-altitude operation vehicle according to claim 2, which is characterized in that when main valve (28) is slotting
When filling valve, including overflow valve (282), operated proportional flow control valve, three-position four-way electromagnetic directional valve, shuttle valve and check valve, it is described to overflow
Flow the oil inlet of valve (282), the oil inlet of the first operated proportional flow control valve (283) and the second operated proportional flow control valve (286)
Oil inlet is connected with the pressure oil port P of main valve (28), the oil outlet of the first operated proportional flow control valve (283) and the one or three four
The oil inlet of electric change valve (284) is connected, the oil outlet of the second operated proportional flow control valve (286) and the second 3-position 4-way electricity
The oil inlet of magnetic reversal valve (287) is connected, the first oil outlet and the second shuttle valve of the first three-position four-way electromagnetic directional valve (284)
(285) the first oil inlet is connected in parallel on the rod chamber end of telescopic oil cylinder (34), and the of the first three-position four-way electromagnetic directional valve (284)
Second oil inlet of two oil outlets and the second shuttle valve (285) is connected in parallel on the rodless cavity end of telescopic oil cylinder (34), the second 3-position 4-way
First oil outlet of solenoid directional control valve (287) and the first oil inlet of third shuttle valve (288) are connected in parallel on having for amplitude oil cylinder (33)
Second oil outlet at rod cavity end, the second three-position four-way electromagnetic directional valve (287) is in parallel with the second oil inlet of third shuttle valve (288)
At the rodless cavity end of amplitude oil cylinder (33), the oil outlet of the second shuttle valve (285) is connected with the oil inlet of the second check valve (2810),
The oil outlet of third shuttle valve (288) is connected with the oil inlet of third check valve (2811), and the first check valve (2812), second are unidirectionally
The oil outlet of valve (2810) and third check valve (2811) is connected with the load feedback hydraulic fluid port LS of main valve (28), the one or three four
Time of the oil return opening of electric change valve (284), the oil return opening of the second three-position four-way electromagnetic directional valve (287), reversal valve (289)
The oil outlet of hydraulic fluid port and overflow valve (282) is connected with the oil return inlet T of main valve 28.
4. the working bucket leveling system of high-altitude operation vehicle according to claim 3, which is characterized in that the reversal valve is two
Position three-way solenoid valve (289), the flow rate adjustment device are speed governing valve (281).
5. the working bucket leveling system of high-altitude operation vehicle according to claim 2, which is characterized in that when main valve is multi-way valve
When, including first (41), the connection (42) that stretches, luffing join (43), leveling joins (44) and tail connection (45), wherein the connection (42) that stretches, change
It includes pressure-differentially-set valve, hydraulic control proportional reversing valve and check valve, the first hydraulic control proportional reversing valve that width, which joins (43) and leveling connection (44),
(423), the second hydraulic control proportional reversing valve (433), third hydraulic control proportional reversing valve (442) oil inlet with the pressure oil of main valve
Mouth P is connected, the first hydraulic control proportional reversing valve (423), the second hydraulic control proportional reversing valve (433), third hydraulic control proportional reversing valve
(442) oil return opening is connected with the oil return inlet T of main valve；First pressure-differentially-set valve (424), the second pressure-differentially-set valve (434) and third
The control port of pressure-differentially-set valve (443) is connected with the load-sensitive hydraulic fluid port LS of main valve；First hydraulic control proportional reversing valve (423)
Left side control port is connected with the first electric proportional pressure-reducing valve (421), the right side control port of the first hydraulic control proportional reversing valve (423)
It is connected with the second electric proportional pressure-reducing valve (422), the left side control port of the second hydraulic control proportional reversing valve (433) and third electricity ratio
Pressure reducing valve (431) is connected, the right side control port of the second hydraulic control proportional reversing valve (433) and the 4th electric proportional pressure-reducing valve (432)
It is connected, the left side control port of third hydraulic control proportional reversing valve (442) is connected with the 5th electric proportional pressure-reducing valve (441), third liquid
The right side control port of control proportional reversing valve (442) is directly connected with fuel tank.
