CN114321053A - Electro-hydraulic control system and crawler-type mining trolley - Google Patents
Electro-hydraulic control system and crawler-type mining trolley Download PDFInfo
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- CN114321053A CN114321053A CN202210235754.XA CN202210235754A CN114321053A CN 114321053 A CN114321053 A CN 114321053A CN 202210235754 A CN202210235754 A CN 202210235754A CN 114321053 A CN114321053 A CN 114321053A
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Abstract
The invention discloses an electro-hydraulic control system and a crawler-type mining trolley, which comprise a rock drilling electric proportional control valve, a propulsion electric proportional multi-way valve, a rotary electric proportional multi-way valve and a walking multi-way valve; the rock drilling electric proportional control valve is connected with the impacter and the shuttle valve group and is used for electrically adjusting impact pressure in proportion; the propulsion electric proportional multi-way valve is connected with the propulsion oil cylinder and the shuttle valve group and is used for electrically proportionally adjusting the propulsion pressure and the propulsion speed; the rotary electric proportional multi-way valve is connected with the electric proportional overflow valve and the rotary motor and is used for electrically proportionally adjusting the rotary pressure and the rotary speed; the walking multi-way valve is connected with the pilot control valve group, the hydraulic control pilot proportional handle, the walking remote control valve group and the walking speed reducer and is used for realizing the walking control action on and under the vehicle. The invention can realize the accurate control of impact pressure, propulsion pressure and propulsion speed, meet the requirements of various rotation speed working conditions on different rotation speeds, and realize the control of walking actions of operators on and under the vehicle.
Description
Technical Field
The invention belongs to the technical field of underground mining equipment, and particularly relates to an electro-hydraulic control system and a crawler-type mining trolley.
Background
The mining drill carriage is also called a mining drill jumbo, is used for drilling production holes in underground mining and is the preferred equipment of a sill pillar-free high sublevel caving mining process method. At present, a mining trolley control system mostly adopts full hydraulic control, and cannot realize accurate control on impact, rotation, propulsion speed and pressure, such as high-speed backspacing of an impactor, low-speed tapping, medium-speed drilling, slow-speed rod feeding and the like, stepless anti-jamming drill rods cannot be realized, fine protection of the impactor and a drilling tool cannot be realized, the requirements of different working conditions on the rotation speed cannot be met, and if the rotation speed is high when a small-size drill bit drilling tool is required, the rotation speed is high. Meanwhile, drilling is carried out through hydraulic control operation, the operation position is relatively fixed, and the risk of construction under the dangerous working condition environment exists. For walking operation, people stand in a cab to operate the hydraulic control handle to move the drill carriage, and the danger that people tip over is easily caused when the people transport the plate trailer to get on or off or turn with limited vision.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an electro-hydraulic control system and a crawler-type mining trolley, which can realize accurate control of impact pressure, propulsion pressure and propulsion speed, meet the requirements of various rotation speed working conditions on different rotation speeds, and realize the control of walking actions of operators on and under the trolley.
The invention provides the following technical scheme:
the first aspect provides an electro-hydraulic control system, which comprises a rock drilling electric proportional control valve, a propulsion electric proportional multi-way valve, a rotary electric proportional multi-way valve and a walking multi-way valve;
the rock drilling electric proportional control valve is connected with the impacter and the shuttle valve group and is used for electrically adjusting impact pressure in proportion;
the propulsion electric proportional multi-way valve is connected with the propulsion oil cylinder and the shuttle valve group and is used for electrically proportionally adjusting the propulsion pressure and the propulsion speed;
the rotary electric proportional multi-way valve is connected with the electric proportional overflow valve and the rotary motor and is used for electrically proportionally adjusting the rotary pressure and the rotary speed;
the walking multi-way valve is connected with the pilot control valve group, the hydraulic control pilot proportional handle, the walking remote control valve group and the walking speed reducer and used for realizing the walking control action on and off the vehicle.
Further, still include plunger pump and gear pump, the plunger pump is connected the rock drilling electricity proportional control valve, is impeld the electricity proportional multi-way valve and is walked the multi-way valve, the gyration electricity proportional multi-way valve is connected to the gear pump.
Further, the rock drilling electric proportional control valve comprises a sequence valve, a first electromagnetic directional valve, a first electric proportional overflow valve, a first pressure reducing valve, a second electric proportional overflow valve and a first shuttle valve;
the sequence valve is connected with the first electromagnetic directional valve and the first pressure reducing valve, a damping hole is formed between the sequence valve and the first electromagnetic directional valve, when the first electromagnetic directional valve is powered on, hydraulic oil flows to an oil tank through the damping hole, pressure difference is generated at two ends of the sequence valve and the sequence valve is opened, and the hydraulic oil flows to the first pressure reducing valve through the sequence valve;
the first pressure reducing valve is connected with a first electric proportional overflow valve, and the outlet pressure of the first pressure reducing valve is controlled by the first electric proportional overflow valve so as to determine the impact pressure;
the first oil inlet of the first shuttle valve is connected with the inlet of the first electric proportional overflow valve, the second oil inlet of the first shuttle valve is connected with the inlet of the second electric proportional overflow valve, and the oil outlet of the first shuttle valve is connected with the shuttle valve group.
Furthermore, the propulsion electric proportional multi-way valve, the rotation electric proportional multi-way valve and the walking multi-way valve respectively comprise a pilot type overflow valve group, an overflow valve, a pressure reducing valve and a one-way valve, and the propulsion electric proportional multi-way valve and the rotation electric proportional multi-way valve respectively comprise a pilot type electric proportional reversing valve group;
the pilot type overflow valve groups are respectively used for protecting the propulsion electric proportional multi-way valve, the rotary electric proportional multi-way valve and the walking multi-way valve, the overflow valves are connected with the pressure reducing valve and used for limiting the reduced pressure of the pressure reducing valve, the pressure reducing valve is connected with the one-way valve, and the one-way valves in the propulsion electric proportional multi-way valve and the rotary electric proportional multi-way valve are connected with the pilot electric proportional reversing valve group.
