CN201224674Y - Electric control hydraulic disc type brake device - Google Patents
Electric control hydraulic disc type brake device Download PDFInfo
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- CN201224674Y CN201224674Y CNU2008201087233U CN200820108723U CN201224674Y CN 201224674 Y CN201224674 Y CN 201224674Y CN U2008201087233 U CNU2008201087233 U CN U2008201087233U CN 200820108723 U CN200820108723 U CN 200820108723U CN 201224674 Y CN201224674 Y CN 201224674Y
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- 239000012530 fluid Substances 0.000 claims description 25
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- 239000002828 fuel tank Substances 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 3
- 239000010729 system oil Substances 0.000 claims description 3
- 238000005553 drilling Methods 0.000 abstract description 5
- 239000010720 hydraulic oil Substances 0.000 abstract description 2
- 239000007788 liquid Substances 0.000 abstract 1
- 239000003921 oil Substances 0.000 abstract 1
- 230000005611 electricity Effects 0.000 description 10
- 239000003129 oil well Substances 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
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Abstract
An electric control hydraulic disc type brake device is applied to the winch brake of an oil drilling machine or a workover rig. The hydraulic brake system mainly comprises a brake actuating mechanism, a hydraulic station and an electric operation control unit. Is characterized in that: the hydraulic control system comprises a hydraulic oil tank, two constant-pressure variable pumps, five one-way valves, an overflow valve, eight pressure sensors, four energy accumulators, two electromagnetic directional valves, a hydraulic control one-way valve, two electromagnetic proportional valves, two hydraulic control directional valves, a temperature controller, a heat exchanger, a liquid level controller, two working clamp hydraulic cylinders and a safety clamp hydraulic cylinder. The effect is as follows: the automatic brake during power failure and the self-protection of system faults can be realized, the linkage control with a winch control system can be realized, and the electrical control requirements of the alternating current variable frequency drilling machine and the automatic drilling machine which are being developed can be met. In addition, brake control is accurately realized, and the operation response is more sensitive. The winch motor is prevented from being overheated and burnt out due to sudden braking of the winch.
Description
Technical field
The utility model relates to oil-well rig or service machine winch brake device, particularly a kind of electric-controlled hydraulic disc brake device.
Background technology
The hydraulic disc brake device is the brake gear of a widespread use on construction machinery and equipment, mining machinery, vehicle and aircraft, because the particularity of oil-well rig and service machine working condition of living in, as frequently starting, braking, as the load that brakes is huge etc., the hydraulic disc brake device just was applied on oil-well rig and the service machine in recent years, and demonstrate better action, and made significant headway.As Chinese patent Granted publication number: the CN 2756823Y oil-well rig disc brake device that floats; Granted publication number: CN 2234943Y winch hydraulic disc brake device; Granted publication number: CN 2460393Y disk type brake-automatic bit feed integrated apparatus.
At present, mainly to adopt fluid control with the hydraulic disc brake device be main to oil-well rig.The hydraulic disc brake device is made up of brake actuator, Hydraulic Station and operating console three parts.Control process is: the driller comes the modulated pressure disk type brake by the direct control hydraulic valve piece, the lock torque size the when state of realization " checking " or " unclamping " and brake.The fluid control valve member of hydraulic control disc brake device all is installed in the driller house, so hydraulic power line need introduce driller house, in case have valve member or other hydraulic part to reveal, will make driller house be easy to be polluted; Along with the development of following rig operation automation, existing hydraulic control disc brake device can not be realized the self-actuating brake of hydraulic control operation, can not adapt to and the winch coordinated control on the other hand.
The utility model content
The purpose of this utility model is: a kind of electric-controlled hydraulic disc brake device is provided; the electric-controlled hydraulic disc brake device can be realized outage self-actuating brake, system failure self-protection function; can realize coordinated control with Winch control system, can satisfy the AC frequency conversion rig that developing and the electrical control requirement of automated drilling rig.
