CN113460541A - Garbage compression vehicle and operation system thereof - Google Patents
Garbage compression vehicle and operation system thereof Download PDFInfo
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- CN113460541A CN113460541A CN202110764491.7A CN202110764491A CN113460541A CN 113460541 A CN113460541 A CN 113460541A CN 202110764491 A CN202110764491 A CN 202110764491A CN 113460541 A CN113460541 A CN 113460541A
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- 230000006835 compression Effects 0.000 title claims abstract description 16
- 238000007906 compression Methods 0.000 title claims abstract description 16
- 230000011664 signaling Effects 0.000 claims abstract description 91
- 238000004891 communication Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 131
- 239000010720 hydraulic oil Substances 0.000 description 37
- 238000010586 diagram Methods 0.000 description 6
- 238000012840 feeding operation Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
- B65F2003/146—Sensors, e.g. pressure sensors
Abstract
The invention discloses a garbage compression truck and an operation system thereof. The operation system realizes the combined operation of feeding and press filling through the one-way sequence valve group and the hydraulic signaling valve group, and can effectively avoid the phenomenon that the sensor fails due to the fact that the working environment is dirty and messy to be covered. In addition, the whole process of the loading and press-filling operation is automatically finished, manual intervention is not needed in the middle, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of garbage disposal equipment, in particular to a garbage compression truck and an operation system thereof.
Background
The operation system of the garbage compression truck mainly executes feeding operation and press-filling operation, wherein the feeding operation is executed by a feeding oil cylinder, and the press-filling operation is executed by linkage of a scraper oil cylinder and a sliding plate oil cylinder. The scraper cylinder and the slide plate cylinder are linked through a position sensor, however, the position sensor and the sensing plate thereof in the prior scraper-slide plate linkage system are installed on the scraper-slide mechanism, the scraper-slide mechanism mainly works in a hopper of a garbage compression truck, the working environment is very dirty, the sensor is easily covered by garbage to fail, and the operation of the scraper-slide mechanism is abnormal, so that the garbage collection and transportation efficiency is seriously affected.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide an operation system, which can prevent a sensor for detecting the working state of a squeegee cylinder from being covered by garbage and becoming invalid, improve the reliability of the operation system in a dirty environment, and ensure that garbage collection and transportation operations are normally performed.
The invention also provides a garbage compression truck based on the operating system.
In order to achieve the purpose, the invention provides the following technical scheme:
an operation system comprises a feeding oil cylinder, a scraper oil cylinder, a sliding plate oil cylinder, a three-position four-way electromagnetic reversing valve, a three-position four-way hydraulic control reversing valve, a first hydraulic signaling valve group, a second hydraulic signaling valve group, a control valve group, a first one-way sequence valve group, a second one-way sequence valve group and a controller,
the first outlet of the three-position four-way electromagnetic reversing valve is communicated with a rod cavity of the feeding oil cylinder, the second outlet of the three-position four-way electromagnetic reversing valve is communicated with a rodless cavity of the feeding oil cylinder, the inlet of the three-position four-way electromagnetic reversing valve is communicated with the inlet of the three-position four-way hydraulic control reversing valve, and the return port of the three-position four-way electromagnetic reversing valve is communicated with the return port of the three-position four-way hydraulic control reversing valve; when the first electromagnet of the three-position four-way electromagnetic reversing valve is electrified, the inlet of the three-position four-way electromagnetic reversing valve is only communicated with the second outlet of the three-position four-way electromagnetic reversing valve, and the return port of the three-position four-way electromagnetic reversing valve is only communicated with the first outlet of the three-position four-way electromagnetic reversing valve; when the second electromagnet of the three-position four-way electromagnetic reversing valve is electrified, the inlet of the three-position four-way electromagnetic reversing valve is only communicated with the first outlet of the three-position four-way electromagnetic reversing valve, and the return port of the three-position four-way electromagnetic reversing valve is only communicated with the second outlet of the three-position four-way electromagnetic reversing valve;
the first outlet of the three-position four-way hydraulic control reversing valve is communicated with a rodless cavity of the scraper oil cylinder, and the second outlet of the three-position four-way hydraulic control reversing valve is communicated with a rod cavity of the scraper oil cylinder; a rod cavity of the sliding plate oil cylinder is communicated with a first outlet of the three-position four-way hydraulic control reversing valve through a first one-way sequence valve group, and a rodless cavity of the sliding plate oil cylinder is communicated with a second outlet of the three-position four-way hydraulic control reversing valve through a second one-way sequence valve group; when the first control port of the three-position four-way hydraulic control reversing valve is communicated, the inlet of the three-position four-way hydraulic control reversing valve is only communicated with the second outlet of the three-position four-way hydraulic control reversing valve, and the return port of the three-position four-way hydraulic control reversing valve is only communicated with the first outlet of the three-position four-way hydraulic control reversing valve; when the second control port of the three-position four-way hydraulic control reversing valve is communicated, the inlet of the three-position four-way hydraulic control reversing valve is only communicated with the first outlet of the three-position four-way hydraulic control reversing valve, and the return port of the three-position four-way hydraulic control reversing valve is only communicated with the second outlet of the three-position four-way hydraulic control reversing valve;
a position sensor is arranged at one end, close to the rod cavity, of the feeding oil cylinder, a first hydraulic signaling valve group is arranged at one end, close to the rodless cavity, of the feeding oil cylinder, an inlet of the first hydraulic signaling valve group is communicated with the rod cavity of the feeding oil cylinder, a control port of the first hydraulic signaling valve group is communicated with the rodless cavity of the feeding oil cylinder, and an outlet of the first hydraulic signaling valve group is communicated with the control valve group; when the rod of the feeding oil cylinder moves to a first preset position, the position sensor triggers and outputs in-place information; when the rod of the feeding oil cylinder moves to a second preset position, the first hydraulic signaling valve group outputs control oil for conducting a first control port of the three-position four-way hydraulic control reversing valve through the control valve group;
a second hydraulic signaling valve group is arranged at one end, close to the rodless cavity, of the sliding plate oil cylinder, the inlet of the second hydraulic signaling valve group is communicated with the rod cavity of the sliding plate oil cylinder, the control port of the second hydraulic signaling valve group is communicated with the rodless cavity of the sliding plate oil cylinder, and the outlet of the second hydraulic signaling valve group is communicated with the control valve group; when the rod of the sliding plate oil cylinder moves to a third preset position, the second hydraulic signaling valve group is triggered and outputs control oil for conducting a second control port of the three-position four-way hydraulic control reversing valve through the control valve group;
the controller receives the operation instruction and then controls the first electromagnet of the three-position four-way electromagnetic reversing valve to be electrified, and the controller receives the in-place information and then controls the second electromagnet of the three-position four-way electromagnetic reversing valve to be electrified.