Furthermore, the propulsion electric proportional multi-way valve also comprises a first proportional reversing valve, a first pressure compensator, a secondary overflow valve A, a secondary overflow valve B and a first load feedback shuttle valve;
the pilot electric proportional reversing valve group of the propulsion electric proportional multi-way valve acts on a control port of the first proportional reversing valve;
one end of the first pressure compensator is connected with a first oil inlet of a first load feedback shuttle valve, the other end of the first pressure compensator is connected with a P port of a first proportional reversing valve, and an A, B port of the first proportional reversing valve is connected with a propulsion oil cylinder;
a first oil inlet of the first load feedback shuttle valve is connected with a T port of the first proportional reversing valve, a second oil inlet of the first load feedback shuttle valve is connected with an oil tank, and an oil outlet of the first load feedback shuttle valve is connected with the shuttle valve group;
the secondary overflow valve A and the secondary overflow valve B set the maximum value of the propelling load pressure, and the load sensitive external control port LSA of the propelling electric proportional multi-way valve is connected with the second electric proportional overflow valve to determine the propelling pressure.
Further, the rotary electric proportional multi-way valve further comprises a second proportional reversing valve, a fourth one-way valve and a second load feedback shuttle valve;
a pilot electric proportional reversing valve group of the rotary electric proportional multi-way valve acts on a control port of the second proportional reversing valve;
the fourth one-way valve is connected with a port P of a second proportional reversing valve, and a port A, B of the second proportional reversing valve is connected with a rotary motor;
and a first oil inlet of the second load feedback shuttle valve is connected with a T port of a second proportional reversing valve, a second oil inlet is connected with an oil tank, and an oil outlet is connected with the electric proportional overflow valve so as to determine the rotation pressure.
Furthermore, the walking speed reducer comprises a right walking speed reducer and a left walking speed reducer, and the walking multi-way valve further comprises a third proportional directional valve, a fourth proportional directional valve, a second pressure compensator, a third load feedback shuttle valve and a fourth load feedback shuttle valve;
the one-way valve of the walking multi-way valve is connected with the pilot control valve group; one end of the second pressure compensator is connected with a first oil inlet of a third load feedback shuttle valve, the other end of the second pressure compensator is connected with a P port of a third proportional reversing valve, and an A, B port of the third proportional reversing valve is connected with a right walking speed reducer; one end of the third pressure compensator is connected with a first oil inlet of a fourth load feedback shuttle valve, the other end of the third pressure compensator is connected with a P port of a fourth proportional reversing valve, and an A, B port of the fourth proportional reversing valve is connected with a left walking speed reducer;
a first oil inlet of the fourth load feedback shuttle valve is connected with a T port of a fourth proportional reversing valve, and a second oil inlet is connected with an oil tank; a first oil inlet of the third load feedback shuttle valve is connected with a T port of the third proportional reversing valve, a second oil inlet is connected with an oil outlet of the fourth load feedback shuttle valve, and an oil outlet is connected with the shuttle valve group; an oil outlet of the shuttle valve group is connected with an LS port of the plunger pump and feeds back the required maximum pressure value of the pump system.
Further, the pilot control valve group comprises a second electromagnetic directional valve, a fifth one-way valve, a fifth reducing valve, a third electromagnetic directional valve, a second shuttle valve and an energy accumulator;
a first oil inlet of the second shuttle valve is connected with the walking multi-way valve, a second oil inlet of the second shuttle valve is connected with the propulsion electric proportional multi-way valve, and an oil outlet of the second shuttle valve is connected with a third electromagnetic directional valve; the third electromagnetic reversing valve is connected with the energy accumulator, a fifth one-way valve and a fifth pressure reducing valve, the fifth pressure reducing valve is connected with a second electromagnetic reversing valve, the second electromagnetic reversing valve is connected with a walking speed reducer, and the fifth one-way valve is connected with a second electromagnetic reversing valve, a hydraulic control pilot proportional handle and a walking remote control valve group;
when the second electromagnetic directional valve and the third electromagnetic directional valve are not powered, hydraulic oil is decompressed by a fifth decompression valve and then enters a hydraulic control pilot proportional handle and a walking remote control valve group, and a walking speed reducer is in a low-speed mode;
when the second electromagnetic directional valve and the third electromagnetic directional valve are simultaneously electrified, hydraulic oil passes through the third electromagnetic directional valve, sequentially passes through the fifth one-way valve and the second electromagnetic directional valve, enters the walking speed reducer, and the walking motor is changed to a high-speed walking state.
Furthermore, the walking remote control valve group comprises four electric proportional reversing valves and four shuttle valves respectively corresponding to the four electric proportional reversing valves;
the first oil inlet of the shuttle valve is connected with the outlet of the corresponding electric proportional reversing valve, the second oil inlet is connected with the pilot-controlled pilot proportional handle, and the oil outlet is connected with the pilot control port of the walking multi-way valve, so that the walking speed reducer can be controlled by the walking operation platform and the walking speed reducer can be controlled by remote control.
In a second aspect, there is provided a tracked mining trolley comprising an electro-hydraulic control system as described in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
(1) the rock drilling electric proportional control valve is connected with an impactor and a shuttle valve group and used for electrically proportionally adjusting impact pressure to complete impact action; the propulsion electric proportional multi-way valve is connected with the propulsion oil cylinder and the shuttle valve group and is used for electrically proportionally adjusting the propulsion pressure and the propulsion speed to complete the propulsion action; the impact pressure, the propelling pressure and the propelling speed can be accurately controlled, such as high-speed retraction, low-speed hole opening, medium-speed drilling, low-speed rod feeding and the like;
(2) the rotary electric proportional multi-way valve is connected with the electric proportional overflow valve and the rotary motor, is used for electrically proportionally adjusting the rotary pressure and the rotary speed to complete the rotary action, can be used for stepless anti-jamming of drill rods, effectively avoids the drill rod jamming, and can also meet the requirements of various rotary speed working conditions on different rotary speeds;
(3) the walking multi-way valve is connected with the pilot control valve group, the hydraulic control pilot proportional handle, the walking remote control valve group and the walking speed reducer, and is used for realizing that personnel operate the walking system on a vehicle, reducing the labor intensity of personnel in transition walking, realizing walking remote control under the vehicle and ensuring the construction safety of the personnel.
