CN112096853A - Safety valve mechanism, system and control method for hydraulic automatic gear shifting system - Google Patents
Safety valve mechanism, system and control method for hydraulic automatic gear shifting system Download PDFInfo
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- CN112096853A CN112096853A CN202010956095.XA CN202010956095A CN112096853A CN 112096853 A CN112096853 A CN 112096853A CN 202010956095 A CN202010956095 A CN 202010956095A CN 112096853 A CN112096853 A CN 112096853A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/0003—Arrangement or mounting of elements of the control apparatus, e.g. valve assemblies or snapfittings of valves; Arrangements of the control unit on or in the transmission gearbox
- F16H61/0009—Hydraulic control units for transmission control, e.g. assembly of valve plates or valve units
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1252—Fail safe valves
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a safety valve mechanism, a safety valve system and a control method for a hydraulic automatic gear shifting system, wherein the safety valve mechanism comprises an oil pan, an oil pump, a pressure filtering unit, a safety valve, a proportional electromagnetic valve and an actuator which are sequentially connected; the safety valve adopts an electromagnetic valve, the output end of the pressure filtering unit is connected with the input end of the hydrostatic unit, when the safety valve is closed, the oil inlet oil path of the safety valve is opened, and oil enters the proportional electromagnetic valve from the oil pan through the oil pump, the pressure filtering unit and the oil inlet oil path of the safety valve; when the safety valve is opened, the oil discharge oil way of the safety valve is opened, and oil directly flows into the oil pan through the oil discharge oil way of the safety valve. By controlling the switch of the safety valve, the vehicle can be automatically parked in time when the vehicle breaks down.
Description
Technical Field
The invention belongs to the field of vehicle safety, and relates to a safety valve mechanism, a safety valve system and a safety valve control method for a hydraulic automatic gear shifting system.
Background
At present, a gear shifting system of a domestic tractor mainly comprises a manual gear shifting system or a power gear shifting system, and the gear shifting system is lack of a corresponding protection device. The tractor aims at a large-horsepower mechanical hydraulic power split continuously variable transmission, is high in power and power, has higher requirements on the safe operation of a hydraulic gear shifting system in the processes of starting, running and stopping a vehicle, but in the prior art, the vehicle cannot be automatically parked in time when a fault occurs, and great potential safety hazards exist.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a safety valve mechanism, a safety valve system and a safety valve control method for a hydraulic automatic gear shifting system, wherein the safety valve mechanism, the safety valve system and the safety valve control method can be used for automatically parking a vehicle in time when the vehicle fails by controlling the opening and closing of the safety valve.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a safety valve mechanism for a hydraulic automatic gear shifting system comprises an oil pan, an oil pump, a pressure filtering unit, a safety valve, a proportional electromagnetic valve and an actuator which are sequentially connected;
the safety valve adopts an electromagnetic valve, the output end of the pressure filtering unit is connected with the input end of the hydrostatic unit, when the safety valve is closed, the oil inlet oil path of the safety valve is opened, and oil enters the proportional electromagnetic valve from the oil pan through the oil pump, the pressure filtering unit and the oil inlet oil path of the safety valve; when the safety valve is opened, the oil discharge oil way of the safety valve is opened, and oil directly flows into the oil pan through the oil discharge oil way of the safety valve.
Preferably, a single proportional solenoid valve and an actuator form a group, and a plurality of groups of proportional solenoid valves and actuators are arranged in parallel and connected with the safety valve.
Preferably, a temperature sensor and a pressure sensor are arranged between the safety valve and the proportional solenoid valve.
Preferably, the safety valve adopts a two-position three-way electromagnetic valve.
When the conditions that an engine is started, the vehicle running direction is determined, a clutch pedal is completely released, the pressure value of a hydrostatic unit meets the requirement and the gear is in an unlimited fault condition are met, the safety valve is closed; and if any one condition is not met, the safety valve is opened.
Preferably, the condition is satisfied when the hydrostatic unit pressure value is greater than 15bar, otherwise the condition is not satisfied.
Further, when the pressure value of the hydrostatic unit is less than or equal to 15bar and does not meet the condition, waiting for 0.5s, and if the pressure of the hydrostatic unit is greater than 15bar, meeting the condition, otherwise, not meeting the condition.
Preferably, the gear limit fault includes: the method comprises the following steps of blocking a proportional solenoid valve, clamping stagnation of the proportional solenoid valve, mismatching of actual current of the proportional solenoid valve or a hydrostatic unit and required current, short-circuit of a ground wire or a short-circuit wire of the proportional solenoid valve or the hydrostatic unit, working of friction force when a pressure value of a gear pressure sensor is lower than or higher than a fault range and gear shifting of a clutch gear ring.