Preferably, the control valve group comprises a two-position two-way hydraulic control reversing valve, a two-position four-way hydraulic control reversing valve and a shuttle valve, wherein a control port of the two-position two-way hydraulic control reversing valve is communicated with an outlet of the first hydraulic signaling valve group, an inlet of the two-position two-way hydraulic control reversing valve is communicated with an inlet of the three-position four-way electromagnetic reversing valve, an outlet of the two-position two-way hydraulic control reversing valve is communicated with an inlet of the two-position four-way hydraulic control reversing valve, a return port of the two-position four-way hydraulic control reversing valve is communicated with an oil tank, a first outlet of the two-position four-way hydraulic control reversing valve is communicated with a first control port of the three-position four-way hydraulic control reversing valve, a second outlet of the two-position four-way hydraulic control reversing valve is communicated with a second control port of the three-position four-way hydraulic control reversing valve, and a control port of the two-position four-way hydraulic control reversing valve is communicated with an outlet of the shuttle valve; and a first inlet of the shuttle valve is communicated with a second outlet of the three-position four-way hydraulic control reversing valve, and a second inlet of the shuttle valve is communicated with an outlet of the second hydraulic signaling valve group.
Preferably, the first hydraulic signaling valve group comprises a first cartridge valve, a first check valve and a first throttling element, wherein an inlet of the first check valve is used as an inlet of the first hydraulic signaling valve group to be communicated with a rod cavity of the feeding oil cylinder, an outlet of the first check valve is communicated with an inlet of the first cartridge valve, a control port of the first cartridge valve is used as a control port of the first hydraulic signaling valve group to be communicated with a rodless cavity of the feeding oil cylinder, an outlet of the first cartridge valve is used as an outlet of the first hydraulic signaling valve group to be communicated with the control valve group, and the first throttling element is connected between the inlet of the first cartridge valve and the control port of the first cartridge valve in parallel.
Preferably, the second hydraulic signaling valve group comprises a second cartridge valve, a second check valve and a second throttling element, wherein an inlet of the second check valve is communicated with a rod cavity of the sliding plate oil cylinder as an inlet of the second hydraulic signaling valve group, an outlet of the second check valve is communicated with an inlet of the second cartridge valve, a control port of the second cartridge valve is communicated with a rodless cavity of the sliding plate oil cylinder as a control port of the second hydraulic signaling valve group, an outlet of the second cartridge valve is communicated with the control valve group as an outlet of the second hydraulic signaling valve group, and the second throttling element is connected between the inlet of the second cartridge valve and the control port of the second cartridge valve in parallel.
Preferably, the first one-way sequence valve group comprises a first sequence valve and a third one-way valve, an inlet of the first sequence valve is communicated with an outlet of the third one-way valve and is communicated with a first outlet of the three-position four-way hydraulic control reversing valve, and an outlet of the first sequence valve is communicated with an inlet of the third one-way valve and is communicated with a rod cavity of the sliding plate oil cylinder.
Preferably, the second one-way sequence valve group comprises a second sequence valve and a fourth one-way valve, an inlet of the second sequence valve is communicated with an outlet of the fourth one-way valve and is communicated with a second outlet of the three-position four-way hydraulic control reversing valve, and an outlet of the second sequence valve is communicated with an inlet of the third one-way valve and is communicated with the rodless cavity of the sliding plate cylinder.
Preferably, the three-position four-way electromagnetic directional valve further comprises an instruction acquisition module used for acquiring user instructions, the instruction acquisition module is connected with the controller, and the controller can also control the three-position four-way electromagnetic directional valve to be powered on or powered off according to the user instructions acquired by the instruction acquisition module.
A refuse compression vehicle comprising an operating system as claimed in any one of the preceding claims.
When the operation system is used, after receiving an operation instruction, the controller controls the first electromagnet of the three-position four-way electromagnetic directional valve to be electrified, hydraulic oil enters the rodless cavity of the feeding oil cylinder through the three-position four-way electromagnetic directional valve to carry out feeding operation, when the feeding oil cylinder runs to a first preset position, the position sensor is triggered, the second electromagnet of the three-position four-way electromagnetic directional valve is controlled to be electrified, the hydraulic oil enters the rod cavity of the feeding oil cylinder through the three-position four-way electromagnetic directional valve, when the rod of the feeding oil cylinder moves to a second preset position, control oil conducting a first control port of the three-position four-way electromagnetic directional valve is output through the control valve group, the hydraulic oil enters the rodless cavity of the scraper oil cylinder through the three-position four-way electromagnetic directional valve to push the scraper to open, after the scraper is opened to the right position, the scraper oil cylinder starts to be suppressed, when the hydraulic oil pressure reaches the opening pressure of the first one-way valve group in sequence, when the rod of the sliding plate oil cylinder moves to a third preset position, the second hydraulic signaling valve group is triggered and outputs control oil for conducting a second control port of the three-position four-way hydraulic control reversing valve through the control valve group; and hydraulic oil enters a rod cavity of the scraper oil cylinder through the three-position four-way hydraulic control reversing valve to push the scraper to scrape, and after the scraper scrapes in place, the hydraulic oil in the rod cavity of the scraper oil cylinder is suppressed to be higher than the opening pressure of the second one-way sequence valve group, enters a rodless cavity of the slide oil cylinder through the second one-way sequence valve group to push the slide plate to move upwards, so that the whole loading and press-filling operation is completed. Therefore, the operation system realizes the combined operation of feeding and press filling through the one-way sequence valve bank and the hydraulic signaling valve bank, and can effectively avoid the phenomenon that the sensor fails due to the fact that the working environment is dirty and messy to be covered. In addition, the whole process of the loading and press-filling operation is automatically finished, manual intervention is not needed in the middle, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an operating system;
fig. 2-6 are schematic views of the compacting and filling process of the garbage compressing truck;
FIG. 7 is a hydraulic schematic of a work system provided by an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a first one-way valve bank according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a shuttle valve provided in accordance with an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a first differential pressure signaling valve set according to an embodiment of the present invention;
fig. 11 to 13 are diagrams illustrating an operation state of a first pressure difference signaling valve set of an operating system according to an embodiment of the present invention.