Drawings
FIG. 1 is a hydraulic schematic diagram of an electro-hydraulic control system for implementing impact, propulsion, and swing actions;
FIG. 2 is a hydraulic schematic diagram of an electro-hydraulic control system for realizing a walking action;
fig. 3 is a hydraulic structure diagram of the rock drilling electric proportional control valve in fig. 1;
FIG. 4 is a schematic diagram of the hydraulic configuration of the propulsion electro-proportional multi-way valve of FIG. 1;
FIG. 5 is a schematic diagram of the hydraulic configuration of the rotary electric proportional multi-way valve of FIG. 1;
FIG. 6 is a schematic illustration of the hydraulic configuration of the travel switch valve of FIG. 2;
fig. 7 is a hydraulic structure diagram of the pilot valve group in fig. 2;
FIG. 8 is a schematic illustration of the hydraulic configuration of the travel remote control valve block of FIG. 2;
labeled as: 1. an electric proportional relief valve; 2. a rock drilling electric proportional control valve; 2.1, a sequence valve; 2.2, a first electromagnetic directional valve; 2.3, a first electric proportional overflow valve; 2.4, a first pressure reducing valve; 2.5, a second electric proportional overflow valve; 2.6, a first shuttle valve; 3. an impactor; 4. a propulsion cylinder; 5. a seventh shuttle valve; 6. an eighth shuttle valve; 7. a propulsion electric proportional multi-way valve; 7.1, a first pilot operated overflow valve; 7.2, a second pilot operated overflow valve; 7.3, a first overflow valve; 7.4, a second pressure reducing valve; 7.5, a first one-way valve; 7.6, a first pilot electric proportional directional valve; 7.7, a second pilot electric proportional directional valve; 7.8, a first proportional directional valve; 7.9, a first pressure compensator; 7.10, a secondary overflow valve A; 7.11, a secondary overflow valve B; 7.12, a first load feedback shuttle valve; 8. a rotary electric proportional multi-way valve; 8.1, a third pilot operated overflow valve; 8.2, a fourth pilot operated overflow valve; 8.3, a second overflow valve; 8.4, a third pressure reducing valve; 8.5, a second one-way valve; 8.6, a third pilot electric proportional directional valve; 8.7, a fourth pilot electric proportional directional valve; 8.8, a second proportional directional valve; 8.9, a fourth one-way valve; 8.10, a second load feedback shuttle valve; 9. a travel multi-way valve; 9.1, a fifth pilot operated overflow valve; 9.2, a sixth pilot operated overflow valve; 9.3, a third overflow valve; 9.4, a fourth pressure reducing valve; 9.5, a third one-way valve; 9.6, a third proportional directional valve; 9.7, a second pressure compensator; 9.8, a third load feedback shuttle valve; 9.9, a fourth proportional directional valve; 9.10, a fourth load feedback shuttle valve; 9.11, a third pressure compensator; 10. a right travel reducer; 11. a left travel reducer; 12. a pilot control valve group; 12.1, a second electromagnetic directional valve; 12.2, a fifth one-way valve; 12.3, a fifth pressure reducing valve; 12.4, a third electromagnetic directional valve; 12.5, a second shuttle valve; 12.6, an energy accumulator; 12.7, a voltmeter; 13. a pilot operated proportional handle; 14. a walking remote control valve group; 14.1, a first electric proportional directional valve; 14.2, a second electric proportional directional valve; 14.3, a third electric proportional directional valve; 14.4, a fourth electrically proportional reversing valve; 14.5, a third shuttle valve; 14.6, a fourth shuttle valve; 14.7, a fifth shuttle valve; 14.8, a sixth shuttle valve; 15. a rotary motor.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Example 1
As shown in fig. 1 and fig. 2, the embodiment provides an electro-hydraulic control system, which includes a rock drilling electric proportional control valve 2, a propelling electric proportional multi-way valve 7, a rotary electric proportional multi-way valve 8, a walking multi-way valve 9, a plunger pump and a gear pump, wherein the plunger pump is connected with the rock drilling electric proportional control valve 2, the propelling electric proportional multi-way valve 7 and the walking multi-way valve 9, and the gear pump is connected with the rotary electric proportional multi-way valve 8. The rock drilling electric proportional control valve 2 is connected with the impacter 3 and the shuttle valve group and used for electrically adjusting impact pressure in a proportional mode, wherein the shuttle valve group comprises a seventh shuttle valve and an eighth shuttle valve; the propulsion electric proportional multi-way valve 7 is connected with the propulsion oil cylinder 4 and the shuttle valve group and is used for electrically proportionally adjusting the propulsion pressure and the propulsion speed; the rotary electric proportional multi-way valve 8 is connected with the electric proportional overflow valve 1 and the rotary motor 15 and is used for electrically proportionally adjusting the rotary pressure and the rotary speed; the walking multi-way valve 9 is connected with a pilot control valve group 12, a pilot control pilot proportional handle 13, a walking remote control valve group 14 and a walking speed reducer, and is used for realizing the walking control action on and off the vehicle.
As shown in fig. 3, the rock drilling electric proportional control valve 2 includes a sequence valve 2.1, a first electromagnetic directional valve 2.2, a first electric proportional relief valve 2.3, a first pressure reducing valve 2.4, a second electric proportional relief valve 2.5, and a first shuttle valve 2.6. The sequence valve 2.1 is connected with the plunger pump, the first electromagnetic directional valve 2.2 and the first pressure reducing valve 2.4, a damping hole with the diameter of 0.6mm is arranged between the sequence valve 2.1 and the first electromagnetic directional valve 2.2, when the first electromagnetic directional valve 2.2 is electrified, hydraulic oil flows to an oil tank through the damping hole, pressure difference is generated at two ends of the sequence valve 2.1 and the sequence valve is opened, and the hydraulic oil flows to the first pressure reducing valve 2.4 through the sequence valve 2.1. The first pressure reducing valve 2.4 is connected with the first electric proportional overflow valve 2.3, and the outlet pressure of the first pressure reducing valve 2.4 is controlled by the first electric proportional overflow valve 2.3 to determine the impact pressure; a first oil inlet of the first shuttle valve 2.6 is connected with an inlet of a first electric proportional overflow valve 2.3, a second oil inlet is connected with an inlet of a second electric proportional overflow valve 2.5, and an oil outlet is connected with a first oil inlet of a seventh shuttle valve 5.
