CN215890628U - Hydraulic differential control loop in front of furnace - Google Patents
Hydraulic differential control loop in front of furnace Download PDFInfo
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- CN215890628U CN215890628U CN202122065952.XU CN202122065952U CN215890628U CN 215890628 U CN215890628 U CN 215890628U CN 202122065952 U CN202122065952 U CN 202122065952U CN 215890628 U CN215890628 U CN 215890628U
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Abstract
The utility model belongs to the technical field of blast furnace smelting, and relates to a hydraulic differential control loop in front of a furnace, which comprises a mud beating control loop and a rotation control loop which are mutually independent, wherein an oil inlet P1 of a first reversing valve in the rotation control loop is communicated with an oil supply pipeline P through an oil duct, an oil return port T1 of the first reversing valve is communicated with an oil return pipeline T through the oil duct, and an oil drain port Y1 of the first reversing valve is communicated with an oil drain pipeline L through the oil duct; the hydraulic oil output by a first output oil port A1 of the first reversing valve is communicated with a first working port and a second working port of the clay gun rotating oil cylinder in two ways. The rotation control loop cancels the control of the rotary hydraulic lock, reduces the rotary impact, and the rotary back pressure of the clay gun can be adjusted according to the load; through adopting the differential control circuit that second hydraulic control check valve, overflow valve, first hydraulic control check valve, first choke valve, first ball valve formed, have good stability when making the rotatory off-position of mud gun, make the rotatory flow of mud gun increase, the rotational speed obtains improving.
Description
Technical Field
The utility model belongs to the technical field of blast furnace smelting, and relates to a hydraulic circuit of a front mud gun, in particular to a front hydraulic differential control circuit.
Background
The mud gun is a special device in the field of blast furnace smelting, and has the function of driving special mud gun into a taphole after tapping by adopting hydraulic drive, thereby realizing the operation of plugging. The method adopts a clay gun plugging mode which is a furnace operation mode commonly used in the field of metallurgy at present, and the rotating entering speed of the clay gun is an important parameter for controlling the clay gun. The method is characterized in that a mud gun is adopted to plug a taphole after tapping of a blast furnace, the mud gun is driven by a hydraulic cylinder and has two actions of rotation and mud striking, a hydraulic control loop controls the action and the speed of the mud gun, and the conventional hydraulic control loop (see figure 1) is adopted in the existing mud gun control loop more.
The conventional hydraulic circuit in the front of the blast furnace at present has the following defects: firstly, the rotary back pressure of the mud gun cannot be adjusted according to requirements, and the impact generated in the motion process is large; secondly, hydraulic lock control is adopted, and instability is caused by huge inertia during parking; flow cannot be increased by a hydraulic pump station, and the rotation speed of the mud gun is slow, so that the success rate and efficiency of plugging are reduced; a high-power motor and a hydraulic pump are required to be configured, so that the equipment cost is high and energy is wasted; the large vibration and the low speed easily cause the increase of the faults of equipment and a burning nozzle.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide a hydraulic differential control circuit in front of a furnace, so that the mud gun has good stability when being in a rotating stop position.
In order to achieve the purpose, the utility model provides the following technical scheme:
the stokehole hydraulic differential control loop comprises a mud beating control loop and a rotation control loop which are mutually independent, wherein the rotation control loop comprises a first reversing valve, a hydraulic control one-way valve, a throttle valve, an overflow valve, a sequence valve, a ball valve and a mud gun rotating oil cylinder;
the oil inlet P1 of the first reversing valve is communicated with the oil supply pipeline P through an oil duct, the oil return port T1 of the first reversing valve is communicated with the oil return pipeline T through an oil duct, and the oil drainage port Y1 of the first reversing valve is communicated with the oil drainage pipeline L through an oil duct;
the hydraulic oil output by a first output oil port A1 of the first reversing valve is divided into two paths: one path of hydraulic oil is communicated with a first working port of the clay gun rotating oil cylinder through a first hydraulic control one-way valve, a first throttle valve and a first ball valve; the other path of hydraulic oil is communicated with a second working port of the clay gun rotating oil cylinder through an overflow valve, a second hydraulic control one-way valve, a second throttle valve and a second ball valve; and a second output oil port B1 of the first reversing valve is communicated with a second working port of the clay gun rotating oil cylinder through a sequence valve, a second throttling valve and a second ball valve.
