WO2013123792A1 - Hydraulic control system and excavator - Google Patents

Hydraulic control system and excavator Download PDF

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Publication number
WO2013123792A1
WO2013123792A1 PCT/CN2012/085797 CN2012085797W WO2013123792A1 WO 2013123792 A1 WO2013123792 A1 WO 2013123792A1 CN 2012085797 W CN2012085797 W CN 2012085797W WO 2013123792 A1 WO2013123792 A1 WO 2013123792A1
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WO
WIPO (PCT)
Prior art keywords
valve
hydraulic
control system
reversing valve
oil passage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2012/085797
Other languages
French (fr)
Chinese (zh)
Inventor
曹东辉
陈克雷
张宏柱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Sany Intelligent Control Equipment Co Ltd
Shanghai Sany Heavy Machinery Co Ltd
Original Assignee
Hunan Sany Intelligent Control Equipment Co Ltd
Shanghai Sany Heavy Machinery Co Ltd
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Filing date
Publication date
Application filed by Hunan Sany Intelligent Control Equipment Co Ltd, Shanghai Sany Heavy Machinery Co Ltd filed Critical Hunan Sany Intelligent Control Equipment Co Ltd
Publication of WO2013123792A1 publication Critical patent/WO2013123792A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action ; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action ; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle

Definitions

  • the present invention relates to hydraulic control technology, and in particular to a hydraulic control system, and to an excavator including the hydraulic control system. Background technique
  • the multi-way valve is an important part of the hydraulic system of the excavator and is the main part of the hydraulic system of the excavator.
  • the multi-way valve determines the fuel supply route and fuel supply mode of the hydraulic pump to each actuator, the flow distribution when multiple actuators operate simultaneously, and how to realize the compound action, which determines the operating characteristics of the excavator during operation. Its emergence has made the multi-actuator hydraulic system compact and the tubing is single.
  • the load sensing technology can automatically transmit the load pressure and flow information to the variable control mechanism of the sensitive control valve or the hydraulic pump through the signal processing of the controller, and then perform the flow control system or the hydraulic pump variable mechanism according to the load pressure and flow information. Proper adjustment allows the hydraulic pump to supply only the hydraulic oil of the required pressure and flow to the load, thereby reducing the loss of pressure and flow.
  • negative flow control hydraulic systems and positive flow control hydraulic systems have been widely used in digging.
  • the excavator is on.
  • the displacement of the hydraulic pump is reduced by the negative flow rate as the pilot pressure signal increases, and vice versa.
  • the negative flow control system is designed to eliminate the throttling loss caused by the three-position six-way reversing valve, and a flow detecting device is provided on the neutral returning oil path of the three-position six-way reversing valve, and the flow signal is obtained;
  • the signal controls the hydraulic pump displacement.
  • the positive flow control system uses the pilot pressure of the joystick to directly control the hydraulic pump displacement.
  • the multi-way valve of the prior art hydraulic excavator is basically a three-position six-way reversing valve structure, and the inlet and outlet port control is realized by a single valve core, and the corresponding relationship between the inlet and outlet ports is designed and processed in the valve core. It has already been determined. In practical applications, it is impossible to control the relationship between the spool displacement and the opening area according to the actual working conditions, so that the flow or pressure through the inlet and outlet ports cannot be independently adjusted; thus, the spool is in the neutral state. When the hydraulic oil returns to the tank through the center of the spool, it also inevitably causes throttling loss, resulting in more energy consumption.
  • the object of the present invention is to solve the problem that the structure of the three-position six-way reversing valve in the prior art cannot control the relationship between the displacement of the spool and the opening area according to the actual working condition, and reduce unnecessary energy consumption.
  • the invention discloses a hydraulic control system, which comprises a hydraulic actuator.
  • One chamber of the hydraulic actuator is connected to the first oil passage, and the other chamber is connected to the second oil passage.
  • the hydraulic actuator may specifically be a cylinder, and the small chamber is connected to the first oil. Road, the large cavity is connected to the second oil circuit, where:
  • the first oil passage is connected to the first valve, and the valve core of the first valve is controlled by the first electromagnetic proportional valve group to realize switching of the first oil passage and the hydraulic pump or the return tank;
  • the second oil passage is connected to the second valve, and the valve core of the second valve is controlled by the second electromagnetic proportional valve group to realize switching of the second oil passage and the hydraulic pump or the return tank;
  • a third valve is disposed between the hydraulic pump and the return tank, and a spool of the third valve is configured by a third The magnetic proportional valve group is controlled, the third valve is configured to control conduction between the hydraulic pump and the return tank; and further comprising:
  • a controller connecting the first electromagnetic proportional valve group, the second electromagnetic proportional valve group, and the third electromagnetic proportional valve group;
  • a hydraulic pump displacement control valve is coupled to the controller, and the hydraulic pump displacement control valve is configured to adjust a hydraulic pump displacement.
  • the first valve is a three-position three-way reversing valve.
  • the second valve is a three-position three-way reversing valve.