As shown in fig. 4, the propulsion electric proportional multi-way valve 7 includes a first pilot type overflow valve 7.1, a second pilot type overflow valve 7.2, a first overflow valve 7.3, a second reducing valve 7.4, a first check valve 7.5, a first pilot electric proportional directional valve 7.6, a second pilot electric proportional directional valve 7.7, a first proportional directional valve 7.8, a first pressure compensator 7.9, a second overflow valve a 7.10, a second overflow valve B7.11, and a first load feedback shuttle valve 7.12. The first pilot overflow valve 7.1 and the second pilot overflow valve 7.2 are used for protecting the propulsion electric proportional multi-way valve 7. The first overflow valve 7.3 is connected with the second reducing valve 7.4 and used for limiting the reduced pressure of the second reducing valve 7.4, the second reducing valve 7.4 is connected with the first check valve 7.5, the first check valve 7.5 is connected with the port A2 of the pilot control valve group 12 and the ports P of the first pilot electric proportional reversing valve 7.6 and the second pilot electric proportional reversing valve 7.7, and the first pilot electric proportional reversing valve 7.6 and the second pilot electric proportional reversing valve 7.7 act on the control port of the first proportional reversing valve 7.8. One end of the first pressure compensator 7.9 is connected with a first oil inlet of the first load feedback shuttle valve 7.12, the other end is connected with a port P of the first proportional directional valve 7.8, and a port A, B of the first proportional directional valve 7.8 is connected with the propulsion oil cylinder 4 through an oil passage A1 and an oil passage B1 respectively. A first oil inlet of the first load feedback shuttle valve 7.12 is connected with a T port of the first proportional reversing valve 7.8, a second oil inlet is connected with an oil tank, and an oil outlet is connected with a second oil inlet of the eighth shuttle valve 6. The secondary spill valve a 7.10 and the secondary spill valve B7.11 set the maximum value of the thrust load pressure. The load sensitive external control port LSA of the propulsion electric proportional multi-way valve 7 is connected with a second electric proportional overflow valve 2.5 to determine the magnitude of the propulsion pressure.
As shown in fig. 5, the rotary electric proportional multi-way valve 8 includes a third pilot overflow valve 8.1, a fourth pilot overflow valve 8.2, a second overflow valve 8.3, a third pressure reducing valve 8.4, a second check valve 8.5, a third pilot electric proportional directional valve 8.6, a fourth pilot electric proportional directional valve 8.7, a second proportional directional valve 8.8, a fourth check valve 8.9, and a second load feedback shuttle valve 8.10. The third pilot overflow valve 8.1 and the fourth pilot overflow valve 8.2 are used for protecting the rotary electric proportional multi-way valve 8. The second overflow valve 8.3 is connected with the third pressure reducing valve 8.4 and used for limiting the reduced pressure of the third pressure reducing valve 8.4, the third pressure reducing valve 8.4 is connected with the second one-way valve 8.5, the second one-way valve 8.5 is connected with the P ports of the third pilot electric proportional reversing valve 8.6 and the fourth pilot electric proportional reversing valve 8.7, and the third pilot electric proportional reversing valve 8.6 and the fourth pilot electric proportional reversing valve 8.7 are connected with and act on the control port of the second proportional reversing valve 8.8. The fourth check valve 8.9 is connected to port P of the second proportional directional valve 8.8, and port A, B of the second proportional directional valve 8.8 is connected to the rotary motor 15 through oil passage a2 and oil passage B2. A first oil inlet of the second load feedback shuttle valve 8.10 is connected with a T port of the second proportional reversing valve 8.8, a second oil inlet is connected with an oil tank, and an oil outlet is connected with the electric proportional overflow valve 1 to determine the rotary pressure.
The working principle of the embodiment is as follows:
(I) impact part
As shown in fig. 3, after the motor is started, the plunger pump inputs hydraulic oil into an inlet of the sequence valve 2.1 through P1, if the first electromagnetic directional valve 2.2 is not powered, the sequence valve 2.1 operates in a normal position, the first electromagnetic directional valve 2.2 is not powered, because the hydraulic oil pressure acting on the two ends of the sequence valve 2.1 is the same, the right end has one more spring force, the force acting on the right end is greater than the force acting on the left end, at this time, the sequence valve 2.1 cannot be opened all the time under the effect of the closed force of the two ends, and the hydraulic oil cannot pass through the sequence valve 2.1. If the first electromagnetic directional valve 2.2 is electrified, the reversing work is in an upper position, the first electromagnetic directional valve 2.2 is communicated, at this time, a part of hydraulic oil at the inlet of the sequence valve 2.1 flows through the throttle valve and then flows back to the oil tank through the first electromagnetic directional valve 2.2, namely, pressure difference is formed at two ends of the throttle valve, the control pressure at the left end of the sequence valve 2.1 is larger than the control pressure at the right end plus the spring force, the sequence valve 2.1 is opened at this time, the hydraulic oil further flows to the inlet of the first pressure reducing valve 2.4 and also reaches the first electric proportional overflow valve 2.3 through the two throttle valves. The first pressure reducing valve 2.4 is an externally controlled pressure reducing valve, and the actual pressure reducing pressure is controlled by the first electrically proportional pressure relief valve 2.3, i.e. the percussion pressure of the striker 3 is controlled by the first electrically proportional pressure relief valve 2.3. The impact pressure set by the first electric proportional relief valve 2.3 is fed back to the pump station through the first shuttle valve 2.6, the seventh shuttle valve 5 and the eighth shuttle valve 6.
(II) propelling part
As shown in fig. 4, after the motor is started, the plunger pump makes hydraulic oil enter the port P of the propulsion electric proportional multi-way valve 7, and the first pilot overflow valve 7.1 and the second pilot overflow valve 7.2 form a safety valve of the propulsion electric proportional multi-way valve 7. The pressure of the hydraulic oil is reduced to below 20bar through the second reducing valve 7.4, and an oil source is provided for the first pilot electric proportional directional valve 7.6 and the second pilot electric proportional directional valve 7.7. The first overflow valve 7.3 ensures that the pressure of the second pressure reducing valve 7.4 after pressure reduction does not exceed 25bar, thereby meeting the working requirements of the first pilot electric proportional reversing valve 7.6 and the second pilot electric proportional reversing valve 7.7.
When the first pilot electric proportional directional valve 7.6 and the second pilot electric proportional directional valve 7.7 are not electrified, the first proportional directional valve 7.8 works in the middle position, hydraulic oil cannot pass through the first proportional directional valve 7.8 after passing through the first pressure compensator 7.9, and the propulsion oil cylinder 4 does not act at this time.