Preferably, when all conditions are met, 900mA of current is sent to the safety valve, so that the safety valve is closed.
The safety valve system for the hydraulic automatic gear shifting system based on the control method comprises a safety valve closing logic judgment enabling module, a safety valve closing logic judgment module and a safety valve closing logic judgment module, wherein the safety valve closing logic judgment enabling module is used for receiving a vehicle driving direction signal, a hydrostatic unit pressure signal, an engine starting signal and a clutch pedal signal and sending out a safety valve closing enabling signal when the signals are met simultaneously; the safety valve activation enabling module is used for receiving a clutch pedal signal, a gear limit fault signal and a signal sent by the safety valve closing logic judgment enabling module and sending a safety valve power supply signal and a safety valve state; and the safety valve power supply module is used for receiving a safety valve power supply signal and sending a safety valve power supply current to the safety valve.
Compared with the prior art, the invention has the following beneficial effects:
according to the mechanism, the proportional electromagnetic valve can open or close the oil inlet path of the safety valve and the oil outlet path of the safety valve through the safety valve, when the safety valve is closed, oil enters the proportional electromagnetic valve from the oil pan through the oil pump, the pressure filtering unit and the oil inlet path of the safety valve, a vehicle normally runs, when the safety valve is opened, the oil directly flows into the oil pan through the oil outlet path of the safety valve, the hydraulic supply of a gear clutch can be cut off, the vehicle is automatically parked, and the safety factor of running of the vehicle is greatly improved.
Furthermore, a plurality of groups of proportional solenoid valves and actuators are arranged in parallel and correspond to a plurality of gears of the transmission.
Furthermore, the temperature sensor and the pressure sensor can monitor the pressure and the temperature of oil entering the proportional solenoid valve, and the safety of a vehicle is guaranteed.
The control method of the invention has the advantages that the judgment condition covers all the running conditions of the tractor, including starting, running and stopping. In the whole operation process of the tractor, the hydraulic automatic gear shifting system is protected by controlling the opening and closing of the safety valve, and when the safety valve is opened, the hydraulic supply of the gear clutches in all ranges can be cut off; when the safety valve is closed, the power of the transmission can be automatically restored again, so that the safe operation of the hydraulic automatic gear shifting system is ensured.
The system can judge a plurality of signals, so as to send out corresponding control signals and control the opening and closing of the safety valve to protect the hydraulic automatic gear shifting system.
Drawings
FIG. 1 is a schematic diagram of the mechanism of the present invention;
fig. 2 is a schematic diagram of the system of the present invention.
Wherein: 1-an oil pan; 2-an oil pump; 3-a pressure filtration unit; 4-a hydrostatic unit; 5-safety valve; 6-a pressure sensor; 7-a temperature sensor; 8-proportional solenoid valve; 9-an actuator.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the safety valve mechanism for a hydraulic automatic gear shifting system according to the present invention includes an oil pan 1, an oil pump 2, a pressure filter unit 3, a safety valve 5, a proportional solenoid valve 8, and an actuator 9, which are connected in sequence.
The safety valve 5 adopts a two-position three-way electromagnetic valve, the output end of the pressure filtering unit 3 is connected with the input end of the hydrostatic unit 4, the oil inlet oil path of the safety valve is opened, oil enters the proportional electromagnetic valve 8 from the oil pan 1 through the oil pump 2, the pressure filtering unit 3 and the oil inlet oil path of the safety valve, and the vehicle normally runs; when the safety valve 5 is opened, the oil discharge way of the safety valve is opened, and oil directly flows into the oil pan 1 through the oil discharge way of the safety valve. The hydraulic supply of the gear clutch can be cut off, the vehicle can be automatically parked, and the safety factor of the vehicle running is greatly improved.
When oil passes through the oil pump 2, the oil enters the pressure filtering unit 3, the pressure filtering unit 3 is used for controlling the oil pressure range of the input hydraulic automatic gear shifting system, after the oil passes through the pressure filtering unit 3, one path of the oil enters the safety valve 5, the other path of the oil enters the hydrostatic unit 4, the hydrostatic unit forms a volume speed regulating loop by a fixed-displacement motor and a variable pump, a pressure sensor is arranged on the volume speed regulating loop and used for detecting whether the pressure of the hydrostatic unit is normal, and meanwhile, the pressure value can be used as the oil supply pressure judgment condition for closing the safety valve; (ii) a After the safety valve 5 meets the closing condition, the safety valve 5 is closed, the safety valve oil inlet oil way is opened, oil enters the proportional solenoid valve 8 from the oil pan 1 through the oil pump 2, the pressure filtering unit 3 and the safety valve oil inlet oil way, a pressure sensor 6 and a temperature sensor 7 are installed in front of the proportional solenoid valve 8 oil inlet way and used for detecting the pressure and the temperature of a hydraulic system, and the oil enters the actuator 9 after passing through the proportional solenoid valve 8 and pushes the actuator 9 to engage gears. When the safety valve 5 is opened, the oil discharge way of the safety valve is opened, and oil directly flows into the oil pan 1 through the oil discharge way of the safety valve.