The technical solution adopted in the utility model is: the electric-controlled hydraulic disc brake device, mainly form by brake actuator, Hydraulic Station and electric operation control unit three parts.Connect with hydraulic power line between brake actuator and the Hydraulic Station, be connected by control cable between electrically operated control unit and the Hydraulic Station.Hydraulic Station is a propulsion source, for brake actuator provides essential hydraulic power; Brake actuator is the braking operating part, and it is made up of braking clamp, tong holder, brake disc three parts, and wherein braking clamp comprises working clamp open in usual and normally closed safety tongs; The electric operation control unit is the power control link, by the operating valve set in the electric signal modulated pressure station, realizes the action control of brake actuator.It is characterized in that:
The hydraulic control system of electric-controlled hydraulic disc brake device is mainly by hydraulic reservoir (1-1), two constant pressure variable displacement pump (3-1,3-2), five check valve (4-1,4-2,4-3,4-4,4-5), a by pass valve (6-1), eight pressure sensor (7-1,7-2,7-3,7-4,7-5,7-6,7-7,7-8), four energy storage (9-1,9-2,9-3,9-4), two solenoid directional control valve (10-1,10-2), a hydraulic control one-way valve (11-1), two electromagnetic proportional valve (12-1,12-2), two pilot operated directional control valve (13-1,13-2), temperature controller (14-1), heat exchanger (15-1), fluid level controller (17-1), two working clamp fluid cylinder (18-1,18-2) form with safety tongs fluid cylinder (19-1).Its annexation is as follows:
Connect a check valve (4-1,4-2) and a pressure sensor (7-1) on the discharge pipe of A, two constant pressure variable displacement pumps (3-1,3-2) respectively, after check valve, connect a by pass valve (6-1).
Be connected with filter (5-1) on the discharge pipe of B, two check valves (4-1,4-2), filter (5-1) is connected to the inlet of check valve (4-3).The outlet of check valve (4-3) is divided into four road pipelines: one road pipeline connects a pressure sensor (7-2) and two energy storages (9-1,9-2); Another road pipeline connects the P mouth of solenoid directional control valve (10-1); Two-way is connected respectively to the inlet of two check valves (4-4,4-5) in addition in addition.
The outlet of C, check valve (4-4,4-5) respectively is divided into the three-way connection (pipe) line, is respectively: the outlet of check valve (4-4) is connected with the P mouth of pressure sensor (7-3), energy storage (9-3), electromagnetic proportional valve (12-1) and the A mouth of pilot operated directional control valve (13-1); The discharge pipe of check valve (4-5) is connected with the P mouth of pressure sensor (7-4), energy storage (9-4), electromagnetic proportional valve (12-2) and the A mouth of pilot operated directional control valve (13-2).
The A mouth of D, electromagnetic proportional valve (12-1,12-2) is connected respectively to the B mouth of pilot operated directional control valve (13-1,13-2), the T mouth merges the B mouth that is connected to hydraulic control one-way valve (11-1), and the A mouth connected tank (1-1) of hydraulic control one-way valve, a control mouthful X are connected with the B mouth of solenoid directional control valve (10-1).
E, pilot operated directional control valve (13-1,13-2) link to each other with pressure sensor (7-5,7-6) with working clamp fluid cylinder (18-1,18-2) respectively, the T mouth of pilot operated directional control valve (13-1,13-2) merges the back and connects fuel tank (1-1), and the control mouth X of pilot operated directional control valve (13-1,13-2) is connected with the B mouth of solenoid directional control valve (10-1).
The A mouth of F, solenoid directional control valve (10-1) blocks, the B mouth of solenoid directional control valve (10-1) links to each other with the control mouth X of hydraulic control one-way valve and the control mouth X of pilot operated directional control valve (13-1,13-2), also linking to each other of solenoid directional control valve (10-1) with the P mouth of solenoid directional control valve (10-2), and connecting pressure sensor (7-8), the T mouth of solenoid directional control valve (10-1) directly links to each other with fuel tank (1-1); The A mouth of solenoid directional control valve (10-2) blocks, the B mouth attachment security pincers fluid cylinder (19-1) and the pressure sensor (7-7) of solenoid directional control valve (10-2), and the T mouth of solenoid directional control valve (10-2) directly links to each other with fuel tank (1-1).
