CN112281960A - Automatically controlled quick change system and loader - Google Patents
Automatically controlled quick change system and loader Download PDFInfo
- Publication number
- CN112281960A CN112281960A CN202011090264.2A CN202011090264A CN112281960A CN 112281960 A CN112281960 A CN 112281960A CN 202011090264 A CN202011090264 A CN 202011090264A CN 112281960 A CN112281960 A CN 112281960A
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- Prior art keywords
- quick
- change
- control valve
- communicated
- valve
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/961—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements with several digging elements or tools mounted on one machine
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
Abstract
The invention relates to the technical field of engineering machinery, in particular to an electric control quick-change system and a loader, wherein the electric control quick-change system comprises a main control valve, a first working cavity and a second working cavity, the main control valve is respectively communicated with a variable pump, a quick-change cylinder and an oil tank and is provided with an opening position and a locking position, when the main control valve is in the opening position, the first working cavity is communicated with the variable pump, the second working cavity is communicated with the oil tank, and when the main control valve is in the locking position, the first working cavity is communicated with the oil tank, and the second working cavity is communicated with the variable pump; the feedback control valve is communicated with the oil outlet of the variable pump and the feedback control port through a control pipeline; and the quick-change switch is electrically connected with the main control valve and the feedback control valve and can control the main control valve to be in the opening position or the locking position. The invention can operate the accessory of the loader in an electric control mode, and reduces the working strength of a driver.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an electric control quick-change system and a loader.
Background
In the construction of engineering machinery, in order to realize one machine with multiple purposes and meet the requirements of multiple working conditions, a working device of a loader is often required to be quickly replaced by various accessories such as a bucket, a holding fork, a straw fork, a bottom fork, a wood fork, floor sweeping equipment and snow removing equipment, so that the working efficiency is improved. In the technical scheme of quick change of accessories of the existing loader, manual quick change is usually adopted. In the manual quick-change scheme, the reversing valve is arranged on the quick-change frame and needs to be manually operated, a driver needs to get off and get on the vehicle twice in the whole operation process, the operation is very complicated and inconvenient, the arrangement position of the reversing valve is easily hit by scattered materials, and the reliability is poor.
Therefore, an electrically controlled quick-change system and a loader are needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide an electric control quick-change system and a loader, which can carry out quick-change operation on accessories of the loader in an electric control mode and reduce the working intensity of a driver.
In order to achieve the purpose, the invention adopts the following technical scheme:
an electrically controlled quick-change system, comprising:
the variable pump is communicated with the oil tank;
the quick-change cylinder is provided with a first working cavity and a second working cavity and is used for clamping or loosening accessories;
the main control valve is respectively communicated with the variable pump, the quick-change cylinder and the oil tank and has an opening position and a locking position, when the main control valve is in the opening position, the first working cavity is communicated with the variable pump, the second working cavity is communicated with the oil tank, when the main control valve is in the locking position, the first working cavity is communicated with the oil tank, and the second working cavity is communicated with the variable pump;
the feedback control valve is communicated with the oil outlet of the variable pump and the feedback control port through a control pipeline;
the quick-change switch is electrically connected with the main control valve and the feedback control valve, can control the main control valve to be in the opening position or the locking position, and can control the on-off of the feedback control valve;
the control device can determine the state of the quick-change cylinder by acquiring the state of the quick-change switch and a pressure signal of the control pipeline.
Further, the control device comprises a pressure sensor and a controller, the pressure sensor is used for detecting the hydraulic pressure in the control pipeline, the pressure sensor is electrically connected with the controller, and the controller is electrically connected with the quick-change switch.
Further, still include the alarm, the controller with the alarm electricity is connected.
Further, the alarm comprises a light alarm and a sound alarm, and the light alarm and the sound alarm are both electrically connected with the controller.
Further, a damping valve is arranged between an oil outlet of the feedback control valve and a feedback control port of the variable displacement pump.
Further, a one-way valve is arranged between the oil outlet of the damping valve and the feedback control port of the variable pump.
Furthermore, the quick change switch is integrated with a quick change position, a quick change lock position and a middle position.
Furthermore, a pressure reducing valve is arranged on an oil path between the variable displacement pump and the main control valve.