As shown in a dotted line block, multiple sets of proportional solenoid valves 8 and actuators 9 can be arranged according to the gear requirements of the transmission, and the multiple sets of proportional solenoid valves 8 and actuators 9 are arranged in parallel and connected with the safety valve 5.
Fig. 2 is a system diagram of a safety valve control module, which includes an input signal, a safety valve closing logic determination enabling module, a safety valve activation enabling module, a safety valve power supply module, and an output signal. The input signals of the safety valve closing logic judgment enabling module comprise a vehicle driving direction signal, a hydrostatic unit pressure signal, an engine starting signal and a clutch pedal signal, the input signals form three groups of judgment conditions, the signals are output only when the three groups of judgment condition logics and calculation are simultaneously established, and the output signals are safety valve closing enabling signals. The input signals of the safety valve activation enabling module comprise a safety valve closing enabling signal, a clutch pedal signal and a gear limiting fault signal, the input signals are output when logic and operation are simultaneously established, and the output signals comprise a safety valve power supply signal and a safety valve state signal. The input signal of the safety valve power supply module is a safety valve power supply signal, the input signal is used as an enabling signal to select and judge the condition of a power supply mode, and the output signal is the safety valve power supply current.
According to the safety valve control method, when the conditions that an engine is started, the vehicle running direction is determined, a clutch pedal is completely released, the pressure value of a hydrostatic unit 4 meets the requirement and the gear has no limit fault are met, a safety valve 5 is closed, and the vehicle runs normally; if any of the above conditions is not satisfied, the safety valve 5 is opened.
The specific process is as follows: in the safety valve closing logic judgment enabling module, input signals form three groups of judgment conditions.
Before the conditions are judged, the engine must be started, the engine start enabling conditions must be satisfied that the control unit has no RAM error, the safety valve 5 has no electrical error, the range valve has no electrical error, the clutch pedal must be depressed 100% and the vehicle has no set driving direction.
The first condition is as follows: the tractor driving direction is determined, and a safety valve closing pre-enabling signal is sent.
If the engine is started and the driver sets the tractor running direction, such as the forward direction or the reverse direction, and the signal logic value is 1, a safety valve closing pre-enabling signal is sent out, otherwise, the safety valve closing pre-enabling signal is not sent out.
And a second condition: the clutch pedal is completely released, and a safety valve closing pre-enabling signal is sent.
If the logic value of the clutch pedal signal is 1, namely the clutch pedal is completely released, a safety valve closing pre-enabling signal is sent, otherwise, the safety valve closing pre-enabling signal is not sent.
And (3) carrying out a third condition: the system oil supply pressure is satisfied, and a safety valve closing pre-enabling signal is sent.
And the hydrostatic unit pressure signal is used as a safety valve closing pre-enabling signal judgment condition, if the actual pressure value is greater than 15bar and the signal logic value is 1, the safety valve closing pre-enabling signal is sent, otherwise, the safety valve closing pre-enabling signal is not sent. Or the engine is started, the delay time is 0.5s, the oil pressure is greater than 15bar, the signal logic value is 1, the safety valve closing pre-enabling signal is sent out, otherwise, the safety valve closing pre-enabling signal is not sent out. The two enabling conditions are logical or relations.
And if the three groups of judgment condition logics and operations are simultaneously established, sending a safety valve closing enabling signal, otherwise, not sending the safety valve closing enabling signal.
The safety valve closing enabling signal is input into a safety valve activation enabling module, safety valve activation enabling judgment is carried out on the safety valve activation enabling module, the clutch pedal signal and the gear limiting fault signal, when the three signals are subjected to logic AND operation simultaneously, the safety valve activation enabling signal is sent out, otherwise, the safety valve activation enabling signal is not sent out. Wherein the logical value of the clutch pedal signal is 1, and the logical value of the gear limit fault signal is 1, namely the activation condition of the safety valve 5 is met when the system has no fault. The safety valve activation enabling signal, the safety valve 5 opening state delay time and the safety valve 5 closing delay time control the output state of the safety valve 5 together. When a safety valve activation enabling signal is input, the closing delay time of the safety valve 5 is 1.5s, and the closing state of the safety valve 5 is output; when no safety valve activation enabling signal is input, the opening delay time of the safety valve 5 is 1s, and the opening state of the safety valve 5 is output. The delay time of the opening and closing of the safety valve 5 prevents the signal from being detected to fluctuate instantaneously due to the interference of other factors and sends inaccurate information to the control unit.
