CN211543678U - Hydrostatic-drive full-hydraulic differential steering control system - Google Patents
Hydrostatic-drive full-hydraulic differential steering control system Download PDFInfo
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- CN211543678U CN211543678U CN201922360823.6U CN201922360823U CN211543678U CN 211543678 U CN211543678 U CN 211543678U CN 201922360823 U CN201922360823 U CN 201922360823U CN 211543678 U CN211543678 U CN 211543678U
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Abstract
The utility model belongs to the technical field of the colliery is down vehicle turns to the device, specifically is a hydrostatic drive's full-hydraulic differential steering control system. The problem of left and right sides wheel differential steering synchronism when solving current colliery under carriage carrier and the like vehicle and turning to is including the left side closed pump and the right side closed pump of being connected with the power supply, two hydraulic fluid ports of left side closed pump are connected with left front motor and right front motor respectively through left side high pressure buffer valve group, left side front motor and right front motor parallel connection, a left side liquid accuse reposition of redundant personnel collecting valve of establishing ties on the parallel circuit of left side front motor and right front motor, a left side liquid accuse reposition of redundant personnel collecting valve's a termination left side high pressure buffer valve group, the other end is connected with two hydraulic motor, the control port of left side liquid accuse reposition of redundant personnel collecting valve connects the control oil source. The utility model discloses a full-hydraulic differential steering control system is hydraulic assembly completely, and the antipollution energy greatly increased of system has guaranteed the stability of system and the security of traveling.
Description
Technical Field
The utility model belongs to the technical field of the colliery is down vehicle turns to the device, specifically is a hydrostatic drive's full-hydraulic differential steering control system.
Background
The colliery is support carrier in the pit adopts hydrostatic drive, because the explosion-proof special requirement in the colliery, the flow of closed system can not realize automatically controlled closed-loop control, the frame-type vehicle adopts articulated formula to turn to, in order to realize the differential when turning to, generally adopt central authorities' articulated department to set up a cam mechanism, cam mechanism connects the differential valve, when the vehicle turns to, the swash plate pivot angle of closed pump is controlled through the change of the ejector pin displacement of differential valve, but the shortcoming lies in cam mechanism manufacturing accuracy, the installation accuracy is difficult to guarantee, and cam mechanical wear, lead to inside and outside pump discharge capacity to reach not expected effect, the later maintenance cost is high.
Because the left motor and the right motor of the hydraulic traveling system are driven independently, the inner wheels and the outer wheels are not easy to realize differential speed when the vehicle turns, the left wheel and the right wheel of the conventional bracket carrier for the coal mine and the like are difficult to realize the differential speed steering synchronism when the vehicle turns, the frame vehicle can cause the phenomena of vehicle drifting, slipping and the like due to the rotating speed difference of the left wheel and the right wheel, the vehicle tire abrasion and the operation efficiency are reduced, and parts are damaged or even coal mine safety accidents are caused.
Disclosure of Invention
The utility model discloses a solve the problem that the wheel differential turned to the synchronism about when class vehicle turned to such as present colliery underground carriage carrier, provide a hydrostatic drive's full-hydraulic differential steering control system.
The utility model adopts the following technical proposal: the utility model provides a hydrostatic drive's full-hydraulic differential steering control system, include left side closed pump and the right side closed pump of being connected with the power supply, two hydraulic fluid ports of left side closed pump pass through left side high-pressure buffer valve group and are connected with left front motor and right front motor respectively, left side front motor and right front motor parallel connection, a left side liquid accuse reposition of redundant personnel collecting valve of establishing ties on the parallel circuit of left side front motor and right front motor, a left side liquid accuse reposition of redundant personnel collecting valve's a termination left side high-pressure buffer valve group, the other end is connected with two hydraulic motor, the control port of left side liquid accuse reposition of redundant personnel collecting valve connects the.
Two oil ports of the right side closed pump are respectively connected with a left rear motor and a right rear motor through a right side high-pressure buffer valve group, the left rear motor is connected with the right rear motor in parallel, a right side hydraulic control flow distributing and collecting valve is connected in series on a parallel loop of the left rear motor and the right rear motor, one end of the right side hydraulic control flow distributing and collecting valve is connected with the right side high-pressure buffer valve group, the other end of the right side hydraulic control flow distributing and collecting valve is connected with two hydraulic motors, and a control port of the right side hydraulic.