G, temperature controller (14-1) and fluid level controller (17-1) are fixed on the fuel tank (1-1), and heat exchanger (15-1) is connected on the system oil return pipeline, are connected with return filter (16-1) in the outlet of heat exchanger (15-1).
The principle of work of management system is:
The realization of the service braking of electric-controlled hydraulic disk type brake, braking during standstill, emergency braking and safety protection function be by electric signal control respectively electromagnetic proportional valve 12-1,12-2, solenoid directional control valve 10-1,10-2 the dead electricity situation and electric size of current realizes.Can realize braking during standstill and emergency braking respectively.Two working clamp fluid cylinder 18-1,18-2 are open in usual, increase with operation pressure, and braking force increases, and its operation pressure is exported to electromagnetic proportional valve 12-1,12-2 respectively after being handled through amplifier by electronics brake lever handle output electric signal.Amplifier has measuring ability, and whether normal, can send the safety guard-safeguard order as abnormal signal if can detect input and output signal, realizes emergency braking.Safety tongs fluid cylinder 19-1 is a normally closed, and it " is opened " or " closure " is subjected to the control of solenoid directional control valve 10-1,10-2.Get electric as solenoid directional control valve 10-1 and during solenoid directional control valve 10-2 dead electricity, be the braking during standstill state; When solenoid directional control valve 10-2 gets electric and solenoid directional control valve 10-1 dead electricity or solenoid directional control valve 10-1,10-2 simultaneously during dead electricity, be emergency braking condition.Electric-controlled hydraulic disc brake device design-calculated control principle is the dead electricity brake, and this has guaranteed brake system safety under any circumstance.Hydraulic control one-way valve 11-1 has played the outage pressure holding function.Hydraulic control one-way valve 11-1 has closed the path of electromagnetic proportional valve drain tap T when system's dead electricity, makes working clamp can maintain operation pressure and realizes brake function, has guaranteed safety and the reliability of device under the dead electricity situation.In each critical positions hydraulic pressure sensor 7-1,7-2,7-3,7-4,7-5,7-6,7-7,7-8 have been installed all in the system, pressure sensor arrives control center with detected pressure transmission, control center compares by force value and the amplifier output signal that will record, can judge whether system is working properly, then realize emergency brake immediately as mal.Under the emergency braking situation, have only trouble removal could be removed emergency braking condition.
The beneficial effects of the utility model: the utility model electric-controlled hydraulic disc brake device, can be used for oil-well rig or service machine winch brake, on-site installation is convenient for production, safeguard simple and fast.Can realize outage self-actuating brake, system failure self-protection function, can realize coordinated control, can satisfy the AC frequency conversion rig that developing and the electrical control requirement of automated drilling rig with Winch control system.Owing to can detect more accurate control signal accurately, disposed corresponding processing enter, so the electric-controlled hydraulic disk type brake can realize more accurately that brake is controlled, operant response is sensitiveer.On the other hand, because the operation control housing of electric-controlled hydraulic disc brake device sends signal can for when implementing emergency braking rig control center, rig control center can cut off the power supply winch motor, avoids winch motor because of overheated the burning out of the unexpected brake of winch.In the electric-controlled hydraulic disc brake device, only between Hydraulic Station and actuating unit, hydraulic power line is arranged, directly get final product between Hydraulic Station and the driller house, avoided the possibility of hydraulic oil pollution driller house, simultaneously this mode safety and reliability with cable connection.
Description of drawings
Fig. 1 is the scheme drawing of electric-controlled hydraulic disc brake device.
Fig. 2 is the hydraulic control system constructional drawing of electric-controlled hydraulic disc brake device.
Among the figure, 1. fuel tank, 2. motor, 3. constant pressure variable displacement pump, 4. check valve, 5. fine filter, 6. by pass valve, 7. pressure sensor, 8. compression indicator, 9. energy storage, 10. solenoid directional control valve, 11. hydraulic control one-way valve, 12. electromagnetic proportional valves, 13. pilot operated directional control valves, 14. temperature controller, 15. heat exchangers, 16. return filters, 17. fluid level controller, 18. working clamp fluid cylinders, 19. safety tongs fluid cylinders.
