CN107882802B - A kind of three-level Erecting System - Google Patents
A kind of three-level Erecting System Download PDFInfo
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- CN107882802B CN107882802B CN201710865165.9A CN201710865165A CN107882802B CN 107882802 B CN107882802 B CN 107882802B CN 201710865165 A CN201710865165 A CN 201710865165A CN 107882802 B CN107882802 B CN 107882802B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/04—Elevating or traversing control systems for guns using hydraulic means for remote control
-
- 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
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40576—Assemblies of multiple 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/625—Accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7057—Linear output members being of the telescopic type
-
- 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/755—Control of acceleration or deceleration of the 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/765—Control of position or angle of the 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention relates to a kind of three-level Erecting Systems, have belonged to perpendicular technical field, solve the problems, such as that Erecting System control precision in the prior art is low, stability is poor, play vertical arm and be well over and turn up a little.It includes oil supply unit, three-level hydraulic cylinder, active force branch and three auxiliary power branches；High-pressure hydraulic cylinder is connected to by active force branch and high pressure auxiliary power branch with oil supply unit；The stretching of high-pressure hydraulic cylinder and middle pressure cylinder is first pushed by corresponding auxiliary power branch, when close to this grade of hydraulic cylinder range, switches to active force branch；The stretching of low-pressure hydraulic cylinder is first pushed by corresponding auxiliary power branch, is being played when playing vertical angle degree close to 90 ° of vertical arm, is being switched to the promotion of active force branch, so that the vertical angle degree that rises for playing vertical arm reaches 90 °, has completed to erect.Three-level Erecting System provided by the invention can be used for perpendicular process.
Description
Technical field
Perpendicular technology more particularly to a kind of perpendicular system of three-level of more accumulator segmentation power-assisted three-level cylinders are played the present invention relates to a kind of
System.
Background technique
The large erecting equipments such as missile truck rise perpendicular time effects the quick-reaction capability of guided missile, and then affect
The survival ability of guided missile.
In the prior art, Erecting System generally includes single-rod cylinder, an active force branch and an auxiliary power branch
Road, the stretching of single-rod cylinder are first pushed by auxiliary power branch, are being played when playing vertical angle degree close to 90 ° of vertical arm, are being switched to master
Power branch pushes, so that the vertical angle degree that rises of vertical arm reaches 90 °, has completed to erect, so that promoting rising for erecting equipment erects the time.
But those skilled in the art do not recognize the deficiency of above-mentioned Erecting System for a long time, inventor passes through
It is careful the study found that above-mentioned Erecting System to play perpendicular speed non-adjustable, it is higher always to play perpendicular speed, has led to the control of perpendicular process
Precision processed is low, and Erecting System stability is poor.Simultaneously as the reason of playing high perpendicular speed and inertia, plays vertical arm and is playing perpendicular process
In be well over and turn up a little, even resulted in perpendicular failure.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of three-level Erecting System, solves in the prior art and erects
System control precision is low, stability is poor, plays a vertical arm is well over the problem of turning up.
The purpose of the present invention is mainly achieved through the following technical solutions:
The present invention provides a kind of three-level Erecting Systems, including oil supply unit, three-level hydraulic cylinder and master parallel with one another
Power branch and three auxiliary power branches；Three auxiliary power branches are divided into high pressure auxiliary power branch, middle pressure auxiliary power
Branch and low pressure auxiliary power branch；Three-level hydraulic cylinder is divided into high-pressure hydraulic cylinder, middle pressure cylinder and low-pressure hydraulic cylinder；High pressure liquid
Cylinder pressure passes through active force branch respectively and high pressure auxiliary power branch is connected to oil supply unit；Middle pressure cylinder passes through actively respectively
Power branch and middle pressure auxiliary power branch are connected to oil supply unit；Low-pressure hydraulic cylinder passes through active force branch and low pressure auxiliary respectively
Power branch is connected to oil supply unit；The stretching of high-pressure hydraulic cylinder and middle pressure cylinder is first pushed away by corresponding auxiliary power branch
It is dynamic, when close to high-pressure hydraulic cylinder range, active force branch is switched to, when close to middle pressure cylinder range, is cut
Shift to active force branch；The stretching of low-pressure hydraulic cylinder is first pushed by corresponding auxiliary power branch, in the vertical angle degree for playing vertical arm
When close to 90 °, the promotion of active force branch is switched to, so that the vertical angle degree that rises for playing vertical arm reaches 90 °, has completed to erect.