The oil port of the left side closed pump is also connected with a left side flow control valve which is connected with the a of the left side equivalent liquid bridge1The equivalent two sides of the left equivalent liquid bridge are connected with a one-way proportional sequence valve I of the left external control internal discharge; c of the left equivalent liquid bridge1The port is connected with the right closed pump oil port; the oil port of the right closed pump is also connected with a right flow control valve, and the right flow control valve is connected with the right equivalent liquid bridge2The equivalent two sides of the right equivalent liquid bridge are connected with a one-way proportional sequence valve II of the right external control internal discharge; a of right equivalent liquid bridge2The port is connected with the left closed pump oil port; the port P of the one-way proportional sequence valve I of the left external control internal row and the port P of the one-way proportional sequence valve II of the right external control internal row are both connected with the port Ls of the dynamic load-sensitive full-hydraulic steering gear and the small-sized energy accumulator, and the port L and the port R of the dynamic load-sensitive full-hydraulic steering gear are respectively connected with the left steering oil cylinder and the right steering oil cylinder.
The left flow control valve comprises an adjusting screw, an adjusting pad connected with the adjusting screw in a sealing way, a throttling valve core and a valve core bottom plate connected with the adjusting pad, and a valve body connected with the valve core bottom plate in a sealing way; the throttling valve core is communicated with the left side of the differential pressure regulator through a pipeline, the differential pressure regulator is connected with a regulator pilot valve, and a valve seat of the regulator pilot valve is inserted in the valve body in a sealing manner; the valve body is provided with a P port, an R port and an A port, the P port is communicated with the differential pressure regulator and the outside, the R port is communicated with the regulator pilot valve and the outside, and the A port is communicated with the throttling valve core, the channel and the outside; the right flow control valve and the left flow control valve have the same structure.
Wherein: the flow control valve is connected with the throttle valve in parallel through the pressure compensator, the effective flow entering the load can be adjusted in a stepless mode, and the adjusted flow value is irrelevant to the system pressure and the oil viscosity. High-pressure oil enters the flow control valve through the port P, the flow entering a load from the port A is adjusted through adjusting a screw of the port A, redundant flow is separated from the port R, and the separation flow depends on the pressure difference between the port A and the port P and the pressure guide area. The flow control valve has the characteristic of load sensitivity, namely the outlet pressure of the pump changes along with the change of the load, the flow on the two sides of the vehicle is close to a theoretical value to the maximum extent, and the pure rolling of the inner and outer wheels is realized during the steering.
A control method of a hydrostatic-driven full-hydraulic differential steering control system is characterized in that when a vehicle runs linearly, a valve core of a dynamic load-sensitive full-hydraulic steering gear is positioned at a middle position, hydraulic oil directly returns to a T port from a P port of the dynamic load-sensitive full-hydraulic steering gear, a steering oil cylinder does not act, a Ls port of the dynamic load-sensitive full-hydraulic steering gear does not generate a pressure feedback signal, one-way proportional sequence valves of external control internal rows on the left side and the right side are in an initial closing state, high-low pressure oil sources of closed pumps on the left side and the right side are mutually independent, and when a wheel on one side stalls and slips, the wheel on the other side can still; when one wheel on the same side slips, the control port of the hydraulic control flow dividing and collecting valve on the same side is controlled to forcibly distribute the pressure oil supplied by the hydraulic pump to the two wheels on the same side on average.
When a vehicle turns, a driver controls a steering wheel to drive a valve core of a dynamic load sensitive full hydraulic steering gear to rotate, pressure oil enters a steering oil cylinder through a steering gear oil duct to drive the vehicle to turn, because the flow rates of a left motor and a right motor are the same, the difference of the rotating speeds of an inner tire and an outer tire cannot be realized, when the vehicle turns, high-pressure hydraulic oil of an Ls feedback port of the dynamic load sensitive full hydraulic steering gear pushes a one-way proportional sequence valve of a left outer control inner row and a right outer control inner row to change directions, oil outlets of a closed pump at the left side and the right side are high-pressure hydraulic oil, an oil suction port is low-pressure hydraulic oil, when the vehicle turns in an articulated manner, the transverse forces borne by the vehicle are different, so that the driving resistances of wheels at the left side and the right side are different, one side resistance is large, the other side resistance is small, at, the hydraulic oil on the side with large resistance enters the motor on the side with small resistance through the one-way valve of the equivalent liquid bridge, the one-way proportional sequence valve of the external control internal exhaust, the other one-way valve of the equivalent liquid bridge and the flow control valve, so that the rotating speed of the motor on the side with small resistance is increased, the rotating speed on the side with large resistance is reduced, the motor generates a rotating speed difference, and the stable steering of the vehicle is realized.
