CN102030266A - Crane and hydraulic control system thereof - Google Patents
Crane and hydraulic control system thereof Download PDFInfo
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- CN102030266A CN102030266A CN 201110008408 CN201110008408A CN102030266A CN 102030266 A CN102030266 A CN 102030266A CN 201110008408 CN201110008408 CN 201110008408 CN 201110008408 A CN201110008408 A CN 201110008408A CN 102030266 A CN102030266 A CN 102030266A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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Abstract
The invention discloses a hydraulic control system which comprises a first actuating member and a power element for driving the first actuating member to work. The hydraulic control system is characterized in that the power element comprises a closed type pump and an auxiliary power pump; the hydraulic control system also comprises a first reversing valve and a servo control unit, wherein the first reversing valve is arranged on a channel between an oil outlet of the auxiliary power pump and an oil inlet of the first actuating member, the oil outlet and the oil inlet are communicated with each other when the first reversing valve is in a first working position, and the oil outlet and the oil inlet are disconnected from each other when the first reversing valve is in a second working position; and the servo control unit is used for controlling the first reversing valve to be in the second working position and open the closed type pump or controlling the first reversing valve to be in the first working position and close the closed type pump. The hydraulic control system combines the advantages of the valve-controlled system and the pump-controlled system, and working times and working conditions of the pump-controlled system and the valve-controlled system can be reasonably controlled by the servo control unit, thereby realizing the optimal matching of the systems.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of hydraulic control system.The invention still further relates to a kind of hoisting crane that comprises above-mentioned hydraulic control system.
Background technology
Hydraulic control system has a wide range of applications in technical field of engineering machinery, such as being equipped with hydraulic control system on the construction machinery and equipments such as excavating machine, fork truck, hoisting crane.
With the hydraulic control system in the hoisting crane is example, and at present, medium and small tonnage hoisting crane adopts valve control hydraulic efficiency pressure system usually, and hoister in large tonnage then adopts the pump control hydraulic system.Valve control hydraulic efficiency pressure system also can be described as the throttling controlled hydraulic system, usually form by fix-displacement pump and flow valve (flow regulating valve, by pass valve etc.), the size of flow area that can be by regulating flow valve changes the flow that flows into or flow out power element, changes the speed of power element with this; The pump control hydraulic system also can be described as the volume controlled hydraulic system, is made up of controllable capacity pump and regular tap valve usually, and by the change of direct change variable capacity of pump realization power element speed, switch valve only has the effect of break-make oil circuit.
Valve control hydraulic efficiency pressure system has the advantage that dynamic response is fast, control accuracy is high, is applicable to the demanding middle low power of speed system; Yet the existence of flow valve causes comparatively serious overflow and throttle loss in the valve control hydraulic efficiency pressure system, thereby causes the hydraulic efficiency pressure system temperature build-up, and inefficiency.
Pump control system so can improve the efficient of system, reduces the heating of system owing to adopt volume control efficiently, generally is applicable to the high-power system not high to rapidity requirement; Yet the stroking mechanism inertia of controllable capacity pump is big in the pump control hydraulic system, causes the hydraulic efficiency pressure system dynamic response slow, and fine motion is poor.
Therefore, how to make hydraulic control system have the characteristic that dynamic response is fast, control accuracy is high, can improve the heating of system effectiveness, minimizing system again is the present technical issues that need to address of those skilled in the art.
Summary of the invention
The purpose of this invention is to provide a kind of hydraulic control system, this hydraulic control system has the characteristic that dynamic response is fast, control accuracy is high, and the temperature of system effectiveness height, system is minimized.Another object of the present invention provides a kind of hoisting crane that comprises above-mentioned hydraulic control system.
For solving the problems of the technologies described above, the invention provides a kind of hydraulic control system, comprise the dynamical element of first power element, the described first power element work of driving, described dynamical element comprises enclosed pump and auxiliary power pump;
Described hydraulic control system also comprises:
First change-over valve, described first change-over valve are located on the path of oil inlet of the oil outlet of described auxiliary power pump and described first power element, and when described first change-over valve was in first control position, described oil outlet was communicated with described oil inlet; When being in second control position, described oil outlet and described oil inlet disconnect;
Servo control unit is controlled described first change-over valve and is in second control position and opens described enclosed pump, or controls described first change-over valve and be in first control position and close described enclosed pump.