The specific embodiment
Embodiment 1: consult Fig. 1.The utility model electric-controlled hydraulic disc brake device mainly is made up of brake actuator, Hydraulic Station and electric operation control unit three parts.Connect with hydraulic power line between brake actuator and the Hydraulic Station, be connected by control cable between electrically operated control unit and the Hydraulic Station.Hydraulic Station is a propulsion source, for brake actuator provides essential hydraulic power; Brake actuator is the braking operating part, and it is made up of braking clamp, tong holder, brake disc three parts, and wherein braking clamp comprises working clamp open in usual and normally closed safety tongs; The electric operation control unit is the power control link, by the operating valve set in the electric signal modulated pressure station, realizes the action control of brake actuator.
Consult Fig. 2.The hydraulic control system of electric-controlled hydraulic disc brake device adopts two constant pressure variable displacement pump 3-1 that model is A10V, 3-2, five check valve 4-1 that model is 08MK, 4-2,4-3,4-4,4-5, the by pass valve 6-1 that model is DBDS6, eight pressure sensor 7-1,7-2,7-3,7-4,7-5,7-6,7-7,7-8, four energy storage 9-1 that model is NXQ-F6.3/200,9-2,9-3,9-4, two solenoid directional control valve 10-1 that model is AExd4Z60a, 10-2, a hydraulic control one-way valve 11-1, two electromagnetic proportional valve 12-1,12-2, two pilot operated directional control valve 13-1 that model is 3WH6,13-2, temperature controller 14-1, heat exchanger 15-1, fluid level controller 17-1, two working clamp fluid cylinder 18-1,18-2 and safety tongs fluid cylinder 19-1.Its annexation is as follows:
A) connect check valve 4-1, a 4-2 and a pressure sensor 7-1 on the discharge pipe of two constant pressure variable displacement pump 3-1,3-2 respectively, after check valve, connect a by pass valve 6-1.
B) be connected with filter 5-1 on the discharge pipe of two check valve 4-1,4-2, filter 5-1 is connected to the inlet of check valve 4-3.The outlet of check valve 4-3 is divided into four road pipelines: one road pipeline connects a pressure sensor 7-2 and two energy storage 9-1,9-2; Another road pipeline connects the P mouth of solenoid directional control valve 10-1; Two-way is connected respectively to the inlet of two check valve 4-4,4-5 in addition in addition.
C) outlet of check valve 4-4,4-5 respectively is divided into the three-way connection (pipe) line, is respectively: the outlet of check valve 4-4 is connected with the P mouth of pressure sensor 7-3, energy storage 9-3, electromagnetic proportional valve 12-1 and the A mouth of pilot operated directional control valve 13-1; The discharge pipe of check valve 4-5 is connected with the P mouth of pressure sensor 7-4, energy storage 9-4, electromagnetic proportional valve 12-2 and the A mouth of pilot operated directional control valve 13-2.
D) the A mouth of electromagnetic proportional valve 12-1,12-2 is connected respectively to the B mouth of pilot operated directional control valve 13-1,13-2, and the T mouth merges the B mouth that is connected to hydraulic control one-way valve 11-1, and the A mouth connected tank of hydraulic control one-way valve, a control mouthful X are connected with the B mouth of solenoid directional control valve 10-1.
E) pilot operated directional control valve 13-1,13-2 link to each other with pressure sensor 7-5,7-6 with working clamp fluid cylinder 18-1,18-2 respectively, the T mouth of pilot operated directional control valve 13-1,13-2 merges the back and connects fuel tank 1-1, and the control mouth X of pilot operated directional control valve 13-1,13-2 is connected with the B mouth of solenoid directional control valve 10-1.