The hydraulic control system comprises a feeding oil cylinder 1, a scraper oil cylinder 2, a sliding plate oil cylinder 3, a three-position four-way electromagnetic reversing valve 4, a three-position four-way hydraulic reversing valve 5, a first one-way sequence valve group 6, a second one-way sequence valve group 7, a first hydraulic signaling valve group 8, a second hydraulic signaling valve group 9, a control valve group 10, a position sensor 1-1, a scraper 2-1, a scraper 3-1, a first one-way valve 8-1, a first cartridge valve 8-2, a first throttling element 8-3, a first sequence valve 6-1, a third one-way valve 6-2, a two-position two-way hydraulic control reversing valve 10-1, a two-position four-way hydraulic control reversing valve 10-2 and a shuttle valve 10-3.
Detailed Description
One of the cores of the invention is to provide an operating system, the structural design of which can prevent the sensor for detecting the working state of the scraper cylinder from being covered by garbage to cause failure, improve the reliability of the operating system in a dirty environment and ensure the normal garbage collection and transportation operation.
The other core of the invention is to provide a garbage compression truck based on the operating system.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides an operating system and a garbage compression truck, and before the technical scheme provided by the embodiment of the application is explained, the related technology related to the application is explained.
As shown in figure 1, an operation system mainly executes feeding operation and press-filling operation, wherein the feeding operation is mainly executed by a feeding oil cylinder 1, and the press-filling operation is mainly executed by a scraper oil cylinder 2 and a sliding plate oil cylinder 3, wherein the scraper oil cylinder 2 drives a scraper 2-1 to open or close, the sliding plate oil cylinder 3 drives a sliding plate 3-1 to slide in a hopper, and the press-filling operation is finished according to certain specifications, the sliding plate 3-1 is arranged in the hopper of a garbage compression truck in a sliding manner, the scraper 2-1 is hinged to the sliding plate 3-1, the sliding plate oil cylinder 3 is arranged between the sliding plate 3-1 and the hopper, and the scraper oil cylinder 2 is hinged between the scraper 2-1 and the sliding plate 3-1.
In an initial state, as shown in fig. 2, the sliding plate cylinder 3 and the scraper cylinder 2 are both in an extending state, the scraper 2-1 is in a folding state relative to the sliding plate 3-1, and the scraper 2-1 is matched with the sliding plate 3-1 to separate the hopper;
after a garbage compacting instruction is obtained, as shown in fig. 3, the scraper cylinder 2 retracts, the scraper 2-1 is opened relative to the sliding plate 3-1, preparation for inserting loose garbage is made, when the scraper 2-1 is opened in place relative to the sliding plate 3-1, namely after a detection piece in a linkage system of the scraper sliding plate 3-1 sends an instruction, the sliding plate cylinder 3 retracts, the sliding plate 3-1 is lowered, and the scraper 2-1 is inserted into garbage to be crushed and compressed for the first time, as shown in fig. 4;
and then, the extension of the scraper cylinder 2 can be controlled according to the instruction continuously input by the user or the detection of the sliding plate 3-1 and the sliding plate cylinder 3, so that the scraper 2-1 rotates towards the direction of the garbage can to further compress the garbage, as shown in fig. 5, when the scraper 2-1 rotates in place relative to the sliding plate 3-1, a detection part in a linkage system of the scraper sliding plate 3-1 sends an instruction, the sliding plate cylinder 3 extends, the sliding plate 3-1 moves upwards, and the scraper sliding mechanism returns to the initial position, as shown in fig. 6, the next compression operation is prepared.
In the above description, it is not absolute that the slide 3-1 moves up when the slide cylinder 3 is extended and moves down when the slide cylinder 3 is retracted, and the squeegee 2-1 is in the folded position with respect to the slide 3-1 when the squeegee cylinder 2 is extended and in the open position with respect to the slide 3-1 when the squeegee cylinder 2 is retracted, and in practice, it is possible to reverse the operation of moving the slide 3-1 down when the slide cylinder 3 is extended and moving up when the squeegee cylinder 3 is retracted, or moving the squeegee 2-1 in the open position with respect to the slide 3-1 when the squeegee cylinder 2 is extended and in the folded position with respect to the slide 3-1 when the squeegee cylinder 2 is retracted.
The following describes an operating system provided in an embodiment of the present application.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an operating system according to an embodiment of the present invention.
The operation system provided by the embodiment of the invention comprises a feeding oil cylinder 1, a scraper oil cylinder 2, a sliding plate oil cylinder 3, a three-position four-way electromagnetic reversing valve 4, a three-position four-way hydraulic control reversing valve 5, a first hydraulic signaling valve group 8, a second hydraulic signaling valve group 9, a control valve group 10, a first one-way sequence valve group 6, a second one-way sequence valve group 7 and a controller.