6. the working bucket leveling system of high-altitude operation vehicle according to claim 5, which is characterized in that the first hydraulic control ratio is changed
It is three eight logical reversal valves to valve (423), the second hydraulic control proportional reversing valve (433), third hydraulic control proportional reversing valve (442),
The a hydraulic fluid ports of reversal valve are connected to c hydraulic fluid ports, and are connected in parallel to oil return inlet T, and b hydraulic fluid ports connect with pressure oil port T-phase, the first hydraulic control ratio
The d hydraulic fluid ports and h hydraulic fluid ports of example reversal valve (423) are connected with the rod chamber end of telescopic oil cylinder (34) and rodless cavity end respectively, the second liquid
The d hydraulic fluid ports and h hydraulic fluid ports of control proportional reversing valve (433) are connected with the rod chamber end of amplitude oil cylinder (33) and rodless cavity end respectively, the
The d hydraulic fluid ports and h hydraulic fluid ports of three hydraulic control proportional reversing valves (442) are connected with the pressure oil port P1 of main valve and oil return inlet T 1 respectively, and first
The e hydraulic fluid ports and g hydraulic fluid ports of hydraulic control proportional reversing valve (423) are connected in parallel to the oil outlet of the first pressure-differentially-set valve (424), while first is fixed
The oil outlet of valve for pressure difference (424) is connected with the oil inlet of the 4th check valve (425), the e oil of the second hydraulic control proportional reversing valve (433)
Mouthful and g hydraulic fluid ports be connected in parallel to the oil outlets of the second pressure-differentially-set valve (434), while the oil outlet of the second pressure-differentially-set valve (434) and the
The oil inlet of five check valves (435) is connected, and the e hydraulic fluid ports and g hydraulic fluid ports of third hydraulic control proportional reversing valve (442) are connected in parallel to third level pressure
The oil outlet of difference limen (443), while the oil inlet phase of the oil outlet of third pressure-differentially-set valve (443) and the 6th check valve (444)
Even；The oil inlet that the f hydraulic fluid ports of first hydraulic control proportional reversing valve (423) determine differential valve (424) with first is connected, the second hydraulic control ratio
The oil inlet that the f hydraulic fluid ports of reversal valve (433) determine differential valve (434) with second is connected, the f of third hydraulic control proportional reversing valve (442)
The oil inlet that hydraulic fluid port determines differential valve (443) with third is connected.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810715474.2A CN108658019B (en) | 2018-07-03 | 2018-07-03 | A kind of working bucket leveling system of high-altitude operation vehicle |
| GB2011541.6A GB2587267B (en) | 2018-07-03 | 2018-10-24 | Bucket leveling system for aerial work truck |
| PCT/CN2018/111594 WO2020006932A1 (en) | 2018-07-03 | 2018-10-24 | Bucket leveling system for aerial work truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810715474.2A CN108658019B (en) | 2018-07-03 | 2018-07-03 | A kind of working bucket leveling system of high-altitude operation vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108658019A true CN108658019A (en) | 2018-10-16 |
| CN108658019B CN108658019B (en) | 2019-07-30 |
Family
