CN110030217A - A kind of control system and high-altitude operation vehicle of high altitude operation body frame floating cylinder - Google Patents
A kind of control system and high-altitude operation vehicle of high altitude operation body frame floating cylinder Download PDFInfo
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- CN110030217A CN110030217A CN201910283786.5A CN201910283786A CN110030217A CN 110030217 A CN110030217 A CN 110030217A CN 201910283786 A CN201910283786 A CN 201910283786A CN 110030217 A CN110030217 A CN 110030217A
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- 238000007667 floating Methods 0.000 title claims abstract description 94
- 239000012530 fluid Substances 0.000 claims abstract description 70
- 239000003921 oil Substances 0.000 claims description 311
- 239000002828 fuel tank Substances 0.000 claims description 17
- 230000006837 decompression Effects 0.000 claims description 16
- 239000010720 hydraulic oil Substances 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 230000004044 response Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000000366 juvenile effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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
-
- 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
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
-
- 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
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/65—Methods of control of the load sensing pressure
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses the control systems and high-altitude operation vehicle of a kind of high altitude operation body frame floating cylinder, the control system includes variable pump, the control valve group for controlling principal arm and the balance valve group for controlling floating cylinder, variable pump has output oil port P and the first load feedback hydraulic fluid port LS, output oil port P connection control valve group and balance valve group, output oil port P connects the first load feedback hydraulic fluid port LS by an oil pump control valve block with control valve group, and the high-altitude operation vehicle is equipped with the control system.The control system and high-altitude operation vehicle are by increasing oil pump control valve block, when walking, variable pump may be implemented and be in Isobarically Control state, ensure chassis floating cylinder quick response, simultaneously in cantilever crane movement, by the oil pressure state of oil pump control valve block feedback control valve group, so that variable pump handles Ioad-sensing control, reduce system energy consumption and starting impact, stability and highly-safe.
Description
Technical field
The invention belongs to technical field of high-altitude operation equipment, and in particular to a kind of control of high altitude operation body frame floating cylinder
The high-altitude operation vehicle of system processed and the application control system.
Background technique
Existing high-altitude operation vehicle is to improve vehicle walking stability and the handling capacity under different road conditions, walking underframe
It has been all made of the frame mode that preceding bridge 500 floats, rear axle 600 is swung.Specific structure is shown in Fig. 1 and Fig. 2: preceding bridge 500 or so respectively has
A piece floating cylinder, under the collective effect of floating cylinder, preceding bridge 500 can be swung up and down around swinging axle, same rear axle 600
Also use swinging structure.In walking process, while rear axle 600 is swung with ground, by with its in structure it is associated
Float trap 103 is flexible come the floating cylinder for controlling preceding bridge 500, and then the active float function in the walking process of realization vehicle.
In vehicle walking process, emergency case appearance is inevitably had, such as preceding 500 side tire of bridge falls into hole suddenly
In, if will lead to the change of vehicle center of gravity moment at this time if connected floating cylinder cannot quickly stretch out, seriously affecting whole
The stability of vehicle, or even there is risk of tumbling, jeopardize the personal safety of manipulator.Therefore, the operating condition is to the quick of floating cylinder
Response has higher requirement.
To solve the above problems, existing hydraulic control system is all made of the mode of Constant Pressure Pump Controlling, technical solution is shown in
Fig. 3-Fig. 6: in figure the output oil port P of variable pump 100 simultaneously with the first oil inlet P of control valve group 106 and depressurize flow valve 102
The second oil inlet P and load solenoid valve 101 the first oil inlet P 1 be connected, the first load feedback hydraulic fluid port of variable pump 100
LS is connected with the first actuator port A of load solenoid valve 101, depressurizes the of output oil port P1 and the float trap 103 of flow valve 102
Three oil inlet Ps are connected, and the second actuator port A of float trap 103 is oily with the first disengaging of left front floating cylinder balanced valve 105 simultaneously
Mouth V1 is connected with the second oil inlet and outlet V2 of floating cylinder balanced valve 104 before the right side, and the first actuator port B of float trap 103 is simultaneously
With the second oil inlet and outlet of floating cylinder balanced valve 104 before the first oil inlet and outlet V2 of left front floating cylinder balanced valve 105 and the right side
V1 is connected, the oil return of the second oil return inlet T of float trap 103 and the first oil return inlet T of control valve group 106 and load solenoid valve 101
Mouth T1 connects hydraulic oil container.Automatically controlled walking handle 107 controls ratio by the swash plate of PLC controller 110 and enclosed traveling pump 109
Valve is connected, and the third actuator port A of enclosed traveling pump 109 is connected with the 4th actuator port A of running motor 108, enclosed walking
Second actuator port B of pump 109 is connected with the third actuator port B of running motor 108.
The principle of variable pump 100 is shown in attached drawing 4, and therein 209 be pressure-control valve, and 210 be flow control valve.
The principle of decompression flow valve 102 is shown in attached drawing 5, and therein 206 be pressure reducing valve, and 207 be flow valve.
The principle of control valve group 106 is shown in attached drawing 6, wherein the actuator port A1 of main arm telescoping oil cylinder proportional reversing valve 201 with
The rodless cavity of main arm telescoping oil cylinder 301 is connected, actuator port B1 and the main arm telescoping oil of main arm telescoping oil cylinder proportional reversing valve 201
The rod chamber of cylinder 301 is connected.The actuator port A2 and principal arm of principal arm amplitude oil cylinder proportional reversing valve 202 in control valve group 106
The rodless cavity of amplitude oil cylinder 302 is connected, the actuator port B2 and principal arm amplitude oil cylinder of principal arm amplitude oil cylinder proportional reversing valve 202
302 rod chamber is connected.The actuator port A3 of rotation of rotary table proportional reversing valve 203 in control valve group 106 and rotation of rotary table horse
It is connected up to 208 the 5th actuator port A, actuator port B3 is connected with the 4th actuator port B of rotation of rotary table motor 208.
