CN104613055B - Hydraulic type energy recovery system for potential energy of boom of excavator - Google Patents
Hydraulic type energy recovery system for potential energy of boom of excavator Download PDFInfo
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- CN104613055B CN104613055B CN201510049958.4A CN201510049958A CN104613055B CN 104613055 B CN104613055 B CN 104613055B CN 201510049958 A CN201510049958 A CN 201510049958A CN 104613055 B CN104613055 B CN 104613055B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2201/00—Accumulators
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A hydraulic type energy recovery system for potential energy of a boom of an excavator comprises a variable motor, two variable pumps, an energy accumulator, a control valve, an ECU, a pressure sensor, a revolution speed transducer, a hydraulic cylinder, an oil tank and an engine. Aiming at solving the problems that a great deal of potential energy of a boom of an existing hydraulic excavator under the working condition of severe change is wasted, a hydraulic type energy recovery system is arranged in parallel on the basis of not changing a hydraulic system and the operation performance of the existing excavator; the hydraulic type energy recovery system can recover the potential energy generated when the boom is released downwards, achieve flow regeneration of the boom in order to reduce oil consumption of the hydraulic excavator, and achieve the purpose of saving energy and reducing consumption.
Description
【Technical field】
The present invention relates to the field of energy-saving technology of hydraulic crawler excavator, more particularly, to one kind adopt hydraulic accumulator as energy storage
Element, the excavator swing arm potential energy fluid pressure type energy-recuperation system with variable displacement motor-variable pump as energy conversion component.
【Background technology】
In the course of the work, swing arm swings up and down comparison frequently to hydraulic crawler excavator, hydraulic digger operating device weight weight,
Inertia is big, produces and is emptied for preventing boom cylinder epicoele too fast because swing arm declines, and is typically throttled speed governing by main valve, but
During retarding braking, the equipment substantial amounts of potential energy overwhelming majority is converted into heat energy in main valve restriction, not only causes energy wave
Take, also result in system temperature and rise the reduction with the hydraulic component life-span.
At present, the research of energy regenerating focuses primarily upon automotive field, engineering machinery field especially hydraulic crawler excavator
Energy regenerating was studied also in the starting stage, and typically adopted electric power type energy regenerating (using super capacitor or accumulator as storage
Energy element), but because the battery technologies such as super capacitor are not yet ripe, the excavator of electric power type energy regenerating is not slowly recognized by market
Can；And energy is decreased as the fluid pressure type energy regenerating of energy-storage travelling wave tube compared with electric power type energy regenerating using hydraulic accumulator
Conversion links, and power density is high, overall reliable compact.
Prior art, for example, Chinese invention patent：Excavator energy-recuperation system (application number：
CN200910306447.0), it includes hydraulic cylinder, fuel tank, dosing pump, valve and electromotor.Its key technology is that dosing pump is same
Axle installs the first variable pump and the photoelectric encoder that tests the speed, and dosing pump one end is connected with hydraulic cylinder by reversal valve, and dosing pump is another
End point two-way is connected with fuel tank and hydraulic cylinder respectively；First variable pump one end is connected with fuel tank, and the other end is connected by reversal valve
Accumulator；It is co-axially mounted the second variable pump with electromotor, second variable pump one end connects fuel tank, and the other end connects check valve, single
Divide three tunnels to the oil-out of valve, the first via connects accumulator by reversal valve, the second tunnel is connected with hydraulic cylinder by reversal valve, the
Three tunnels are connected with hydraulic cylinder by reversal valve.Flow regeneration and potential energy are reclaimed both and are combined by the program, can realize flowing simultaneously
Amount regeneration and energy regenerating recycle.But the program has three aspects to be further improved：1. deposit in terms of speed controlling
Problem：When swing arm declines beginning, fixed displacement motor-variable revolution speed is relatively low, and variable pump discharge pressure sets up response time phase
To longer, within this time, the load of motor is close to 0, and fixed displacement motor-variable pump rotary inertia very little is it is impossible to by adjusting
The rotating speed to control fixed displacement motor for the discharge capacity of section variable pump, leads to speed stability during its startup poor；2. in energy regenerating
The problem that efficiency aspect exists：The rotating speed of the energy conversion unit of fixed displacement motor-variable pump composition depends on the speed that swing arm declines
Degree, when speed is relatively low, the rotating speed of energy conversion unit is relatively low so that its volumetric efficiency is low, and during velocity perturbation, energy is changed
The speed of unit also fluctuates therewith, leads to fixed displacement motor-variable pump can not be operated in high efficient district, system effectiveness awaits further
Improve；3., during flow regeneration, motor outlet pressure is controlled using fixed throttle port, when changes in flow rate, its outlet pressure is not
Stable, can lead to be emptied or restriction loss is excessive.In addition, this system needs to carry out larger changing to conventional excavators hydraulic system
Dynamic, operating characteristics and original system difference.