A first outlet A1 of the three-position four-way electromagnetic directional valve 4 is communicated with a rod cavity of the feeding oil cylinder 1, a second outlet B1 of the three-position four-way electromagnetic directional valve 4 is communicated with a rodless cavity of the feeding oil cylinder 1, an inlet P1 of the three-position four-way electromagnetic directional valve 4 is communicated with an inlet P2 of the three-position four-way hydraulic control directional valve 5, and a return port T1 of the three-position four-way electromagnetic directional valve 4 is communicated with a return port T2 of the three-position four-way hydraulic control directional valve 5; when the first electromagnet TD1 of the three-position four-way electromagnetic reversing valve 4 is electrified, the inlet P1 of the three-position four-way electromagnetic reversing valve 4 is only communicated with the second outlet B1 of the three-position four-way electromagnetic reversing valve 4, and the return port T1 of the three-position four-way electromagnetic reversing valve 4 is only communicated with the first outlet A1 of the three-position four-way electromagnetic reversing valve 4; when the second electromagnet TD2 of the three-position four-way electromagnetic directional valve 4 is energized, the inlet P1 of the three-position four-way electromagnetic directional valve 4 is only communicated with the first outlet a1 of the three-position four-way electromagnetic directional valve 4, and the return port T1 of the three-position four-way electromagnetic directional valve 4 is only communicated with the second outlet B1 of the three-position four-way electromagnetic directional valve 4.
A first outlet A2 of the three-position four-way hydraulic control reversing valve 5 is communicated with a rodless cavity of the scraper oil cylinder 2, and a second outlet B2 of the three-position four-way hydraulic control reversing valve 5 is communicated with a rod cavity of the scraper oil cylinder 2; a rod cavity of the sliding plate oil cylinder 3 is communicated with a first outlet A2 of the three-position four-way hydraulic control reversing valve 5 through a first one-way sequence valve group 6, and a rodless cavity of the sliding plate oil cylinder 3 is communicated with a second outlet B2 of the three-position four-way hydraulic control reversing valve 5 through a second one-way sequence valve group 7; when the first control port X1 of the three-position four-way hydraulic control reversing valve 5 is communicated, the inlet P2 of the three-position four-way hydraulic control reversing valve 5 is only communicated with the second outlet B2 of the three-position four-way hydraulic control reversing valve 5, and the return port T2 of the three-position four-way hydraulic control reversing valve 5 is only communicated with the first outlet A2 of the three-position four-way hydraulic control reversing valve 5; when the second control port X2 of the three-position four-way hydraulic control reversing valve 5 is communicated, the inlet P2 of the three-position four-way hydraulic control reversing valve 5 is only communicated with the first outlet A2 of the three-position four-way hydraulic control reversing valve 5, and the return port T2 of the three-position four-way hydraulic control reversing valve 5 is only communicated with the second outlet B2 of the three-position four-way hydraulic control reversing valve 5.
A position sensor 1-1 is arranged at one end, close to a rod cavity, of a feeding oil cylinder 1, a first hydraulic signaling valve group 8 is arranged at one end, close to a rodless cavity, of the feeding oil cylinder 1, an inlet A3 of the first hydraulic signaling valve group 8 is communicated with the rod cavity of the feeding oil cylinder 1, a control port X3 of the first hydraulic signaling valve group 8 is communicated with the rodless cavity of the feeding oil cylinder 1, and an outlet B3 of the first hydraulic signaling valve group 8 is communicated with a control valve group 10; when the rod of the feeding oil cylinder 1 moves to a first preset position, the position sensor 1-1 is triggered and outputs in-place information; when the rod of the feeding oil cylinder 1 moves to a second preset position, the first hydraulic signaling valve group 8 outputs control oil for conducting the first control port X1 of the three-position four-way hydraulic control reversing valve 5 through the control valve group 10.
A second hydraulic signaling valve group 9 is arranged at one end, close to the rodless cavity, of the sliding plate cylinder 3, an inlet A4 of the second hydraulic signaling valve group 9 is communicated with the rod cavity of the sliding plate cylinder 3, a control port X4 of the second hydraulic signaling valve group 9 is communicated with the rodless cavity of the sliding plate cylinder 3, and an outlet B4 of the second hydraulic signaling valve group 9 is communicated with the control valve group 10; when the rod of the slide plate oil cylinder 3 moves to a third preset position, the second hydraulic signaling valve group 9 is triggered and outputs control oil for conducting the second control port X2 of the three-position four-way hydraulic control reversing valve 5 through the control valve group 10.
The controller receives the operation instruction and then controls the first electromagnet TD1 of the three-position four-way electromagnetic reversing valve 4 to be electrified, and the controller receives the in-place information and then controls the second electromagnet TD2 of the three-position four-way electromagnetic reversing valve 4 to be electrified.