When the first pilot electric proportional directional valve 7.6 is powered on, hydraulic oil with corresponding pressure can be output according to the current value of the first pilot electric proportional directional valve 7.6 to act on the control port of the first proportional directional valve 7.8, at this time, the valve core of the first proportional directional valve 7.8 can move under the action of the hydraulic pressure, the first proportional directional valve 7.8 works at the upper position, that is, the hydraulic oil passes through the first pressure compensator 7.9 and then enters the thrust cylinder 4 through the first proportional directional valve 7.8 via the oil passage B1, so that the thrust cylinder 4 pushes the impactor 3 to advance, meanwhile, the hydraulic oil in the oil passage B1 enters the second electric proportional overflow valve 2.5 via the load-sensitive external control port LSA control port of the thrust electric proportional multi-way valve 7, and the second electric proportional overflow valve 2.5 has the function of controlling the thrust pressure. The secondary overflow valve B7.11 limits a maximum feed pressure.
On the contrary, when the second pilot electrical proportional directional valve 7.7 is powered, the hydraulic oil can output hydraulic oil with corresponding pressure according to the magnitude of the current value of the second pilot electrical proportional directional valve 7.7 to act on the control port of the first proportional directional valve 7.8, at this time, the valve core of the first proportional directional valve 7.8 can move under the action of the hydraulic pressure, and the first proportional directional valve 7.8 works at the lower position, that is, the hydraulic oil passes through the first pressure compensator 7.9 and then enters the thrust cylinder 4 through the first proportional directional valve 7.8 via the oil passage a1, so that the thrust cylinder 4 pushes the impactor 3 to retreat. The secondary overflow valve a 7.10 is intended to limit the maximum pressure at which a rock drill can be retracted.
The first pressure compensator 7.9 acts as a compensation valve, ensuring that the flow through the first proportional reversing valve 7.8 is only dependent on the current value received by the first pilot electric proportional reversing valve 7.6 and the second pilot electric proportional reversing valve 7.7, independent of the magnitude of the propulsion. The magnitude of the propelling pressure set by the second electric proportional overflow valve 2.5 can be fed back to the pump station through the first shuttle valve 2.6, the seventh shuttle valve 5 and the eighth shuttle valve 6.
(III) rock drill rotary part
As shown in fig. 5, after the motor is started, the gear pump sends hydraulic oil to the port P of the rotary electric proportional multi-way valve 8, and the third pilot overflow valve 8.1 and the fourth pilot overflow valve 8.2 form a safety valve of the rotary electric proportional multi-way valve 8. The pressure of the hydraulic oil is reduced to below 20bar through the third pressure reducing valve 8.4, and an oil source is provided for the third pilot electric proportional directional valve 8.6 and the fourth pilot electric proportional directional valve 8.7. The second overflow valve 8.3 ensures that the pressure of the third pressure reducing valve 8.4 after pressure reduction does not exceed 25bar, thereby meeting the working requirements of the third pilot electric proportional reversing valve 8.6 and the fourth pilot electric proportional reversing valve 8.7.
When the third pilot electric proportional directional valve 8.6 and the fourth pilot electric proportional directional valve 8.7 are not powered, the second proportional directional valve 8.8 works in the middle position, hydraulic oil cannot pass through the second proportional directional valve 8.8 after passing through the fourth one-way valve 8.9, and the rotary motor 15 does not work at this time.
When the third pilot electric proportional directional valve 8.6 is powered on, hydraulic oil with corresponding pressure can be output according to the current value of the third pilot electric proportional directional valve 8.6 and acts on the control port of the second proportional directional valve 8.8, at this time, the valve core of the second proportional directional valve 8.8 can move under the action of the hydraulic pressure, the second proportional directional valve 8.8 works at the upper position, namely, the hydraulic oil passes through the fourth one-way valve 8.9 and then enters the rotary motor 15 through the second proportional directional valve 8.8 through the oil passage B2, so that the rotary motor 15 rotates forwards. Conversely, when the fourth pilot electric proportional directional valve 8.7 is electrified, the rotary motor 15 rotates reversely.
A first oil inlet of the second load feedback shuttle valve 8.10 is connected with an outlet of the second proportional reversing valve 8.8, a second oil inlet of the second load feedback shuttle valve 8.10 is connected with an oil tank, an oil outlet of the second load feedback shuttle valve 8.10 is connected with the electric proportional overflow valve 1, and the electric proportional overflow valve 1 can adjust the maximum output pressure of the rotary motor 15 at any time according to actual needs.
The electro-hydraulic control system provided by the embodiment adopts a load sensitive system, the propulsion pressure and the propulsion speed are adjusted in an electric proportion mode, the impact pressure is adjusted in an electric proportion mode, the rotation pressure and the rotation speed are adjusted in an electric proportion mode, accurate control over the propulsion speed can be achieved, the electro-hydraulic control system can be used for stepless anti-jamming, drill rod jamming is effectively avoided, if the initial rotation pressure can be set to be 50bar, the speed is reduced when the pressure is 70bar, 80bar stops, 90bar retreats and the like, and the requirements of various rotation speed working conditions on different rotation speeds can be met.
Example 2
The present embodiment provides an electro-hydraulic control system including the system configuration in embodiment 1.