  • the controller is provided with a control handle.
  • a first pressure sensor is disposed in the first oil passage, the first pressure sensor is configured to detect a first oil circuit oil return pressure, and feed back a pressure signal to the controller;
  • a second pressure sensor is disposed on the second oil passage, and the second pressure sensor is configured to detect a second oil passage return pressure and feed back a pressure signal to the controller.
  • the above hydraulic control system further includes a pressure relief valve that connects the oil outlet of the hydraulic pump.
  • the present invention provides an excavator provided with any of the above-described hydraulic control systems, and the excavator may be a crawler type excavator.
  • the invention adopts a double valve core structure with one reversing valve to enter the oil and another reversing valve to return the oil, and independently controls the oil inlet valve core and the oil return valve core of the actuator, thereby enhancing the flexibility of the control function;
  • the bypass proportional valve unloads the spool return oil and reduces the hydraulic oil throttling loss. By monitoring the pressure of the return passage, the return pressure is reduced to a minimum, which reduces the system energy loss.
  • FIG. 1 is a schematic diagram showing the principle of a hydraulic control system for a multi-way valve of a crawler excavator according to an embodiment of the present invention.
  • DETAILED DESCRIPTION OF THE INVENTION The present invention will be further described in detail below in conjunction with the drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.
  • the hydraulic control system includes a cylinder 1 having a small chamber (a hydraulic chamber) connected to the first oil passage 11 and a large chamber (the other hydraulic chamber) connected to the second oil passage 12, wherein: the first oil passage 11 is connected to the first The reversing valve 2; the spool of the first reversing valve 2 is controlled by the first electromagnetic proportional valve group (not labeled in FIG.
  • the second oil passage 12 is connected to the second reversing valve 3; the spool of the second reversing valve 3 is controlled by the second electromagnetic proportional valve group (not labeled in FIG. 1) to realize the conduction of the second oil passage 12 and the hydraulic pump p or Switching of the return tank 22; a third reversing valve 4 is disposed between the hydraulic pump p and the return tank 22, and the spool of the third reversing valve 4 is controlled by a third electromagnetic proportional valve group (not labeled in FIG.
  • the first electromagnetic proportional valve group includes two electromagnetic proportional valves (not labeled in FIG.
  • the second electromagnetic proportional valve group includes two electromagnetic The proportional valve is connected to the pilot valve A3 and the pilot valve A4 of the second reversing valve 3, respectively;
  • the third electromagnetic proportional valve group includes an electromagnetic proportional valve that is connected to the pilot valve A5 of the third reversing valve 4.
  • the electromagnetic proportional valve outputs a secondary pilot pressure according to the current signal of the controller k; the secondary pilot pressure controls the closing of the third switching valve 4 on the one hand, and controls the first switching valve 2 and the second switching on the other hand respectively.
  • the displacement of the spool to the valve 3; at the same time, the controller k also jointly adjusts the displacement of the hydraulic pump to finally control the flow of hydraulic oil to the actuator.
  • the first reversing valve 2 is a three-position three-way reversing valve.
  • the second reversing valve 3 is a three-position three-way reversing valve.
  • Two independent three-position three-way reversing valves have a more flexible control than the three-position six-way reversing valve used in the prior art; at the same time, the spool length is reduced by half.
  • the third reversing valve 4 is a bypass proportional valve.
  • the controller k is provided with a control handle 100; when the control handle 100 is operated, a voltage signal can be sent to the controller k, and the controller k performs a logic calculation on the received voltage signal to the connected electromagnetic ratio.
  • the valve emits a current signal of a certain size.
  • the crawler excavator multi-way valve hydraulic control system provided by the embodiment of the present invention further includes: a first pressure sensor pi disposed on the first oil passage 11; and a first pressure sensor pi for detecting the first
  • the oil return pressure of the oil passage 11 is fed back to the controller k, that is, the first pressure sensor P1 is connected to the controller K
  • the second pressure sensor p2 is disposed on the second oil passage 12
  • the second pressure sensor P2 is used for detecting the oil return pressure of the second oil passage 12, and feeding back the pressure signal to the controller k, that is, the second pressure sensor P2 is connected to the controller K
  • the above pressure signal is logically calculated by the controller k, and Adjusting the opening of the first reversing valve 2 and the second reversing valve 3, so that the actuator can maximize the spool opening without reducing the air pressure, and reduce the oil return pressure. Force, thereby reducing pressure loss and reducing energy consumption.
  • the embodiment of the present invention may further include a pressure relief valve 5 connected to the oil outlet of the hydraulic pump p.
  • the present invention also provides an excavator provided with any of the above hydraulic control systems, and the excavator may be a crawler excavator.
  • the hydraulic control system provided by the invention adopts a reversing valve to enter the oil, and the other reversing valve returns the oil to the double valve core structure, and independently controls the oil inlet valve core and the oil return valve core of the actuator, and enhances the control function.
  • the flexibility reduces hydraulic oil throttling losses. Therefore, the present invention has industrial applicability.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Description

