CN113293812B - Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment - Google Patents
Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment Download PDFInfo
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- CN113293812B CN113293812B CN202110734432.5A CN202110734432A CN113293812B CN 113293812 B CN113293812 B CN 113293812B CN 202110734432 A CN202110734432 A CN 202110734432A CN 113293812 B CN113293812 B CN 113293812B
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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
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- 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
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- 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
Abstract
The invention provides a method and a device for preventing an arm from being sucked empty, a working machine and an electronic device, wherein the method for preventing the arm from being sucked empty comprises the following steps: obtaining a current weight of a work device of the work machine; based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted; and controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data. The method for preventing the bucket rod from being sucked empty can solve the problem of the suction empty of the bucket rod oil cylinder of the operating machine.
Description
Technical Field
The invention relates to the technical field of working machinery, in particular to a method and a device for preventing a bucket rod from being sucked empty, the working machinery and electronic equipment.
Background
When the existing operation machinery works, a valve core of a main valve is opened, if the weight of a bucket rod oil cylinder of the operation machinery is too large, the oil return back pressure is not enough to offset the action acceleration change of the oil cylinder caused by the self weight of a working device, and the oil inlet flow of a system cannot keep up with the required flow. At this time, the arm cylinder as the hydraulic actuator tends to be sucked. Suction is generally not apparent when the system flow is high, and is apparent when the system flow is low (e.g., when operating in a lower gear). Generally, the suction of the bucket rod of the working machine can cause the operation to be stopped and blocked, and the use feeling and the working efficiency of a driver are influenced. Therefore, it is desirable to provide a method for preventing the arm from being sucked empty to solve the problem of the arm cylinder of the working machine.
Disclosure of Invention
The invention provides a method and a device for preventing an arm from being sucked empty, a working machine and electronic equipment, and aims to solve the problem of the suction empty of an arm oil cylinder of the working machine.
The invention provides a method for preventing a bucket rod from being sucked empty, which comprises the following steps:
obtaining a current weight of a work device of the work machine;
based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data.
According to the method for preventing the bucket rod from being sucked empty, the step of selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight comprises the following steps:
and when the working machine working device is changed, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight.
According to the method for preventing the bucket rod from being sucked empty, the current loading mode data of the proportional valve meet the following requirements:
and from the initial moment of controlling the proportional valve based on the proportional valve current loading mode data to the target moment, the proportional valve current is in a linear relation with time.
According to the method for preventing the bucket rod from being sucked empty, the current loading mode data of the proportional valve further meet the following conditions:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
According to the method for preventing the bucket rod from being sucked empty, the step of selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight comprises the following steps:
selecting weight data closest to the current weight from the weight data in the weight-current relation table as target weight data;
and obtaining proportional valve current loading mode data corresponding to the current weight based on the target weight data and the weight-current relation table.
The invention also provides a device for preventing the bucket rod from being sucked empty, which comprises:
the acquisition module is used for acquiring the current weight of the working device of the working machine;
the processing module is used for selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table based on the current weight; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and the control module is used for controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data.
According to the device for preventing the bucket rod from being sucked empty, the processing module is further used for selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight when the working machine working device is changed.
The invention also provides a working machine which comprises the device for preventing the bucket rod from being sucked empty.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the method for preventing the bucket rod from being sucked empty.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of preventing stick suck as claimed in any one of the preceding claims.
According to the method, the device, the operation machine and the electronic equipment for preventing the bucket rod from being sucked empty, the current weight of the operation machine working device is firstly obtained; based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; and finally, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
When the working condition of the working machine changes, the working device of the working machine can be switched to cause the weight of the working device of the working machine to change. The method provided by the invention can automatically match the corresponding proportional valve current loading mode according to the weight change of the working device, thereby solving the problem of bucket rod suction.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a method for preventing a bucket rod from being emptied according to the present invention;
FIG. 2 is a schematic diagram illustrating a current loading manner of a proportional valve in the method for preventing the bucket rod from being empty according to the present invention;
FIG. 3 is a second schematic diagram illustrating the current loading manner of the proportional valve in the method for preventing the bucket rod from being sucked empty according to the present invention;
FIG. 4 is a third schematic diagram illustrating the current loading manner of the proportional valve in the method for preventing the bucket rod from being sucked empty according to the present invention;
FIG. 5 is a schematic structural view of the device for preventing the bucket rod from being sucked empty provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the debugging process of the working machine, the oil return area of the valve core of the working machine is generally adjusted according to the common gear, so that the oil return back pressure of the valve core and the weight of a working device of the working machine keep a certain balance, and the condition that no obvious air suction condition exists in the common gear is ensured. The backpressure of a hydraulic control valve core of the operation machine is not adjustable, if the bucket rod is empty, the opening size of the main valve rod needs to be changed, the workload is large, and the debugging period of the operation machine is prolonged.