As shown in fig. 6, the travel speed reducer includes a right travel speed reducer 10 and a left travel speed reducer 11. The walking multi-way valve 9 comprises a fifth pilot overflow valve 9.1, a sixth pilot overflow valve 9.2, a third overflow valve 9.3, a fourth reducing valve 9.4, a third one-way valve 9.5, a third proportional directional valve 9.6, a fourth proportional directional valve 9.9, a second pressure compensator 9.7, a third pressure compensator 9.11, a third load feedback shuttle valve 9.8 and a fourth load feedback shuttle valve 9.10. The fifth pilot overflow valve 9.1 and the sixth pilot overflow valve 9.2 are used for protecting the propulsion travel multi-way valve 9. The third overflow valve 9.3 is connected with the fourth reducing valve 9.4 and is used for limiting the reduced pressure of the fourth reducing valve 9.4, the fourth reducing valve 9.4 is connected with the third check valve 9.5, and the third check valve 9.5 is connected with the port A1 of the pilot control valve group. One end of the second pressure compensator 9.7 is connected with a first oil inlet of a third load feedback shuttle valve 9.8, the other end of the second pressure compensator is connected with a port P of a third proportional directional valve 9.6, and a port A, B of the third proportional directional valve 9.6 is connected with a right walking speed reducer 10 through an oil duct A3 and an oil duct B3; one end of the third pressure compensator 9.11 is connected with the first oil inlet of the fourth load feedback shuttle valve 9.10, the other end is connected with the port P of the fourth proportional directional valve 9.9, and the port A, B of the fourth proportional directional valve 9.9 is connected with the left walking speed reducer 11 through an oil passage A4 and an oil passage B4. A first oil inlet of a fourth load feedback shuttle valve 9.10 is connected with a T port of a fourth proportional directional valve 9.9, and a second oil inlet is connected with an oil tank; a first oil inlet of a third load feedback shuttle valve 9.8 is connected with a T port of a third proportional directional control valve 9.6, a second oil inlet is connected with an oil outlet of a fourth load feedback shuttle valve 9.10, an oil outlet is connected with a second oil inlet of a seventh shuttle valve 5, an oil outlet of the seventh shuttle valve 5 is connected with a first oil inlet of an eighth shuttle valve 6, and an oil outlet of the eighth shuttle valve 6 is connected with an LS port of a plunger pump and feeds back the LS port of the plunger pump to the maximum pressure value required by the pump system.
As shown in fig. 7, the pilot valve group 12 includes a second electromagnetic directional valve 12.1, a fifth check valve 12.2, a fifth pressure reducing valve 12.3, a third electromagnetic directional valve 12.4, a second shuttle valve 12.5, an accumulator 12.6 and a pressure gauge 12.7. A first oil inlet of the second shuttle valve 12.5 is connected with a Pp port of the walking multi-way valve 9, a second oil inlet is connected with a Pp port of the propulsion electric proportional multi-way valve 7, and an oil outlet is connected with a third electromagnetic directional valve 12.4. The third electromagnetic directional valve 12.4 is connected with an energy accumulator 12.6, a fifth one-way valve 12.2 and a fifth pressure reducing valve 12.3, the fifth pressure reducing valve 12.3 is connected with a second electromagnetic directional valve 12.1, the second electromagnetic directional valve 12.1 is connected with Ps ports of the right walking speed reducer 10 and the left walking speed reducer 11, and the fifth one-way valve 12.2 is connected with the second electromagnetic directional valve 12.1, a pilot control proportional handle 13 and a walking remote control valve group 14. Pressure gauge 12.7 is used to monitor pilot oil pressure.
As shown in fig. 8, the walking remote control valve group 14 includes four electric proportional directional valves (a first electric proportional directional valve 14.1, a second electric proportional directional valve 14.2, a third electric proportional directional valve 14.3 and a fourth electric proportional directional valve 14.4) and four shuttle valves (a third shuttle valve 14.5, a fourth shuttle valve 14.6, a fifth shuttle valve 14.7 and a sixth shuttle valve 14.8) respectively corresponding to the four electric proportional directional valves. A first oil inlet of the third shuttle valve 14.5 is connected with an outlet of the first electric proportional reversing valve 14.1, a second oil inlet is connected with a port a1 of the pilot-controlled proportional handle 13, and an oil outlet is connected with a port a1 of the pilot control port of the walking multi-way valve 9; the connection form of the fourth shuttle valve 14.6, the fifth shuttle valve 14.7 and the sixth shuttle valve 14.8 is the same, thereby realizing two control modes of controlling the walking speed reducer and remotely controlling the walking speed reducer on the driving operation platform.
The working principle of the embodiment is as follows:
the operating principle of the impact part(s), the propulsion part(s) and the rock drill turning part(s) is the same as in embodiment 1.
(IV) running part
As shown in fig. 2 and fig. 6-8, after the motor is started, the plunger pump inputs hydraulic oil to the P port of the travel multi-way valve 9, the fifth pilot overflow valve 9.1 and the sixth pilot overflow valve 9.2 constitute a safety valve of the travel multi-way valve 9, the hydraulic oil is reduced in pressure to below 20bar by the fourth pressure reducing valve 9.4, and the third overflow valve 9.3 ensures that the pressure reduced by the fourth pressure reducing valve 9.4 does not exceed 25bar and flows to the pilot control valve group 12 through the third check valve 9.5. The actual demand pressure of the walking speed reducer is fed back to the pump port through the third load feedback shuttle valve 9.8, the fourth load feedback shuttle valve 9.10, the seventh shuttle valve 5 and the eighth shuttle valve 6. The pilot control oil reaches the third electromagnetic directional valve 12.4 through the second shuttle valve 12.5, when the second electromagnetic directional valve 12.1 and the third electromagnetic directional valve 12.4 are not electrified, the hydraulic oil is decompressed through the fifth decompression valve 12.3 and then enters the hydraulic control pilot proportional handle 13 and the walking remote control valve group 14, and does not reach the Ps port of the walking speed reducer through the second electromagnetic directional valve 12.1, and the walking speed reducer is in a low-speed mode at the moment. When the second electromagnetic directional valve 12.1 and the third electromagnetic directional valve 12.4 are simultaneously powered on, hydraulic oil enters the fifth one-way valve 12.2 through the third electromagnetic directional valve 12.4 and further enters the ports Ps of the right traveling speed reducer 10 and the left traveling speed reducer 11 through the second electromagnetic directional valve 12.1, and the hydraulic motor is controlled to be switched to a high-speed mode.
When the pilot-controlled pilot proportional handle 13 is operated to the first left, pilot hydraulic oil passes through the third shuttle valve 14.5 to the control port a1 of the fourth proportional reversing valve 9.9, the pilot hydraulic oil pushes the valve core to act at the moment, the fourth proportional reversing valve 9.9 works at the lower position, the hydraulic oil passes through the fourth proportional reversing valve 9.9 to reach the port P1 of the left travel speed reducer 11 to drive the left travel speed reducer 11 to rotate forwards, and on the contrary, the pilot-controlled pilot proportional handle 13 is operated to the second left, and the left travel speed reducer 11 rotates backwards. Similarly, the right first and the right second of the pilot-operated proportional handle 13 drive the right walking reducer 10 to rotate forward and backward.