一种 控制系统及挖掘机 本申请要求于 2012 年 02 月 23 日提交中国专利局、 申请号为 201210041773.5、发明名称为"一种履带式挖掘机多路阀液压控制系统"的中 国专利申请的优先权， 其全部内容通过引用结合在本申请。 技术领域  A control system and excavator This application claims to be submitted to the Chinese Patent Office on February 23, 2012, the application number is 201210041773.5, and the invention titled "a crawler excavator multi-way valve hydraulic control system" is preferred. The entire contents of this application are hereby incorporated by reference. Technical field

本发明涉及液压控制技术， 具体地， 涉及一种液压控制系统， 还涉及 一种包括该液压控制系统的挖掘机。 背景技术  The present invention relates to hydraulic control technology, and in particular to a hydraulic control system, and to an excavator including the hydraulic control system. Background technique

多路阀是挖掘机液压系统的重要部件， 是组成挖掘机液压系统的主要 部分。 多路阀确定了液压泵向各执行元件的供油路线和供油方式、 多执行 元件同时动作时的流量分配及如何实现复合动作， 决定了挖掘机作业时的 动作特性。 它的出现使多执行机构液压系统变得结构紧凑， 管路筒单。  The multi-way valve is an important part of the hydraulic system of the excavator and is the main part of the hydraulic system of the excavator. The multi-way valve determines the fuel supply route and fuel supply mode of the hydraulic pump to each actuator, the flow distribution when multiple actuators operate simultaneously, and how to realize the compound action, which determines the operating characteristics of the excavator during operation. Its emergence has made the multi-actuator hydraulic system compact and the tubing is single.

90年代以前， 世界各国工程机械厂家一直致力于中位开式多路阀液压 系统研究， 并使用一个三位六通换向阀的两个台阶同时对进油油路和回油 油路进行节流调速。 其调速功能是通过阀芯节流， 控制去油缸和回油箱的 开口量来实现的。 由于该多路阀是靠回油节流建立的压力来克服负载压力， 因此其调速特性受负载压力和液压泵流量的影响很大。 进入 90年代及 90 年代以来， 负载传感技术在挖掘机上的应用越来越多。 负载传感技术能够 经过控制器的信号处理自动地将负载压力和流量信息传递给敏感控制阀或 液压泵的变量机构， 进而再根据该负载压力和流量信息对流量控制系统或 液压泵变量机构进行适当调节， 使液压泵仅向负载提供所需要压力和流量 的液压油， 从而减少了压力和流量的损失。  Before the 1990s, construction machinery manufacturers all over the world have been working on the research of the hydraulic system of the medium-open multi-way valve, and using two steps of a three-position six-way reversing valve to simultaneously carry out the section on the oil inlet and return oil passages. Flow speed regulation. The speed control function is realized by throttle throttling and controlling the opening amount of the de-oiling cylinder and the returning oil tank. Since the multi-way valve overcomes the load pressure by the pressure established by the oil return throttle, its speed regulation characteristics are greatly affected by the load pressure and the hydraulic pump flow. Since the 1990s and 1990s, load sensing technology has been used more and more on excavators. The load sensing technology can automatically transmit the load pressure and flow information to the variable control mechanism of the sensitive control valve or the hydraulic pump through the signal processing of the controller, and then perform the flow control system or the hydraulic pump variable mechanism according to the load pressure and flow information. Proper adjustment allows the hydraulic pump to supply only the hydraulic oil of the required pressure and flow to the load, thereby reducing the loss of pressure and flow.

现在， 负流量控制液压系统及正流量控制液压系统已经广泛应用在挖 掘机上了。 液压泵的排量随着先导压力信号增大而减小的叫负流量控制， 反之就是正流量控制。 负流量控制系统是为了消除采用三位六通换向阀时 产生的节流损失， 在三位六通换向阀的中位回油路上设置流量检测装置， 并获得流量信号； 再利用这一信号对液压泵排量进行控制。 正流量控制系 统是利用操纵手柄的先导压力对液压泵排量直接控制。 Now, negative flow control hydraulic systems and positive flow control hydraulic systems have been widely used in digging. The excavator is on. The displacement of the hydraulic pump is reduced by the negative flow rate as the pilot pressure signal increases, and vice versa. The negative flow control system is designed to eliminate the throttling loss caused by the three-position six-way reversing valve, and a flow detecting device is provided on the neutral returning oil path of the three-position six-way reversing valve, and the flow signal is obtained; The signal controls the hydraulic pump displacement. The positive flow control system uses the pilot pressure of the joystick to directly control the hydraulic pump displacement.