Preferably, described servo control unit comprises:
Signal gathering unit is in order to gather current system pressure signal;
The operating mode judging unit is stored the normal system pressure signal in advance, and judges whether described current pressure signal conforms to described normal system pressure signal;
The control signal output unit, when described current system pressure signal conformed to described normal system pressure signal, output made described first change-over valve be in second control position and opens the signal of described enclosed pump; When not conforming to, output makes described first change-over valve be in first control position and closes the signal of described enclosed pump.
Preferably, described servo control unit comprises:
Signal gathering unit is in order to gather the current opening degree of handle;
The operating mode judging unit is stored the fine motion operation aperture degree scope of described handle in advance, and judges whether described current opening degree belongs in the described fine motion operation aperture degree scope;
When control signal output unit, described current opening degree did not belong in the described fine motion operation aperture degree scope, output made described first change-over valve be in second control position and opens the signal of described enclosed pump; When belonging to, output makes described first change-over valve be in first control position and closes the signal of described enclosed pump.
Preferably, the oil outlet of described auxiliary power pump also is communicated with fuel tank by by pass valve.
Preferably, described by pass valve is a pilot overflow valve.
Preferably, the remote control mouth of described pilot overflow valve is communicated with fuel tank by second change-over valve; When described second change-over valve was in first control position, described remote control mouth and described fuel tank disconnected; When described second change-over valve was in second control position, described remote control mouth was communicated with described fuel tank; And when described first change-over valve was in first control position, described second change-over valve was in first control position, and when described first change-over valve was in second control position, described second change-over valve was in second control position.
Preferably, the path of described second change-over valve and described fuel tank is provided with remote pressure regulating valve.
Preferably, described first change-over valve and described second change-over valve are solenoid directional control valve.
Preferably, when described first change-over valve was in second control position, the oil outlet of described auxiliary power pump was communicated with the oil inlet of second power element.
This hydraulic control system is controlled described first change-over valve by servo control unit and is in second control position and opens described enclosed pump, or control described first change-over valve and be in first control position and close described enclosed pump, be that controlled hydraulic system is switched between pump control pattern and valve control pattern, when being in unstable state, system maybe needs to carry out fine motion when operation, take valve control pattern, can make system possess the advantage that dynamic response is fast, control accuracy is high, thereby satisfy the requirement that enters mode of operation fast; In that system response time and fine motion when less demanding, when promptly system is in stable state, are taked pump control pattern, can improve the efficient of system, reduce the heating of system, make system have good static response.Therefore, the advantage separately of this hydraulic control system is integrated valve control system and pump control system is rationally controlled the work-hours and the operating mode of pump control system, valve control system by servo control unit, realizes optimization coupling of system with this.
The present invention also provides a kind of hoisting crane, the hydraulic control system that comprises power element and drive described power element action, and described hydraulic control system is above-mentioned each described hydraulic control system.Because above-mentioned hydraulic control system has above-mentioned technique effect, the hoisting crane with this hydraulic control system also has identical technique effect.
Description of drawings
Fig. 1 is the hydraulic scheme of a kind of specific embodiment of hydraulic control system provided by the present invention.
Fig. 2 is the control flow chart of the another kind of specific embodiment of hydraulic control system provided by the present invention.
The specific embodiment
Core of the present invention provides a kind of hydraulic control system, and this hydraulic control system has the characteristic that dynamic response is fast, control accuracy is high, and the temperature of system effectiveness height, system is minimized.Another core of the present invention provides a kind of hoisting crane that comprises above-mentioned hydraulic control system.
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, Fig. 1 is the hydraulic scheme of a kind of specific embodiment of hydraulic control system provided by the present invention.
Hydraulic control system provided by the present invention comprises first power element, drives the dynamical element of the first power element work, and dynamical element comprises enclosed pump D1 and auxiliary power pump D2, for system provides power.First power element shown in Fig. 1 is variable-dis-placement motor B, and all in order to drive variable-dis-placement motor B rotation, enclosed pump D1 can carry slippage pump for enclosed pump D1 and auxiliary power pump D2, thus the leakage of charging system, the discharge capacity of adjustment enclosed pump D1.