In view of this, the present inventor is directed to the defect further investigation of prior art, then has this case to produce.
【Content of the invention】
The technical problem to be solved is to provide a kind of excavator swing arm potential energy fluid pressure type energy-recuperation system,
To improve the oil consumption of excavator, reach energy-saving purpose.
The present invention is realized in：
A kind of excavator swing arm potential energy fluid pressure type energy-recuperation system,
Including a variable displacement motor (8), two variable pumps (71,72), accumulator (10), overflow valve (2), the first check valve
(31), the second check valve (32), the 3rd check valve (33), first throttle valve (51), second throttle (52), the 3rd choke valve
(53), the first reversal valve (9), the second reversal valve (14), the 3rd reversal valve (15), the first pilot valve (131), the second pilot valve
(132), ECU control unit (18), first pressure sensor (61), second pressure sensor (62), the 3rd pressure transducer
(63), the 4th pressure transducer (64), speed probe (4), hydraulic cylinder (11), fuel tank (1), electromotor (16)；
Described variable displacement motor (8) is co-axially mounted described first variable pump (71) and described speed probe (4), described variable
Motor (8) import is connected with second throttle (52), and described variable displacement motor (8) other end divides two-way to connect first throttle valve respectively
(51) with the first reversal valve (9)；
Described second throttle (52) other end connects the first reversal valve (9), and two working oil chambers of the first reversal valve (9) divide
Do not connect the upper and lower cavity of described hydraulic cylinder (11)；
The import of described first variable pump (71) is connected with fuel tank (1), and the other end divides two-way after the first check valve (31), the
One tunnel connects accumulator (10), and the second tunnel connects overflow valve (2) and is connected to fuel tank (1)；
Described electromotor (16) is co-axially mounted the second variable pump (72), and the second variable pump (72) one end connects fuel tank (1), separately
One end connects the second check valve (32), and the outlet of the second check valve (32) divides two-way, and the first via connects the 3rd check valve (33), the
Two tunnels are connected with hydraulic cylinder (11) by the second reversal valve (14)；3rd check valve (33) import connects the 3rd choke valve (53),
3rd choke valve (53) other end connects accumulator (10)；
The left hydraulic control mouth of the second reversal valve (14) is connected with the first pilot valve (131), right hydraulic control mouth and the 3rd reversal valve
(15) one end is connected, and the 3rd reversal valve (15) other end connects fuel tank (1) and the second pilot valve (132) respectively；
Second pilot valve (131), the second pilot valve (132) pass through a control crank (12) to control, in described manipulation handss
Handle (12) is upper to install an angular displacement sensor (17), and angular displacement signal is fed back to ECU control unit (18)；
Import and export arrangement pressure second pressure sensor (62), the 3rd pressure transducer in second throttle (52)
(63), in outlet arrangement first pressure sensor (61) of variable displacement motor (8), pass in accumulator (10) outlet arrangement the 4th pressure
Sensor (64)；
First pressure sensor (61), second pressure sensor (62), the 3rd pressure transducer (63), the 4th pressure sensing
The pressure signal of device (64) feeds back to ECU control unit (18), ECU control unit (18) according to the signal being gathered, by meter
Calculation send instructions respectively control variable motor (8), the first variable pump (71), the first reversal valve (9), first throttle valve (51), second
Choke valve (52), the 3rd choke valve (53).
It is an advantage of the current invention that：1st, the discharge capacity to variable displacement motor-variable pump and rotating speed coordinate control so as to work
Improve the organic efficiency of energy-recuperation system in high efficient district；2nd, record the inlet and outlet pressure of choke valve using pressure transducer, lead to
Cross ECU and carry out the inlet pressure of motor in the control variable motor-variable pump outlet pressure to compensate choke valve, make entering of choke valve
Outlet pressure reduction is basically unchanged, and realizes swing arm decline only relevant with the aperture of choke valve；3rd, export in variable displacement motor and connect pressure biography
Sensor, choke valve is installed in bypass；During flowed fluctuation, throttle valve opening is automatically adjusted by ECU, so that motor outlet pressure is basic
Stable, the fluid making hydraulic cylinder epicoele, all from motor, is realized flow regeneration and hydraulic cylinder epicoele can be avoided to occur being emptied.
【Brief description】
The invention will be further described in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is energy-recuperation system flow chart of the present invention.
Fig. 2 is the hydraulic system principle figure of energy-recuperation system of the present invention.