Further, in vertical arm during playing perpendicular, firstly, high pressure auxiliary power branch is opened, release liquid oil, promotion
The high-pressure hydraulic cylinder that communicates therewith is stretched out, and when high-pressure hydraulic cylinder is close to range, high pressure auxiliary power branch is closed, actively
Power branch is opened, release liquid is oily, pushes high-pressure hydraulic cylinder to range；Then, middle pressure auxiliary power branch opening, release liquid
Oil pushes the middle pressure cylinder communicated therewith to stretch out, when middle pressure cylinder is close to range, middle pressure auxiliary power branch pass
It closes, active force branch opens, release liquid oil, and pressure cylinder is to range in promotion；Finally, low pressure auxiliary power branch is beaten
It opens, release liquid oil, the low-pressure hydraulic cylinder communicated therewith is pushed to stretch out, playing when playing vertical angle degree close to 90 ° of vertical arm, low pressure auxiliary
Power branch is closed, and active force branch opening, release liquid oil push low-pressure hydraulic cylinder to stretch out, so that playing the vertical angle degree of vertical arm
90 ° are reached, has been completed perpendicular.
Further, auxiliary power branch includes sequentially connected switch valve, accumulator and proportional flow control valve；Switch valve
Liquid-inlet is connected to the liquid outlet of oil supply unit, the oil inlet of the liquid outlet of proportional flow control valve and corresponding one-stage hydraulic cylinder
Oil communication.
Further, during high-pressure hydraulic cylinder is stretched out, the switch valve and proportional flow control valve of high pressure auxiliary power branch
It opens, the accumulator release liquid oil of high pressure auxiliary power branch pushes the high-pressure hydraulic cylinder communicated therewith to stretch out；Real-time monitoring rises
The acceleration of vertical arm, proportional flow control valve according to it is preset unlatching curve adjust in real time high pressure auxiliary power branch accumulator it is defeated
Outflow, so that playing the acceleration of vertical arm in the range of restriction；When monitoring high-pressure hydraulic cylinder close to range, high pressure
The switch valve and proportional flow control valve of auxiliary power branch are closed, and active force branch is opened, release liquid is oily, push high-pressure hydraulic cylinder extremely
Range.
Further, during middle pressure cylinder stretches out, the switch valve and proportional flow control valve of middle pressure auxiliary power branch
It opens, the accumulator release liquid oil of middle pressure auxiliary power branch pushes the middle pressure cylinder communicated therewith to stretch out；Real-time monitoring rises
The acceleration of vertical arm, proportional flow control valve according to it is preset unlatching curve adjusts in real time in pressure auxiliary power branch accumulator it is defeated
Outflow, so that playing the acceleration of vertical arm in the range of restriction；When monitoring middle pressure cylinder close to range, middle pressure
The switch valve and proportional flow control valve of auxiliary power branch are closed, and active force branch opens, release liquid oil, and pressure cylinder is extremely in promotion
Range.
Further, during low-pressure hydraulic cylinder stretches out, the switch valve and proportional flow control valve of low pressure auxiliary power branch
It opens, the accumulator release liquid oil of low pressure auxiliary power branch pushes the low-pressure hydraulic cylinder communicated therewith to stretch out；Real-time monitoring rises
The acceleration of vertical arm, proportional flow control valve according to it is preset unlatching curve adjust in real time low pressure auxiliary power branch accumulator it is defeated
Outflow, so that playing the acceleration of vertical arm in the range of restriction；When having monitored the angle of vertical arm close to 90 °, low pressure is auxiliary
The switch valve and proportional flow control valve of power-assist power branch are closed, and active force branch is opened, release liquid is oily, and promotion is stretched with low-pressure hydraulic cylinder
Out, it so that the vertical angle degree that rises for playing vertical arm reaches 90 °, has completed perpendicular.