Specific embodiment
Manipulator first pass through enabled switch (such as floor push etc.) make to load solenoid valve 101 it is electric, load solenoid valve 101
After spool commutation, the first oil inlet P 1 is connected with the first actuator port A, make the output oil port P of variable pump 100 directly with change
The first load feedback hydraulic fluid port LS connection of amount pump 100,100 outlet pressure of variable pump is begun to ramp up therewith, when rising to pressure control
After the setting value of valve 209 processed, the commutation of 209 spool of pressure-control valve, variable pump 100 enters Isobarically Control, and (i.e. pump discharge remains high
Press armed state).Then manipulator acts walking, and automatically controlled walking handle 107 controls 109 swash plate variable of enclosed traveling pump output pressure
Power oil drives running motor 108 to rotate, and when chassis rear axle swings and the spool of float trap 103 is pulled to commutate, variable pump 100 goes out
Mouthful high pressure oil the third oil inlet P of float trap 103 is arrived through pressure reducing valve 206 and flow valve 207, when float trap 103 spool to
Move right (i.e. left position access oil circuit), the third oil inlet P of float trap 103 is communicated with the second actuator port A, high pressure oil respectively into
Enter the second oil inlet and outlet of the first oil inlet and outlet V1 and floating cylinder balanced valve 104 before the right side of left front floating cylinder balanced valve 105
V2,700 piston rod of floating cylinder retracts before driving left front 800 piston rod of floating cylinder to stretch out and is right, so before pushing bridge 500 around
Swinging axle swung.At this point, floating cylinder is flat before V2 mouthfuls of the first oil inlet and outlet of left front floating cylinder balanced valve 105 and the right side
The first actuator port B, the second oil return inlet T flow back fluid of float trap 103 are passed through in the oil return of V1 mouthfuls of the second oil inlet and outlet of weighing apparatus valve 104
Pressure oil case.Similarly, when 103 spool of float trap is moved to the left (that is: right position access oil circuit), the third oil inlet P of float trap 103 with
First actuator port B is communicated, and high pressure oil respectively enters before the right side the second oil inlet and outlet V1 of floating cylinder balanced valve 104 and left front floating
First oil inlet and outlet V2 of dynamic oil cylinder balanced valve 105,700 piston rod of floating cylinder stretches out and left front floating cylinder before driving is right
800 piston rods retract, and then preceding bridge 500 is pushed to be swung around swinging axle.At this point, floating cylinder balanced valve 104 before the right side
The second work of float trap 103 is passed through in the oil return of 105 first oil inlet and outlet V1 of two oil inlet and outlet V2 and left front floating cylinder balanced valve
Make hydraulic fluid port A and the second oil return inlet T flows back to hydraulic oil container.
Equally, when manipulator operates cantilever crane relevant action, it is also desirable to first pass through enabled switch (such as floor push etc.)
It obtains load load solenoid valve 101 electric, variable pump 100 is made to enter Isobarically Control (i.e. pump discharge maintains high pressure armed state).So
Make main arm telescoping oil cylinder proportional reversing valve 201, principal arm amplitude oil cylinder proportional reversing valve 202 or rotation of rotary table ratio respectively again afterwards
Reversal valve 203 it is electric, make and then control principal arm 400 flexible or 400 luffing of principal arm or turntable 300 turns round.Entirely acted
Cheng Zhong, variable pump 100 are in Isobarically Control state always (i.e. pump discharge is high pressure always).
To guarantee in walking process, preceding 500 two sides floating cylinder quick-expansion of bridge response, liquid in the case where road conditions are poor
Variable pump 100 in pressure system uses constant pressure control system.Meanwhile when acting cantilever crane (i.e. principal arm 400) relevant action, variable
Pump 100 is also to use constant pressure control system.It then will lead in this way:
1, energy consumption is high: especially when act cantilever crane relevant action, no matter loading much, variable pump 100 is exported and tieed up always
High pressure conditions are held, causing system, there are certain pressure losses, increase energy consumption.
2, there is starting impact: before acting cantilever crane relevant action, main arm telescoping oil cylinder proportional reversing valve 201, principal arm become
The hydraulic oil of 203 import of width oil cylinder proportional reversing valve 202 and rotation of rotary table proportional reversing valve is in high pressure armed state, works as principal arm
203 valve port of telescopic oil cylinder proportional reversing valve 201, principal arm amplitude oil cylinder proportional reversing valve 202 or rotation of rotary table proportional reversing valve
The moment of unlatching, high pressure oil can be quickly through main arm telescoping oil cylinder proportional reversing valves 201, principal arm amplitude oil cylinder proportional reversing valve
202 or rotation of rotary table proportional reversing valve 203 drive executive component movement, cause impact.
Summary of the invention
To solve the above-mentioned problems, the high altitude operation body frame that the present invention provides a kind of combination load sensitive control system floats
Dynamic oil cylinder Isobarically Control circuit and high-altitude operation vehicle using the circuit, can both guarantee in the process of walking, road conditions compared with
The two sides Qian Qiao floating cylinder quick-expansion responds in the case where difference, and can solve hydraulic system when cantilever crane acts and there is starting punching
Hit the problem high with energy consumption.