ID=63772727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810715474.2A Active CN108658019B (en) | 2018-07-03 | 2018-07-03 | A kind of working bucket leveling system of high-altitude operation vehicle |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN108658019B (en) |
| GB (1) | GB2587267B (en) |
| WO (1) | WO2020006932A1 (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109058195A (en) * | 2018-10-30 | 2018-12-21 | 徐工集团工程机械有限公司 | The hydraulic control system for equipment of speedily carrying out rescue work and equipment of speedily carrying out rescue work |
| CN109368500A (en) * | 2018-12-25 | 2019-02-22 | 臧其亮 | A kind of the full Terrain Cranes setting-up extension and retraction system and control method |
| CN109854556A (en) * | 2019-04-01 | 2019-06-07 | 徐工集团工程机械股份有限公司科技分公司 | Oil sources valve, hydraulic system and engineering machinery |
| CN110002381A (en) * | 2019-04-10 | 2019-07-12 | 湖南星邦重工有限公司 | One kind is cranked arm high-altitude operation vehicle connector leveling hydraulic system and control method |
| CN110030217A (en) * | 2019-04-10 | 2019-07-19 | 湖南星邦重工有限公司 | A kind of control system and high-altitude operation vehicle of high altitude operation body frame floating cylinder |
| CN110217737A (en) * | 2019-06-20 | 2019-09-10 | 江苏建筑职业技术学院 | Aerial work platform control valve divided working status servomechanism and control method |
| CN110645213A (en) * | 2019-09-06 | 2020-01-03 | 湖南星邦重工有限公司 | Active floating control method and system for underframe and aerial work platform thereof |
| WO2020006932A1 (en) * | 2018-07-03 | 2020-01-09 | 徐州海伦哲专用车辆股份有限公司 | Bucket leveling system for aerial work truck |
| CN110775904A (en) * | 2019-10-31 | 2020-02-11 | 三一汽车制造有限公司 | Leveling control system and leveling control method for working bucket of high-altitude vehicle and high-altitude vehicle |
| CN110905870A (en) * | 2019-12-09 | 2020-03-24 | 柳州柳工液压件有限公司 | Load sensitive hydraulic system |
| CN111302227A (en) * | 2020-02-28 | 2020-06-19 | 西安石油大学 | Multi-degree-of-freedom lifting platform device and automatic leveling method |
| CN111943095A (en) * | 2020-07-10 | 2020-11-17 | 湖南星邦智能装备股份有限公司 | Method for controlling stability of boom of aerial work platform |
| CN112833058A (en) * | 2021-01-21 | 2021-05-25 | 长沙中联重科环境产业有限公司 | Load-sensitive hydraulic system and hedge trimming equipment |
| CN113582095A (en) * | 2021-06-30 | 2021-11-02 | 江苏徐工工程机械研究院有限公司 | Self-adaptive control method, system and device for stability of working platform of elevating fire truck |
| CN109058195B (en) * | 2018-10-30 | 2024-04-30 | 江苏徐工工程机械研究院有限公司 | Hydraulic control system of rescue equipment and rescue equipment |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113175460B (en) * | 2021-04-23 | 2023-09-01 | 中国人民解放军国防科技大学 | Hydraulic cylinder with variable piston section |
| CN113915188A (en) * | 2021-10-18 | 2022-01-11 | 山东泰丰智能控制股份有限公司 | Self-adaptive hydraulic control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2950618B1 (en) * | 2009-09-28 | 2011-10-21 | Haulotte Group | LIFT BOOM AND METHOD OF CONTROLLING SUCH NACELLE |
| CN202988661U (en) * | 2012-11-04 | 2013-06-12 | 西安志越机电科技有限公司 | Hydraulic circuit for high-altitude operation car leveling device |
| KR20160042218A (en) * | 2014-10-07 | 2016-04-19 | 주식회사 호룡 | Automatically safty moving device of cart for ladder car |
| CN106115518A (en) * | 2016-09-08 | 2016-11-16 | 圣邦集团有限公司 | A kind of crane energy-saving hydraulic system |
| CN208532159U (en) * | 2018-07-03 | 2019-02-22 | 徐州海伦哲专用车辆股份有限公司 | A kind of working bucket leveling system of high-altitude operation vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3828941A (en) * | 1973-04-10 | 1974-08-13 | J Coutinho | Hydraulic jib |
| US6244450B1 (en) * | 1999-10-13 | 2001-06-12 | Elliott Equipment Company | Method and apparatus for telescoping boom with hydraulic extension actuators |