Further, active force branch includes proportional direction valve, oil inlet balanced valve and balancing oil valve；High-pressure hydraulic cylinder,
The oil inlet oil circuit of middle pressure cylinder and low-pressure hydraulic cylinder passes through the liquid of oil inlet balanced valve and proportional direction valve and oil supply unit
Outlet；The oil return circuit of high-pressure hydraulic cylinder, middle pressure cylinder and low-pressure hydraulic cylinder passes through balancing oil valve and ratio side
It is connected to valve with external fuel tank.
Further, during active force branch release liquid is oily, liquid oil in oil supply unit by proportional direction valve and
Oil inlet balanced valve enters the oil suction chamber of high-pressure hydraulic cylinder, middle pressure cylinder or low-pressure hydraulic cylinder, high-pressure hydraulic cylinder, middle pressure cylinder
Or the liquid oil in the oil back chamber of low-pressure hydraulic cylinder flow to external fuel tank by balancing oil valve and proportional direction valve.
Further, oil supply unit and active force branch, high pressure auxiliary power branch, middle pressure auxiliary power branch and low pressure
The pipeline of auxiliary power branch connection is equipped with proportional pressure control valve.
Further, it is filled to high pressure auxiliary power branch, middle pressure auxiliary power branch and low pressure auxiliary power branch
During liquid, firstly, the preset pressure of setting ratio overflow valve is the preset pressure of high pressure auxiliary power branch, it is auxiliary to open high pressure
Switch valve in power-assist power branch, opens oil supply unit, and liquid oil is filled with high pressure auxiliary power branch；When high pressure auxiliary power branch
Pressure reach the preset pressure of proportional pressure control valve after, liquid oil flow to external fuel tank from proportional pressure control valve；It is dynamic to close high pressure auxiliary
Switch valve in power branch, so that the pressure of high pressure auxiliary power branch maintains the preset pressure of high pressure auxiliary power branch,
Complete the filling process of high pressure auxiliary power branch；Then, the preset pressure of setting ratio overflow valve is middle pressure auxiliary power branch
The preset pressure on road presses the switch valve in auxiliary power branch in opening, opens oil supply unit, and liquid oil is filled with middle pressure auxiliary power
Branch；After the preset pressure for pressing the pressure of auxiliary power branch to reach proportional pressure control valve in the middle, liquid oil is flow to from proportional pressure control valve
External fuel tank；The switch valve in auxiliary power branch is pressed in closing, so that the pressure of middle pressure auxiliary power branch maintains middle pressure
The preset pressure of auxiliary power branch presses the filling process of auxiliary power branch in completion；Finally, setting ratio overflow valve is pre-
If pressure is the preset pressure of low pressure auxiliary power branch, the switch valve in low pressure auxiliary power branch is opened, opens fuel feeding list
Member, liquid oil are filled with low pressure auxiliary power branch；When the pressure of low pressure auxiliary power branch reaches the preset pressure of proportional pressure control valve
Afterwards, liquid oil flow to external fuel tank from proportional pressure control valve；The switch valve in low pressure auxiliary power branch is closed, so that low pressure auxiliary is dynamic
The pressure of power branch maintains the preset pressure of low pressure auxiliary power branch, completes the filling process of low pressure auxiliary power branch.
Compared with prior art, the present invention has the beneficial effect that:
A) active force branch parallel with one another and three auxiliary power branch are equipped in three-level Erecting System provided by the invention
Road, by having pushed vertical arm quickly to lift using parallel auxiliary power branch during the stretching of every one-stage hydraulic cylinder,
To substantially shorten the perpendicular time, significantly improve Erecting System plays perpendicular speed, and further improves the fast of missile truck
Fast respond and survival ability.