When the first electric proportional directional valve 14.1 is powered on, the pilot hydraulic oil reaches the control port a1 of the fourth proportional directional valve 9.9 through the third shuttle valve 14.5, at this time, the pilot hydraulic oil pushes the valve core to act, the fourth proportional directional valve 9.9 works at the lower position, the hydraulic oil reaches the P1 port of the left travel speed reducer 11 through the fourth proportional directional valve 9.9, the left travel speed reducer 11 is driven to rotate forwards, and on the contrary, when the second electric proportional directional valve 14.2 is powered on, the left travel speed reducer 11 rotates backwards. Similarly, when the third electric proportional reversing valve 14.3 and the fourth electric proportional reversing valve 14.4 are operated to lose power, the right walking speed reducer 10 is driven to rotate forwards and reversely.
The accumulator 12.6 in the pilot control valve group 12 is used for supplying oil to the traveling system, and when the pilot control proportional handle 13 is not operated, hydraulic oil is filled into the accumulator 12.6; when the pilot-controlled pilot proportional handle 13 is operated, pilot oil and hydraulic oil in the energy accumulator 12.6 simultaneously flow into the pilot-controlled pilot proportional handle 13, so that the flow can be rapidly output in a large flow, and the requirement of rapid starting is met.
The electro-hydraulic control system provided by the embodiment adopts a load sensitive system, the propulsion pressure and the propulsion speed are adjusted in an electric proportion mode, the impact pressure is adjusted in an electric proportion mode, the rotation pressure and the rotation speed are adjusted in an electric proportion mode, accurate control over the propulsion speed can be achieved, the electro-hydraulic control system can be used for stepless anti-jamming, drill rod jamming is effectively avoided, if the initial rotation pressure can be set to be 50bar, the speed is reduced when the pressure is 70bar, 80bar stops, 90bar retreats and the like, and the requirements of various rotation speed working conditions on different rotation speeds can be met. Meanwhile, the system can realize that personnel operate the walking system on the vehicle, reduce the labor intensity of personnel in transition walking, realize walking remote control under the vehicle and ensure the construction safety of the personnel.
Example 3
The present embodiment provides a tracked mining trolley equipped with an electro-hydraulic control system as described in embodiment 1 or embodiment 2.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An electro-hydraulic control system is characterized by comprising a rock drilling electric proportional control valve (2), a propelling electric proportional multi-way valve (7), a rotary electric proportional multi-way valve (8) and a walking multi-way valve (9);
the rock drilling electric proportional control valve (2) is connected with the impactor (3) and the shuttle valve set and is used for electrically adjusting impact pressure in a proportional mode;
the propulsion electric proportional multi-way valve (7) is connected with the propulsion oil cylinder (4) and the shuttle valve group and is used for electrically proportionally adjusting the propulsion pressure and the propulsion speed;
the rotary electric proportional multi-way valve (8) is connected with the electric proportional overflow valve (1) and the rotary motor (15) and is used for electrically proportionally adjusting the rotary pressure and the rotary speed;
the walking multi-way valve (9) is connected with the pilot control valve group (12), the pilot control pilot proportional handle (13), the walking remote control valve group (14) and the walking speed reducer and is used for realizing the walking control action on and off the vehicle.
2. The electro-hydraulic control system of claim 1, further comprising a plunger pump and a gear pump, wherein the plunger pump is connected with the rock drilling electric proportional control valve (2), the propelling electric proportional multi-way valve (7) and the walking multi-way valve (9), and the gear pump is connected with the rotary electric proportional multi-way valve (8).
3. The electro-hydraulic control system of claim 1, characterized in that the rock drilling electric proportional control valve (2) comprises a sequence valve (2.1), a first electromagnetic directional valve (2.2), a first electric proportional relief valve (2.3), a first pressure reducing valve (2.4), a second electric proportional relief valve (2.5) and a first shuttle valve (2.6);
the sequence valve (2.1) is connected with the first electromagnetic directional valve (2.2) and the first pressure reducing valve (2.4), a damping hole is formed between the sequence valve (2.1) and the first electromagnetic directional valve (2.2), when the first electromagnetic directional valve (2.2) is powered on, hydraulic oil flows to an oil tank through the damping hole, pressure difference is generated at two ends of the sequence valve (2.1) and the sequence valve is opened, and the hydraulic oil flows to the first pressure reducing valve (2.4) through the sequence valve (2.1);
the first pressure reducing valve (2.4) is connected with a first electric proportional overflow valve (2.3), and the outlet pressure of the first pressure reducing valve (2.4) is controlled by the first electric proportional overflow valve (2.3) to determine the impact pressure;
and a first oil inlet of the first shuttle valve (2.6) is connected with an inlet of the first electric proportional overflow valve (2.3), a second oil inlet is connected with an inlet of the second electric proportional overflow valve (2.5), and an oil outlet is connected with the shuttle valve group.
4. The electro-hydraulic control system of claim 3, wherein the propulsion electro-proportional multi-way valve (7), the rotary electro-proportional multi-way valve (8) and the walking multi-way valve (9) each comprise a pilot type overflow valve set, an overflow valve, a pressure reducing valve and a one-way valve, and the propulsion electro-proportional multi-way valve (7) and the rotary electro-proportional multi-way valve (8) each comprise a pilot type electro-proportional reversing valve set;
the pilot type overflow valve groups are respectively used for protecting a propulsion electric proportional multi-way valve (7), a rotary electric proportional multi-way valve (8) and a walking multi-way valve (9), the overflow valves are connected with a pressure reducing valve and used for limiting the post-reduction pressure of the pressure reducing valve, the pressure reducing valve is connected with a one-way valve, and the one-way valves in the propulsion electric proportional multi-way valve (7) and the rotary electric proportional multi-way valve (8) are connected with a pilot electric proportional reversing valve group.
5. The electro-hydraulic control system of claim 4, wherein the boost electro-proportional multi-way valve (7) further comprises a first proportional directional valve (7.8), a first pressure compensator (7.9), a secondary overflow valve A (7.10), a secondary overflow valve B (7.11), and a first load feedback shuttle valve (7.12);
the one-way valve of the propulsion electric proportional multi-way valve (7) is connected with a pilot control valve group (12), and the pilot electric proportional reversing valve group of the propulsion electric proportional multi-way valve (7) acts on a control port of a first proportional reversing valve (7.8);
one end of the first pressure compensator (7.9) is connected with a first oil inlet of a first load feedback shuttle valve (7.12), the other end of the first pressure compensator is connected with a P port of a first proportional directional valve (7.8), and an A, B port of the first proportional directional valve (7.8) is connected with the propulsion oil cylinder (4);
a first oil inlet of the first load feedback shuttle valve (7.12) is connected with a T port of a first proportional reversing valve (7.8), a second oil inlet is connected with an oil tank, and an oil outlet is connected with a shuttle valve group;
the maximum value of the propelling load pressure is set by the secondary overflow valve A (7.10) and the secondary overflow valve B (7.11), and the load sensitive external control port LSA of the propelling electric proportional multi-way valve (7) is connected with the second electric proportional overflow valve (2.5) to determine the propelling pressure.