Hydraulic control system also comprises the first change-over valve Y1, the first change-over valve Y1 is located on the path of oil inlet of the auxiliary power pump D2 oil outlet and first power element, when the first change-over valve Y1 was in first control position, the oil outlet of auxiliary power pump D2 was communicated with the oil inlet of first power element; When being in second control position, the oil outlet of auxiliary power pump D2 and the oil inlet of first power element disconnect.
Hydraulic control system also comprises servo control unit, controlling the first change-over valve Y1 is in second control position and opens described enclosed pump D1, or control the first change-over valve Y1 and be in first control position and close enclosed pump D1, servo control unit can by control enclosed pump D1 solenoid directional control valve electric or dead electricity control enclosed pump D1 unlatching or close.Be that servo control unit is opened enclosed pump D1, when providing hydraulic oil by it for first power element, and the auxiliary power pump D2 oil outlet and the first power element oil inlet disconnect, and this moment, the mode of operation of hydraulic efficiency pressure system was a pump control pattern; After system opens, auxiliary power pump D2 is in running order always, servo control unit is closed enclosed pump D1, it is the first power element fuel feeding that enclosed pump D1 interrupts, and auxiliary power pump D2 oil outlet is communicated with the first power element oil inlet, then provide hydraulic oil by auxiliary power pump D2 for first power element, this moment, the mode of operation of hydraulic efficiency pressure system was a valve control pattern.Can adjust according to the actual condition needs, promptly to system response time and fine motion when less demanding, controlling the first change-over valve Y1 by servo control unit is in second control position and opens enclosed pump D1, otherwise, then control the first change-over valve Y1 and be in first control position and close enclosed pump D1, promptly switch between valve control pattern and pump control pattern according to actual condition controlled hydraulic system mode of operation by servo control unit.
The first change-over valve Y1 can be a solenoid directional control valve, as shown in Figure 1, the first change-over valve Y1 is a 3-position 4-way electricity proportional reversing valve, by servo control unit control the first change-over valve Y1 dead electricity or electric, during dead electricity, be in second control position, auxiliary power pump D2 oil outlet and variable-dis-placement motor B oil inlet disconnect, when electric, be in first control position, auxiliary power pump D2 oil outlet is communicated with variable-dis-placement motor B oil inlet.When the first change-over valve Y1 was 3-position 4-way electricity proportional reversing valve, the return opening of variable-dis-placement motor B also can be communicated with fuel tank by the first change-over valve Y1; In addition, electric proportional reversing valve can proportionally be controlled the size that is flowed into variable-dis-placement motor B flow by auxiliary power pump D2 oil outlet, promptly possesses the function of commutation and valve control simultaneously.
This hydraulic control system is switched between pump control pattern and valve control pattern by the servo control unit controlled hydraulic system, when being in unstable state, system maybe needs to carry out fine motion when operation, such as, when whole hydraulic efficiency pressure system starts, system is in unstable state, take valve control pattern, can make system possess the advantage that dynamic response is fast, control accuracy is high, thereby satisfy the requirement that enters mode of operation fast; To system response time and fine motion when less demanding, when promptly system is in stable state, such as, after hydraulic efficiency pressure system started, the stable state time length was longer, takes pump control pattern, can improve the efficient of system, reduce the heating of system, make system have good static response.Therefore, the advantage separately of this hydraulic control system is integrated valve control system and pump control system is rationally controlled the work-hours and the operating mode of pump control system, valve control system by servo control unit, realizes optimization coupling of system with this.
Further, servo control unit can comprise signal gathering unit, operating mode judging unit and control signal output unit.
Signal gathering unit can detect by the sensor class component in real time in order to gather current system pressure signal; The operating mode judging unit, store the normal system pressure signal in advance, when system is in stable state, the force value of system can be in stable status, be that the system pressure value is in certain codomain, in specific scope, fluctuate, this codomain preliminary election is stored in the operating mode judging unit, as the normal system pressure signal, after the operating mode judging unit receives current system pressure signal, judge whether whether the current pressure signal conforms to the normal system pressure signal of storage in advance, promptly belong in the normal pressure codomain; The control signal output unit is according to the output of the judged result control signal of operating mode judging unit, and when current system pressure signal conformed to the normal system pressure signal, output made the first change-over valve Y1 be in second control position and opens the signal of enclosed pump D1; When not conforming to, output makes the first change-over valve Y1 be in first control position and closes the signal of enclosed pump D1.