One aspect of the present invention provides a kind of control system of high altitude operation body frame floating cylinder, including variable pump, is used for
The control valve group of principal arm and the balance valve group for controlling floating cylinder are controlled, the variable pump has output oil port P and first
Load feedback hydraulic fluid port LS, the output oil port P connect control valve group and balance valve group, the output oil port P and control valve simultaneously
Group connects the first load feedback hydraulic fluid port LS by an oil pump control valve block, and the oil pump control valve block is for controlling output oil port P
And the first on-off between load feedback hydraulic fluid port LS, and can be by the pressure feedback of control valve group to the first load feedback hydraulic fluid port LS.
Optionally, the oil pump control valve block includes solenoid valve and three-way shuttle valve, and the solenoid valve is two-bit triplet electromagnetism
Valve simultaneously has the second oil inlet P 1, the second oil return inlet T 1 and the 5th actuator port A, and the three-way shuttle valve has the 6th actuator port
A, hydraulic fluid port LS1 and feedback hydraulic fluid port LS2 are fed back, wherein feedback hydraulic fluid port LS1 is unidirectional input port, feedback hydraulic fluid port LS2 is delivery outlet, institute
The output oil port P of 1 link variable of the second oil inlet P pump is stated, second oil return inlet T 1 connects fuel tank, the 5th actuator port
6th actuator port A of A connection three-way shuttle valve, the first load feedback hydraulic fluid port LS of the feedback hydraulic fluid port LS2 link variable pump, institute
State feedback hydraulic fluid port LS1 connection control valve group.
Optionally, the oil pump control valve block is additionally provided with first throttling device and second throttling device, the first segment
Device is flowed between the second oil inlet P 1 and output oil port P, and the second throttling device is located at the second oil return inlet T 1 and fuel tank
Between.
Optionally, the control valve group includes main arm telescoping oil cylinder proportional reversing valve, principal arm amplitude oil cylinder proportional reversing valve
With rotation of rotary table proportional reversing valve, the main arm telescoping oil cylinder proportional reversing valve, principal arm amplitude oil cylinder proportional reversing valve and turntable
Turn round oil inlet end one first oil inlet P in parallel, oil revolving end one first oil return inlet T in parallel of proportional reversing valve, first oil inlet
The output oil port P of mouth P link variable pump, first oil return inlet T connect fuel tank, and the main arm telescoping oil cylinder proportional reversing valve is set
It is equipped with actuator port A1 and actuator port B1, to be separately connected the rodless cavity and rod chamber of main arm telescoping oil cylinder, the principal arm becomes
Width oil cylinder proportional reversing valve is provided with actuator port A2 and actuator port B2, be separately connected principal arm amplitude oil cylinder rodless cavity and
Rod chamber, the rotation of rotary table proportional reversing valve is provided with actuator port A3 and actuator port B3, to connect rotation of rotary table motor,
The actuator port A1, actuator port B1, actuator port A2, actuator port B2, actuator port A3 and actuator port B3 respectively pass through
One check valve connection feedback hydraulic fluid port LS1.
Optionally, first oil inlet P connects the first oil return inlet T by overflow valve.
Optionally, the actuator port A1, actuator port B1, actuator port A2, actuator port B2, actuator port A3 and work
Make hydraulic fluid port B3 and oil circuit is respectively fed back by check valve parallel connection one, the feedback oil circuit is formed with the second load feedback hydraulic fluid port LS simultaneously
Hydraulic fluid port LS1 is fed back by the second load feedback hydraulic fluid port LS connection, while the feedback oil circuit is connected by a third throttling set
First oil return inlet T.
Optionally, the balance valve group includes floating cylinder balanced valve and left front floating before decompression flow valve, float trap, the right side
Oil cylinder balanced valve, the decompression flow valve have the second oil inlet P and output oil port P1, and the float trap has third oil inlet
P, the second oil return inlet T, the second actuator port A and the first actuator port B, it is described it is right before floating cylinder balanced valve have and dock respectively
The the second oil inlet and outlet V1 and the second oil inlet and outlet V2 of the rodless cavity of floating cylinder and rod chamber, the left front floating cylinder before the right side
Balanced valve has docks the rodless cavity of left front floating cylinder and the first oil inlet and outlet V1 of rod chamber and the first oil inlet and outlet respectively
V2, the output oil port P of the second oil inlet P link variable pump of the decompression flow valve, the output oil port of the decompression flow valve
Second actuator port A of the third oil inlet P of P1 connection float trap, the float trap connects left front floating cylinder balanced valve simultaneously
The first oil inlet and outlet V1 and it is right before floating cylinder balanced valve the second oil inlet and outlet V2, the first actuator port of the float trap
B connects the second oil inlet and outlet V1 of floating cylinder balanced valve and the first oil inlet and outlet of left front floating cylinder balanced valve before the right side simultaneously
The second oil return inlet T of V2, the float trap connect fuel tank.
Optionally, the decompression flow valve includes pressure reducing valve and flow valve, hydraulic oil after the entrance of the second oil inlet P successively
It is exported across pressure reducing valve and flow valve from output oil port P1.
It optionally, further include automatically controlled walking handle, PLC controller, enclosed traveling pump and running motor, the enclosed walking
Pump the swash plate control proportioning valve that there is third actuator port A, the second actuator port B and control output quantity, the running motor
With the 4th actuator port A and third actuator port B, the PLC controller is electrically connected automatically controlled walking handle, oil pump control valve
Block and enclosed traveling pump, the 4th actuator port A of third actuator port A connection, the second actuator port B connection third work
Make hydraulic fluid port B, thus while the control enclosed traveling pump swash plate variable output of automatically controlled walking handle drives running motor to rotate,
Start oil pump control valve block by PLC controller, makes to control the first load feedback hydraulic fluid port LS of output oil port P connection.