The existing electronic control hydraulic system adjusts oil return backpressure through a proportional pressure reducing valve on an oil return path of a bucket rod, and if the weight of a working device is fixed, the loading mode of the proportional pressure reducing valve is fixed when the machine is debugged in a factory.
On the other hand, the diversity of installation of conventional work machine tools is increasing, i.e., the same machine unit is usually equipped with a plurality of arms of different specifications, buckets of different bucket capacities, or different accessories (breaking hammers, hydraulic shears, pile drivers, etc.). The invention provides a method for preventing a bucket rod from being sucked to be empty, which aims to solve the problem that the suction phenomenon of the bucket rod is easy to occur due to the fact that the specifications of the bucket rod and the bucket are changed to cause corresponding weight changes.
The method, apparatus, working machine, and electronic device for preventing the bucket rod from being sucked empty according to the present invention will be described with reference to fig. 1 to 6.
The invention provides a method for preventing an arm from being sucked empty, which comprises the following steps of:
The work machine may be an excavator, and the work implement may include an arm, a bucket, an attachment, or the like. The accessory comprises a breaking hammer, a hydraulic shear or a pile driver.
The weight data of the working device may include weight data of one device of the stick, the bucket, and the attachment, or weight data of a combination of a plurality of devices. The weight data of the bucket rod, the bucket and the accessory can be measured and stored in advance, and different working devices can be correspondingly used under different working conditions of the working machine. When the working machine is in a working state, the working condition of the working machine can be acquired first, and based on the working condition of the working machine, the weight data of the working device corresponding to the current working condition of the working machine, that is, the current weight of the working machine, can be acquired.
It should be noted that the proportional valve current loading manner data is data of a change in the current loaded by the proportional valve with time. The proportional valves in the invention are all proportional valves on the bucket rod oil return path, namely bucket rod back pressure proportional pressure reducing valves, for short bucket rod back pressure proportional valves.
The weight-current relation table may be obtained in advance through an experiment in which, when the boom of the work machine is not empty, a plurality of weight data of the work machine working device and a plurality of proportional valve currents are recorded, a plurality of corresponding proportional valve current loading manner data are obtained from the plurality of proportional valve currents, and a correspondence relationship is established based on the plurality of weight data and the plurality of proportional valve current loading manner data to form the weight-current relation table.
And step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
It can be understood that after the proportional valve current loading mode data is obtained, the current of the proportional valve on the bucket rod oil return path is adjusted by using the proportional valve current loading mode data, so that the current of the proportional valve on the bucket rod oil return path is matched with the proportional valve current loading mode data, the valve opening degree of the proportional valve meets the requirement, and the bucket rod can be prevented from being sucked empty.
In some embodiments, selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relationship table based on the current weight includes:
when the working machine working device changes, based on the current weight, proportional valve current loading mode data corresponding to the current weight is selected from the weight-current relation table.
In some embodiments, the proportional valve current loading mode data satisfies:
from the initial time of controlling the proportional valve based on the proportional valve current loading mode data to the target time, the proportional valve current and the time are in a linear relation, and the proportional valve current at the initial time is zero.
In some embodiments, the proportional valve current loading mode data further satisfies:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
In some embodiments, the proportional valve current loading mode data satisfies:
I＝k×t+b
the proportional valve current loading mode data comprises a plurality of k values and a plurality of b values, wherein I is proportional valve current, t is time, the k values correspond to the proportional valve current loading mode data respectively, the k values are slopes corresponding to linear relations, and the b values are longitudinal intercepts corresponding to the linear relations. The k values corresponding to different proportional valve current loading mode data can be the same or different; and the b values corresponding to the current loading mode data of different proportional valves can be the same or different.