B) three-level Erecting System provided by the invention is when close to the range of every one-stage hydraulic cylinder, from auxiliary power branch
Road switches to active force branch, reduces the stretching speed of this grade of hydraulic cylinder, so that this grade of hydraulic cylinder slowly extend out to range,
Fast Collision occurs when reaching range so as to avoid multistage hydraulic cylinder, significantly reduces every one-stage hydraulic cylinder and is changing a grade process
In impact, ensure that the stability of three-level Erecting System.
C) three-level Erecting System provided by the invention is playing perpendicular initial stage, pushes high-pressure hydraulic cylinder by high pressure auxiliary power branch
It stretches out, plays perpendicular mid-term, stretched out by pressure cylinder in the promotion of middle pressure auxiliary power branch, play the perpendicular later period, propped up by low pressure auxiliary power
Road pushes low-pressure hydraulic cylinder to stretch out, so that for playing perpendicular speed and playing the perpendicular later period for playing the perpendicular speed at perpendicular initial stage, playing perpendicular mid-term
Perpendicular decrease of speed, under the premise of having guaranteed that the perpendicular time is shorter, reasonable distribution system pressure and perpendicular speed reduce system energy
Consumption, and can be realized the accurate control of perpendicular process.
D) three-level Erecting System provided by the invention is playing the perpendicular later period, pushes low-pressure hydraulic using low pressure auxiliary power branch
Cylinder stretches out, and can suitably reduce perpendicular speed, having avoided perpendicular excessive velocities has been more than that vertical arm is turned up a little.
Other features and advantages of the present invention will illustrate in the following description, also, partial become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is a kind of structural schematic diagram of three-level Erecting System.
Appended drawing reference:
1- three-level hydraulic cylinder；2- high-voltage switch gear valve；3- high pressure accumulator；4- high-voltage ratio flow valve；5- Medium voltage switch or circuit breaker valve；
6- intermediate-pressure accumulator；Proportional flow control valve is pressed in 7-；8- low tension switch valve；9- low pressure accumulator；10- low pressure proportional flow control valve；11-
Proportional direction valve；12- oil inlet balanced valve；13- balancing oil valve；14- high pressure filter；15- oil pump；16- motor；17- ratio
Overflow valve；18- pressure gauge；19- oil return switch valve.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
Embodiment one
Present embodiments provide a kind of three-level Erecting System, as shown in Figure 1, include oil supply unit, three-level hydraulic cylinder 1 and
Active force branch parallel with one another and three auxiliary power branches；The oil inlet oil circuit of every one-stage hydraulic cylinder of three-level hydraulic cylinder 1 is equal
Pass through active force branch respectively and wherein an auxiliary power branch is connected to the liquid outlet of oil supply unit；Three-level hydraulic cylinder 1
Oil return circuit be connected to external fuel tank；It is dynamic that three auxiliary power branches can be divided into high pressure auxiliary power branch, middle pressure auxiliary
Power branch and low pressure auxiliary power branch, correspondingly, three-level hydraulic cylinder 1 can also be divided into high-pressure hydraulic cylinder, middle pressure cylinder and
Low-pressure hydraulic cylinder；High pressure auxiliary power branch is connected to high-pressure hydraulic cylinder, and middle pressure auxiliary power branch is connected to middle pressure cylinder,
Low pressure auxiliary power branch is connected to low-pressure hydraulic cylinder.
When implementation, high pressure auxiliary power branch is opened, and quick release liquid oil pushes the high-pressure hydraulic cylinder communicated therewith, pushes away
The dynamic high-pressure hydraulic cylinder communicated therewith is stretched out, and will play vertical arm fast lifting to certain angle；In high-pressure hydraulic cylinder close to maximum row
Cheng Shi, high pressure auxiliary power branch are closed, and active force branch is opened, and are converted from high pressure auxiliary power branch to active force branch,
By active force branch release liquid oil, pushes high-pressure hydraulic cylinder to be slowly reached range, complete the extending action of high-pressure hydraulic cylinder；
Then, active force branch is closed, and middle pressure auxiliary power branch is opened, and switches to middle pressure auxiliary power branch from active force branch,
And process similar with pressure cylinder in promotion is carried out, so that middle pressure cylinder is slowly reached range, hydraulic fluid pressure in completion
The extending action of cylinder；Finally, active force branch is closed, low pressure auxiliary power branch is opened, and switches to low pressure from active force branch
Auxiliary power branch is playing when playing vertical angle degree close to 90 ° of vertical arm, and low pressure auxiliary power branch is closed, and active force branch is opened,
It converts from low pressure auxiliary power branch to active force branch, by active force branch release liquid oil, finally vertical arm is promoted to
It 90 °, has completed perpendicular.