On the other hand, described the present invention also provides a kind of high-altitude operation vehicle, including car body, turntable, principal arm and workbench
Car body has preceding bridge and rear axle and is equipped with wheel by preceding bridge and rear axle, and the left and right ends of bridge are provided with before the car body is corresponding
Floating cylinder before left front floating cylinder and the right side, to adjust the swing of preceding bridge, the turntable is installed on vehicle by rotation of rotary table motor
On body, the principal arm is installed on turntable and is provided with main arm telescoping oil cylinder and principal arm amplitude oil cylinder, to control the flexible of principal arm
And swing, the workbench are installed on principal arm, and the high-altitude operation vehicle is additionally provided with the high-altitude operation vehicle of above structure
The control system of chassis floating cylinder.
The beneficial effects of the present invention are: the control system and high-altitude operation vehicle are being walked by increasing oil pump control valve block
When, variable pump may be implemented and be in Isobarically Control state, it is ensured that chassis floating cylinder quick response, while in cantilever crane movement,
System is reduced so that variable pump handles Ioad-sensing control by the oil pressure state of oil pump control valve block feedback control valve group
Energy consumption and starting impact, stability and highly-safe.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is the side view of high-altitude operation vehicle；
Fig. 2 is the front view of high-altitude operation vehicle；
Fig. 3 is traditional hydraulic control system configuration figure；
Fig. 4 is the structural schematic diagram of variable pump in Fig. 3；
Fig. 5 is the structural schematic diagram that flow valve is depressurized in Fig. 3；
Fig. 6 is the structural schematic diagram of control valve group in Fig. 3；
Fig. 7 is improved hydraulic control system configuration schematic diagram；
Fig. 8 is the structural schematic diagram of oil pump control valve block in Fig. 7；
Fig. 9 is the structural schematic diagram of control valve group in Fig. 7.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.
Referring to Fig. 7~Fig. 9, on the one hand, the present embodiment provides a kind of control system of high altitude operation body frame floating cylinder,
Including variable pump 100, the control valve group 106 for controlling principal arm 400 and the balance valve group for controlling floating cylinder, the change
There is amount pump 100 output oil port P and the first load feedback hydraulic fluid port LS, the output oil port P to connect 106 peace of control valve group simultaneously
Valve group, the output oil port P and the control valve group 106 of weighing connect the first load feedback hydraulic fluid port LS by an oil pump control valve block 111,
The oil pump control valve block 111 is used to control the on-off between output oil port P and the first load feedback hydraulic fluid port LS, and can will control
The pressure feedback of valve group 106 is to the first load feedback hydraulic fluid port LS.
At work, setting oil pump control valve block 111 automatically controls output oil according to the walking states of high-altitude operation vehicle
On-off between mouth P and the first load feedback hydraulic fluid port LS, so as to realize when walking, variable pump is in Isobarically Control shape
State, it is ensured that chassis floating cylinder quick response.Simultaneously in cantilever crane movement, pass through the oil of oil pump control valve block feedback control valve group
Pressure condition reduces system energy consumption and starting impact, stability and highly-safe so that variable pump handles Ioad-sensing control.
As shown in figure 8, the oil pump control valve block 111 includes solenoid valve 213 and three-way shuttle valve 212, the solenoid valve 213
For two-bit triplet solenoid valve and there is the second oil inlet P 1, the second oil return inlet T 1 and the 5th actuator port A, the three-way shuttle valve
212 have the 6th actuator port A, feedback hydraulic fluid port LS1 and feedback hydraulic fluid port LS2, wherein feedback hydraulic fluid port LS1 is unidirectional input port, instead
Feedback hydraulic fluid port LS2 is delivery outlet, and the output oil port P of 1 link variable of the second oil inlet P pump 100, second oil return inlet T 1 connects
Connected tank, the 6th actuator port A of the 5th actuator port A connection three-way shuttle valve 212, the feedback hydraulic fluid port LS2 connection become
First load feedback hydraulic fluid port LS of amount pump 100, the feedback hydraulic fluid port LS1 connection control valve group 106.
Further, the oil pump control valve block 111 is additionally provided with first throttling device 215 and second throttling device 214,
For the first throttling device 215 between the second oil inlet P 1 and output oil port P, the second throttling device 214 is located at the
Between two oil return inlet Ts 1 and fuel tank.
And the structure of variable pump 100 is consistent with traditional structure, including pressure-control valve 209 as shown in the figure and flow control
Valve 210.
When work, when high pressure oil enters through the second oil inlet P 1, the throttling of first throttling device 215, pressure limiting are first passed through, it can be with
Compression shock is eliminated, stably enters the first load feedback hydraulic fluid port LS again later, reduces starting impact.After the completion of work, high pressure
Oil is exported from the second oil return inlet T 1 and is flowed back in fuel tank through the throttling of second throttling device 214, pressure limiting.Pass through the second throttling dress
Setting 214 may be implemented steadily to unload, and eliminate impact.Therefore under the control of the control system, the operation of high-altitude operation vehicle is more steady
Fixed, the service life is longer, and safety is higher.