In this embodiment, servo control unit can judge whether system is in stable state by the system pressure that detects hydraulic control system, when being in stable state, with the system works mode switch is pump control pattern, during unstable state, be adjusted into valve control pattern, therefore, servo control unit can change switching between automatic controlling valve control pattern and the pump control pattern according to system pressure.
The signal gathering unit of servo control unit can also be gathered the current opening degree of handle, also can detect in real time by the sensor class component; The operating mode judging unit is stored the fine motion operation aperture degree of handle in advance, in the time of in opening degree is in more among a small circle, be the fine motion operation, the scope of fine motion operation aperture degree can determine the operating mode judging unit judges also whether current opening degree belongs in the fine motion operation aperture degree scope according to practical operation needs or operating experience; In the time of in current opening degree does not belong to fine motion operation aperture degree scope, output makes the first change-over valve Y1 be in second control position and opens the signal of enclosed pump D1; When belonging to, output makes the first change-over valve Y1 be in first control position and closes the signal of enclosed pump D1.
In this embodiment, servo control unit can be by detecting handle openings degree size, judge whether to be in the fine motion serviceability, when being in the fine motion operation, need system to possess control accuracy height, response fast speed characteristic, then be valve control pattern with the system works mode adjustment, otherwise, be adjusted into pump control pattern.
The oil outlet of auxiliary power pump D2 is communicated with fuel tank by by pass valve.During work, when the pressure of the hydraulic oil of auxiliary power pump D2 output was excessive, part hydraulic oil can overflow back fuel tank through by pass valve, thereby limits the maximum working pressure (MWP) of hydraulic efficiency pressure system, can prevent system overload, plays the effect of safety valve.By pass valve can adopt pilot overflow valve 1, and the range of regulation of pilot overflow valve 1 is big, pressure regulation precision height, applied range, the hydraulic efficiency pressure system of especially suitable high pressure, big flow.
When by pass valve was pilot overflow valve 1, its remote control mouth can be communicated with fuel tank by the second change-over valve Y2; The second change-over valve Y2 is in first control position, and remote control mouth and fuel tank disconnect; The second change-over valve Y2 is in second control position, and the remote control mouth is communicated with fuel tank; And when the first change-over valve Y1 is in first control position, make the second change-over valve Y2 be in first control position, when the first change-over valve Y1 is in second control position, make the second change-over valve Y2 be in second control position.When the first change-over valve Y1 is in first control position, auxiliary power pump D2 makes the second change-over valve Y2 be in first control position to the first power element fuel feeding, and then the remote control mouth of precursor overflow valve 1 and fuel tank disconnect, this moment, the oil pressure relief of precursor overflow valve 1 was a setting pressure, played the effect of safety valve; When the first change-over valve Y1 is in second control position, by enclosed pump D1 to the first power element fuel feeding, the auxiliary power pump D2 oil outlet and first power element disconnect, make the second change-over valve Y2 be in second control position, then the remote control mouth of precursor overflow valve 1 is communicated with fuel tank, this moment, the oil pressure relief of precursor overflow valve 1 reduced to zero, and the hydraulic oil flow oil sump tank of auxiliary power pump D2 plays the off-load effect.
Can on the path of the second change-over valve Y2 and fuel tank, remote pressure regulating valve 2 be set, promptly on the path of the remote control mouth of precursor overflow valve 1 and remote pressure regulating valve 2 inlets the second change-over valve Y2 be set.Remote pressure regulating valve 2 can be provided with away from precursor overflow valve 1, the adjustment pressure of remote pressure regulating valve 2 can be adjusted to the adjustment pressure that is lower than pilot pressure valve in the precursor overflow valve 1, then can regulate the oil pressure relief of precursor overflow valve 1 by remote pressure regulating valve 2, when the second change-over valve Y2 is in second control position, just can realize the low pressurized overflow of auxiliary power pump D2.The second change-over valve Y2 can be a solenoid directional control valve also, is convenient to servo control unit control, as shown in Figure 1, during the second change-over valve Y2 dead electricity, is in first control position, when electric, be in second control position.