When the operation system is used, after receiving an operation instruction, the controller controls the first electromagnet TD1 of the three-position four-way electromagnetic directional valve 4 to be electrified, hydraulic oil enters the rodless cavity of the feeding oil cylinder 1 through the three-position four-way electromagnetic directional valve 4 to carry out feeding operation, when the feeding oil cylinder 1 runs to a first preset position, the position sensor 1-1 is triggered to control the second electromagnet of the three-position four-way electromagnetic directional valve 4 to be electrified, the hydraulic oil enters the rod cavity of the feeding oil cylinder 1 through the three-position four-way electromagnetic directional valve 4, when the rod of the feeding oil cylinder 1 moves to a second preset position, control oil conducting a first control port X1 of the three-position four-way hydraulic control directional valve 5 is output through the control valve group 10, the hydraulic oil enters the rodless cavity of the scraper oil cylinder 2 through the three-position four-way hydraulic control directional valve 5 to push the scraper 2-1 to be opened, and after the scraper 2-1 is opened in place, the scraper oil cylinder 2 starts to suppress pressure, when the pressure of the hydraulic oil reaches the opening pressure of the first one-way sequence valve group 6, the hydraulic oil enters a rod cavity of the sliding plate oil cylinder 3 to push the sliding plate 3-1 to slide downwards, and when a rod of the sliding plate oil cylinder 3 moves to a third preset position, the second hydraulic signaling valve group 9 is triggered and outputs control oil for conducting a second control port X2 of the three-position four-way hydraulic control reversing valve 5 through the control valve group 10; hydraulic oil enters a rod cavity of the scraper oil cylinder 2 through the three-position four-way hydraulic control reversing valve 5 to push the scraper 2-1 to scrape, and after the scraper 2-1 is scraped in place, the hydraulic oil in the rod cavity of the scraper oil cylinder 2 enters a rodless cavity of the sliding plate oil cylinder 3 through the second one-way sequence valve group 7 to push the sliding plate 3-1 to move upwards when the pressure of the hydraulic oil in the rod cavity of the scraper oil cylinder 2 is suppressed to be greater than the opening pressure of the second one-way sequence valve group 7, so that the whole loading and pressure filling operation is completed. Therefore, the operation system realizes the combined operation of feeding and press filling through the one-way sequence valve bank and the hydraulic signaling valve bank, and can effectively avoid the phenomenon that the sensor fails due to the fact that the working environment is dirty and messy to be covered. In addition, the whole process of the loading and press-filling operation is automatically finished, manual intervention is not needed in the middle, and the operation efficiency is improved.
The control valve group 10 in the embodiment of the invention has the function of switching the work stations of the three-position four-way hydraulic control reversing valve 5 by receiving the control oil of the first hydraulic signaling valve group 8 and the control oil of the second hydraulic signaling valve group 9. There are many valve banks capable of controlling the derivation of oil passages, and the valve banks capable of realizing the above functions are within the protection scope of the present invention. In addition, the invention also discloses a control valve group 10, the control valve group 10 can comprise a two-position two-way hydraulic control reversing valve 10-1, a two-position four-way hydraulic control reversing valve 10-2 and a shuttle valve 10-3, wherein a control port X7 of the two-position two-way hydraulic control reversing valve 10-1 is communicated with an outlet B3 of a first hydraulic signaling valve group 8, an inlet P7 of the two-position two-way hydraulic control reversing valve 10-1 is communicated with an inlet P1 of a three-position four-way electromagnetic reversing valve 4, an outlet A7 of the two-position two-way hydraulic control reversing valve 10-1 is communicated with an inlet P8 of the two-position four-way hydraulic control reversing valve 10-2, a return port T8 of the two-position four-way hydraulic control reversing valve 10-2 is communicated with an oil tank, a first outlet A8 of the two-position four-way hydraulic control reversing valve 10-2 is communicated with a first control port X1 of the three-position four-way hydraulic control reversing valve 5, a second outlet B8 of the two-position four-way hydraulic control reversing valve 10-2 is communicated with a second control port X2 of the three-position four-way hydraulic control reversing valve 5, a control port X8 of the two-position four-way hydraulic control reversing valve 10-2 is communicated with an outlet A6 of the shuttle valve 10-3; the first inlet P8 of the shuttle valve 10-3 communicates with the second outlet B2 of the three-position four-way pilot operated directional control valve 5, and the second inlet P10 of the shuttle valve 10-3 communicates with the outlet B4 of the second hydraulic signaling valve group 9.
In some embodiments of the present invention, as shown in fig. 8, the first one-way sequence valve set 6 includes a first sequence valve 6-1 and a third one-way valve 6-2, the inlet of the first sequence valve 6-1 is in communication with the outlet of the third one-way valve 6-2 and with the first outlet a2 of the three-position four-way pilot operated directional control valve 5, and the outlet of the first sequence valve 6-1 is in communication with the inlet of the third one-way valve 6-2 and with the rod chamber of the ram cylinder 3.
In some embodiments of the present invention, the second one-way sequence valve set 7 comprises a second sequence valve and a fourth one-way valve, an inlet of the second sequence valve is communicated with an outlet of the fourth one-way valve and is communicated with the second outlet B2 of the three-position four-way hydraulic control reversing valve 5, and an outlet of the second sequence valve is communicated with an inlet of the third one-way valve 6-2 and is communicated with the rodless cavity of the slide plate cylinder 3.
As shown in fig. 9, the operating principle of the shuttle valve 10-3 is: the first inlet P9 and the second inlet P10 of the shuttle valve 10-3 are not open at any time. When the first inlet P9 is pressurized, the outlet A6 is connected in communication with the first inlet P9 and not in communication with the second inlet P10. When the second inlet P10 is pressurized, the outlet A6 is in communication with the second inlet P10 and not in communication with the first inlet P9.
As shown in fig. 10, the hydraulic signaling valve set and the hydraulic signaling valve set are mainly composed of a cartridge valve, a check valve and a throttling element. Preferably, the first hydraulic signaling valve group 8 comprises a first cartridge valve 8-2, a first check valve 8-1 and a first throttling element 8-3, wherein an inlet of the first check valve 8-1 serves as an inlet A3 of the first hydraulic signaling valve group 8 to be communicated with a rod cavity of the feeding cylinder 1, an outlet of the first check valve 8-1 is communicated with an inlet of the first cartridge valve 8-2, a control port of the first cartridge valve 8-2 serves as a control port X3 of the first hydraulic signaling valve group 8 to be communicated with a rodless cavity of the feeding cylinder 1, an outlet of the first cartridge valve 8-2 serves as an outlet B3 of the first hydraulic signaling valve group 8 to be communicated with the control valve group 10, and the first throttling element 8-3 is connected in parallel between the inlet of the first cartridge valve 8-2 and the control port of the first cartridge valve 8-2.