Further, the variable displacement pump further comprises a distribution valve, and the distribution valve is communicated with an oil outlet of the variable displacement pump.
A loader is provided with the electric control quick-change system.
The invention has the beneficial effects that:
according to the electric control quick-change system provided by the invention, the quick-change switch is arranged in the cab, the main control valve is controlled to be in the opening position or the locking position by controlling the quick-change switch, so that one of the first working cavity and the second working cavity is communicated with the variable pump, the other one of the first working cavity and the second working cavity is communicated with the oil tank, the feedback control valve is controlled by the quick-change switch, hydraulic oil is discharged into the feedback control port of the variable pump, the output pressure of the variable pump is changed, and the quick-change cylinder is controlled by matching with the main control valve, so that the accessory is clamped or loosened. By the mode, the working strength of a driver can be reduced, and the smooth operation of replacing the accessory is guaranteed. And the control device can determine the state of the quick-change cylinder by acquiring the state of the quick-change switch and the pressure signal of the control pipeline, so that the safety of quick change of the accessory through the quick-change cylinder is ensured by double confirmation of the state of the quick-change switch and the pressure signal of the control pipeline.
The loader provided by the invention is provided with the electric control quick-change system, so that accessories of the loader can be operated in an electric control mode, and the working intensity of a driver is reduced.
Drawings
Fig. 1 is a hydraulic oil circuit system diagram of an electric control quick-change system.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In order to reduce the working intensity of a driver, the attachment of the loader can be subjected to quick-change operation in an electric control mode, and as shown in fig. 1, the invention provides an electric control quick-change system. This automatically controlled quick change system includes: the variable displacement pump 2, quick change cylinder 7, main control valve 3, feedback control valve 6, quick change switch 4 and controlling means 5.
Wherein the variable pump 2 is communicated with the oil tank 1 and used for pumping oil; the quick-change cylinder 7 is provided with a first working cavity and a second working cavity and is used for clamping or loosening accessories; the main control valve 3 is respectively communicated with the variable pump 2, the quick-change cylinder 7 and the oil tank 1; the main control valve 3 has an opening position and a locking position, when the main control valve 3 is in the opening position, the first working cavity is communicated with the variable pump 2, the second working cavity is communicated with the oil tank 1, when the main control valve 3 is in the locking position, the first working cavity is communicated with the oil tank 1, and the second working cavity is communicated with the variable pump 3.
The feedback control valve 6 is communicated with an oil outlet and a feedback control port of the variable pump 2 through a control pipeline 61; the quick-change switch 4 is electrically connected with the main control valve 3 and the feedback control valve 6, the quick-change switch 4 can control the main control valve 3 to be in an opening position state or a locking position state, and the quick-change switch 4 can control the on-off of the feedback control valve 6. The control device 5 is able to determine the state of the quick-change cylinder 7 by acquiring the state of the quick-change switch 4 and a pressure signal of the control line 61.
The feedback control valve 6 is controlled through the quick-change switch 4, hydraulic oil is discharged into a feedback control port of the variable pump 2, the output pressure of the variable pump 2 is changed, and the quick-change cylinder 7 is controlled in cooperation with the main control valve 3, so that clamping or loosening of accessories is achieved. By the mode, the working strength of a driver can be reduced, and the smooth operation of replacing the accessory is guaranteed.
The control device 5 can determine the state of the quick-change cylinder 7 by acquiring the state of the quick-change switch 4 and the pressure signal of the control pipeline 61, so that the state of the quick-change switch 4 and the pressure signal of the control pipeline 61 are doubly confirmed, and the safety of quick-change of the accessory through the quick-change cylinder 7 is ensured.
Further, a pressure reducing valve 21 is provided in an oil passage between the variable displacement pump 2 and the main control valve 3. The pressure input into the quick-change cylinder 7 is ensured not to exceed the set value of the pressure reducing valve 21 by arranging the pressure reducing valve 21, and the stability of the pressure in the electric control quick-change system is ensured.