Fig. 3 is energy-recuperation system theory diagram of the present invention.
【Specific embodiment】
Refer to shown in Fig. 1 to Fig. 3, excavator swing arm potential energy fluid pressure type energy-recuperation system, including a variable displacement motor 8,
Two variable pumps 71,72, accumulator 10, overflow valve 2, check valve 31,32,33, choke valve 51,52,53, reversal valve 9,14,15, first
Pilot valve 131,132, ECU control unit 18, pressure transducer 61,62,63,64, speed probe 4, hydraulic cylinder 11 and fuel tank 1,
Electromotor 16；
Variable displacement motor 8 is co-axially mounted the first variable pump 71 and speed probe 4, and variable displacement motor 8 import and choke valve 52 are gone here and there
Connection, variable displacement motor 8 other end divides two-way to connect choke valve 51 and reversal valve 9 respectively；Choke valve 52 other end connects reversal valve 9,
The upper and lower cavity of two working oil chambers difference connection liquid cylinder pressures 11 of reversal valve 9；Variable pump 71 import is connected with fuel tank 1, other end warp
Point two-way after check valve 31, the first via connects accumulator 10, and the second tunnel connects overflow valve 2；It is co-axially mounted variable pump 72 with electromotor 16,
Variable pump 72 one end connects fuel tank 1, and the other end connects check valve 32, and the outlet of check valve 32 divides two-way, and the first via connects unidirectional
Valve 33, the second tunnel is connected with hydraulic cylinder 11 by reversal valve 14；Check valve 33 import connects choke valve 53, choke valve 53 other end
Connect accumulator 10.The left hydraulic control mouth of reversal valve 14 is connected with pilot valve 131, and right hydraulic control mouth is connected with reversal valve 15 one end, changes
To valve 15 other end connected tank 1 and pilot valve 132 respectively；Pilot valve 131,132 is controlled by control crank 12, is manipulating handss
On handle 12, angular displacement sensor 17 is installed, and angular displacement signal is fed back to ECU control unit 18；Import and export in choke valve 52
Arrangement pressure transducer 62,63, arranges pressure transducer 61 in the outlet of variable displacement motor 8, exports arrangement pressure in accumulator 10
Sensor 64.The pressure signal of pressure transducer 61,62,63,64 feeds back to ECU control unit 18, ECU control unit 18 basis
The signal being gathered, by calculate issue instruction control reversal valve 9, variable displacement motor 8, the first variable pump 71, choke valve 51,52,
53.
The operation principle that this swing arm energy-recuperation system realizes energy-conservation is as follows：
1st, energy-recuperation system is closed
Each solenoid directional control valve or electro-hydraulic reversing valve are in off-position, and energy-recuperation system is inoperative, keep former
There is movable arm loop.
2nd, energy-recuperation system is in opening
(1) transfer
Control crank 12 turn right (control swing arm decentralization) when, identify that swing arm declines by angular displacement sensor 17,
By control crank 12 open degree feedback in ECU controller 18, ECU sends instructions makes valve 9,15 be energized, and cuts off former system after valve 15 energising
System manipulates the pilot pressure oil of valve 14, is in middle position under action of reset spring.The corner in-migration that ECU feeds back according to sensor 17
Control the opening of choke valve 52, ECU is fed back through according to the inlet and outlet pressure of choke valve 52 simultaneously and automatically control energy conversion list
In unit, the discharge capacity of variable pump 71 and variable displacement motor 8 is basically unchanged with the inlet outlet pressure differential realizing choke valve 52, makes hydraulic cylinder cavity of resorption
Output flow only relevant with the opening degree of choke valve 52, and unrelated with the load of frequent fluctuation, realize steady when swing arm declines
Speed controls.It is accumulator 10 topping up by the variable pump 71 in energy conversion unit, realize the recovery of energy；In variable displacement motor 8
Outlet side choke valve 51 and pressure transducer 6.1 are installed, choke valve 51 other end connects fuel tank, by ECU control unit 18
Automatically adjust choke valve 51 aperture, so that variable displacement motor 8 outlet pressure is basicly stable, so that the fluid of hydraulic cylinder 11 epicoele is all come
From in hydraulic cylinder 11 cavity of resorption, realizing flow regeneration, that is, a part of fluid in boom cylinder cavity of resorption passes through valve 52 and motor 8 supplies
To epicoele, a part of oil return returns to fuel tank 1 by choke valve 51.