The gear limit fault signals include: the proportional solenoid valve 8 is blocked and the proportional solenoid valve 8 is blocked; the actual current of the proportional solenoid valve 8 or the hydrostatic unit 4 does not match the required current; the proportional solenoid valve 8 or the hydrostatic unit 4 is short-circuited with a ground wire or a short-circuit wire; the pressure value of the gear pressure sensor is lower than or higher than the fault range; the friction force works when the clutch gear ring shifts.
When the control unit detects that the faults occur, the fault level of the transmission is serious, the transmission can be automatically switched to the neutral gear, the safety valve 5 is opened, and the vehicle is automatically parked.
If the safety valve 5 is blocked, stuck, the actual current is not matched with the required current, and the short-circuit ground wire and the short-circuit wire are in fault, the safety valve 5 is in an open state, and the vehicle is automatically parked.
And the safety valve activation enabling signal is input into the safety valve power supply module to judge the power supply mode, and the output signal is the safety valve power supply current value. If the logical value of the input safety valve activation enabling signal is 1, a 900mA current power supply mode is selected, the safety valve 5 is closed, power is recovered, system oil enters the proportional electromagnetic valve 8 through the safety valve 5, and the oil further pushes the actuator 9 to work; if the logic value of the input safety valve activation enabling signal is 0, a 0mA current power supply mode is selected, the safety valve 5 is opened, the hydraulic supply of the gear clutch in all ranges is cut off, and the gear oil enters the oil pan through the safety valve 5.
In practical application, a high-horsepower tractor is a non-road vehicle, and the embodiment takes the opening and closing of the safety valve 5 of the tractor in the field cultivation process as an example, which is specifically as follows:
in the tractor starting stage, the vehicle system firstly carries out self-checking, when no fault identifier is displayed on an instrument panel, the tractor self-checking is finished, and signals such as an engine enabling starting fault or a gear limiting fault are not generated. Further, a driver starts an engine, the driving direction of the tractor is selected as the advancing direction, at the moment, a transmission control unit judges input signals such as system oil supply pressure of safety valve closing logic, when the conditions are met, a safety valve closing enabling signal is sent, then safety valve activation enabling is carried out, finally a safety valve power supply mode is selected to be a 900mA current power supply mode, the safety valve 5 is closed in a delayed mode for 1.5s, system oil enters a proportional electromagnetic valve 8 through the safety valve 5, and the oil further pushes an actuator 9 to work. In the tractor farming stage, if the pressure value of the gear pressure sensor 6 is lower than or higher than the fault range and other gear limit fault signals occur in the tractor farming process, the closing logic condition of the safety valve 5 is not satisfied, the logic value of the input safety valve activation enabling signal is 0, a 0mA current power supply mode is selected, the transmission can be automatically switched to the neutral gear, the safety valve 5 is started after 1s is delayed, the hydraulic supply of the gear clutches in all ranges can be cut off, gear oil enters an oil pan through the safety valve 5, and the vehicle is automatically parked. In the parking stage of the tractor, if the system of the tractor is normal in the farming process, a driver starts to be in neutral gear for parking, then an engine is turned off and the tractor stops, the oil supply pressure of the system starts to drop along with the slow drop of the rotating speed of the engine, the logic condition of closing of a safety valve 5 is not met after the pressure of the system is lower than 15bar, the logic value of an input safety valve activation enabling signal is 0, a 0mA current power supply mode is selected, the safety valve 5 is started after 1s of delay, the hydraulic supply of the system is cut off, and gear oil enters an oil pan through the safety. The invention aims at the effective control of the safety valve 5 and ensures the safe operation of the hydraulic automatic gear shifting system.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. A safety valve mechanism for a hydraulic automatic gear shifting system is characterized by comprising an oil pan (1), an oil pump (2), a pressure filtering unit (3), a safety valve (5), a proportional electromagnetic valve (8) and an actuator (9) which are sequentially connected;
the safety valve (5) adopts an electromagnetic valve, the output end of the pressure filtering unit (3) is connected with the input end of the hydrostatic unit (4), when the safety valve (5) is closed, the oil inlet oil path of the safety valve is opened, and oil enters the proportional electromagnetic valve (8) from the oil pan (1) through the oil pump (2), the pressure filtering unit (3) and the oil inlet oil path of the safety valve; when the safety valve (5) is opened, the oil discharge oil way of the safety valve is opened, and oil directly flows into the oil pan (1) through the oil discharge oil way of the safety valve.