Wherein because the angle of turning to is different, inside and outside motor differential flow ratio is different, the utility model discloses at first can carry out the proportional control to the flow through this valve according to the pressure of steering gear feedback mouth Ls through the one-way proportional sequence valve of row in the outer accuse, make different angles of turning to down inside and outside wheel all can realize steadily turning to, secondly flow control valve possesses the pressure difference regulatory function, can realize that the oil feed can keep invariable with the pressure of oil-out, and can realize unnecessary flow backward flow oil tank, how much throttle adjusting screw that can adjust flow control valve of oil return volume, the speed difference that realizes the vehicle satisfies ackerman and turns to.
When the vehicle normally travels, the high-pressure buffer valve group does not work, the hydraulic oil on the high-pressure side and the low-pressure side of the closed system is mutually independent and is not interfered, when large-scale obstacles are met or the pressure of the system is suddenly increased to exceed 350Bar, in order to avoid influencing the traveling performance of the vehicle and the service life of a hydraulic element, the motor oil return passes through the two-way buffer valve in the high-pressure buffer valve group, the overflow valve is used for realizing that the pressure difference on the high-pressure side and the low-pressure side of the closed system is kept constant, the system is not overloaded, the ultra-high pressure of the closed system is prevented from causing overlarge impact on an equivalent liquid.
A small-sized control energy accumulator is added on a loop from the dynamic load sensitive full-hydraulic steering gear to the one-way proportional sequence valve of the external control internal row, so that the pressure fluctuation of the Ls feedback port is stable, the working characteristics of the one-way proportional sequence valve of the external control internal row are stable, and the steering is stable and safe.
Compared with the prior art, the utility model discloses the high-pressure oil source with the pressure feedback Ls mouth of steering gear is as control signal, the one-way proportional sequence valve of row carries out proportional control in the external control through the guide's pressure of steering gear Ls feedback mouth, make the hydraulic oil of inboard motor can be along with the different flow that flows in the hydraulic oil of outside motor of steering angle also different, simultaneously can be through the flow control valve, the flow in the inside outside carries out the secondary control, steering system's sensitivity has been guaranteed, synchronism and following nature, guarantee that closed system high-pressure side and low pressure side link up, guarantee that the vehicle can not appear skidding or tug phenomenon, the utility model discloses a hydrostatic drive's full-hydraulic differential steering control system is hydraulic component completely, the antipollution ability and the reliability greatly increased of system, guaranteed the stability of system and the security of traveling. The utility model discloses a full-hydraulic differential steering control system is with general differential steering control device difference: the used actuating system of support carrier is no matter control independent drive or front and back independent drive, utilizes full-hydraulic differential steering control system homoenergetic to realize the differential and turns to when turning to, the utility model discloses ingenious regarding the pressure feedback Ls mouth with the steering gear as the signal, guaranteed the sensitivity and the followability of control, control the liquid flow discovery through the liquid bridge simultaneously, ensure that closed system high-pressure side and low pressure side link up, through calculating the difference in rotation speed of inside and outside wheel, adjust the choke valve aperture, ensure that the vehicle can not appear skidding or tow a round phenomenon, the utility model discloses a full-hydraulic differential steering control system is hydraulic assembly completely, the antipollution energy greatly increased of system has guaranteed the stability of system and the security of traveling.
Drawings
FIG. 1 is a schematic diagram of a full hydraulic differential steering control system;
fig. 2 is a schematic structural view of the flow control valve.
Detailed Description
As shown in fig. 1, a hydrostatic-driven full-hydraulic differential steering control system includes a left closed pump 2a and a right closed pump 2b connected to a power source 1, two ports of the left closed pump 2a are respectively connected to a left front motor 8a1 and a right front motor 8a2 through a left high-pressure buffer valve bank 6a, the left front motor 8a1 is connected in parallel to the right front motor 8a2, a left hydraulic control flow distribution and collection valve 7a is connected in series to a parallel loop of the left front motor 8a1 and the right front motor 8a2, one end of the left hydraulic control flow distribution and collection valve 7a is connected to the left high-pressure buffer valve bank 6a, the other end of the left hydraulic control flow distribution and collection valve 7a is connected to the control oil source, and the control port of the left hydraulic control flow distribution and collection valve.