Further, the control device 5 includes a pressure sensor 8 and a controller 51, the pressure sensor 8 is used for detecting the hydraulic pressure in the control line 61, the pressure sensor 8 is electrically connected with the controller 51, and the controller 51 is electrically connected with the quick-change switch 4. The pressure of the oil outlet of the feedback control valve 6 is collected through the pressure sensor 8, the pressure value is fed back to the controller 51, the controller 51 collects the pressure of the control pipeline 61, and meanwhile, the state of the quick-change switch 4 is collected to determine the state of the quick-change cylinder 7, so that a driver can know the state of an accessory in time. Through double confirmation, the safety of the quick change of the accessory through the quick change cylinder 7 is ensured.
Specifically, the electronic control quick-change system further comprises an alarm, and the controller 51 is electrically connected with the alarm. Pressure sensor 8 transmits the pressure value to controller 51, and controller 51 control alarm reports to the police, and controller 51 gathers quick change switch 4's state simultaneously to the state of record quick change switch 4 is convenient for know the state of last quick change switch 4 when power on once more after the power failure. In the present embodiment, the alarm devices include a light alarm device 53 and a sound alarm device 52, and the light alarm device 53 and the sound alarm device 52 are electrically connected to the controller 51. Double warning is achieved by means of the light alarm 53 and the sound alarm 52, and even if one fails, the other can still give a warning signal.
Further, a damping valve 62 is arranged between the oil outlet of the feedback control valve 6 and the feedback control port of the variable displacement pump 2. Where the damper valve 62 is a throttle valve that is capable of rapidly establishing a smooth feedback pressure.
Further, a check valve 63 is arranged between the oil outlet of the damping valve 62 and the feedback control port of the variable displacement pump 2. The one-way valve 63 can prevent the hydraulic oil of the variable pump 2 from entering the main control valve 3 through the feedback control port of the variable pump 2 and the feedback control valve 6, thereby providing a stable and reliable pressure feedback signal.
Further, the quick-change switch 4 is integrated with an opening quick-change position 41, a locking quick-change position 43 and a middle position 42. The unlocking quick-change position 41 has a self-locking function, the middle position 42 can be returned after manual unlocking, and the locking quick-change position 43 can automatically return to the middle position 42. The quick-change opening position 41 is connected with the controller 51, the main control valve 3 and the feedback control valve 6 through electric signals; the lock quick switching position 43 is in electrical signal connection with the main control valve 3 and the feedback control valve 6.
Further, the electric control quick-change system further comprises a distribution valve 9, and the distribution valve 9 is communicated with the oil outlet of the variable pump 2. The distribution valve 9 and the quick-change cylinder 7 share the variable pump 2 as an oil source, and the outlet of the distribution valve 9 is connected with an actuating mechanism of a working device, such as a movable arm cylinder, a rotating bucket cylinder, a third working device actuating mechanism and the like, namely, an electric control quick-change hydraulic system is a subsystem of a working hydraulic system, is relatively independent, and improves the stability of the system.
Further, the feedback control valve 6 is a two-position three-way valve and comprises a port P, a port T and a port C, the port P is communicated with an oil outlet of the variable pump 2, the port T is communicated with the oil tank 1, and the port C is communicated with a feedback control port of the variable pump 2.
Furthermore, the main control valve 3 is a three-position four-way valve, a port A of the three-position four-way valve is communicated with a first working cavity of the quick-change cylinder 7, a port B of the three-position four-way valve is communicated with a second working cavity of the quick-change cylinder 7, a port P of the three-position four-way valve is communicated with an oil outlet of the variable pump 2, a port T of the three-position four-way valve is communicated with the oil tank 1, and when the.