Further, the mud-beating control loop comprises a second reversing valve, a hydraulic control one-way valve, a throttle valve, a ball valve and a mud-beating oil cylinder;
an oil inlet P2 of the second reversing valve is communicated with an oil supply pipeline P through an oil duct, an oil return port T2 of the second reversing valve is communicated with an oil return pipeline T through an oil duct, and an oil drainage port Y2 of the second reversing valve is communicated with an oil drainage pipeline L through an oil duct;
a third output oil port A2 of the second reversing valve is communicated with a third working port of the mud-pumping oil cylinder through a third hydraulic control one-way valve, a third throttle valve and a third ball valve, and a fourth output oil port B2 of the second reversing valve is communicated with a fourth working port of the mud-pumping oil cylinder through a fourth hydraulic control one-way valve, a fourth throttle valve and a fourth ball valve; and the third hydraulic control one-way valve and the fourth hydraulic control one-way valve are connected to form a hydraulic lock.
Furthermore, the first reversing valve and the second reversing valve adopt any one of a manual reversing valve, an electromagnetic reversing valve, an electro-hydraulic reversing valve and a proportional reversing valve.
Furthermore, the first reversing valve and the second reversing valve are both provided with leakage valves.
Further, the first hydraulic control one-way valve, the second hydraulic control one-way valve, the third hydraulic control one-way valve, the fourth hydraulic control one-way valve and the sequence valve can adopt an internal leakage valve or an external leakage valve.
Further, a pressure difference exists between a rod cavity and a rodless cavity of the clay gun rotary oil cylinder, when the pressure difference is larger than a first set pressure of the overflow valve, hydraulic oil output by a second working port of the clay gun rotary oil cylinder enters the rodless cavity of the clay gun rotary oil cylinder through a second ball valve, a second throttle valve, a second hydraulic control one-way valve, the overflow valve, a first hydraulic control one-way valve, a first throttle valve and a first ball valve, and a differential loop is formed to improve the gun feeding speed; when the pressure of the rodless cavity of the clay gun rotating oil cylinder is greater than the second set pressure of the sequence valve, the sequence valve is opened by hydraulic oil output from the first output oil port A1 of the first reversing valve through the port X of the sequence valve, and the hydraulic oil in the rod cavity flows to the oil return tank through the sequence valve and passes through the second output oil port B1 and the oil return port T1 of the first reversing valve.
Further, the numerical range of the first set pressure of the overflow valve is 1-10 MPa.
Further, the numerical range of the second set pressure of the sequence valve is 15-32 MPa.
Compared with the prior art, the technical scheme provided by the utility model has the following beneficial effects: according to the hydraulic differential control circuit, the rotation control circuit cancels the control of a rotary hydraulic lock, so that the rotary impact is reduced, and the rotary back pressure of the mud gun can be adjusted according to the load; by adopting a differential control loop formed by a second hydraulic control one-way valve, an overflow valve, a first hydraulic control one-way valve, a first throttle valve and a first ball valve, the mud gun has good stability when rotating and stopping, and the vibration is reduced and the failure of a gun firing nozzle is reduced due to the improvement of the gun feeding speed; the rotating flow and the rotating speed of the mud gun are increased, so that the efficiency and the success rate of plugging the mud gun are increased; in addition, the differential circuit control is adopted, so that the flow demand of the motor pump of the hydraulic station is reduced, the cost is saved, meanwhile, the power configuration of the motor pump of the hydraulic station can be reduced, and the energy consumption of a hydraulic system is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description, serve to explain the principles of the utility model.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a connection block diagram of a control circuit of a conventional clay gun;
FIG. 2 is a connection block diagram of a stokehole hydraulic differential control circuit provided by the utility model.