6. The electro-hydraulic control system of claim 4, characterized in that the rotary electric proportional multi-way valve (8) further comprises a second proportional directional valve (8.8), a fourth check valve (8.9), and a second load feedback shuttle valve (8.10);
a pilot electric proportional reversing valve group of the rotary electric proportional multi-way valve (8) acts on a control port of a second proportional reversing valve (8.8);
the fourth one-way valve (8.9) is connected with a port P of a second proportional reversing valve (8.8), and a port A, B of the second proportional reversing valve (8.8) is connected with a rotary motor (15);
and a first oil inlet of the second load feedback shuttle valve (8.10) is connected with a T port of a second proportional reversing valve (8.8), a second oil inlet is connected with an oil tank, and an oil outlet is connected with the electric proportional overflow valve (1) so as to determine the magnitude of the rotary pressure.
7. The electro-hydraulic control system of claim 4, wherein the travel speed reducer comprises a right travel speed reducer (10) and a left travel speed reducer (11), and the travel multiplex valve (9) further comprises a third proportional directional valve (9.6), a fourth proportional directional valve (9.9), a second pressure compensator (9.7), a third pressure compensator (9.11), a third load feedback shuttle valve (9.8), and a fourth load feedback shuttle valve (9.10);
the one-way valve of the walking multi-way valve (9) is connected with the pilot control valve group; one end of the second pressure compensator (9.7) is connected with a first oil inlet of a third load feedback shuttle valve (9.8), the other end of the second pressure compensator is connected with a P port of a third proportional directional valve (9.6), and an A, B port of the third proportional directional valve (9.6) is connected with a right walking speed reducer (10); one end of the third pressure compensator (9.11) is connected with a first oil inlet of a fourth load feedback shuttle valve (9.10), the other end of the third pressure compensator is connected with a P port of a fourth proportional directional control valve (9.9), and an A, B port of the fourth proportional directional control valve (9.9) is connected with a left walking speed reducer (11);
a first oil inlet of the fourth load feedback shuttle valve (9.10) is connected with a T port of a fourth proportional directional valve (9.9), and a second oil inlet is connected with an oil tank; a first oil inlet of the third load feedback shuttle valve (9.8) is connected with a T port of the third proportional reversing valve (9.6), a second oil inlet is connected with an oil outlet of the fourth load feedback shuttle valve (9.10), and an oil outlet is connected with the shuttle valve group; an oil outlet of the shuttle valve group is connected with an LS port of the plunger pump and feeds back the required maximum pressure value of the pump system.
8. The electro-hydraulic control system of claim 1, characterized in that the pilot valve block (12) comprises a second solenoid directional valve (12.1), a fifth check valve (12.2), a fifth pressure reducing valve (12.3), a third solenoid directional valve (12.4), a second shuttle valve (12.5) and an accumulator (12.6);
a first oil inlet of the second shuttle valve (12.5) is connected with the walking multi-way valve (9), a second oil inlet is connected with the propulsion electric proportional multi-way valve (7), and an oil outlet is connected with a third electromagnetic directional valve (12.4); the third electromagnetic directional valve (12.4) is connected with an energy accumulator (12.6), a fifth one-way valve (12.2) and a fifth pressure reducing valve (12.3), the fifth pressure reducing valve (12.3) is connected with a second electromagnetic directional valve (12.1), the second electromagnetic directional valve (12.1) is connected with a traveling speed reducer, and the fifth one-way valve (12.2) is connected with the second electromagnetic directional valve (12.1), a hydraulic control pilot proportional handle (13) and a traveling remote control valve bank (14);
when the second electromagnetic directional valve (12.1) and the third electromagnetic directional valve (12.4) are not powered, hydraulic oil is decompressed by a fifth decompression valve (12.3) and then enters a hydraulic control pilot proportional handle (13) and a walking remote control valve group (14), and a walking speed reducer is in a low-speed mode;
when the second electromagnetic directional valve (12.1) and the third electromagnetic directional valve (12.4) are powered on simultaneously, hydraulic oil sequentially passes through the fifth one-way valve (12.2) and the second electromagnetic directional valve (12.1) through the third electromagnetic directional valve (12.4) to enter the walking speed reducer, and the walking motor is changed to a high-speed walking state.
9. The electro-hydraulic control system of claim 1, wherein the travel remote control valve block (14) includes four electro-proportional directional valves and four shuttle valves corresponding to the four electro-proportional directional valves, respectively;
the first oil inlet of the shuttle valve is connected with the outlet of the corresponding electric proportional reversing valve, the second oil inlet is connected with a pilot-controlled pilot proportional handle (13), and the oil outlet is connected with a pilot control port of the walking multi-way valve (9) so as to realize the control of a walking speed reducer and the remote control of the walking speed reducer on the walking operation platform.
10. A tracked mining trolley, comprising an electro-hydraulic control system as claimed in any one of claims 1 to 9.
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| CN115467865A (en) * | 2022-08-04 | 2022-12-13 | 中国煤炭科工集团太原研究院有限公司 | Hand-remote independent control system for fast digging crawler trolley for coal mine |
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| CN117212275A (en) * | 2023-09-14 | 2023-12-12 | 华东送变电工程有限公司 | Hydraulic control system of split type hank grinds |
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| CN117212275A (en) * | 2023-09-14 | 2023-12-12 | 华东送变电工程有限公司 | Hydraulic control system of split type hank grinds |
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Application publication date: 20220412 Assignee: Xuzhou XCMG Energy Equipment Co.,Ltd. Assignor: XUZHOU XUGONG FOUNDATION CONSTRUCTION MACHINERY Co.,Ltd. Contract record no.: X2024980009245 Denomination of invention: An electro-hydraulic control system and tracked mining trolley Granted publication date: 20220614 License type: Common License Record date: 20240710 |