The working process of the electric control quick change system is as follows:
when the quick change needs to be opened: the quick-change switch 4 is switched to the quick-change position 41, and the quick-change position 41 has a self-locking function, so that the quick-change position can be switched to the unlocking position after manual unlocking. At the moment, the right electromagnetic valve of the main control valve 3 is electrified, the valve rod is pushed to move left, the port P is communicated with the port A, and the port B is communicated with the port T; the feedback control valve 6 is electrified to push the valve rod to move left, the port P of the feedback control valve is communicated with the port C, pressure oil enters the control pipeline 61, a pressure signal is fed back to the variable pump 2, the variable pump 2 continuously pumps the oil, the pressure oil enters the first working cavity of the quick-change cylinder 7 through the port A of the main control valve 3, the oil in the second working cavity of the quick-change cylinder 7 flows back to the oil tank 1 through the port T, and therefore the piston rod is enabled to contract inwards, and the purpose of opening the quick-change device is achieved. When the quick-change switch 4 is turned on to the quick-change position 41, a quick-change position opening signal is input to the controller 51, the controller 51 outputs a control signal immediately, the light alarm 53 is controlled to be turned on, the sound alarm 52 gives an alarm, and an operator is warned that the quick change is turned on at the moment and needs to operate carefully. The controller 51 records the identifier as 0 and stores the state until receiving the lock quick change action next time, so as to prevent the situation that the last state is unknown after the complete machine is powered on again after power failure;
when the lock needs to be quickly replaced: the quick change switch 4 is switched to the locking quick change position 43, the left electromagnetic valve of the main control valve 3 is electrified at the moment, the valve rod is pushed to move rightwards, the port P is communicated with the port B, and the port A is communicated with the port T; the feedback control valve 6 is electrified to push the valve rod to move left, the port P of the feedback control valve is communicated with the port C, pressure oil enters the control pipeline 61, a pressure signal is fed back to the variable pump 2, the variable pump 2 continuously pumps the oil, the pressure oil enters the second working cavity of the quick-change cylinder 7 through the port B of the main control valve 3, the oil in the first working cavity of the quick-change cylinder 7 flows back to the oil tank 1 through the port T, and therefore the piston rod extends outwards, and the purpose of locking the quick-change device is achieved. When the quick-change switch 4 is turned to the lock quick-change position 43, a quick-change lock position signal is input to the controller 51. When the pressure at the outlet end of the feedback control valve 6 reaches the set pressure of the pressure sensor 8, the sensor outputs a pressure closing signal to the controller 51. The controller 51 determines that the quick-change operation of the lock is successful only when detecting a quick-change lock position signal and simultaneously receiving a closing signal of the pressure sensor 8 lasting for a certain time, outputs a command to turn off the alarm lamp, turns off the alarm, marks the identifier as 1 and stores the state until next receiving a quick-change opening action, so as to prevent the situation that the state of the lock last time is unknown after the complete machine is powered on again after power failure. After the hand is loosened, the quick-change switch 4 can automatically return to the middle position 42 from the quick-change locking position 43, at the moment, the main control valve 3 returns to the middle position, the oil way of the second working cavity of the quick-change cylinder 7 is locked, and the hydraulic oil of the first working cavity of the quick-change cylinder 7 is communicated with the oil tank 1, so that the quick change is stably locked.
When the quick change needs to be opened, the quick change can be opened only by manually unlocking, so that misoperation caused by unconscious touch is avoided; when the lock is quickly replaced, the locking electric signal of the quick-change switch 4 and the pressure signal communicated with the oil cylinder oil circuit need to be received at the same time, and the pressure signal needs to last for several seconds, so that the piston rod of the quick-change cylinder 7 has enough time to extend outwards to be in place, and the quick-change accessory is reliably and stably locked. These measures solve the most important safety problem of the electrical quick change well.
The oil supply line of the quick-change cylinder 7 is controlled by the variable displacement pump 2 and the control line 61, when the quick-change cylinder 7 does not act, the whole hydraulic line system can be maintained at a lower pressure level, and when the quick-change cylinder 7 acts, pressure is quickly established and the movement requirement of the oil cylinder is met. In practice, the time of the quick-change cylinder 7 is very small in proportion to the whole working time of the loader, so that the system is very energy-saving.