(2) rise
Control crank 12 turn left (control swing arm rise) when, known by the signal that angular displacement sensor 17 feeds back
Do not go out swing arm rising, ECU control unit sends instructions makes valve 9,15 power-off, adjustment choke valve 5.3 opening is to control its output stream
Amount, accumulator 10 discharges pressure oil liquid, provides extra hydraulic oil for system, accelerates swing arm and rises.
A large amount of movable arm potential energies that the present invention is directed under hydraulic crawler excavator drastic change operating mode are wasted, and are not changing existing excavator
On the basis of hydraulic system and operating characteristics, for its a set of fluid pressure type energy-recuperation system in parallel, release when reclaiming swing arm decentralization
The potential energy going out regenerates with realizing swing arm flow, to improve the oil consumption of hydraulic crawler excavator, reaches energy-saving purpose.
ECU control unit controls hydraulic accumulator charge and discharge liquid respectively by control valve assembly, and boom cylinder stretches, passes through
Pressure transducer in sensor cluster, speed probe and angular displacement sensor gather pressure, rotating speed, angular displacement signal respectively
Come control variable motor-variable pump, control valve assembly；Boom cylinder drives the swing arm of excavator, realizes excavator swing arm gesture
Can recycle；Thus reaching the purpose of energy-conservation.
The present invention adopts fluid pressure type energy regenerating, regenerates with hydraulic accumulator as energy-storage travelling wave tube in conjunction with flow, with variable horse
Reach-variable pump adds the new movable arm potential energy energy-recuperation system of series throttle, when swing arm decentralization is initial for energy conversion unit
Control the speed of swing arm decentralization by throttle grverning, improve its stability；When loading big ups and downs, turned by ECU collection
Fast signal automatically adjusts variable displacement motor-both variable pumps discharge capacity to control rotating speed to make it operate in high efficient district (high efficient district：Control and become
Amount pump and and variable displacement motor certain rotating speed and certain displacement range internal efficiency higher)；Additionally, passing through ECU regulated variable motor-variable
The output torque of pump is the inlet pressure of control variable motor, carries out outlet pressure compensation to institute's series throttle, makes choke valve
Inlet and outlet pressure be held essentially constant, realize swing arm decentralization speed only relevant with choke valve aperture area, that is, guaranteeing
Improve the stability of swing arm decrease speed on the basis of amount organic efficiency.
The foregoing is only the preferable enforcement use-case of the present invention, be not intended to limit protection scope of the present invention.All
Within the spirit and principles in the present invention, any modification, equivalent and improvement of being made etc., should be included in the present invention's
Within protection domain.
Claims (1)
1. a kind of excavator swing arm potential energy fluid pressure type energy-recuperation system it is characterised in that：
Including a variable displacement motor (8), one first variable pump (71), one second variable pump (72), accumulator (10), overflow valve (2),
First check valve (31), the second check valve (32), the 3rd check valve (33), first throttle valve (51), second throttle (52),
Three choke valves (53), the first reversal valve (9), the second reversal valve (14), the 3rd reversal valve (15), the first pilot valve (131), second
Pilot valve (132), ECU control unit (18), first pressure sensor (61), second pressure sensor (62), the 3rd pressure pass
Sensor (63), the 4th pressure transducer (64), speed probe (4), hydraulic cylinder (11), fuel tank (1), electromotor (16)；
Described variable displacement motor (8) is co-axially mounted described first variable pump (71) and described speed probe (4), described variable displacement motor
(8) import is connected with second throttle (52), and described variable displacement motor (8) other end divides two-way to connect first throttle valve (51) respectively
With the first reversal valve (9)；
Described second throttle (52) other end connects the first reversal valve (9), and two working oil chambers of the first reversal valve (9) connect respectively
Connect the upper and lower cavity of described hydraulic cylinder (11)；
The import of described first variable pump (71) is connected with fuel tank (1), and the other end divides two-way, the first via after the first check valve (31)
Connect accumulator (10), the second tunnel connects overflow valve (2) and is connected to fuel tank (1)；
Described electromotor (16) is co-axially mounted the second variable pump (72), and the second variable pump (72) one end connects fuel tank (1), the other end
Connect the second check valve (32), the outlet of the second check valve (32) divides two-way, and the first via connects the 3rd check valve (33), the second tunnel