现有技术的液压挖掘机的多路阀基本上都是三位六通换向阀结构， 其 进出油口控制是通过一根阀芯来实现， 进出油口的开口对应关系在阀芯设 计加工时就已经确定。 在实际应用中， 就无法根据实际工况的需求对阀芯 位移与开口面积的关系进行控制， 进而使得通过进出油口的流量或压力不 能独立的进行调节； 这样， 在阀芯处于中位状态时， 液压油通过阀芯中位 回到油箱， 也必然产生节流损失， 导致了较多的能量消耗。  The multi-way valve of the prior art hydraulic excavator is basically a three-position six-way reversing valve structure, and the inlet and outlet port control is realized by a single valve core, and the corresponding relationship between the inlet and outlet ports is designed and processed in the valve core. It has already been determined. In practical applications, it is impossible to control the relationship between the spool displacement and the opening area according to the actual working conditions, so that the flow or pressure through the inlet and outlet ports cannot be independently adjusted; thus, the spool is in the neutral state. When the hydraulic oil returns to the tank through the center of the spool, it also inevitably causes throttling loss, resulting in more energy consumption.

因此， 提供一种能够独立调节通过进出油口的流量、 并减少能量消耗 的液压控制系统就显得尤为重要了。 发明内容  Therefore, it is particularly important to provide a hydraulic control system that can independently adjust the flow rate through the inlet and outlet ports and reduce energy consumption. Summary of the invention

本发明的目的是解决现有技术中的三位六通换向阀结构无法根据实际 工况的需求对阀芯位移与开口面积的关系进行控制的不足， 减少不必要的 能量消耗。  The object of the present invention is to solve the problem that the structure of the three-position six-way reversing valve in the prior art cannot control the relationship between the displacement of the spool and the opening area according to the actual working condition, and reduce unnecessary energy consumption.

本发明公开一种液压控制系统， 包括液压执行元件， 液压执行元件的 一个腔连接第一油路， 另一个腔连接第二油路； 液压执行元件具体可以是 油缸， 其小腔连接第一油路， 大腔连接第二油路， 其中：  The invention discloses a hydraulic control system, which comprises a hydraulic actuator. One chamber of the hydraulic actuator is connected to the first oil passage, and the other chamber is connected to the second oil passage. The hydraulic actuator may specifically be a cylinder, and the small chamber is connected to the first oil. Road, the large cavity is connected to the second oil circuit, where:

所述第一油路连接第一阀， 所述第一阀的阀芯由第一电磁比例阀组控 制， 实现导通所述第一油路与液压泵或回油箱的切换；  The first oil passage is connected to the first valve, and the valve core of the first valve is controlled by the first electromagnetic proportional valve group to realize switching of the first oil passage and the hydraulic pump or the return tank;

所述第二油路连接第二阀， 所述第二阀的阀芯由第二电磁比例阀组控 制， 实现导通所述第二油路与液压泵或回油箱的切换；  The second oil passage is connected to the second valve, and the valve core of the second valve is controlled by the second electromagnetic proportional valve group to realize switching of the second oil passage and the hydraulic pump or the return tank;

所述液压泵与回油箱之间设置有第三阀， 所述第三阀的阀芯由第三电 磁比例阀组控制， 所述第三阀配置为控制所述液压泵与回油箱之间的导通； 还包括： a third valve is disposed between the hydraulic pump and the return tank, and a spool of the third valve is configured by a third The magnetic proportional valve group is controlled, the third valve is configured to control conduction between the hydraulic pump and the return tank; and further comprising:

控制器， 连接所述第一电磁比例阀组、 第二电磁比例阀组、 第三电磁 比例阀组；  a controller, connecting the first electromagnetic proportional valve group, the second electromagnetic proportional valve group, and the third electromagnetic proportional valve group;

液压泵排量控制阀， 连接所述控制器， 所述液压泵排量控制阀配置为 调节液压泵排量。  A hydraulic pump displacement control valve is coupled to the controller, and the hydraulic pump displacement control valve is configured to adjust a hydraulic pump displacement.

上述的液压控制系统， 其中， 所述第一阀为三位三通换向阀。  In the above hydraulic control system, the first valve is a three-position three-way reversing valve.

上述的液压控制系统， 其中， 所述第二阀为三位三通换向阀。  In the above hydraulic control system, the second valve is a three-position three-way reversing valve.

上述的液压控制系统， 其中， 所述第三阀为旁通比例阀。  In the above hydraulic control system, wherein the third valve is a bypass proportional valve.

上述的液压控制系统， 其中， 所述控制器上设置有控制手柄。  In the above hydraulic control system, the controller is provided with a control handle.