The working principle of the first differential pressure signaling valve set is as follows:
as shown in fig. 11 to 13, when the rodless cavity is a pressure cavity, the piston is located between the oil ports a and b, the rod cavity and the rodless cavity are separated by the check valve, pressure oil in the rodless cavity is prevented from entering the rod cavity, the pressure oil enters the control cavity of the cartridge valve through the oil port a and acts on the valve core, and enters the working cavity of the cartridge valve after being reduced in pressure by the throttling element and acts on the valve core. When the piston is positioned between the oil ports b and e, pressure oil respectively enters the control cavity and the working cavity of the cartridge valve after passing through the oil ports a and b and acts on the valve core, the pressure acting on the valve core of the control cavity is the same as the pressure acting on the valve core of the working cavity, and the acting area of the valve core of the control cavity is larger than that of the valve core of the working cavity, so that the cartridge valve is closed. When the piston is positioned between the oil ports e and d, pressure oil enters the valve core of the working cavity of the cartridge valve through the oil port e, after the control cavity is communicated with the rod cavity of the scraper oil cylinder 2, the rod cavity is an oil return cavity, the pressure is zero, the pressure acting on the valve core of the working cavity is greater than the pressure acting on the valve core of the control cavity, therefore, the cartridge valve is opened, and the pressure oil enters a control oil way of a hydraulic system through the oil port of the cartridge valve to control the reversing of the hydraulic control reversing valve. When the rod cavity is a pressure cavity, the working principle is the same.
The working principle of the sliding plate cylinder 3 and the second differential pressure signaling valve group thereon is basically the same as that of the feeding cylinder 1 and the differential pressure signaling valve group thereon, in some embodiments of the invention, the second hydraulic signaling valve group 9 comprises a second cartridge valve, a second check valve and a second throttling element, wherein an inlet of the second check valve is used as an inlet of the second hydraulic signaling valve group 9 and communicated with a rod cavity of the sliding plate cylinder 3, an outlet of the second check valve is communicated with an inlet of the second cartridge valve, a control port of the second cartridge valve is used as a control port of the second hydraulic signaling valve group 9 and communicated with a rodless cavity of the sliding plate cylinder 3, an outlet of the second cartridge valve is used as an outlet of the second hydraulic signaling valve group 9 and communicated with a control valve group 10, and the second throttling element is connected in parallel between the inlet of the second cartridge valve and the control port of the second cartridge valve.
The piston rod of the feeding oil cylinder 1 is provided with a sensing sleeve, the cylinder barrel is provided with a sensor, and when the piston rod extends in place, the sensor senses the sensing sleeve and then sends a control signal to the control system.
In some embodiments of the present invention, the operating system further includes an instruction obtaining module for obtaining a user instruction, the instruction obtaining module is connected to the controller, and the controller can also control the three-position four-way electromagnetic directional valve 4 to be powered on or powered off according to the user instruction obtained by the instruction obtaining module. The instruction acquisition module comprises but is not limited to a remote controller, a touch screen, a keyboard, a voice receiving and recognizing device or a combination of at least two of the four.
In some embodiments of the invention, an operation system is specifically disclosed, which comprises a three-position four-way hydraulic control reversing valve 5, a two-position two-way hydraulic control reversing valve 10-1, a three-position four-way electromagnetic reversing valve 4, a two-position four-way hydraulic control reversing valve 10-2, a sequence valve, a scraper oil cylinder 2, a sliding plate oil cylinder 3, a feeding oil cylinder 1, a hydraulic signaling valve group, a one-way valve and a shuttle valve 10-3.
According to the operation system, when the garbage compression truck is used for loading and filling, the first electromagnet of the three-position four-way electromagnetic directional valve 4 is powered on, hydraulic oil enters the rodless cavity of the loading oil cylinder 1 to push the loading mechanism to carry out loading operation, after the sensor senses that the loading oil cylinder 1 extends out of place through the sensing sleeve, in order to ensure that garbage is dumped completely, a control signal is sent to the control system after a second delay, the controller controls the first electromagnet of the three-position four-way electromagnetic directional valve 4 to be powered off and the second electromagnet to be powered on, and the hydraulic oil enters the rod cavity of the loading oil cylinder 1 to push the loading mechanism to return to complete the loading operation.
After the feeding oil cylinder 1 retracts to the right, hydraulic oil in a rod cavity of the feeding oil cylinder 1 enters a control cavity of a two-position two-way hydraulic control reversing valve 10-1 through a first hydraulic signaling valve group 8 to push the two-position two-way hydraulic control reversing valve 10-1 to be switched to a right working position, system hydraulic oil enters a control cavity of a three-position four-way hydraulic control reversing valve 5 through the two-position two-way hydraulic control reversing valve 10-1 and the two-position four-way hydraulic control reversing valve 10-2 to push the three-position four-way hydraulic control reversing valve 5 to be switched to a left working position, and system hydraulic oil enters a rodless cavity of a scraper oil cylinder 2 through the three-position four-way hydraulic control reversing valve 5 to push a scraper 2-1 to be opened. After the scraper 2-1 is opened in place, hydraulic oil in the rodless cavity of the scraper oil cylinder 2 enters the rod cavity of the sliding plate oil cylinder 3 through the sequence valve to push the sliding plate 3-1 to slide downwards when the pressure is suppressed to be greater than the set pressure of the first sequence valve 6-1, and the hydraulic oil in the rodless cavity of the sliding plate oil cylinder 3 returns to the oil tank through the third one-way valve 6-2. After the sliding plate 3-1 slides downwards to the right, hydraulic oil in a rod cavity of the sliding plate oil cylinder 3 enters a control cavity of a two-position four-way hydraulic control reversing valve 10-2 through a second hydraulic signaling valve group 9 and a shuttle valve 10-3 to push the two-position four-way hydraulic control reversing valve 10-2 to be switched to a right working position, system hydraulic oil enters a control cavity of a three-position four-way hydraulic control reversing valve 5 through the two-position four-way hydraulic control reversing valve 10-2 to push the three-position four-way hydraulic control reversing valve 5 to be switched to the right working position, at the moment, the second hydraulic signaling valve group 9 is closed, the system hydraulic oil enters a control cavity of the two-position four-way hydraulic control reversing valve 10-2 through the shuttle valve 10-3 to keep the three-position four-way reversing valve 5 at the right working position, the system hydraulic oil enters a rod cavity of the scraper oil cylinder 2 through the three-position four-way hydraulic control reversing valve 5 to push a scraper 2-1 to be scraped in place, when the pressure of the hydraulic oil in the rod cavity of the scraper oil cylinder 2 is suppressed to be greater than the set pressure of the second sequence valve, the hydraulic oil enters the rodless cavity of the sliding plate oil cylinder 3 through the sequence valve to push the sliding plate 3-1 to move upwards, the hydraulic oil in the rod cavity of the sliding plate oil cylinder 3 returns to the oil tank through the fourth one-way valve, and the sliding plate 3-1 moves upwards to the place to finish the whole loading and pressure filling operation.