2. The relief valve mechanism for a hydraulic automatic gear shift system according to claim 1, characterized in that a single proportional solenoid valve (8) and actuator (9) are provided in one set, and a plurality of sets of proportional solenoid valves (8) and actuators (9) are provided in parallel and connected to the relief valve (5).
3. The safety valve mechanism for a hydraulic automatic gear shift system according to claim 1, characterized in that a temperature sensor (7) and a pressure sensor (6) are provided between the safety valve (5) and the proportional solenoid valve (8).
4. The safety valve mechanism for a hydraulic automatic gear shifting system according to claim 1, characterized in that the safety valve (5) employs a two-position three-way solenoid valve.
5. A safety valve control method for a hydraulic automatic gear shift system based on the mechanism of claim 1, characterized in that the safety valve (5) is closed when the conditions of engine started, vehicle driving direction determination, clutch pedal full release and hydrostatic unit (4) pressure value satisfying the requirements are first satisfied, and the condition of gear unlimited failure is satisfied; if any one of the above conditions is not satisfied, the safety valve (5) is opened.
6. The safety valve control method for a hydraulic automatic gear shift system according to claim 5, characterized in that the condition is satisfied when the hydrostatic unit (4) pressure value is greater than 15bar, and the condition is not satisfied otherwise.
7. The safety valve control method for a hydraulic automatic gear shifting system according to claim 6, characterized in that when the hydrostatic unit (4) pressure value is less than or equal to 15bar and does not satisfy the condition, the time delay is waited for 0.5s, if the hydrostatic unit (4) pressure is greater than 15bar, the condition is satisfied, otherwise the condition is not satisfied.
8. The relief valve control method for a hydraulic automatic shift system according to claim 5, wherein the shift limit failure includes: the method comprises the following steps that a proportional solenoid valve (8) is blocked, the proportional solenoid valve (8) is clamped, the actual current of the proportional solenoid valve (8) or a hydrostatic unit (4) is not matched with the required current, the proportional solenoid valve (8) or the hydrostatic unit (4) is in short circuit with a ground wire or a short circuit with a wire, the pressure value of a gear pressure sensor is lower than or higher than a fault range, and friction force does work when a clutch gear ring is shifted.
9. The relief valve control method for a hydraulic automatic shift system according to claim 5, characterized in that when all the conditions are satisfied, 900mA current is issued to the relief valve (5) to close the relief valve (5).
10. A safety valve system for a hydraulic automatic gear shifting system based on the control method of claim 5, characterized by comprising a safety valve closing logic judgment enabling module for receiving a vehicle driving direction signal, a hydrostatic unit pressure signal, an engine starting signal and a clutch pedal signal and sending out a safety valve closing enabling signal when the signals are simultaneously met; the safety valve activation enabling module is used for receiving a clutch pedal signal, a gear limit fault signal and a signal sent by the safety valve closing logic judgment enabling module, and sending a safety valve power supply signal and a safety valve (5) state; and the safety valve power supply module is used for receiving a safety valve power supply signal and sending safety valve power supply current to the safety valve (5).
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| CN202010956095.XA CN112096853B (en) | 2020-09-11 | 2020-09-11 | Safety valve mechanism, system and control method for hydraulic automatic gear shifting system |
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| CN202010956095.XA CN112096853B (en) | 2020-09-11 | 2020-09-11 | Safety valve mechanism, system and control method for hydraulic automatic gear shifting system |
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| CN112096853A true CN112096853A (en) | 2020-12-18 |
| CN112096853B CN112096853B (en) | 2021-11-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115962278A (en) * | 2022-11-28 | 2023-04-14 | 福龙马集团股份有限公司 | Single-engine sanitation vehicle on-load gear shifting buffer device and control method thereof |
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| 李福生; 张庆彬; 韩涛: "变速箱压力控制阀功能及特性浅析", 《液压与气动》 * |
| 王中龙: "变速器"润滑-冷却"***的改进", 《汽车维修》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115962278A (en) * | 2022-11-28 | 2023-04-14 | 福龙马集团股份有限公司 | Single-engine sanitation vehicle on-load gear shifting buffer device and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN112096853B (en) | 2021-11-09 |
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