F) the A mouth of solenoid directional control valve 10-1 blocks, the B mouth of solenoid directional control valve 10-1 links to each other with the control mouth X of hydraulic control one-way valve and the control mouth X of pilot operated directional control valve 13-1,13-2, solenoid directional control valve 10-1 also links to each other with the P mouth of solenoid directional control valve 10-2, and connecting pressure sensor 7-8, the T mouth of solenoid directional control valve 10-1 directly links to each other with fuel tank 1-1; The A mouth of solenoid directional control valve 10-2 blocks, B mouth attachment security pincers fluid cylinder 19-1 and the pressure sensor 7-7 of solenoid directional control valve 10-2, and the T mouth of solenoid directional control valve 10-2 directly links to each other with fuel tank 1-1.
G) temperature controller 14-1 and fluid level controller 17-1 are fixed on the fuel tank 1-1, and heat exchanger 15-1 is connected on the system oil return pipeline, are connected with return filter 16-1 in the outlet of heat exchanger 15-1.
The utility model is successfully tried out on the AC frequency conversion rig ZJ50DB that Lanzhou Lanshi Guomin Oil Well Petroleum Engineering Co., Ltd produces.Three kinds of mode of operations of electric-controlled hydraulic disk type brake are respectively by service braking control handle, braking during standstill switch and the control of emergency braking switch.Normal starter motor, debug system pressure is 10MPa.Solenoid directional control valve is all given electricity (braking during standstill and emergency braking master cock all closed), and the positive pressure of working clamp is controlled by electromagnetic proportional valve, and promptly the disk type brake lock torque is moved angle with the service braking control handle and changed, and device is operated in the service braking state; Solenoid directional control valve 10-2 dead electricity (disconnection of braking during standstill master cock), the safety tongs brake, device is in the braking during standstill state; Solenoid directional control valve 10-1 dead electricity (disconnection of emergency braking master cock), working clamp and safety tongs all brake, and device is in emergency braking condition.
Claims (1)
1, a kind of electric-controlled hydraulic disc brake device, mainly form by brake actuator, Hydraulic Station and electric operation control unit three parts, there is hydraulic power line to connect between brake actuator and the Hydraulic Station, be connected by control cable between electrically operated control unit and the Hydraulic Station, brake actuator is made up of braking clamp, tong holder, brake disc three parts, wherein braking clamp comprises working clamp open in usual and normally closed safety tongs, it is characterized in that:
The hydraulic control system of electric-controlled hydraulic disc brake device is mainly by hydraulic reservoir (1-1), two constant pressure variable displacement pump (3-1,3-2), five check valve (4-1,4-2,4-3,4-4,4-5), a by pass valve (6-1), eight pressure sensor (7-1,7-2,7-3,7-4,7-5,7-6,7-7,7-8), four energy storage (9-1,9-2,9-3,9-4), two solenoid directional control valve (10-1,10-2), a hydraulic control one-way valve (11-1), two electromagnetic proportional valve (12-1,12-2), two pilot operated directional control valve (13-1,13-2), temperature controller (14-1), heat exchanger (15-1), fluid level controller (17-1), two working clamp fluid cylinder (18-1,18-2) form with safety tongs fluid cylinder (19-1), its annexation is as follows:
Connect a check valve (4-1,4-2) and a pressure sensor (7-1) on the discharge pipe of A, two constant pressure variable displacement pumps (3-1,3-2) respectively, after check valve, connect a by pass valve (6-1);
Be connected with filter (5-1) on the discharge pipe of B, two check valves (4-1,4-2), filter (5-1) is connected to the inlet of check valve (4-3), and the outlet of check valve (4-3) is divided into four road pipelines: one road pipeline connects a pressure sensor (7-2) and two energy storages (9-1,9-2); Another road pipeline connects the P mouth of solenoid directional control valve (10-1); Two-way is connected respectively to the inlet of two check valves (4-4,4-5) in addition in addition;