| CN202673874U (en) * | 2012-06-25 | 2013-01-16 | 江苏海鹏特种车辆有限公司 | Constant-pressure variable control system of load sensitive hydraulic pump |
| CN106015145B (en) * | 2016-07-16 | 2018-03-06 | 安徽柳工起重机有限公司 | High-altitude operation vehicle telescopic boom cylinder oil return separate system |
| CN206069307U (en) * | 2016-09-13 | 2017-04-05 | 湖北江南专用特种汽车有限公司 | A kind of self-level(l)ing device of high-lift operation car bucket |
| CN108658019B (en) * | 2018-07-03 | 2019-07-30 | 徐州海伦哲专用车辆股份有限公司 | A kind of working bucket leveling system of high-altitude operation vehicle |
-
2018
- 2018-07-03 CN CN201810715474.2A patent/CN108658019B/en active Active
- 2018-10-24 GB GB2011541.6A patent/GB2587267B/en active Active
- 2018-10-24 WO PCT/CN2018/111594 patent/WO2020006932A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2950618B1 (en) * | 2009-09-28 | 2011-10-21 | Haulotte Group | LIFT BOOM AND METHOD OF CONTROLLING SUCH NACELLE |
| CN202988661U (en) * | 2012-11-04 | 2013-06-12 | 西安志越机电科技有限公司 | Hydraulic circuit for high-altitude operation car leveling device |
| KR20160042218A (en) * | 2014-10-07 | 2016-04-19 | 주식회사 호룡 | Automatically safty moving device of cart for ladder car |
| CN106115518A (en) * | 2016-09-08 | 2016-11-16 | 圣邦集团有限公司 | A kind of crane energy-saving hydraulic system |
| CN208532159U (en) * | 2018-07-03 | 2019-02-22 | 徐州海伦哲专用车辆股份有限公司 | A kind of working bucket leveling system of high-altitude operation vehicle |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2587267A (en) * | 2018-07-03 | 2021-03-24 | Xuzhou Handler Special Vehicle Company Ltd | Bucket leveling system for aerial work truck |
| WO2020006932A1 (en) * | 2018-07-03 | 2020-01-09 | 徐州海伦哲专用车辆股份有限公司 | Bucket leveling system for aerial work truck |
| GB2587267B (en) * | 2018-07-03 | 2021-08-18 | Xuzhou Handler Special Vehicle Company Ltd | Bucket leveling system for aerial work truck |
| CN109058195A (en) * | 2018-10-30 | 2018-12-21 | 徐工集团工程机械有限公司 | The hydraulic control system for equipment of speedily carrying out rescue work and equipment of speedily carrying out rescue work |
| CN109058195B (en) * | 2018-10-30 | 2024-04-30 | 江苏徐工工程机械研究院有限公司 | Hydraulic control system of rescue equipment and rescue equipment |
| CN109368500A (en) * | 2018-12-25 | 2019-02-22 | 臧其亮 | A kind of the full Terrain Cranes setting-up extension and retraction system and control method |
| CN109854556A (en) * | 2019-04-01 | 2019-06-07 | 徐工集团工程机械股份有限公司科技分公司 | Oil sources valve, hydraulic system and engineering machinery |
| CN110002381A (en) * | 2019-04-10 | 2019-07-12 | 湖南星邦重工有限公司 | One kind is cranked arm high-altitude operation vehicle connector leveling hydraulic system and control method |
| CN110030217A (en) * | 2019-04-10 | 2019-07-19 | 湖南星邦重工有限公司 | A kind of control system and high-altitude operation vehicle of high altitude operation body frame floating cylinder |
| CN110030217B (en) * | 2019-04-10 | 2023-12-01 | 湖南星邦智能装备股份有限公司 | Control system of floating oil cylinder of chassis of overhead working truck and overhead working truck |
| CN110002381B (en) * | 2019-04-10 | 2023-06-20 | 湖南星邦智能装备股份有限公司 | Crank arm aerial working vehicle connector leveling hydraulic system and control method |
| CN110217737A (en) * | 2019-06-20 | 2019-09-10 | 江苏建筑职业技术学院 | Aerial work platform control valve divided working status servomechanism and control method |
| CN110217737B (en) * | 2019-06-20 | 2020-09-04 | 江苏建筑职业技术学院 | Aerial work platform control valve working condition-division follow-up system and control method |