When the first change-over valve Y1 and the second change-over valve Y2 are solenoid directional control valve, can control by following control flow.
Please in conjunction with Fig. 1, and with reference to figure 2, Fig. 2 is the control flow chart of the another kind of specific embodiment of hydraulic control system provided by the present invention.
In this embodiment, the workflow of hydraulic control system is as follows:
Step S1, sending control signal by servo control unit, that the first change-over valve Y1 is got is electric, variable-dis-placement motor B work.When system starts, usually be in unstable state, the first change-over valve Y1 gets, then auxiliary power pump D2 starts working, and to variable-dis-placement motor B fuel feeding, and enclosed pump D1 does not work, system provides power by auxiliary power pump D2, this moment, system carried out work with valve control pattern, the quick response requirement when satisfying system start-up, and the system of assurance has good dynamic characteristics;
Step S2, whether the servo control unit real-time detecting system is in stable state; Be then to enter S3, not, then return S1;
Step S3, servo control unit send control signal and make the first change-over valve Y1 dead electricity, and the second change-over valve Y2 gets electric, and send control signal enclosed pump D1 solenoid directional control valve is got.After system entered the steady operation process, enclosed pump D1 solenoid directional control valve got electric, and enclosed pump D1 starts working; The first change-over valve Y1 dead electricity, the second change-over valve Y2 gets, then auxiliary power pump D2 realizes low pressurized overflow by precursor overflow valve 1 and remote pressure regulating valve 2, this moment, the working mode transition of system was a pump control pattern, thereby improve the efficient of system, the heating of minimizing system makes system have good static response;
Whether step S4, servo control unit checking system carry out the fine motion operation, are, then enter step S5, not, then return S3;
Step S5, servo control unit send control signal that the first change-over valve Y1 is got are electric, the second change-over valve Y2 dead electricity, and make enclosed pump D1 solenoid directional control valve dead electricity.Carry out fine motion when operation, enclosed pump D1 quits work, and auxiliary power pump D2 gives system's fuel feeding, realizes that by the openings of sizes of the first change-over valve Y1 fine motion of system regulates, and gives full play to the advantage of valve control system control accuracy height, response rapidity.Then whole control process is timely and effective and realized fully automatically.
Whether step S6, servo control unit detect the fine motion operation finishes, and is, then enters step S3, not, then returns step S5.
When the first change-over valve Y1 was in second control position, the oil outlet of auxiliary power pump D2 also can be communicated with the oil inlet of second power element, promptly enter pump control system after, auxiliary power pump D2 can be other power element fuel feeding, improves system effectiveness.
The present invention also provides a kind of hoisting crane, comprises power element and the hydraulic efficiency pressure system that drives power element work, it is characterized in that described hydraulic efficiency pressure system is above-mentioned each described hydraulic control system.Because above-mentioned hydraulic control system has above-mentioned technique effect, the hoisting crane with above-mentioned hydraulic control system also should have above-mentioned technique effect, does not give unnecessary details at this.
More than a kind of hoisting crane provided by the present invention and hydraulic control system thereof are described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. hydraulic control system comprises first power element, drives the dynamical element of the described first power element work, it is characterized in that,
Described dynamical element comprises enclosed pump (D1) and auxiliary power pump (D2);
Described hydraulic control system also comprises:
First change-over valve (Y1), described first change-over valve (Y1) is located on the path of oil inlet of the oil outlet of described auxiliary power pump (D2) and described first power element, when described first change-over valve (Y1) was in first control position, described oil outlet was communicated with described oil inlet; When being in second control position, described oil outlet and described oil inlet disconnect;
Servo control unit is controlled described first change-over valve (Y1) and is in second control position and opens described enclosed pump (D1), or controls described first change-over valve (Y1) and be in first control position and close described enclosed pump (D1).