As shown in figure 9, the control valve group 106 includes main arm telescoping oil cylinder proportional reversing valve 201, principal arm amplitude oil cylinder ratio
Example reversal valve 202 and rotation of rotary table proportional reversing valve 203, the main arm telescoping oil cylinder proportional reversing valve 201, principal arm amplitude oil cylinder
One first oil inlet P of the oil inlet end of proportional reversing valve 202 and rotation of rotary table proportional reversing valve 203 parallel connection, oil revolving end parallel connection one the
One oil return inlet T, the output oil port P of the first oil inlet P link variable pump 100, first oil return inlet T connect fuel tank, institute
It states main arm telescoping oil cylinder proportional reversing valve 201 and is provided with actuator port A1 and actuator port B1, to be separately connected main arm telescoping oil
The rodless cavity and rod chamber of cylinder 301, the principal arm amplitude oil cylinder proportional reversing valve 202 are provided with actuator port A2 and actuator port
B2, to be separately connected the rodless cavity and rod chamber of principal arm amplitude oil cylinder 302, the rotation of rotary table proportional reversing valve 203 is provided with
Actuator port A3 and actuator port B3, to connect rotation of rotary table motor 208, the actuator port A1, actuator port B1, working oil
Mouth A2, actuator port B2, actuator port A3 and actuator port B3 respectively pass through a check valve and connect feedback hydraulic fluid port LS1.
In actual production process, can by the actuator port A1, actuator port B1, actuator port A2, actuator port B2,
Actuator port A3 and actuator port B3 respectively feeds back oil circuit 211 by check valve parallel connection one, and the feedback oil circuit 211 is formed with
Second load feedback hydraulic fluid port LS simultaneously feeds back hydraulic fluid port LS1 by the second load feedback hydraulic fluid port LS connection.It can subtract in this manner
The setting on education and correction for juvenile offenders road, in addition, feedback hydraulic fluid port LS1 can also be connected separately through pipeline certainly.
Further, first oil inlet P connects the first oil return inlet T by overflow valve 204.To in output oil port P
It when oil mass needed for the hydraulic oil waste motion of output, makes it through overflow valve 204 and flows back to fuel tank, avoid to main arm telescoping oil cylinder ratio
Example reversal valve 201, principal arm amplitude oil cylinder proportional reversing valve 202 and rotation of rotary table proportional reversing valve 203 cause relatively large load, favorably
In extension service life of equipment.And the overflow valve is preferably disposed on main arm telescoping oil cylinder proportional reversing valve 201, principal arm luffing oil
Between cylinder proportional reversing valve 202 and the oil revolving end and the first oil return inlet T of rotation of rotary table proportional reversing valve 203, to realize principal arm
Telescopic oil cylinder proportional reversing valve 201, principal arm amplitude oil cylinder proportional reversing valve 202 and rotation of rotary table proportional reversing valve 203 it is steady
Unloading.
Further, the feedback oil circuit 211 connects the first oil return inlet T by a third throttling set 205.In this way,
When oil pressure in feedback oil circuit 211 exceeds the circulation of three-way shuttle valve 212, fuel tank can be flowed back to by third throttling set 205,
Realization smoothly unloads, to protect three-way shuttle valve 212.
The main arm telescoping oil cylinder proportional reversing valve 201, principal arm amplitude oil cylinder proportional reversing valve 202 are in actual installation process
It can be connect by balance valve body structure with the main arm telescoping oil cylinder of high-altitude operation vehicle, principal arm amplitude oil cylinder, specific connection is closed
System is referred to the correlation record application No. is CN201810226178.6, since the improvement of the application is not related to this part
Structure, and therefore not to repeat here.And the actuator port A3 connection rotation of rotary table motor 208 of rotation of rotary table proportional reversing valve 203
5th actuator port A, the 4th actuator port B of actuator port B3 connection rotation of rotary table motor 208.
As shown, the balance valve group includes floating cylinder balanced valve before decompression flow valve 102, float trap 103, the right side
104 and left front floating cylinder balanced valve 105, the decompression flow valve 102 has the second oil inlet P and output oil port P1, described
Float trap 103 has third oil inlet P, the second oil return inlet T, the second actuator port A and the first actuator port B, floats before the right side
Dynamic oil cylinder balanced valve 104 have before docking is right respectively the rodless cavity of floating cylinder 700 and the second oil inlet and outlet V1 of rod chamber and
Second oil inlet and outlet V2, the left front floating cylinder balanced valve 105 have dock respectively left front floating cylinder 800 rodless cavity and
First oil inlet and outlet V1 of rod chamber and the first oil inlet and outlet V2, the second oil inlet P link variable of the decompression flow valve 102
The output oil port P of pump 100, the third oil inlet P of the output oil port P1 connection float trap 103 of the decompression flow valve 102 are described
Second actuator port A of float trap 103 connect simultaneously left front floating cylinder balanced valve 105 the first oil inlet and outlet V1 and it is right before float
Second oil inlet and outlet V2 of dynamic oil cylinder balanced valve 104, the first actuator port B of the float trap 103 float before connecting the right side simultaneously
Second oil inlet and outlet V1 of oil cylinder balanced valve 104 and the first oil inlet and outlet V2 of left front floating cylinder balanced valve 105, the floating
Second oil return inlet T of valve 103 connects fuel tank.
Specifically, the decompression flow valve 102 includes pressure reducing valve 206 and flow valve 207, hydraulic oil is through the second oil inlet P
Pressure reducing valve 206 and flow valve 207 are sequentially passed through after and are exported from output oil port P1.