上述的液压控制系统， 其中， 还包括：  The above hydraulic control system, wherein:

第一压力传感器， 设置于所述第一油路， 所述第一压力传感器配置为 检测第一油路回油压力， 并将压力信号反馈至所述控制器；  a first pressure sensor is disposed in the first oil passage, the first pressure sensor is configured to detect a first oil circuit oil return pressure, and feed back a pressure signal to the controller;

第二压力传感器， 设置于所述第二油路， 所述第二压力传感器配置为 检测第二油路回油压力， 并将压力信号反馈至所述控制器。  A second pressure sensor is disposed on the second oil passage, and the second pressure sensor is configured to detect a second oil passage return pressure and feed back a pressure signal to the controller.

上述的液压控制系统， 其中， 还包括卸压阀， 连接所述液压泵的出油 口。  The above hydraulic control system further includes a pressure relief valve that connects the oil outlet of the hydraulic pump.

另外， 本发明还提供一种挖掘机， 该挖掘机设置有上述任一种液压控 制系统， 挖掘机可以是履带式挖掘机。  Further, the present invention provides an excavator provided with any of the above-described hydraulic control systems, and the excavator may be a crawler type excavator.

本发明通过采用一个换向阀进油， 另一个换向阀回油的双阀芯结构， 对执行元件的进油阀芯、 回油阀芯独立控制， 增强了控制功能的灵活性； 通过采用旁通比例阀对阀芯中位回油进行卸荷， 减少了液压油节流损失； 通过采用监测回油通路的压力， 使得回油压力降至最小值， 减少了系统能 量损失。  The invention adopts a double valve core structure with one reversing valve to enter the oil and another reversing valve to return the oil, and independently controls the oil inlet valve core and the oil return valve core of the actuator, thereby enhancing the flexibility of the control function; The bypass proportional valve unloads the spool return oil and reduces the hydraulic oil throttling loss. By monitoring the pressure of the return passage, the return pressure is reduced to a minimum, which reduces the system energy loss.

利用本发明的旁通卸荷回油和双阀芯结构， 相比传统的以三位六通换 向阀结构单元构成的多路阀： 阀芯长度缩小一半； 阀芯中位没有回油节流 槽， 使得制造工艺性有了较大提高。 附图说明 By using the bypass unloading oil returning and double valve core structure of the invention, compared with the traditional three-position six-way exchange Multi-way valve to the valve structural unit: The spool length is reduced by half; there is no oil return throttle in the center of the spool, which greatly improves the manufacturing process. DRAWINGS

通过阅读参照以下附图对非限制性实施例所作的详细描述， 本发明及 其特征、 外形和优点将会变得更明显。 在全部附图中相同的标记指示相同 的部分。 并未刻意按照比例绘制附图， 重点在于示出本发明的主旨。 在附 图中， 为清楚明了， 放大了部分部件， 对于相同部件， 仅标示其中部分， 本领域技术人员可以结合具体实施方式部分理解。  The invention and its features, aspects and advantages will become more apparent from the detailed description of the appended claims. The same reference numerals are used throughout the drawings to refer to the same parts. The drawings are not intended to be drawn to scale, and the emphasis is on the subject matter of the invention. In the drawings, some of the components are exaggerated for clarity, and only the portions thereof are labeled for the same components, and those skilled in the art can understand in part with the specific embodiments.

图 1 示出了本发明实施例提供的履带式挖掘机多路阀液压控制系统的 原理示意图。 具体实施方式 以下结合附图及具体实施方式对本发明进行进一步详细说明。 此处所 描述的具体实施方式仅用于解释本发明， 并不用于限定本发明的保护范围。  FIG. 1 is a schematic diagram showing the principle of a hydraulic control system for a multi-way valve of a crawler excavator according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION The present invention will be further described in detail below in conjunction with the drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.