Two oil ports of the right closed pump 2b are respectively connected with a left rear motor 8b1 and a right rear motor 8b2 through a right high-pressure buffer valve group 6b, the left rear motor 8b1 is connected with a right rear motor 8b2 in parallel, a right hydraulic control flow distributing and collecting valve 7b is connected in series on a parallel loop of the left rear motor 8b1 and the right rear motor 8b2, one end of the right hydraulic control flow distributing and collecting valve 7b is connected with the right high-pressure buffer valve group 6b, the other end of the right hydraulic control flow distributing and collecting valve 7b is connected with the two hydraulic motors, and a control port of the right hydraulic control flow distributing and collecting valve 7b is connected with a control.
The oil port of the left side closed pump 2a is also connected with a left side flow control valve 3a, and the left side flow control valve 3a and the a of the left side equivalent liquid bridge 4a1The ports are connected, and the equivalent two sides of the left equivalent liquid bridge 4a are connected with a one-way proportional sequence valve I5a of the left external control internal discharge; c of the left equivalent liquid bridge 4a1The port is connected with the oil port of the right closed pump 2 b; the oil port of the right closed pump 2b is also connected with a right flow control valve 3b, and the right flow control valve 3b is connected with the c of the right equivalent liquid bridge 4b2The ports are connected, and the equivalent two sides of the right equivalent liquid bridge 4b are connected with a one-way proportional sequence valve II5b of the right external control internal discharge; a of the right equivalent liquid bridge 4b2The port is connected with the oil port of the left closed pump 2 a; the port P of the one-way proportional sequence valve I5a of the left external control internal row and the port P of the one-way proportional sequence valve II5b of the right external control internal row are both connected with the port Ls of the dynamic load-sensitive full-hydraulic steering gear 10 and the small-sized energy accumulator 11, and the port L and the port R of the dynamic load-sensitive full-hydraulic steering gear 10 are respectively connected with the left steering oil cylinder 9 and the right steering oil cylinder 9.
The left flow control valve 3a comprises an adjusting screw 12, an adjusting pad 13 connected with the adjusting screw 12 in a sealing way, a throttle valve core 14 and a valve core bottom plate 15 connected with the adjusting pad 13, and a valve body 16 connected with the valve core bottom plate 15 in a sealing way; the throttle valve core 14 is communicated with the left side of a differential pressure regulator 17 through a pipeline, the differential pressure regulator 17 is connected with a regulator pilot valve 18, and a valve seat 19 of the regulator pilot valve 18 is inserted on the valve body 16 through sealing; the valve body 16 is provided with a P port, an R port and an A port, the P port is communicated with the differential pressure regulator 17 and the outside, the R port is communicated with the regulator pilot valve 18 and the outside, and the A port is communicated with the throttle valve core 14, the channel and the outside; the right flow control valve 3b is identical in structure to the left flow control valve 3 a.
The left side closed pump and the two hydraulic motors on the left side form a left side closed hydraulic system, the right side closed pump and the two hydraulic motors on the right side form a right side closed hydraulic system, and the two sets of closed hydraulic systems drive the wheels on the left and right sides respectively to realize the running of the vehicle. The closed hydraulic loop on each side is respectively connected with a hydraulic control flow distributing and collecting valve in series, one end of the hydraulic control flow distributing and collecting valve is connected with a hydraulic pump, the other end of the hydraulic control flow distributing and collecting valve is connected with two hydraulic motors, a control port of the hydraulic control flow distributing and collecting valve is connected with a control oil source, when a wheel slips, the hydraulic control flow distributing and collecting valve works in a forced flow distributing working condition by controlling the control port of the hydraulic control flow distributing and collecting valve, the flow passing through the slipping motor is limited, the rotating speed of the motor is kept synchronous, the displacement of the motor does not change along with the load, the normal running of a vehicle is realized, and one side of the closed pump. The equivalent two sides of the equivalent liquid bridge are connected with the one-way proportional sequence valve of the external control internal row, and the one-way proportional sequence valve of the external control internal row is connected with the small-sized energy accumulator and the dynamic load sensitive full hydraulic steering gear. The high-pressure buffer valve group is respectively connected in series with the high-pressure side and the low-pressure side of the closed pump.