Further, for the electrically controlled hydraulic system, if the excavator can be equipped with n sets of working devices, the corresponding weights of the n sets of working devices are Gx (G0, G1, gn).
In order to prevent the bucket rod from sucking air when the working device is switched, the relationship between the weight of the working device and the current of the back pressure proportional valve of the bucket rod is established as follows:
as shown in FIG. 2, if the weight of the working device is G 0 And then the current loading mode of the back pressure proportional pressure reducing valve is as follows:
if the weight of the working device is G, as shown in FIG. 3 1 And then the current loading mode of the back pressure proportional pressure reducing valve is as follows:
as shown in FIG. 4, if the weight of the working device is G n And then the current loading mode of the back pressure proportional pressure reducing valve is as follows:
wherein, t x Namely, at the target moment, the controller of the working machine is provided with a corresponding proportional valve current loading mode in the controller according to the weight change of the working device.
When the work machine working device changes, the controller automatically detects the weight thereof. If the weight of the working device of the working machine is detected to be G, the G is compared with Gx (G0, G1,.. Gn), and if the G is close to a certain value of the Gx, namely | G-Gx | < b (b is a constant and can be set by a user), the program automatically matches a proportional valve loading mode corresponding to the weight through logic control.
In some embodiments, selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relationship table based on the current weight includes:
selecting weight data closest to the current weight from the weight data in the weight-current relation table as target weight data;
and obtaining the current loading mode data of the proportional valve corresponding to the current weight based on the target weight data and the weight-current relation table.
In summary, the method for preventing the bucket rod from being sucked empty provided by the invention firstly obtains the current weight of the working device of the working machine; based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; and finally, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
When the working condition of the working machine changes, the working device of the working machine can be switched to cause the weight of the working device of the working machine to change. The method provided by the invention can automatically match the corresponding proportional valve current loading mode according to the weight change of the working device, thereby solving the problem of bucket rod suction.
The device for preventing the bucket rod from being sucked empty provided by the invention is described below, and the device for preventing the bucket rod from being sucked empty and the method for preventing the bucket rod from being sucked empty described above can be correspondingly referred to.
As shown in FIG. 5, the apparatus 500 for preventing the bucket rod from being sucked empty according to the present invention comprises: an acquisition module 510, a processing module 520, and a control module 530.
The acquisition module 510 is used to acquire the current weight of the work implement of the work machine.
The processing module 520 is configured to select, based on the current weight, proportional valve current loading mode data corresponding to the current weight from the weight-current relationship table; wherein, the weight-current relation table comprises: and under the condition that the bucket rod of the working machine is not sucked to be empty, the current loading modes of the proportional valves corresponding to different working devices are adopted.
The control module 530 is configured to control the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data.
In some embodiments, processing module 520 is further configured to select, when the work machine implement is changed, proportional valve current loading mode data corresponding to the current weight from the weight-to-current relationship table based on the current weight.
In some embodiments, the proportional valve current loading mode data satisfies:
from the initial time of controlling the proportional valve based on the proportional valve current loading mode data to the target time, the proportional valve current and the time are in a linear relation, and the proportional valve current at the initial time is zero.
In some embodiments, the proportional valve current loading mode data further satisfies:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
Further, the proportional valve current loading mode data satisfy:
I＝k×t+b
wherein, I is proportional valve current, t is time, and a plurality of values of k and a plurality of values of b respectively correspond to a plurality of data of the proportional valve current loading mode. The k values corresponding to different proportional valve current loading mode data can be the same or different; and the b values corresponding to the current loading mode data of different proportional valves can be the same or different.
In some embodiments, the processing module 520 includes: a first processing unit and a second processing unit.
The first processing unit is used for selecting the weight data closest to the current weight from the weight data in the weight-current relation table as the target weight data.
And the second processing unit is used for obtaining the proportional valve current loading mode data corresponding to the current weight based on the target weight data and the weight-current relation table.