参考图 1 所示的本发明实施例提供的履带式挖掘机多路阀液压控制系 统原理示意图。 该液压控制系统包括油缸 1 , 其小腔（一个液压腔）连接第 一油路 11 , 大腔（另一个液压腔）连接第二油路 12, 其中： 所述第一油路 11连接第一换向阀 2; 第一换向阀 2的阀芯由第一电磁比例阀组（图 1中 未标号）控制， 实现导通第一油路 11与液压泵 p或回油箱 22的切换； 第 二油路 12连接第二换向阀 3;第二换向阀 3的阀芯由第二电磁比例阀组（图 1中未标号）控制， 实现导通第二油路 12与液压泵 p或回油箱 22的切换； 液压泵 p与回油箱 22之间设置有第三换向阀 4, 第三换向阀 4的阀芯由第 三电磁比例阀组（图 1 中未标号）控制， 第三换向阀 4用于控制所述液压 泵 p与回油箱 22之间的导通； 控制器 k, 连接所述第一电磁比例阀组、 第 二电磁比例阀组、 第三电磁比例阀组； 液压泵排量控制阀 （图 1标示）， 连 接控制器 k; 液压泵排量控制阀用于调节液压泵 p排量。 具体地， 第一电磁 比例阀组包括两个电磁比例阀 （图 1中未标号）， 分别连接第一换向阀 2的 先导阀 A1和先导阀 A2; 第二电磁比例阀组包括两个电磁比例阀， 分别连 接第二换向阀 3的先导阀 A3和先导阀 A4; 第三电磁比例阀组包括一个电 磁比例阀， 连接第三换向阀 4的先导阀 A5。 所述电磁比例阀根据控制器 k 的电流信号输出二次先导压力； 二次先导压力， 一方面控制第三换向阀 4 的关闭， 另一方面分别控制第一换向阀 2和第二换向阀 3中阀芯的位移； 同时控制器 k对液压泵排量的大小也进行联合调节， 最终控制液压油流向 执行元件的流量。 Referring to the schematic diagram of the hydraulic control system of the multi-way valve of the crawler excavator provided by the embodiment of the present invention shown in FIG. The hydraulic control system includes a cylinder 1 having a small chamber (a hydraulic chamber) connected to the first oil passage 11 and a large chamber (the other hydraulic chamber) connected to the second oil passage 12, wherein: the first oil passage 11 is connected to the first The reversing valve 2; the spool of the first reversing valve 2 is controlled by the first electromagnetic proportional valve group (not labeled in FIG. 1), and the switching of the first oil passage 11 and the hydraulic pump p or the return tank 22 is realized; The second oil passage 12 is connected to the second reversing valve 3; the spool of the second reversing valve 3 is controlled by the second electromagnetic proportional valve group (not labeled in FIG. 1) to realize the conduction of the second oil passage 12 and the hydraulic pump p or Switching of the return tank 22; a third reversing valve 4 is disposed between the hydraulic pump p and the return tank 22, and the spool of the third reversing valve 4 is controlled by a third electromagnetic proportional valve group (not labeled in FIG. 1), a three-way valve 4 for controlling conduction between the hydraulic pump p and the return tank 22; a controller k connecting the first electromagnetic proportional valve group, the second electromagnetic proportional valve group, and the third electromagnetic proportional valve group ; hydraulic pump displacement control valve (marked in Figure 1), even Connected to the controller k; the hydraulic pump displacement control valve is used to adjust the displacement of the hydraulic pump p. Specifically, the first electromagnetic proportional valve group includes two electromagnetic proportional valves (not labeled in FIG. 1) that respectively connect the pilot valve A1 and the pilot valve A2 of the first switching valve 2; the second electromagnetic proportional valve group includes two electromagnetic The proportional valve is connected to the pilot valve A3 and the pilot valve A4 of the second reversing valve 3, respectively; the third electromagnetic proportional valve group includes an electromagnetic proportional valve that is connected to the pilot valve A5 of the third reversing valve 4. The electromagnetic proportional valve outputs a secondary pilot pressure according to the current signal of the controller k; the secondary pilot pressure controls the closing of the third switching valve 4 on the one hand, and controls the first switching valve 2 and the second switching on the other hand respectively. The displacement of the spool to the valve 3; at the same time, the controller k also jointly adjusts the displacement of the hydraulic pump to finally control the flow of hydraulic oil to the actuator.

在一个具体实施例中， 第一换向阀 2为三位三通换向阀。  In a specific embodiment, the first reversing valve 2 is a three-position three-way reversing valve.

进一步地， 第二换向阀 3为三位三通换向阀。  Further, the second reversing valve 3 is a three-position three-way reversing valve.

两个相互独立的三位三通换向阀比现有技术采用的一个三位六通换向 阀具有更为灵活的控制方式； 同时， 阀芯长度缩小一半。  Two independent three-position three-way reversing valves have a more flexible control than the three-position six-way reversing valve used in the prior art; at the same time, the spool length is reduced by half.

在一个优选例中， 第三换向阀 4为旁通比例阀。  In a preferred embodiment, the third reversing valve 4 is a bypass proportional valve.

如图 1所示，控制器 k上设置有控制手柄 100;当操作控制手柄 100时， 可以对控制器 k发出电压信号， 控制器 k对接收到的电压信号进行逻辑演 算， 向连接的电磁比例阀发出一定大小的电流信号。  As shown in FIG. 1, the controller k is provided with a control handle 100; when the control handle 100 is operated, a voltage signal can be sent to the controller k, and the controller k performs a logic calculation on the received voltage signal to the connected electromagnetic ratio. The valve emits a current signal of a certain size.