Wherein: 1. a main ball valve; 2. a second directional control valve; 3. a third hydraulic control check valve; 4. a third throttle valve; 5. a second one-way valve; 6. an overflow valve; 7. a first hydraulic control check valve; 8. a first throttle valve; 9. a second throttle valve; 10. a second hydraulic control one-way valve; 11. a sequence valve; 12. a first direction changing valve; 13. a first check valve; 14. a first ball valve; 15. a second ball valve; 16. a third ball valve; 17. a fourth ball valve; 18. a fourth throttle valve; 19. and the fourth hydraulic control one-way valve.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of structures consistent with certain aspects of the utility model, as detailed in the appended claims.
In large blast furnace stokehole equipment, the flow and pressure output of the mud gun rotation to a hydraulic system are the highest in all actions, so that a hydraulic pump station is generally designed according to the flow and pressure requirements of the mud gun rotation.
In order to make the technical solutions of the present invention better understood, the following detailed description of the present invention is provided with reference to the accompanying drawings and examples:
referring to fig. 2, the utility model provides a stokehole hydraulic differential control loop, which comprises a first reversing valve 12, a hydraulic control one-way valve, a throttle valve, an overflow valve, a sequence valve, a ball valve and a clay gun rotary oil cylinder;
the oil inlet P1 of the first reversing valve 12 is communicated with the oil supply pipeline P through an oil duct, the oil return port T1 of the first reversing valve 12 is communicated with the oil return pipeline T through an oil duct, and the oil drain port Y1 of the first reversing valve 12 is communicated with the oil drain pipeline L through an oil duct; a first one-way valve 13 is arranged on the oil return pipeline T, and a second one-way valve 5 is arranged on the oil drainage pipeline L;
the hydraulic oil output from the first output port a1 of the first direction valve 12 is divided into two paths: one path of hydraulic oil is communicated with a first working port of the clay gun rotating oil cylinder through a first hydraulic control one-way valve 7, a first throttling valve 8 and a first ball valve 14; the other path of hydraulic oil is communicated with a second working port of the clay gun rotating oil cylinder through an overflow valve 6, a second hydraulic control one-way valve 10, a second throttling valve 9 and a second ball valve 15; and a second output oil port B1 of the first reversing valve 12 is communicated with a second working port of the clay gun rotating oil cylinder through a sequence valve 11, a second throttle valve 9 and a second ball valve 15.
Further, the mud-beating control loop comprises a second reversing valve 2, a hydraulic control one-way valve, a throttle valve, a ball valve and a mud-beating oil cylinder;
the oil inlet P2 of the second reversing valve 2 is communicated with the oil supply pipeline P through an oil duct, the oil return port T2 of the second reversing valve 2 is communicated with the oil return pipeline T through an oil duct, and the oil drain port Y2 of the second reversing valve 2 is communicated with the oil drain pipeline L through an oil duct;
and a third output oil port A2 of the second reversing valve 2 is communicated with a third working port of the mud-pumping oil cylinder through a third hydraulic control one-way valve 3, a third throttle valve 4 and a third ball valve 16, and a fourth output oil port B2 of the second reversing valve 2 is communicated with a fourth working port of the mud-pumping oil cylinder through a fourth hydraulic control one-way valve 19, a fourth throttle valve 18 and a fourth ball valve 17.
Further, the first reversing valve 12 and the second reversing valve 2 adopt any one of a manual reversing valve, an electromagnetic reversing valve, an electro-hydraulic reversing valve and a proportional reversing valve.
Specifically, the first reversing valve 12 and the second reversing valve 2 both adopt leakage valves, and leakage oil can respectively return to the oil tank through an oil drainage pipeline L through a Y1 port of the first reversing valve 12 and a Y2 port of the second reversing valve 2, so that oil drainage back pressure is reduced, and the sensitivity and reliability of operation are improved; the control of the mud-beating loop realizes the switching of oil supply and return of the port A2 and the port B2 through the action of the second reversing valve 2, thereby controlling the advance and retreat of the mud-beating oil cylinder; the third hydraulic control one-way valve 3 and the fourth hydraulic control one-way valve 19 are connected to form a hydraulic lock for pressure maintaining; the third throttle 4 and the fourth throttle 18 are used for speed regulation.