In addition, the control system of the present embodiment is in addition to including variable pump 100, the control valve group 106 for controlling principal arm 400
It further include automatically controlled walking handle 107, PLC controller 110, enclosed walking except the balance valve group for controlling floating cylinder
Pump 109 and running motor 108, the enclosed traveling pump 109 have third actuator port A, the second actuator port B and control defeated
The swash plate of output controls proportioning valve, and the running motor 108 has the 4th actuator port A and third actuator port B, the PLC
Controller 110 is electrically connected automatically controlled walking handle 107, oil pump control valve block 111 and enclosed traveling pump 109, the third work
Hydraulic fluid port A connection the 4th actuator port A, the second actuator port B connection third actuator port B, thus in automatically controlled walking handle
While 107 control 109 swash plate variables of enclosed traveling pump export and running motor 108 is driven to rotate, pass through PLC controller 110
Start oil pump control valve block 111, makes to control the first load feedback hydraulic fluid port LS of output oil port P connection.
First throttling device 215, second throttling device 214 and third throttling set 205 are disposed as saving in the present embodiment
Flow valve arrangement.
This control system using the above structure, working mechanism are as follows:
When manipulator acts and walks, PLC controller 110 can adjust enclosed according to the state of automatically controlled walking handle 107
The swash plate of traveling pump 109 controls proportioning valve, so that enclosed traveling pump 109 drives walking for 108 fuel feeding of running motor.It is same with this
When, PLC controller 110 and make oil pump control valve block 111 solenoid valve 213 it is electric, the high pressure oil of output oil port P is through first throttle
Device 215 is fed back through solenoid valve 213 and the feedback hydraulic fluid port LS2 of three-way shuttle valve 212 to the first load feedback after eliminating compression shock
Hydraulic fluid port LS, after 100 outlet pressure of variable pump rises to 209 setting value of pressure-control valve, pressure-control valve 209 commutates, variable
Pump 100 enters Isobarically Control state (i.e. pump discharge maintains high pressure armed state).When chassis rear axle is swung and pulls float trap 103
Spool commutation when, variable pump 100 export pressure oil through decompression flow valve 102 arrive float trap 103 third oil inlet P, when
The spool of float trap 103 moves right (i.e. left position access oil circuit), the third oil inlet P of float trap 103 and the second actuator port A
Connection, the first oil inlet and outlet V1 and floating cylinder balanced valve before the right side that high pressure oil respectively enters left front floating cylinder balanced valve 105
104 the second oil inlet and outlet V2,700 piston rod of floating cylinder retracts before driving left front 800 piston rod of floating cylinder to stretch out, being right,
And then bridge 500 is swung around swinging axle before pushing, at this point, the first oil inlet and outlet V2 of left front floating cylinder balanced valve 105
Oil return with the second oil inlet and outlet V1 of floating cylinder balanced valve 104 before the right side is through the first actuator port B of float trap 103 and second
Oil return inlet T flows back to fuel tank.Similarly, when 103 spool of float trap is moved to the left (i.e. right position access oil circuit), the third of float trap 103
Oil inlet P is connected to the first actuator port B, and high pressure oil respectively enters the first oil inlet and outlet of left front floating cylinder balanced valve 105
The second oil inlet and outlet V1 of V2 and floating cylinder balanced valve 104 before the right side, before driving left front 800 piston rod of floating cylinder to retract, being right
700 piston rod of floating cylinder extends, and then preceding bridge 500 is pushed to swing around swinging axle, at this time left front floating cylinder balanced valve 105
The first oil inlet and outlet V1 and it is right before floating cylinder balanced valve 104 the second oil inlet and outlet V2 oil return through the of float trap 103
Two actuator port A and the second oil return inlet T flow back to fuel tank.
When stopping walking, automatically controlled walking handle 107 resets, and PLC controller 110 makes the electromagnetism of oil pump control valve block 111
213 power loss of valve, the pressure oil in the first load feedback hydraulic fluid port LS of original variable pump 100 are filled through solenoid valve 213 and the second throttling
It sets 214 and flows back to fuel tank, realize the steady Unloading Control of variable pump 100.
When manipulator acts 400 relevant action of principal arm, such as principal arm when 400 extending action of principal arm, in control valve group 106
The left side of telescopic oil cylinder proportional reversing valve 201 obtains electric (DT2 illustrated obtains electric), and oil circuit is accessed in left position, at this time oil pump control valve
213 power loss of solenoid valve in block 111, the high pressure oil that variable pump 100 exports not can enter the second oil inlet P 1, and from the first oil inlet
Mouth P enters the rodless cavity of main arm telescoping oil cylinder 301 through actuator port A1, while pressure oil is through check valve and the second load feedback oil
Mouthful LS feeds back to feedback hydraulic fluid port LS1, and by the first load feedback hydraulic fluid port LS of the feedback of three-way shuttle valve 212 to variable pump 100 and
The valve core spring chamber side of flow control valve 210 makes the swash plate of variable pump 100 control proportioning valve and is changed according to main arm telescoping oil cylinder ratio
It is adjusted to the opening degree size of valve 201, and then realizes Ioad-sensing control.In entire action process, third throttling set
205 pairs of feedback oil circuits 211 play certain pressure stabilization function, avoid the occurrence of biggish pressure oscillation, while when in control valve group 106
201 power loss of main arm telescoping oil cylinder proportional reversing valve after, can by 205 slow release of third throttling set feed back oil circuit 211 in
Pressure, realize variable pump 100 steady Unloading Control.