更进一步地， 本发明实施例提供的履带式挖掘机多路阀液压控制系统 中还包括： 第一压力传感器 pi , 设置于所述第一油路 11; 第一压力传感器 pi用于检测第一油路 11的回油压力， 并将压力信号反馈至控制器 k, 即第 一压力传感器 P1与控制器 K相连； 第二压力传感器 p2, 设置于所述第二 油路 12; 第二压力传感器 p2用于检测第二油路 12的回油压力， 并将压力 信号反馈至所述控制器 k, 即第二压力传感器 P2与控制器 K相连； 上述压 力信号经控制器 k逻辑计算， 可以再对第一换向阀 2和第二换向阀 3开口 进行调节， 使执行元件在不吸空的前提下， 让阀芯开口最大， 减小回油压 力， 从而减少压力损失， 降低能耗。 Further, the crawler excavator multi-way valve hydraulic control system provided by the embodiment of the present invention further includes: a first pressure sensor pi disposed on the first oil passage 11; and a first pressure sensor pi for detecting the first The oil return pressure of the oil passage 11 is fed back to the controller k, that is, the first pressure sensor P1 is connected to the controller K; the second pressure sensor p2 is disposed on the second oil passage 12; the second pressure sensor P2 is used for detecting the oil return pressure of the second oil passage 12, and feeding back the pressure signal to the controller k, that is, the second pressure sensor P2 is connected to the controller K; the above pressure signal is logically calculated by the controller k, and Adjusting the opening of the first reversing valve 2 and the second reversing valve 3, so that the actuator can maximize the spool opening without reducing the air pressure, and reduce the oil return pressure. Force, thereby reducing pressure loss and reducing energy consumption.

再参考图 1 所示的两个三位三通换向阀， 当不需要执行元件动作时， 三位三通换向阀的阀芯回到中位， 回油通过第三换向阀 4 (旁通比例阀）进 行卸荷， 彻底消除了中位回油节流损失。  Referring again to the two three-position three-way reversing valves shown in Figure 1, when the actuator action is not required, the spool of the three-position three-way reversing valve returns to the neutral position, and the oil returns through the third reversing valve 4 ( The bypass proportional valve) is unloaded, completely eliminating the median return throttle loss.

更为具体地， 如图 1所示， 本发明实施例中还可以包括卸压阀 5, 连接 液压泵 p的出油口。  More specifically, as shown in Fig. 1, the embodiment of the present invention may further include a pressure relief valve 5 connected to the oil outlet of the hydraulic pump p.

以上以履带式挖掘机为例对本发明的实施进行了描述， 可以理解， 上 述液压控制系统不仅能够适用于履带式挖掘机， 也适用于其他工程机械； 其中液压执行元件不限于油缸， 也可以是液压马达或其他液压执行元件。  The implementation of the present invention has been described above by taking a crawler type excavator as an example. It can be understood that the above hydraulic control system can be applied not only to a crawler type excavator but also to other construction machines; wherein the hydraulic actuator is not limited to a cylinder, but may be Hydraulic motor or other hydraulic actuator.

本发明还提供一种挖掘机， 该挖掘机设置有上述任一种液压控制系统， 挖掘机可以是履带式挖掘机。  The present invention also provides an excavator provided with any of the above hydraulic control systems, and the excavator may be a crawler excavator.

本领域技术人员结合现：  Those skilled in the art will combine the present:

这样的变化例并不影响本发明的实质内容， 在此不予赘述。 Such variations do not affect the substance of the present invention and will not be described herein.

以上对本发明的较佳实施例进行了描述。 需要理解的是， 本发明并不 局限于上述特定实施方式， 其中未尽详细描述的设备和结构应该理解为用 本领域中的普通方式予以实施； 在不脱离本发明技术方案范围情况下， 对 本发明技术方案作出许多可能的变动和修饰， 或修改为等同变化的等效实 施例， 这并不影响本发明的实质内容。  The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, and that the device and the structure of the present invention are not to be construed as being The invention is susceptible to many variations and modifications, or modifications to equivalent equivalents, which do not affect the substance of the invention.

工业实用性 Industrial applicability

本发明提供的液压控制系统中， 采用一个换向阀进油， 另一个换向阀 回油的双阀芯结构， 对执行元件的进油阀芯、 回油阀芯独立控制， 增强了 控制功能的灵活性， 减少了液压油节流损失。 因此， 本发明具有工业实用 性。  The hydraulic control system provided by the invention adopts a reversing valve to enter the oil, and the other reversing valve returns the oil to the double valve core structure, and independently controls the oil inlet valve core and the oil return valve core of the actuator, and enhances the control function. The flexibility reduces hydraulic oil throttling losses. Therefore, the present invention has industrial applicability.