When a vehicle runs in a straight line, the valve core of the dynamic load-sensitive full-hydraulic steering gear is positioned at the middle position, hydraulic oil directly returns to the T port from the P rear part of the dynamic load-sensitive full-hydraulic steering gear, the steering oil cylinder does not act, and the Ls port of the dynamic load-sensitive full-hydraulic steering gear does not generate a pressure feedback signal, so that the one-way proportional sequence valves of the external control internal rows at the left side and the right side are in an initial closing state. The high-low pressure oil sources of the closed pumps on the inner side and the outer side are mutually independent, at the moment, the driving loops of the closed systems on the left side and the right side are mutually independent and are not interfered, because the driving wheels are arranged on the two sides, when the wheel on one side stalls and slips, the wheel on the other side can still provide certain traction force to help the vehicle to get rid of trouble, when one wheel on the same side slips, the pressure oil provided by the hydraulic pump is forcibly distributed to the two wheels on the same side evenly by controlling the control port of the hydraulic control flow dividing and collecting valve, so that the phenomenon that one wheel loses traction force due to no pressure oil flowing in and the phenomenon that the other.
When the vehicle turns, a driver controls a steering wheel to drive a valve core of the dynamic load sensing full hydraulic steering gear to rotate, and pressure oil enters a steering oil cylinder through an oil duct of the steering gear to drive the vehicle to turn. Because the flow of the inner and outer motors is the same, the rotation speed difference of the inner and outer tires cannot be realized, when the steering is carried out, the high-pressure hydraulic oil of the Ls feedback port of the dynamic load sensing full hydraulic steering gear pushes the one-way proportional sequence valve of the outer control inner row to change the direction, the oil outlet of the closed pump is the high-pressure side hydraulic oil, the oil suction port is the low-pressure side hydraulic oil, when the vehicle is articulated to steer, the transverse force borne by the vehicle is different, and further, the driving resistance of the wheels on the left side and the right side is different, the inner. Because the parallel oil circuit is adopted, the pressure oil source automatically carries out secondary distribution according to the running resistance, the flow of the hydraulic oil on the inner side with large resistance is less, and the flow of the hydraulic oil on the outer side with small resistance is more, therefore, the hydraulic oil on the inner side passes through the one-way valve of the equivalent liquid bridge, the one-way proportional sequence valve of the external control internal row and then passes through the other one-way valve of the equivalent liquid bridge, the flow control valve enters the motor on the outer side to promote the rotating speed of the motor on the outer side to increase, the rotating speed of the motor on the inner side to decrease, and further, the motor generates a rotating speed difference, so that the differential speed of the. Wherein because the angle of turning to is different, inside and outside motor differential flow ratio is different, the utility model discloses at first can carry out the proportional control to the flow through this valve according to the pressure of steering gear feedback mouth Ls through the one-way proportional sequence valve of row in the outer accuse, make different angles of turning to down inside and outside wheel all can realize steadily turning to, secondly flow control valve possesses the pressure difference regulatory function, can realize that the oil feed can keep invariable with the pressure of oil-out, and can realize unnecessary flow backward flow oil tank, how much throttle adjusting screw that can adjust flow control valve of oil return volume, the speed difference that realizes the vehicle satisfies ackerman and turns to.
When the vehicle normally travels, the high-pressure buffer valve group does not work, the hydraulic oil on the high-pressure side and the low-pressure side of the closed system is mutually independent and is not interfered, when large-scale obstacles are met or the pressure of the system is suddenly increased to exceed 350Bar, in order to avoid influencing the traveling performance of the vehicle and the service life of a hydraulic element, the motor oil return passes through the two-way buffer valve in the high-pressure buffer valve group, the overflow valve is used for realizing that the pressure difference on the high-pressure side and the low-pressure side of the closed system is kept constant, the system is not overloaded, the ultra-high pressure of the closed system is prevented from causing overlarge impact on an equivalent liquid.
A small-sized control energy accumulator is added on a loop from the dynamic load sensitive full-hydraulic steering gear to the one-way proportional sequence valve of the external control internal row, so that the pressure fluctuation of the Ls feedback port is stable, the working characteristics of the one-way proportional sequence valve of the external control internal row are stable, and the steering is stable and safe.