2. hydraulic control system according to claim 1 is characterized in that, described servo control unit comprises:
Signal gathering unit is in order to gather current system pressure signal;
The operating mode judging unit is stored the normal system pressure signal in advance, and judges whether described current pressure signal conforms to described normal system pressure signal;
The control signal output unit, when described current system pressure signal conformed to described normal system pressure signal, output made described first change-over valve (Y1) be in second control position and opens the signal of described enclosed pump (D1); When not conforming to, output makes described first change-over valve (Y1) be in first control position and closes the signal of described enclosed pump (D1).
3. hydraulic control system according to claim 1 is characterized in that, described servo control unit comprises:
Signal gathering unit is in order to gather the current opening degree of handle;
The operating mode judging unit is stored the fine motion operation aperture degree scope of described handle in advance, and judges whether described current opening degree belongs in the described fine motion operation aperture degree scope;
When control signal output unit, described current opening degree did not belong in the described fine motion operation aperture degree scope, output made described first change-over valve (Y1) be in second control position and opens the signal of described enclosed pump (D1); When belonging to, output makes described first change-over valve (Y1) be in first control position and closes the signal of described enclosed pump (D1).
4. according to each described hydraulic control system of claim 1 to 3, it is characterized in that the oil outlet of described auxiliary power pump (D2) also is communicated with fuel tank by by pass valve.
5. hydraulic control system according to claim 4 is characterized in that, described by pass valve is pilot overflow valve (1).
6. hydraulic control system according to claim 5 is characterized in that, the remote control mouth of described pilot overflow valve (1) is communicated with fuel tank by second change-over valve (Y2); When described second change-over valve (Y2) was in first control position, described remote control mouth and described fuel tank disconnected; When described second change-over valve (Y2) was in second control position, described remote control mouth was communicated with described fuel tank; And when described first change-over valve (Y1) was in first control position, described second change-over valve (Y2) was in first control position, and when described first change-over valve (Y1) was in second control position, described second change-over valve (Y2) was in second control position.
7. hydraulic control system according to claim 6 is characterized in that, described second change-over valve (Y2) is provided with remote pressure regulating valve (2) with the path of described fuel tank.
8. hydraulic control system according to claim 7 is characterized in that, described first change-over valve (Y1) is solenoid directional control valve with described second change-over valve (Y2).
9. hydraulic control system according to claim 4 is characterized in that, when described first change-over valve (Y1) was in second control position, the oil outlet of described auxiliary power pump (D2) was communicated with the oil inlet of second power element.
10. a hoisting crane comprises power element and drives the hydraulic control system that described power element moves, and it is characterized in that described hydraulic control system is each described hydraulic control system of claim 1-9.
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| CN102320520A (en) * | 2011-08-18 | 2012-01-18 | 南通润邦重机有限公司 | Wind power installation crane hydraulic control circuit |
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| CN102275824A (en) * | 2011-07-07 | 2011-12-14 | 长沙中联重工科技发展股份有限公司 | Control method and control system for rotary motion of slewing crane |
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| CN105712207B (en) * | 2015-11-24 | 2018-01-16 | 徐州重型机械有限公司 | Setting-up elevator control system and hoisting machinery |
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| CN105370643A (en) * | 2015-12-23 | 2016-03-02 | 北汽福田汽车股份有限公司 | Engineering machinery and closed type hydraulic system thereof |
| CN107237785A (en) * | 2017-07-25 | 2017-10-10 | 江苏谷登工程机械装备有限公司 | A kind of pressure cut off control system of external enclosed pump |
| CN107237785B (en) * | 2017-07-25 | 2019-03-12 | 江苏谷登工程机械装备有限公司 | A kind of pressure cut off control system of external enclosed pump |
| CN108869419A (en) * | 2018-08-01 | 2018-11-23 | 中国煤炭科工集团太原研究院有限公司 | One kind being based on all-hydraulic constant current speed adjustable control device and its control system |
| CN108869419B (en) * | 2018-08-01 | 2019-12-03 | 中国煤炭科工集团太原研究院有限公司 | One kind being based on all-hydraulic constant current speed adjustable control device and its control system |
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| CN111924734B (en) * | 2020-07-17 | 2021-09-14 | 中联重科股份有限公司 | Winch hydraulic control system and winch |
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