Claims

权利要求书 Claim 1. 一种液压控制系统， 包括液压执行元件， 液压执行元件的一个腔连 接第一油路， 另一个腔连接第二油路， 其特征在于：  A hydraulic control system comprising a hydraulic actuator, a chamber of the hydraulic actuator being coupled to the first oil passage and the other chamber being coupled to the second oil passage, characterized by: 所述第一油路连接第一换向阀， 所述第一换向阀的阀芯由第一电磁比 例阀组控制；  The first oil passage is connected to the first reversing valve, and the spool of the first reversing valve is controlled by the first electromagnetic proportional valve group; 所述第二油路连接第二换向阀， 所述第二换向阀的阀芯由第二电磁比 例阀组控制；  The second oil passage is connected to the second reversing valve, and the spool of the second reversing valve is controlled by the second electromagnetic ratio valve group; 所述液压泵与回油箱之间设置有第三换向阀， 所述第三换向阀的阀芯 由第三电磁比例阀组控制， 所述第三换向阀配置为控制所述液压泵与回油 箱之间的导通；  A third reversing valve is disposed between the hydraulic pump and the return tank, the spool of the third reversing valve is controlled by a third electromagnetic proportional valve group, and the third reversing valve is configured to control the hydraulic pump Conduction with the return tank; 还包括：  Also includes: 控制器， 连接所述第一电磁比例阀组、 第二电磁比例阀组、 第三电磁 比例阀组；  a controller, connecting the first electromagnetic proportional valve group, the second electromagnetic proportional valve group, and the third electromagnetic proportional valve group; 液压泵排量控制阀， 连接所述控制器， 所述液压泵排量控制阀配置为 调节液压泵排量。  A hydraulic pump displacement control valve is coupled to the controller, and the hydraulic pump displacement control valve is configured to adjust a hydraulic pump displacement. 2. 根据权利要求 1所述的液压控制系统， 其特征在于， 所述第一换向 阀为三位三通换向阀。  2. The hydraulic control system according to claim 1, wherein the first reversing valve is a three-position three-way reversing valve. 3. 根据权利要求 1 所述的液压控制系统， 其特征在于， 所述第二换 向阀为三位三通换向阀。  3. The hydraulic control system according to claim 1, wherein the second reversing valve is a three-position three-way reversing valve. 4. 根据权利要求 1所述的液压控制系统， 其特征在于， 所述第三换向 阀为旁通比例阀。  4. The hydraulic control system according to claim 1, wherein the third reversing valve is a bypass proportional valve. 5. 根据权利要求 1所述的液压控制系统， 其特征在于， 所述控制器上 设置有控制手柄。  5. The hydraulic control system according to claim 1, wherein the controller is provided with a control handle. 6. 根据权利要求 1所述的液压控制系统， 其特征在于， 还包括： 第一压力传感器， 设置于所述第一油路， 所述第一压力传感器配置为 检测第一油路的回油压力， 并将压力信号反馈至所述控制器； 第二压力传感器， 设置于所述第二油路， 所述第二压力传感器配置为 检测第二油路的回油压力， 并将压力信号反馈至所述控制器。 The hydraulic control system according to claim 1, further comprising: a first pressure sensor disposed on the first oil passage, wherein the first pressure sensor is configured to Detecting a return pressure of the first oil passage and feeding back a pressure signal to the controller; a second pressure sensor disposed at the second oil passage, the second pressure sensor configured to detect a return of the second oil passage Oil pressure and feedback of the pressure signal to the controller. 7、 根据权利要求 1所述的液压控制系统，其特征在于，还包括卸压阀， 连接所述液压泵的出油口。  7. The hydraulic control system of claim 1 further comprising a pressure relief valve coupled to the oil outlet of the hydraulic pump. 8、 根据权利要求 1至 7任一项所述的液压控制系统， 其特征在于， 所 述液压执行元件为油缸， 所述油缸的小腔连接第一油路， 所述油缸的大腔 连接第二油路。  The hydraulic control system according to any one of claims 1 to 7, wherein the hydraulic actuator is a cylinder, a small chamber of the cylinder is connected to a first oil passage, and a large chamber of the cylinder is connected. Two oil roads. 9、 一种挖掘机， 其特征在于， 设置有权利要求 1至 8任一项所述的液 压控制系统。  An excavator characterized by comprising the hydraulic pressure control system according to any one of claims 1 to 8.
PCT/CN2012/085797 2012-02-23 2012-12-04 Hydraulic control system and excavator Ceased WO2013123792A1 (en)

Applications Claiming Priority (2)

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CN112096670A (en) * 2020-09-21 2020-12-18 广东海德利森一氢科技有限公司 A kind of hydraulic system and hydraulic pressure control method
US11204044B2 (en) 2020-01-08 2021-12-21 Cnh Industrial America Llc Hydraulic actuator control system
CN118407939A (en) * 2023-03-17 2024-07-30 安捷新能驱动科技(徐州)有限公司 A hydraulic system for hoisting mechanism based on independent control of load ports

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CN102587443A (en) * 2012-02-23 2012-07-18 上海三一重机有限公司 Multiway valve hydraulic control system of crawler excavator
CN103107652B (en) * 2013-01-29 2016-05-04 合肥海德数控液压设备有限公司 Digital coil shaper hydraulic control system
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CN118407939A (en) * 2023-03-17 2024-07-30 安捷新能驱动科技(徐州)有限公司 A hydraulic system for hoisting mechanism based on independent control of load ports

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