On the other hand, a kind of high-altitude operation vehicle, including car body 200, turntable 300, principal arm 400 and work is also disclosed in the present embodiment
Make platform, the car body 200 has preceding bridge 500 and rear axle 600 and is equipped with wheel, the vehicle by preceding bridge 500 and rear axle 600
The left and right ends of bridge 500 are provided with floating cylinder 700 before left front floating cylinder 800 and the right side before body 200 is corresponding, to adjust preceding bridge
500 swing, the turntable 300 are installed on car body 200 by rotation of rotary table motor 208, and the principal arm 400 is installed on turntable
On 300 and it is provided with main arm telescoping oil cylinder 301 and principal arm amplitude oil cylinder 302, it is described to control the flexible of principal arm 400 and swing
Workbench is installed on principal arm 400, which is also equipped with the high altitude operation body frame floating cylinder of above structure
Control system.
The valve body of float trap 103 is arranged on car body 200, and valve core rod connects rear axle 600, to occur in rear axle 600
Drive the valve core rod of float trap 103 mobile when swing.In actual installation, float trap 103 is vertically-mounted, therefore rear axle
600 valve core rods that will drive float trap 103 when swinging are moved up or are moved down, and control system above-mentioned is corresponded to when moving up
The left position access oil circuit referred in working mechanism, the i.e. valve core rod of float trap 103 move to right, and are moving down then on the contrary, being come with this real
The working mechanism of existing aforementioned control system.
The high-altitude operation vehicle controlled by the control system, movement is more stable, and the service life is longer, and safety is higher.
Above-described embodiment is preferred embodiment of the invention, and the present invention can also have other embodiments.The technology of this field
Personnel can also make equivalent deformation or replacement on the premise of without prejudice to spirit of the invention, these equivalent variation or replacement are wrapped
It is contained in range set by the claim of this application.
Claims (10)
1. a kind of control system of high altitude operation body frame floating cylinder, including variable pump (100), for controlling principal arm (400)
Control valve group (106) and balance valve group for controlling floating cylinder, the variable pump (100) there is output oil port P and the
One load feedback hydraulic fluid port LS, the output oil port P connects control valve group (106) and balance valve group simultaneously, which is characterized in that described
Output oil port P and control valve group (106) pass through an oil pump control valve block (111) the first load feedback hydraulic fluid port LS of connection, the oil
Pump control valve block (111) is used to control the on-off between output oil port P and the first load feedback hydraulic fluid port LS, and can be by control valve group
(106) pressure feedback is to the first load feedback hydraulic fluid port LS.
2. a kind of control system of high altitude operation body frame floating cylinder as described in claim 1, which is characterized in that the oil
Pump control valve block (111) includes solenoid valve (213) and three-way shuttle valve (212), and the solenoid valve (213) is two-bit triplet solenoid valve
And there is the second oil inlet P 1, the second oil return inlet T 1 and the 5th actuator port A, the three-way shuttle valve (212) has the 6th work
Hydraulic fluid port A, feedback hydraulic fluid port LS1 and feedback hydraulic fluid port LS2, wherein feedback hydraulic fluid port LS1 is unidirectional input port, feedback hydraulic fluid port LS2 is output
Mouthful, the output oil port P of 1 link variable of the second oil inlet P pump (100), second oil return inlet T 1 connects fuel tank, and described the
6th actuator port A of five actuator port A connection three-way shuttle valves (212), the feedback hydraulic fluid port LS2 link variable pump (100)
First load feedback hydraulic fluid port LS, the feedback hydraulic fluid port LS1 connection control valve group (106).
3. a kind of control system of high altitude operation body frame floating cylinder as claimed in claim 2, which is characterized in that the oil
Pump control valve block (111) is additionally provided with first throttling device (215) and second throttling device (214), the first throttling device
(215) between the second oil inlet P 1 and output oil port P, the second throttling device (214) is located at 1 He of the second oil return inlet T
Between fuel tank.
4. a kind of control system of high altitude operation body frame floating cylinder as claimed in claim 2 or claim 3, which is characterized in that institute
State control valve group (106) include main arm telescoping oil cylinder proportional reversing valve (201), principal arm amplitude oil cylinder proportional reversing valve (202) and
Rotation of rotary table proportional reversing valve (203), the main arm telescoping oil cylinder proportional reversing valve (201), the commutation of principal arm amplitude oil cylinder ratio
One first oil inlet P of the oil inlet end of valve (202) and rotation of rotary table proportional reversing valve (203) parallel connection, oil revolving end are one first time in parallel
Hydraulic fluid port T, the output oil port P of the first oil inlet P link variable pump (100), first oil return inlet T connects fuel tank, described
Main arm telescoping oil cylinder proportional reversing valve (201) is provided with actuator port A1 and actuator port B1, to be separately connected main arm telescoping oil
The rodless cavity and rod chamber of cylinder (301), the principal arm amplitude oil cylinder proportional reversing valve (202) are provided with actuator port A2 and work
Hydraulic fluid port B2, to be separately connected the rodless cavity and rod chamber of principal arm amplitude oil cylinder (302), the rotation of rotary table proportional reversing valve
(203) it is provided with actuator port A3 and actuator port B3, to connect rotation of rotary table motor (208), the actuator port A1, work
Hydraulic fluid port B1, actuator port A2, actuator port B2, actuator port A3 and actuator port B3 respectively pass through a check valve and connect feedback hydraulic fluid port
LS1。
5. a kind of control system of high altitude operation body frame floating cylinder as claimed in claim 4, which is characterized in that described the
One oil inlet P connects the first oil return inlet T by overflow valve (204).