The following will further describe the specific working process of the scraper-slide plate 3-1 linkage system provided by the embodiment of the present invention with reference to the accompanying drawings.
When the garbage is pressurized and filled, the second electromagnet of the two-position four-way electromagnetic valve is electrified, the second three-position four-way hydraulic control reversing valve 5 is in the left working position, the sliding plate oil cylinder 3 is not pressed, the cartridge valve of the hydraulic signaling valve group is opened, hydraulic oil in the rodless cavity of the sliding plate oil cylinder 3 enters the left control end of the two-position four-way hydraulic control reversing valve 10-2 through the hydraulic signaling valve group, the two-position four-way hydraulic control reversing valve 10-2 is in the left working position, the hydraulic oil enters the right control end of the first three-position four-way hydraulic control reversing valve 5 through the two-position four-way hydraulic control reversing valve 10-2, the first three-position four-way hydraulic control reversing valve 5 is in the right working position, the scraper oil cylinder 2 retracts, when the hydraulic oil is retracted to the right position, the hydraulic oil enters the right control end of the two-position four-way hydraulic control reversing valve 10-2 through the hydraulic signaling valve group, the two-position four-way hydraulic control reversing valve 10-2 is in the right working position, hydraulic oil enters the right control end of the second three-position four-way hydraulic control reversing valve 5 through the two-position four-way hydraulic control reversing valve 10-2, so that the second three-position four-way hydraulic control reversing valve 5 is switched to a right working position, the sliding plate oil cylinder 3 retracts, when the sliding plate oil cylinder retracts in place, the hydraulic oil enters the right control end of the two-position four-way hydraulic control reversing valve 10-2 through the hydraulic signaling valve group, so that the two-position four-way hydraulic control reversing valve 10-2 is positioned at the right working position, the hydraulic oil enters the left control end of the first three-position four-way hydraulic control reversing valve 5 through the two-position four-way hydraulic control reversing valve 10-2, so that the first three-position four-way hydraulic control reversing valve 5 is switched to a left working position, the scraper oil cylinder 2 extends, when the hydraulic oil extends in place, the hydraulic signaling valve group enters the left control end of the two-position four-way hydraulic control reversing valve 10-2, so that the two-position four-way hydraulic control reversing valve 10-2 is positioned at the left working position, hydraulic oil enters the left control end of the second three-position four-way hydraulic control reversing valve 5 through the two-position four-way hydraulic control reversing valve 10-2, so that the second three-position four-way hydraulic control reversing valve 5 is switched to the left working position, the sliding plate oil cylinder 3 extends out, and garbage compaction is completed when the sliding plate oil cylinder extends out to the right position.
A refuse compression vehicle comprising an operating system as claimed in any one of the preceding claims. Because the above-mentioned operating system has above beneficial effect, including the rubbish compression car of above-mentioned operating system also has corresponding effect, and it is no longer repeated here.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An operation system is characterized by comprising a feeding oil cylinder, a scraper oil cylinder, a sliding plate oil cylinder, a three-position four-way electromagnetic directional valve, a three-position four-way hydraulic control directional valve, a first hydraulic signaling valve group, a second hydraulic signaling valve group, a control valve group, a first one-way sequence valve group, a second one-way sequence valve group and a controller, wherein,
the first outlet of the three-position four-way electromagnetic reversing valve is communicated with a rod cavity of the feeding oil cylinder, the second outlet of the three-position four-way electromagnetic reversing valve is communicated with a rodless cavity of the feeding oil cylinder, the inlet of the three-position four-way electromagnetic reversing valve is communicated with the inlet of the three-position four-way hydraulic control reversing valve, and the return port of the three-position four-way electromagnetic reversing valve is communicated with the return port of the three-position four-way hydraulic control reversing valve; when a first electromagnet of the three-position four-way electromagnetic reversing valve is electrified, an inlet of the three-position four-way electromagnetic reversing valve is only communicated with a second outlet of the three-position four-way electromagnetic reversing valve, and a return port of the three-position four-way electromagnetic reversing valve is only communicated with a first outlet of the three-position four-way electromagnetic reversing valve; when a second electromagnet of the three-position four-way electromagnetic reversing valve is electrified, an inlet of the three-position four-way electromagnetic reversing valve is only communicated with a first outlet of the three-position four-way electromagnetic reversing valve, and a return port of the three-position four-way electromagnetic reversing valve is only communicated with a second outlet of the three-position four-way electromagnetic reversing valve;
a first outlet of the three-position four-way hydraulic control reversing valve is communicated with a rodless cavity of the scraper oil cylinder, and a second outlet of the three-position four-way hydraulic control reversing valve is communicated with a rod cavity of the scraper oil cylinder; a rod cavity of the sliding plate oil cylinder is communicated with a first outlet of the three-position four-way hydraulic control reversing valve through a first one-way sequence valve group, and a rodless cavity of the sliding plate oil cylinder is communicated with a second outlet of the three-position four-way hydraulic control reversing valve through a second one-way sequence valve group; when the first control port of the three-position four-way hydraulic control reversing valve is communicated, the inlet of the three-position four-way hydraulic control reversing valve is only communicated with the second outlet of the three-position four-way hydraulic control reversing valve, and the return port of the three-position four-way hydraulic control reversing valve is only communicated with the first outlet of the three-position four-way hydraulic control reversing valve; when the second control port of the three-position four-way hydraulic control reversing valve is communicated, the inlet of the three-position four-way hydraulic control reversing valve is only communicated with the first outlet of the three-position four-way hydraulic control reversing valve, and the return port of the three-position four-way hydraulic control reversing valve is only communicated with the second outlet of the three-position four-way hydraulic control reversing valve;