Furthermore, the first hydraulic control one-way valve 7, the second hydraulic control one-way valve 10, the third hydraulic control one-way valve 3, the fourth hydraulic control one-way valve 19 and the sequence valve 11 are all leakage valves, so that the faults of valve action speed reduction and the like caused by oil drainage back pressure are reduced, and the control accuracy of the equipment is improved.
Furthermore, the numerical range of the first set pressure of the overflow valve 6 is 1-10 MPa, the numerical range of the second set pressure of the sequence valve 11 is 15-32 MPa, and the differential effect is good.
The control process of the stokehole hydraulic differential control loop specifically comprises the following steps: the stokehole hydraulic differential control circuit consists of a mud beating control circuit and a rotation control circuit which are mutually independent, wherein the mud beating control circuit is used for controlling a mud beating oil cylinder of a mud gun, and the rotation control circuit is used for controlling a rotation oil cylinder of the mud gun. The method comprises the following steps that a first reversing valve 12 and a second reversing valve 2 are both electromagnetic reversing valves:
1) the mud beating oil cylinder is controlled by the second electromagnetic directional valve to carry out mud beating or mud returning operation, and the operation is as follows:
and (3) mud beating operation: b2 electromagnet in the second electromagnetic directional valve is electrified through a controller, the second electromagnetic directional valve works at the right position, P2 is communicated with A2, B2 is communicated with T2, the main ball valve 1 is opened, hydraulic oil enters the second electromagnetic directional valve through an oil supply pipeline through a P2 port, and then enters a third working port of the mud-pumping oil cylinder through an A2 port through a third hydraulic control one-way valve 3, a third throttle valve 4 and a third ball valve 16; hydraulic oil flowing out of a fourth working port of the mud-beating oil cylinder enters a port B2 of the second electromagnetic directional valve through a fourth ball valve 17, a fourth throttle valve 18 and a fourth hydraulic control one-way valve 19 and finally returns to the oil tank through a port T2 through an oil return pipeline T, so that mud-beating operation is realized, and when the mud-beating oil cylinder carries out mud-beating operation, oil enters a third working port and oil exits from a fourth working port;
and (3) mud removing operation: the electromagnet a2 in the second electromagnetic directional valve is electrified through the controller, the second electromagnetic directional valve works at the left position, the P2 is communicated with the B2, the A2 is communicated with the T2, the main ball valve 1 is opened, hydraulic oil enters the second electromagnetic directional valve through an oil supply pipeline through a P2 port, and then enters a fourth working port of the mud-beating oil cylinder through a B2 port through a fourth hydraulic control one-way valve 19, a fourth throttle valve 18 and a fourth ball valve 17; and hydraulic oil flowing out of a third working port of the mud-pumping oil cylinder enters an A2 port of the second electromagnetic directional valve through the third ball valve 16, the third throttle valve 4 and the third hydraulic control one-way valve 3 and finally returns to the oil tank through a T2 port through an oil return pipeline T, so that mud returning operation is realized, and when the mud-pumping oil cylinder performs mud returning operation, oil is fed into a fourth working port and oil is discharged from a third working port.