| CN110645213A (en) * | 2019-09-06 | 2020-01-03 | 湖南星邦重工有限公司 | Active floating control method and system for underframe and aerial work platform thereof |
| CN110775904A (en) * | 2019-10-31 | 2020-02-11 | 三一汽车制造有限公司 | Leveling control system and leveling control method for working bucket of high-altitude vehicle and high-altitude vehicle |
| CN110905870A (en) * | 2019-12-09 | 2020-03-24 | 柳州柳工液压件有限公司 | Load sensitive hydraulic system |
| CN111302227A (en) * | 2020-02-28 | 2020-06-19 | 西安石油大学 | Multi-degree-of-freedom lifting platform device and automatic leveling method |
| CN111943095A (en) * | 2020-07-10 | 2020-11-17 | 湖南星邦智能装备股份有限公司 | Method for controlling stability of boom of aerial work platform |
| CN112833058A (en) * | 2021-01-21 | 2021-05-25 | 长沙中联重科环境产业有限公司 | Load-sensitive hydraulic system and hedge trimming equipment |
| CN113582095A (en) * | 2021-06-30 | 2021-11-02 | 江苏徐工工程机械研究院有限公司 | Self-adaptive control method, system and device for stability of working platform of elevating fire truck |
Also Published As
| Publication number | Publication date |
|---|---|
| GB202011541D0 (en) | 2020-09-09 |
| CN108658019B (en) | 2019-07-30 |
| GB2587267A (en) | 2021-03-24 |
| WO2020006932A1 (en) | 2020-01-09 |
| GB2587267B (en) | 2021-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108658019B (en) | A kind of working bucket leveling system of high-altitude operation vehicle | |
| CN208532159U (en) | A kind of working bucket leveling system of high-altitude operation vehicle | |
| CN106759621B (en) | Load-sensitive formula loading machine determines variable delivery hydraulic system | |
| CN103122648B (en) | Multi-way valve hydraulic control system, rectilinear walking control valve and excavator | |
| CN105156391B (en) | A kind of composite variable pump and the hydraulic control system with composite variable pump | |
| CN105351271B (en) | proportional hydraulic control system | |
| CN102887435B (en) | Hydraulic system for controlling amplitude variation of crane boom, control method and crane | |
| CN109441905A (en) | A kind of transformation difference load sensing multi-way valve | |
| CN106402059A (en) | Load port individual valve, hydraulic bus control system and engineering machinery | |
| CN103982475B (en) | A kind of concrete ejection car jib hydraulic control system | |
| CN202829340U (en) | Hydraulic system controlling boom to vary amplitude and crane | |
| CN105201951B (en) | The controlled TBM support hydraulic pressure system of high-efficiency high-accuracy flow | |
| CN109882462A (en) | Hydraulic control ratio merges variable pump and hydraulic control intelligent flow distribution system with load-sensitive | |
| CN107351912B (en) | A kind of electric hydraulic steering system and paver | |
| WO2014005396A1 (en) | Hydraulic system and excavator | |
| CN205876836U (en) | Synchronous hydraulic system and hoist | |
| CN106015138B (en) | A kind of synchronization hydraulic system and crane | |
| CN106438555B (en) | Hydraulic control valve and hydraulic system | |
| CN109356893A (en) | The hydraulic control system of luffing loop wheel machine | |
| CN108035945B (en) | Control valve group for quantitative system flow proportion output | |
| CN108716491B (en) | Three-position five-way load port independent control multi-way valve with O-shaped neutral position function | |
| Djurovic et al. | New control strategies for electrohydraulic load-sensing | |
| CN202732515U (en) | Flow control hydraulic system and engineering machine | |
| CN202707654U (en) | Hydraulic system and heading machine | |
| CN209228739U (en) | A kind of altitude job platform rotational hydraulic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20210902 Granted publication date: 20190730 |