a position sensor is arranged at one end, close to the rod cavity, of the feeding oil cylinder, a first hydraulic signaling valve group is arranged at one end, close to the rodless cavity, of the feeding oil cylinder, an inlet of the first hydraulic signaling valve group is communicated with the rod cavity of the feeding oil cylinder, a control port of the first hydraulic signaling valve group is communicated with the rodless cavity of the feeding oil cylinder, and an outlet of the first hydraulic signaling valve group is communicated with the control valve group; when the rod of the feeding oil cylinder moves to a first preset position, the position sensor triggers and outputs in-place information; when the rod of the feeding oil cylinder moves to a second preset position, the first hydraulic signaling valve group outputs control oil for conducting a first control port of the three-position four-way hydraulic control reversing valve through the control valve group;
a second hydraulic signaling valve group is arranged at one end, close to the rodless cavity, of the sliding plate oil cylinder, an inlet of the second hydraulic signaling valve group is communicated with the rod cavity of the sliding plate oil cylinder, a control port of the second hydraulic signaling valve group is communicated with the rodless cavity of the sliding plate oil cylinder, and an outlet of the second hydraulic signaling valve group is communicated with the control valve group; when the rod of the sliding plate oil cylinder moves to a third preset position, the second hydraulic signaling valve group is triggered and outputs control oil for conducting a second control port of the three-position four-way hydraulic control reversing valve through the control valve group;
the controller receives an operation instruction and then controls a first electromagnet of the three-position four-way electromagnetic reversing valve to be electrified, and the controller receives the in-place information and then controls a second electromagnet of the three-position four-way electromagnetic reversing valve to be electrified.
2. The work system of claim 1, wherein said set of pilot valves comprises a two-position two-way pilot operated directional control valve, a two-position four-way pilot operated directional control valve, and a shuttle valve, wherein the inlet of the two-position two-way hydraulic control reversing valve is communicated with the inlet of the three-position four-way electromagnetic reversing valve, the control port of the two-position two-way hydraulic control reversing valve is communicated with the outlet of the first hydraulic signaling valve group, the outlet of the two-position two-way hydraulic control reversing valve is communicated with the inlet of the two-position four-way hydraulic control reversing valve, the return port of the two-position four-way hydraulic control reversing valve is communicated with an oil tank, the first outlet of the two-position four-way hydraulic control reversing valve is communicated with the first control port of the three-position four-way hydraulic control reversing valve, a second outlet of the two-position four-way hydraulic control reversing valve is communicated with a second control port of the three-position four-way hydraulic control reversing valve, and a control port of the two-position four-way hydraulic control reversing valve is communicated with an outlet of the shuttle valve; and a first inlet of the shuttle valve is communicated with a second outlet of the three-position four-way hydraulic control reversing valve, and a second inlet of the shuttle valve is communicated with an outlet of the second hydraulic signaling valve group.
3. The work system of claim 2, wherein said first hydraulic signaling valve bank includes a first cartridge valve, a first check valve, and a first throttling element, wherein an inlet of said first check valve communicates with the rod chamber of said loading cylinder as an inlet of said first hydraulic signaling valve bank, an outlet of said first check valve communicates with an inlet of said first cartridge valve, a control port of said first cartridge valve communicates with the rodless chamber of said loading cylinder as a control port of said first hydraulic signaling valve bank, an outlet of said first cartridge valve communicates with said control valve bank as an outlet of said first hydraulic signaling valve bank, and said first throttling element is connected in parallel between the inlet of said first cartridge valve and the control port of said first cartridge valve.
4. The work system of claim 3, wherein the second hydraulic signaling valve bank comprises a second cartridge valve, a second check valve, and a second restriction, wherein an inlet of the second check valve communicates with the rod chamber of the ram cylinder as an inlet of the second hydraulic signaling valve bank, an outlet of the second check valve communicates with the inlet of the second cartridge valve as a control port of the second cartridge valve, the rodless chamber of the ram cylinder as a control port of the second hydraulic signaling valve bank, the outlet of the second cartridge valve communicates with the control valve bank as an outlet of the second hydraulic signaling valve bank, and the second restriction is connected in parallel between the inlet of the second cartridge valve and the control port of the second cartridge valve.
5. The work system of claim 4, wherein said first one-way sequence valve set includes a first sequence valve and a third one-way valve, an inlet of said first sequence valve being in communication with an outlet of said third one-way valve and with a first outlet of said three-position, four-way, hydraulically controlled reversing valve, and an outlet of said first sequence valve being in communication with an inlet of said third one-way valve and with a rod chamber of said ram cylinder.
6. The work system of claim 5, wherein said second one-way sequence valve set includes a second sequence valve having an inlet in communication with said fourth one-way valve outlet and with said second outlet of said three-position, four-way pilot operated directional control valve, and a fourth one-way valve having an outlet in communication with said inlet of said third one-way valve and with said rodless chamber of said skid plate cylinder.
7. The operating system according to claim 1, further comprising a command acquisition module for acquiring a user command, wherein the command acquisition module is connected to the controller, and the controller is further configured to control the three-position four-way electromagnetic directional valve to be powered on or powered off according to the user command acquired by the command acquisition module.
8. A refuse compression vehicle comprising a working system according to any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114718935A (en) * | 2022-04-26 | 2022-07-08 | 上海犀重新能源汽车有限公司 | Electro-hydraulic control system, control method and garbage truck |
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