6. a kind of control system of high altitude operation body frame floating cylinder as claimed in claim 4, which is characterized in that the work
Make hydraulic fluid port A1, actuator port B1, actuator port A2, actuator port B2, actuator port A3 and actuator port B3 and respectively passes through one unidirectionally
Valve and one feedback oil circuit (211) of parallel connection, the feedback oil circuit (211) are formed with the second load feedback hydraulic fluid port LS and pass through second negative
It carries feedback hydraulic fluid port LS connection and feeds back hydraulic fluid port LS1, while the feedback oil circuit (211) is connected by a third throttling set (205)
First oil return inlet T.
7. a kind of control system of high altitude operation body frame floating cylinder as described in any one of claims 1-3, feature exist
In, the balance valve group include decompression flow valve (102), float trap (103), it is right before floating cylinder balanced valve (104) and left front
Floating cylinder balanced valve (105), the decompression flow valve (102) have the second oil inlet P and output oil port P1, the float trap
(103) there is third oil inlet P, the second oil return inlet T, the second actuator port A and the first actuator port B, the right preceding oil that floats
Cylinder balanced valve (104) have before docking is right respectively the rodless cavity of floating cylinder (700) and the second oil inlet and outlet V1 of rod chamber and
Second oil inlet and outlet V2, the left front floating cylinder balanced valve (105) have dock respectively left front floating cylinder (800) without bar
The the first oil inlet and outlet V1 and the first oil inlet and outlet V2, the second oil inlet P of decompression flow valve (102) of chamber and rod chamber connect
Connect the output oil port P of variable pump (100), the third of the output oil port P1 connection float trap (103) of decompression flow valve (102)
Oil inlet P, the second actuator port A of the float trap (103) connect simultaneously the first of left front floating cylinder balanced valve (105) into
The second oil inlet and outlet V2 of oil outlet V1 and floating cylinder balanced valve (104) before the right side, the first working oil of the float trap (103)
Mouthful B connects the second oil inlet and outlet V1 of floating cylinder balanced valve (104) and left front floating cylinder balanced valve (105) before the right side simultaneously
The second oil return inlet T of first oil inlet and outlet V2, the float trap (103) connect fuel tank.
8. a kind of control system of high altitude operation body frame floating cylinder as claimed in claim 7, which is characterized in that described to subtract
Pressure flow valve (102) includes pressure reducing valve (206) and flow valve (207), and hydraulic oil sequentially passes through after the entrance of the second oil inlet P to be subtracted
Pressure valve (206) and flow valve (207) and from output oil port P1 export.
9. a kind of control system of high altitude operation body frame floating cylinder as described in any one of claims 1-3, feature exist
In, it further include automatically controlled walking handle (107), PLC controller (110), enclosed traveling pump (109) and running motor (108), it is described
Enclosed traveling pump (109) has third actuator port A, the second actuator port B and controls the swash plate control proportioning valve of output quantity,
The running motor (108) has the 4th actuator port A and third actuator port B, and the PLC controller (110) is electrically connected
Automatically controlled walking handle (107), oil pump control valve block (111) and enclosed traveling pump (109), the third actuator port A connection
Four actuator port A, the second actuator port B connection third actuator port B, to be closed in the control of automatically controlled walking handle (107)
While formula traveling pump (109) swash plate variable exports and running motor (108) is driven to rotate, started by PLC controller (110)
Oil pump control valve block (111) makes to control the first load feedback hydraulic fluid port LS of output oil port P connection.
10. a kind of high-altitude operation vehicle, including car body (200), turntable (300), principal arm (400) and workbench, the car body
(200) there is preceding bridge (500) and rear axle (600) and wheel, the car body are equipped with by preceding bridge (500) and rear axle (600)
(200) left and right ends of corresponding preceding bridge (500) are provided with left front floating cylinder (800) He Youqian floating cylinder (700), to adjust
The swing of preceding bridge (500), the turntable (300) are installed on car body (200) by rotation of rotary table motor (208), the principal arm
(400) it is installed on turntable (300) and is provided with main arm telescoping oil cylinder (301) and principal arm amplitude oil cylinder (302), to control principal arm
(400) flexible and swing, the workbench is installed on principal arm (400), which is characterized in that further includes claim 1-9
The control system of described in any item high altitude operation body frame floating cylinders.
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| CN201910283786.5A CN110030217B (en) | 2019-04-10 | 2019-04-10 | Control system of floating oil cylinder of chassis of overhead working truck and overhead working truck |
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| CN201910283786.5A CN110030217B (en) | 2019-04-10 | 2019-04-10 | Control system of floating oil cylinder of chassis of overhead working truck and overhead working truck |
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| CN110304137A (en) * | 2019-08-13 | 2019-10-08 | 徐州重型机械有限公司 | Hydraulic system and crane |
| CN110566522A (en) * | 2019-09-06 | 2019-12-13 | 湖南星邦重工有限公司 | Active floating control system for underframe and aerial work platform thereof |
| 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 |
| CN110985464A (en) * | 2019-12-30 | 2020-04-10 | 徐州海伦哲特种车辆有限公司 | Automatic interlocking control system for getting on and off of overhead working truck and control method thereof |
| 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 |
| CN113582093A (en) * | 2021-08-05 | 2021-11-02 | 江苏柳工机械有限公司 | Luffing and leveling hydraulic control system of cantilever type aerial work platform |
| CN113683033A (en) * | 2021-09-23 | 2021-11-23 | 江苏柳工机械有限公司 | Hydraulic full-time floating control system and control method of cantilever type aerial work platform |
| CN114278631A (en) * | 2021-12-31 | 2022-04-05 | 潍柴动力股份有限公司 | Excavator walking motor control system |
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