2) The operation of advancing or retreating the clay gun rotating oil cylinder is controlled through the first electromagnetic directional valve, and the method specifically comprises the following steps:
and (3) blasting operation: the B1 electromagnet in the first electromagnetic directional valve is electrified through the controller, the first electromagnetic directional valve works at the right position, at the moment, a P1 port of the first electromagnetic directional valve is communicated with an A1 port, a B1 port of the first electromagnetic directional valve is communicated with a T1 port, and hydraulic oil enters a rodless cavity of the clay gun rotary oil cylinder from an A1 port through the first hydraulic control one-way valve 7, the first throttle valve 8 and the first ball valve 14; at the moment, because the high-pressure oil at the port A1 simultaneously enters the control port X of the second hydraulic check valve 10, the second hydraulic check valve 10 is opened, the return oil of the rod cavity reaches the overflow valve 6 through the second ball valve 15, the second throttle valve 9 and the second hydraulic check valve 10, when the pressure difference between the rod cavity and the rodless cavity of the clay gun rotating oil cylinder is greater than the first set pressure of the overflow valve 6, the hydraulic oil enters the rodless cavity through the overflow valve 6 through the first hydraulic check valve 7, the first throttle valve 8 and the first ball valve 14 to form a differential loop, thereby realizing the gun feeding operation and simultaneously improving the advancing speed of the clay gun rotating oil cylinder;
when the mud gun rotates to a position to abut against the iron notch, the load of a rotating oil cylinder of the mud gun is increased, the pressure of a rodless cavity is increased, when the pressure is increased to be larger than the second set pressure of the sequence valve 11, the pressure of the port A1 opens the sequence valve 11 through the port X of the sequence valve 11, hydraulic oil in the rod cavity passes through the sequence valve 11 and returns to the oil tank through the port B1 of the first electromagnetic directional valve to the oil return port T1, and at the moment, the differential motion is automatically closed.
After the advance action of the clay gun rotating oil cylinder is completed, the electromagnets of the first electromagnetic directional valve are all powered off, the valve core returns to the middle position to work, the port A1 and the port B1 of the first electromagnetic directional valve are communicated with the port T1, the port X of the first hydraulic control one-way valve 7, the port X of the second hydraulic control one-way valve 10 and the port X of the sequence valve 11 are all powered off, the rod cavity and the rodless cavity of the clay gun rotating oil cylinder are both in a pressure maintaining state, and the accurate stop position of the clay gun rotation and the pressure maintaining requirement during the clay gun pressing can be realized.
And (3) gun retreating operation: the electromagnet a1 of the first electromagnetic directional valve is electrified through the controller, the first electromagnetic directional valve works at the left position, at the moment, the P1 port of the first electromagnetic directional valve is communicated with the B1 port, the A1 port is communicated with the T1 port, hydraulic oil enters the rod cavity of the rotary oil cylinder from the B1 port through the sequence valve 11, the second throttle valve 9 and the second ball valve 15, the hydraulic oil enters the X port of the first hydraulic control one-way valve 7 through the B1 port at the same time, the first hydraulic control one-way valve 7 is in an open state, the return oil of the rodless cavity of the rotary oil cylinder returns to the A1 port through the first throttle valve 8 and the first hydraulic control one-way valve 7 and returns to the oil tank through the T1 port, and the gun retreating operation is realized.
Further, the first set pressure of the overflow valve 6 and the second set pressure of the sequence valve 11 can be set according to the pump station pressure and the load condition, so that the differential time and the flow are changed, and the running speed and the back pressure of the equipment are conveniently adjusted.
In conclusion, the hydraulic differential control circuit aims at different equipment specifications, the rotation speed of the mud gun can be improved by 30-100%, the time for the mud gun to impact molten iron at the taphole is greatly shortened, the high-temperature damage and nozzle burning damage faults of the mud gun can be reduced, and the equipment fault rate is reduced; meanwhile, through the first hydraulic control one-way valve 7, the second hydraulic control one-way valve 10 and the sequence valve 11, bidirectional pressure maintaining of the mud gun rotating oil cylinder is achieved, the mud gun is accurate in rotating and stopping, and stability is improved.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model.
It is to be understood that the present invention is not limited to what has been described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of the utility model is limited only by the appended claims.
Claims (8)
1. The stokehole hydraulic differential control loop is characterized by comprising a mud beating control loop and a rotary control loop which are mutually independent, wherein the rotary control loop comprises a first reversing valve (12), a hydraulic control one-way valve, a throttle valve, an overflow valve, a sequence valve, a ball valve and a mud gun rotary oil cylinder;
an oil inlet P1 of the first reversing valve (12) is communicated with an oil supply pipeline P through an oil duct, an oil return port T1 of the first reversing valve (12) is communicated with the oil return pipeline T through the oil duct, and an oil drainage port Y1 of the first reversing valve (12) is communicated with an oil drainage pipeline L through the oil duct;
the hydraulic oil output from a first output oil port A1 of the first reversing valve (12) is divided into two paths: one path of hydraulic oil is communicated with a first working port of the clay gun rotating oil cylinder through a first hydraulic control one-way valve (7), a first throttle valve (8) and a first ball valve (14); the other path of hydraulic oil is communicated with a second working port of the clay gun rotary oil cylinder through an overflow valve (6), a second hydraulic control one-way valve (10), a second throttle valve (9) and a second ball valve (15); and a second oil outlet B1 of the first reversing valve (12) is communicated with a second working port of the clay gun rotating oil cylinder through a sequence valve (11), a second throttle valve (9) and a second ball valve (15).