Claims (2)
1. A hydrostatic-driven full hydraulic differential steering control system is characterized in that: the hydraulic control system comprises a left side closed pump (2 a) and a right side closed pump (2 b) which are connected with a power source (1), wherein two oil ports of the left side closed pump (2 a) are respectively connected with a left front motor (8 a 1) and a right front motor (8 a 2) through a left side high-pressure buffer valve group (6 a), the left front motor (8 a 1) is connected with the right front motor (8 a 2) in parallel, a left side hydraulic control flow distributing and collecting valve (7 a) is connected in series on a parallel loop of the left front motor (8 a 1) and the right front motor (8 a 2), one end of the left side flow distributing and collecting valve (7 a) is connected with the left side high-pressure buffer valve group (6 a), the other end of the left side flow distributing and collecting valve is connected with two hydraulic motors, and a control port of the left side hydraulic;
two oil ports of the right side closed pump (2 b) are respectively connected with a left rear motor (8 b 1) and a right rear motor (8 b 2) through a right side high-pressure buffer valve group (6 b), the left rear motor (8 b 1) is connected with a right rear motor (8 b 2) in parallel, a right side hydraulic control flow distributing and collecting valve (7 b) is connected in series on a parallel loop of the left rear motor (8 b 1) and the right rear motor (8 b 2), one end of the right side hydraulic control flow distributing and collecting valve (7 b) is connected with the right side high-pressure buffer valve group (6 b), the other end of the right side hydraulic control flow distributing and collecting valve (7 b) is connected with two hydraulic motors, and a control port of the right side hydraulic control flow distributing and;
the oil port of the left side closed pump (2 a) is also connected with a left side flow control valve (3 a), and the left side flow control valve (3 a) and the a of the left side equivalent liquid bridge (4 a)1The ports are connected, and the equivalent two sides of the left equivalent liquid bridge (4 a) are connected with a one-way proportional sequence valve I (5 a) of the left external control internal discharge; c of the left equivalent liquid bridge (4 a)1The port is connected with the oil port of the right closed pump (2 b); the oil port of the right side closed pump (2 b) is also connected with a right side flow control valve (3 b), and the right side flow control valve (3 b) and the c of the right side equivalent liquid bridge (4 b)2The ports are connected, and the equivalent two sides of the right equivalent liquid bridge (4 b) are connected with a one-way proportional sequence valve II (5 b) of the right external control internal discharge; a of the right equivalent liquid bridge (4 b)2The port is connected with the oil port of the left closed pump (2 a); the port P of the one-way proportional sequence valve I (5 a) of the left external control internal row and the port P of the one-way proportional sequence valve II (5 b) of the right external control internal row are both connected with the port Ls of the dynamic load-sensitive full-hydraulic steering gear (10) and the small-sized energy accumulator (11), and the port L and the port R of the dynamic load-sensitive full-hydraulic steering gear (10) are respectively connected with the left steering oil cylinder (9) and the right steering oil cylinder (9).
2. The hydrostatic-driven, full hydraulic differential steering control system of claim 1, wherein: the left flow control valve (3 a) comprises an adjusting screw (12), an adjusting pad (13) connected with the adjusting screw (12) in a sealing way, a throttling valve core (14) and a valve core bottom plate (15) connected with the adjusting pad (13), and a valve body (16) connected with the valve core bottom plate (15) in a sealing way; the throttle valve core (14) is communicated with the left side of a differential pressure regulator (17) through a pipeline, the differential pressure regulator (17) is connected with a regulator pilot valve (18), and a valve seat (19) of the regulator pilot valve (18) is inserted on the valve body (16) through sealing; the valve body (16) is provided with a P port, an R port and an A port, the P port is communicated with the differential pressure regulator (17) and the outside, the R port is communicated with the regulator pilot valve (18) and the outside, and the A port is communicated with the throttle valve core (14), the channel and the outside; the right flow control valve (3 b) and the left flow control valve (3 a) have the same structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922360823.6U CN211543678U (en) | 2019-12-25 | 2019-12-25 | Hydrostatic-drive full-hydraulic differential steering control system |
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| CN201922360823.6U CN211543678U (en) | 2019-12-25 | 2019-12-25 | Hydrostatic-drive full-hydraulic differential steering control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949507A (en) * | 2019-12-25 | 2020-04-03 | 中国煤炭科工集团太原研究院有限公司 | Hydrostatic-drive full-hydraulic differential steering control system and control method |
| CN114313003A (en) * | 2022-01-21 | 2022-04-12 | 江苏英拓动力科技有限公司 | Electric control hydrostatic steering power system of unmanned tracked vehicle |
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2019
- 2019-12-25 CN CN201922360823.6U patent/CN211543678U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949507A (en) * | 2019-12-25 | 2020-04-03 | 中国煤炭科工集团太原研究院有限公司 | Hydrostatic-drive full-hydraulic differential steering control system and control method |
| CN114313003A (en) * | 2022-01-21 | 2022-04-12 | 江苏英拓动力科技有限公司 | Electric control hydrostatic steering power system of unmanned tracked vehicle |
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