Compared with prior art, be equipped in three-level Erecting System provided in this embodiment active force branch parallel with one another and
Three auxiliary power branches, by using parallel auxiliary power branch to push during the stretching of every one-stage hydraulic cylinder
Vertical arm is quickly lifted, to substantially shorten the perpendicular time, significantly improve Erecting System plays perpendicular speed, and further improves and lead
Play the quick-reaction capability and survival ability of car launcher.
Meanwhile perpendicular initial stage is played, and it pushes high-pressure hydraulic cylinder to stretch out by high pressure auxiliary power branch, plays perpendicular mid-term, it is auxiliary by middle pressure
Pressure cylinder stretches out in the promotion of power-assist power branch, plays the perpendicular later period, pushes the stretching of low-pressure hydraulic cylinder by low pressure auxiliary power branch, makes
The perpendicular decrease of speed for playing perpendicular speed and playing the perpendicular later period that the perpendicular speed at perpendicular initial stage must be played, play perpendicular mid-term, when having guaranteed perpendicular
Between it is shorter under the premise of, reasonable distribution system pressure and rise perpendicular speed, improve the control precision and stability of Erecting System, drop
The low energy consumption of Erecting System.The perpendicular later period is being played, is pushing low-pressure hydraulic cylinder to stretch out using low pressure auxiliary power branch, it can be appropriate
Perpendicular speed is reduced, having avoided perpendicular excessive velocities has been more than that vertical arm is turned up a little.
Also, in the identical situation of maximum total kilometres, compared to single-rod cylinder or two-stage hydraulic cylinder, three-level hydraulic cylinder
1 occupied space is minimum, and the control precision of Erecting System is higher；Compared to hydraulic cylinder more than level Four, the knot of three-level hydraulic cylinder 1
Structure and control process are simpler, in conclusion can be reduced on the basis of guaranteeing to control precision using three-level hydraulic cylinder 1
The occupied space of Erecting System simplifies the internal structure and control process of Erecting System.
In addition, switching to active force branch from auxiliary power branch when close to the range of every one-stage hydraulic cylinder, drop
The stretching speed of low this grade of hydraulic cylinder, so that this grade of hydraulic cylinder slowly extend out to range, so as to avoid three-level hydraulic cylinder 1
Fast Collision occurs when reaching range, significantly reduces impact of every one-stage hydraulic cylinder during changing grade, ensure that three-level
The stability of Erecting System.
It should be noted that so-called high pressure auxiliary power branch, middle pressure auxiliary power branch and low pressure auxiliary power branch
In the height of pressure be relative value, that is to say, that in multiple auxiliary power branches, the highest auxiliary power branch of initial pressure
Road is properly termed as high pressure auxiliary power branch, and the minimum auxiliary power branch of initial pressure is properly termed as low pressure auxiliary power branch
Road, it is dynamic that initial pressure is in the auxiliary between the pressure of high pressure auxiliary power branch and the initial pressure of low pressure auxiliary power branch
Power branch presses auxiliary power branch in being known as.
It may include sequentially connected switch valve, accumulator and ratio illustratively for the structure of auxiliary power branch
Example flow valve；The liquid-inlet of switch valve is connected to the liquid outlet of oil supply unit, the liquid outlet and three-level of proportional flow control valve
The oil inlet oil communication of hydraulic cylinder 1.Wherein, switch valve can control the opening and closing of corresponding auxiliary power branch；Accumulation of energy
Device is to store energy by liquid oil compression gas, with response is fast, zero noise, air cavity and oil pocket sealed reliable, size are small, again
Measure it is light, easy for installation, be easy maintenance and filling liquid the advantages that facilitating, can instantaneously provide the liquid oil of larger flow and pressure, fastly
Speed pushes corresponding one-stage hydraulic cylinder to stretch out；Proportional flow control valve can regulate and control the output flow of accumulator, and then control perpendicular speed
And acceleration, avoid the flow of liquid oil and pressure is excessive and to generate instantaneous acceleration excessive, so as to avoid damage to guided missile.