The outlet of C, check valve (4-4,4-5) respectively is divided into the three-way connection (pipe) line, is respectively: the outlet of check valve (4-4) is connected with the P mouth of pressure sensor (7-3), energy storage (9-3), electromagnetic proportional valve (12-1) and the A mouth of pilot operated directional control valve (13-1); The discharge pipe of check valve (4-5) is connected with the P mouth of pressure sensor (7-4), energy storage (9-4), electromagnetic proportional valve (12-2) and the A mouth of pilot operated directional control valve (13-2);
The A mouth of D, electromagnetic proportional valve (12-1,12-2) is connected respectively to the B mouth of pilot operated directional control valve (13-1,13-2), the T mouth merges the B mouth that is connected to hydraulic control one-way valve (11-1), and the A mouth connected tank (1-1) of hydraulic control one-way valve, a control mouthful X are connected with the B mouth of solenoid directional control valve (10-1);
E, pilot operated directional control valve (13-1,13-2) link to each other with pressure sensor (7-5,7-6) with working clamp fluid cylinder (18-1,18-2) respectively, the T mouth of pilot operated directional control valve (13-1,13-2) merges the back and connects fuel tank (1-1), and the control mouth X of pilot operated directional control valve (13-1,13-2) is connected with the B mouth of solenoid directional control valve (10-1);
The A mouth of F, solenoid directional control valve (10-1) blocks, the B mouth of solenoid directional control valve (10-1) links to each other with the control mouth X of hydraulic control one-way valve and the control mouth X of pilot operated directional control valve (13-1,13-2), also linking to each other of solenoid directional control valve (10-1) with the P mouth of solenoid directional control valve (10-2), and connecting pressure sensor (7-8), the T mouth of solenoid directional control valve (10-1) directly links to each other with fuel tank (1-1); The A mouth of solenoid directional control valve (10-2) blocks, the B mouth attachment security pincers fluid cylinder (19-1) and the pressure sensor (7-7) of solenoid directional control valve (10-2), and the T mouth of solenoid directional control valve (10-2) directly links to each other with fuel tank (1-1);
G, temperature controller (14-1) and fluid level controller (17-1) are fixed on the fuel tank (1-1), and heat exchanger (15-1) is connected on the system oil return pipeline.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CNU2008201087233U CN201224674Y (en) | 2008-06-19 | 2008-06-19 | Electric control hydraulic disc type brake device |
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CNU2008201087233U CN201224674Y (en) | 2008-06-19 | 2008-06-19 | Electric control hydraulic disc type brake device |
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CNU2008201087233U Expired - Lifetime CN201224674Y (en) | 2008-06-19 | 2008-06-19 | Electric control hydraulic disc type brake device |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103613035A (en) * | 2013-11-25 | 2014-03-05 | 武汉船用机械有限责任公司 | Winch hydraulic brake system with boosting function |
CN105540472A (en) * | 2016-03-10 | 2016-05-04 | 辽宁石油机械制造有限公司 | Drilling winch disc brake control method and control system |
WO2016146636A1 (en) * | 2015-03-19 | 2016-09-22 | Siemag Tecberg Gmbh | Disk brake apparatus comprising a speed-controlled electric drive |
CN111170190A (en) * | 2020-04-11 | 2020-05-19 | 山东科瑞机械制造有限公司 | Drilling rig winch disc brake integrated control method and device |
CN112013056A (en) * | 2020-08-24 | 2020-12-01 | 天水师范学院 | Novel double-air-cavity disc type brake control system |
-
2008
- 2008-06-19 CN CNU2008201087233U patent/CN201224674Y/en not_active Expired - Lifetime
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103613035A (en) * | 2013-11-25 | 2014-03-05 | 武汉船用机械有限责任公司 | Winch hydraulic brake system with boosting function |
CN103613035B (en) * | 2013-11-25 | 2015-09-23 | 武汉船用机械有限责任公司 | A kind of winch hydraulic brake system with supercharging |
WO2016146636A1 (en) * | 2015-03-19 | 2016-09-22 | Siemag Tecberg Gmbh | Disk brake apparatus comprising a speed-controlled electric drive |
CN105540472A (en) * | 2016-03-10 | 2016-05-04 | 辽宁石油机械制造有限公司 | Drilling winch disc brake control method and control system |
CN111170190A (en) * | 2020-04-11 | 2020-05-19 | 山东科瑞机械制造有限公司 | Drilling rig winch disc brake integrated control method and device |
CN112013056A (en) * | 2020-08-24 | 2020-12-01 | 天水师范学院 | Novel double-air-cavity disc type brake control system |
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Granted publication date: 20090422 |