The invention also provides a working machine which comprises the device 500 for preventing the bucket rod from being sucked empty.
Further, the working machine according to the present invention includes the apparatus 500 for preventing the arm from being sucked empty as described above, and thus has various advantages as described above.
The electronic device and the storage medium provided by the present invention are described below, and the electronic device and the storage medium described below and the method for preventing the arm from being sucked empty described above may be referred to in correspondence.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor) 610, a communication Interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call logic instructions in the memory 630 to perform a method of preventing a stick suck, the method comprising:
and step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for preventing an arm from being sucked empty provided by the above methods, the method comprising:
and step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the method for preventing a stick from being sucked empty provided above, the method comprising:
and step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of preventing a stick from emptying, comprising:
obtaining a current weight of a work implement of the work machine;
based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
2. The method of claim 1, wherein the selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relationship table based on the current weight comprises:
and when the working machine working device changes, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight.
3. The method for preventing the bucket rod from being sucked empty as claimed in claim 1, wherein the proportional valve current loading mode data satisfies the following conditions:
and from the initial moment of controlling the proportional valve based on the proportional valve current loading mode data to the target moment, the proportional valve current is in a linear relation with time.
4. The method of claim 3, wherein the proportional valve current loading mode data further satisfies the following:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
5. The method for preventing the bucket rod from being sucked empty of any one of claims 1 to 4, wherein the step of selecting the proportional valve current loading mode data corresponding to the current weight from a weight-current relation table based on the current weight comprises the following steps:
selecting weight data closest to the current weight from the weight data in the weight-current relation table as target weight data;
and obtaining proportional valve current loading mode data corresponding to the current weight based on the target weight data and the weight-current relation table.
6. A device for preventing a bucket rod from being sucked empty, comprising:
the acquisition module is used for acquiring the current weight of the working device of the working machine;
the processing module is used for selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table based on the current weight; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and the control module is used for controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data.
7. The apparatus of claim 6, wherein the arm is configured to prevent the arm from being emptied,
and the processing module is further used for selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight when the working machine working device is changed.
8. A working machine comprising the apparatus for preventing the stick from being sucked empty of claim 6 or 7.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method of preventing an arm from sucking empty as claimed in any one of claims 1 to 5.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method of preventing a stick from sucking empty as claimed in any one of claims 1 to 5.
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| CN202110734432.5A CN113293812B (en) | 2021-06-30 | 2021-06-30 | Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110734432.5A CN113293812B (en) | 2021-06-30 | 2021-06-30 | Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment |
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| CN113293812B true CN113293812B (en) | 2023-01-10 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108729479A (en) * | 2018-05-28 | 2018-11-02 | 柳州柳工挖掘机有限公司 | Bucket rod cylinder of excavator hydraulic control system and control method |
| CN109736373A (en) * | 2018-12-30 | 2019-05-10 | 上海三一重机股份有限公司 | A kind of energy-saving control device and control method of the decline of control excavator boom |
| CN110616770A (en) * | 2019-09-23 | 2019-12-27 | 三一重机有限公司 | Anti-suction control system and control method for bucket rod oil cylinder, bucket rod oil cylinder and excavator |
| CN211314698U (en) * | 2020-01-01 | 2020-08-21 | 浙江鼎力机械股份有限公司 | Balance valve group, variable amplitude oil cylinder and aerial work platform |
-
2021
- 2021-06-30 CN CN202110734432.5A patent/CN113293812B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108729479A (en) * | 2018-05-28 | 2018-11-02 | 柳州柳工挖掘机有限公司 | Bucket rod cylinder of excavator hydraulic control system and control method |
| CN109736373A (en) * | 2018-12-30 | 2019-05-10 | 上海三一重机股份有限公司 | A kind of energy-saving control device and control method of the decline of control excavator boom |
| CN110616770A (en) * | 2019-09-23 | 2019-12-27 | 三一重机有限公司 | Anti-suction control system and control method for bucket rod oil cylinder, bucket rod oil cylinder and excavator |
| CN211314698U (en) * | 2020-01-01 | 2020-08-21 | 浙江鼎力机械股份有限公司 | Balance valve group, variable amplitude oil cylinder and aerial work platform |
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