2. The stokehole hydraulic differential control circuit according to claim 1, wherein the mud-beating control circuit comprises a second reversing valve (2), a hydraulic control one-way valve, a throttle valve, a ball valve and a mud-beating oil cylinder;
an oil inlet P2 of the second reversing valve (2) is communicated with an oil supply pipeline P through an oil duct, an oil return port T2 of the second reversing valve (2) is communicated with the oil return pipeline T through the oil duct, and an oil drainage port Y2 of the second reversing valve (2) is communicated with an oil drainage pipeline L through the oil duct;
a third output oil port A2 of the second reversing valve (2) is communicated with a third working port of the mud-pumping oil cylinder through a third hydraulic control one-way valve (3), a third throttle valve (4) and a third ball valve (16), and a fourth output oil port B2 of the second reversing valve (2) is communicated with a fourth working port of the mud-pumping oil cylinder through a fourth hydraulic control one-way valve (19), a fourth throttle valve (18) and a fourth ball valve (17); and the third hydraulic control one-way valve (3) and the fourth hydraulic control one-way valve (19) are connected to form a hydraulic lock.
3. The stokehole hydraulic differential control circuit according to claim 2, characterized in that the first reversing valve (12) and the second reversing valve (2) adopt any one of a manual reversing valve, an electromagnetic reversing valve, an electro-hydraulic reversing valve and a proportional reversing valve.
4. The stokehole hydraulic differential control circuit according to claim 2, characterized in that the first and second reversing valves (12, 2) are leakage valves.
5. The stokehole hydraulic differential control circuit according to claim 2, characterized in that the first hydraulic control one-way valve (7), the second hydraulic control one-way valve (10), the third hydraulic control one-way valve (3), the fourth hydraulic control one-way valve (19) and the sequence valve (11) can adopt an internal leakage valve or an external leakage valve.
6. The stokehole hydraulic differential control circuit according to claim 1, wherein a pressure difference exists between a rod cavity and a rodless cavity of the clay gun rotary cylinder, and when the pressure difference is greater than a first set pressure of the overflow valve (6), hydraulic oil output from a second working port of the clay gun rotary cylinder enters the rodless cavity of the clay gun rotary cylinder through a second ball valve (15), a second throttle valve (9), a second hydraulic control one-way valve (10), the overflow valve (6), a first hydraulic control one-way valve (7), a first throttle valve (8) and a first ball valve (14) to form a differential circuit so as to improve the gun feeding speed; when the pressure of the rodless cavity of the clay gun rotating oil cylinder is greater than the second set pressure of the sequence valve (11), hydraulic oil output from a first output oil port A1 of the first reversing valve (12) opens the sequence valve (11) through an X port of the sequence valve (11), and hydraulic oil in the rod cavity passes through the sequence valve (11) and flows to the oil return tank through a second output oil port B1 and an oil return port T1 of the first reversing valve (12).
7. The stokehole hydraulic differential control circuit according to claim 6, characterized in that the first set pressure of the overflow valve (6) has a value in the range of 1-10 MPa.
8. Stokehole hydraulic differential control circuit according to claim 6, characterized in that the second set pressure of the sequence valve (11) has a value in the range of 15-32 MPa.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113604623A (en) * | 2021-08-30 | 2021-11-05 | 中钢集团西安重机有限公司 | Differential control loop and control method for hydraulic mud gun |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113604623A (en) * | 2021-08-30 | 2021-11-05 | 中钢集团西安重机有限公司 | Differential control loop and control method for hydraulic mud gun |
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