It is connected with hydraulic cylinder (11) by the second reversal valve (14)；3rd check valve (33) import connection the 3rd choke valve (53), the 3rd
Choke valve (53) other end connects accumulator (10)；
The left hydraulic control mouth of the second reversal valve (14) is connected with the first pilot valve (131), right hydraulic control mouth and the 3rd reversal valve (15)
End is connected, and the 3rd reversal valve (15) other end connects fuel tank (1) and the second pilot valve (132) respectively；
Second pilot valve (131), the second pilot valve (132) pass through a control crank (12) to control, in described control crank
(12) upper installation one angular displacement sensor (17), and angular displacement signal is fed back to ECU control unit (18)；
Arrange pressure second pressure sensor (62), the 3rd pressure transducer (63) in the import and export of second throttle (52),
Outlet arrangement first pressure sensor (61) of variable displacement motor (8), exports arrangement the 4th pressure transducer in accumulator (10)
(64)；
First pressure sensor (61), second pressure sensor (62), the 3rd pressure transducer (63), the 4th pressure transducer
(64) pressure signal feeds back to ECU control unit (18), ECU control unit (18) according to the signal being gathered, by calculating
Send instructions control variable motor (8), the first variable pump (71), the first reversal valve (9), first throttle valve (51), second section respectively
Stream valve (52), the 3rd choke valve (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510049958.4A CN104613055B (en) | 2015-01-30 | 2015-01-30 | Hydraulic type energy recovery system for potential energy of boom of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510049958.4A CN104613055B (en) | 2015-01-30 | 2015-01-30 | Hydraulic type energy recovery system for potential energy of boom of excavator |
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| Publication Number | Publication Date |
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| CN104613055A CN104613055A (en) | 2015-05-13 |
| CN104613055B true CN104613055B (en) | 2017-02-22 |
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| CN201510049958.4A Expired - Fee Related CN104613055B (en) | 2015-01-30 | 2015-01-30 | Hydraulic type energy recovery system for potential energy of boom of excavator |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10174770B2 (en) * | 2015-11-09 | 2019-01-08 | Caterpillar Inc. | System and method of hydraulic energy recovery for machine start-stop and machine ride control |
| CN105465056A (en) * | 2016-01-06 | 2016-04-06 | 张旭蓝 | Hydraulic system for recycling elastic potential energy generated by deformation of test pieces |
| CN105485069B (en) * | 2016-02-16 | 2017-04-12 | 江苏师范大学 | Electric-control hydraulic energy-saving device for load-sensitive ratio control system and working method |
| CN106223393B (en) * | 2016-09-18 | 2019-04-05 | 唐忠盛 | A kind of digitlization electric hydraulic excavating machine |
| CN106286429A (en) * | 2016-10-28 | 2017-01-04 | 山河智能装备股份有限公司 | A kind of can the energy-saving control valve of multi-stage booster |
| CN106594008B (en) * | 2016-12-28 | 2018-07-17 | 徐工集团工程机械有限公司 | conveying control system, method and underground construction machinery |
| CN108678066A (en) * | 2018-06-07 | 2018-10-19 | 马鞍山松鹤信息科技有限公司 | A kind of excavator with accumulator |
| CN108591144B (en) * | 2018-07-02 | 2023-07-25 | 福建工程学院 | Hydraulic system of motor-driven double-dosing pump double-accumulator distributed direct-drive excavator |
| CN111043089B (en) * | 2018-10-11 | 2021-11-30 | 徐州工业职业技术学院 | Movable arm potential energy recycling and reusing system of mechanical hydraulic combined excavator |
| CN111577682B (en) * | 2020-05-19 | 2022-03-04 | 华侨大学 | Two-way speed regulating valve based on variable pressure difference active control |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1089317A (en) * | 1996-09-18 | 1998-04-07 | Sumitomo Constr Mach Co Ltd | Boom lowering reproduction circuit of hydraulic excavator |
| CN201297307Y (en) * | 2008-11-11 | 2009-08-26 | 浙江大学 | Hydraulic motor energy recycling system used as energy accumulator for hybrid electric engineering machinery |
| CN202089726U (en) * | 2010-05-13 | 2011-12-28 | 济南谨恒节能技术有限公司 | Energy-saving walking type hydraulic carrying machine |
| JP5785846B2 (en) * | 2011-10-17 | 2015-09-30 | 株式会社神戸製鋼所 | Hydraulic control device and work machine equipped with the same |
| CN102493517B (en) * | 2011-12-07 | 2013-10-09 | 哈尔滨工业大学 | Slewing system for hybrid hydraulic excavator and driving and braking method for slewing system |
| CN103148031B (en) * | 2013-03-27 | 2015-07-08 | 南京工业大学 | Energy-saving control system of hydraulic movable arm loop |
| CN203498888U (en) * | 2013-08-26 | 2014-03-26 | 中外合资沃得重工（中国）有限公司 | Hydraulic control device capable of recovering boom potential energy of excavator |
| CN204533066U (en) * | 2015-01-30 | 2015-08-05 | 福建工程学院 | A kind of excavator swing arm potential energy hydraulic type energy-recuperation system |
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