The embodiment also provides a loader, which is provided with the above electric control quick-change system, so that an accessory of the loader can be operated in an electric control mode, and the working intensity of a driver is reduced.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An electrically controlled quick-change system, comprising:
the variable pump (2) is communicated with the oil tank (1);
the quick-change cylinder (7) is provided with a first working cavity and a second working cavity and is used for clamping or loosening accessories;
the main control valve (3) is respectively communicated with the variable pump (2), the quick-change cylinder (7) and the oil tank (1) and has an opening position and a locking position, when the main control valve (3) is in the opening position, the first working cavity is communicated with the variable pump (2), the second working cavity is communicated with the oil tank (1), when the main control valve (3) is in the locking position, the first working cavity is communicated with the oil tank (1), and the second working cavity is communicated with the variable pump (2);
the feedback control valve (6) is communicated with an oil outlet and a feedback control port of the variable pump (2) through a control pipeline (61);
the quick-change switch (4) is electrically connected with the main control valve (3) and the feedback control valve (6), the quick-change switch (4) can control the main control valve (3) to be in the opening position or the locking position, and meanwhile, the quick-change switch (4) can control the on-off of the feedback control valve (6);
a control device (5), wherein the control device (5) can determine the state of the quick-change cylinder (7) by acquiring the state of the quick-change switch (4) and a pressure signal of the control pipeline (61).
2. An electrically controlled quick-change system according to claim 1, characterized in that the control device (5) comprises a pressure sensor (8) and a controller (51), the pressure sensor (8) being adapted to detect the hydraulic pressure in the control line (61), the pressure sensor (8) being electrically connected to the controller (51), and the controller (51) being electrically connected to the quick-change switch (4).
3. An electrically controlled quick-change system according to claim 2, further comprising an alarm, wherein the controller (51) is electrically connected to the alarm.
4. An electrically controlled quick-change system according to claim 3, characterized in that the alarm comprises a light alarm (53) and a sound alarm (52), and both the light alarm (53) and the sound alarm (52) are electrically connected to the controller (51).
5. An electrically controlled quick-change system according to claim 1, characterized in that a damping valve (62) is arranged between the oil outlet of the feedback control valve (6) and the feedback control port of the variable displacement pump (2).
6. An electrically controlled quick-change system according to claim 5, characterized in that a check valve (63) is arranged between the oil outlet of the damping valve (62) and the feedback control port of the variable displacement pump (2).
7. An electrically controlled quick-change system according to claim 1, characterized in that the quick-change switch (4) is integrated with an opening quick-change position (41), a locking quick-change position (43) and a neutral position (42).
8. An electrically controlled quick-change system according to claim 1, further comprising a distribution valve (9), said distribution valve (9) being in communication with an oil outlet of said variable displacement pump (2).
9. An electrically controlled quick-change system according to any one of claims 1-8, characterised in that a pressure reducing valve (21) is arranged in the oil circuit between the variable displacement pump (2) and the main control valve (3).
10. A loader, characterized in that it is provided with an electrically controlled quick-change system according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090264.2A CN112281960A (en) | 2020-10-13 | 2020-10-13 | Automatically controlled quick change system and loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090264.2A CN112281960A (en) | 2020-10-13 | 2020-10-13 | Automatically controlled quick change system and loader |
Publications (1)
| Publication Number | Publication Date |
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| CN112281960A true CN112281960A (en) | 2021-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011090264.2A Pending CN112281960A (en) | 2020-10-13 | 2020-10-13 | Automatically controlled quick change system and loader |
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| Country | Link |
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| CN (1) | CN112281960A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050515A (en) * | 2021-03-29 | 2021-06-29 | 湖南大学 | Full-automatic quick-change device control system and method for emergency rescue engineering equipment |
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| CN110905025A (en) * | 2019-12-26 | 2020-03-24 | 三一重机有限公司 | Hydraulic quick-change device and excavator |
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| CN1670316A (en) * | 2004-03-17 | 2005-09-21 | 神钢建设机械株式会社 | Hydraulic control device for working machine |
| US20130160441A1 (en) * | 2010-06-21 | 2013-06-27 | Caterpillar Sarl | Quick coupler circuit for construction equipment |
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| CN203613582U (en) * | 2013-12-23 | 2014-05-28 | 徐工集团工程机械股份有限公司科技分公司 | Loading machine quick-changing hydraulic system with safety locking function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050515A (en) * | 2021-03-29 | 2021-06-29 | 湖南大学 | Full-automatic quick-change device control system and method for emergency rescue engineering equipment |
| CN113050515B (en) * | 2021-03-29 | 2022-03-08 | 湖南大学 | Full-automatic quick-change device control system and method for emergency rescue engineering equipment |
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Application publication date: 20210129 |