It is understood that when three auxiliary power branches are divided into high pressure auxiliary power branch, middle pressure auxiliary power branch
When with low pressure auxiliary power branch, high pressure auxiliary power branch may include sequentially connected high-voltage switch gear valve 2, high pressure accumulator
3 and high-voltage ratio flow valve 4, middle pressure auxiliary power branch may include sequentially connected Medium voltage switch or circuit breaker valve 5, intermediate-pressure accumulator 6
With middle pressure proportional flow control valve 7, low pressure auxiliary power branch may include sequentially connected low tension switch valve 8,9 and of low pressure accumulator
Low pressure proportional flow control valve 10.
During high-pressure hydraulic cylinder is stretched out, high-voltage switch gear valve 2 and high-voltage ratio flow valve 4 are opened, and high pressure accumulator 3 is released
Tapping oil, pushes the high-pressure hydraulic cylinder communicated therewith to stretch out；The acceleration of real-time monitoring vertical arm, high-voltage ratio flow valve 4
The output flow of high pressure accumulator 3 is adjusted in real time according to preset unlatching curve, so that playing range of the acceleration in restriction of vertical arm
It is interior；When monitoring high-pressure hydraulic cylinder close to range, high-voltage switch gear valve 2 and high-voltage ratio flow valve 4 are closed, active force branch
Road is opened, release liquid is oily, pushes high-pressure hydraulic cylinder to range.
During middle pressure cylinder stretches out, Medium voltage switch or circuit breaker valve 5 and middle pressure proportional flow control valve 7 are opened, and intermediate-pressure accumulator 6 is released
Tapping oil, pushes the middle pressure cylinder communicated therewith to stretch out；The acceleration of real-time monitoring vertical arm, middle pressure proportional flow control valve 7
The output flow of intermediate-pressure accumulator 6 is adjusted in real time according to preset unlatching curve, so that playing range of the acceleration in restriction of vertical arm
It is interior；When monitoring middle pressure cylinder close to range, Medium voltage switch or circuit breaker valve 5 and middle pressure proportional flow control valve 7 are closed, active force branch
Road opens, release liquid oil, and pressure cylinder is to range in promotion.
During low-pressure hydraulic cylinder stretches out, low tension switch valve 8 and low pressure proportional flow control valve 10 are opened, low pressure accumulator 9
Release liquid oil, pushes the low-pressure hydraulic cylinder communicated therewith to stretch out；Real-time monitoring plays the acceleration of vertical arm, low pressure proportional flow control valve 10
The output flow of low pressure accumulator 9 is adjusted in real time according to preset unlatching curve, so that playing model of the acceleration in restriction of vertical arm
In enclosing；When having monitored the angle of vertical arm close to 90 °, low tension switch valve 8 and low pressure proportional flow control valve 10 are closed, active force branch
Road is opened, release liquid is oily, is pushed and is stretched out with low-pressure hydraulic cylinder, so that the vertical angle degree for playing vertical arm reaches 90 °, has been completed perpendicular.
For the structure of active force branch, illustratively, may include proportional direction valve 11, oil inlet balanced valve 12 and return
Oily balanced valve 13；The oil inlet oil circuit of high-pressure hydraulic cylinder, middle pressure cylinder and low-pressure hydraulic cylinder passes through oil inlet balanced valve 12 and ratio
Proportional direction valve 11 is connected to the liquid outlet of oil supply unit；The oil return oil of high-pressure hydraulic cylinder, middle pressure cylinder and low-pressure hydraulic cylinder
Road passes through balancing oil valve 13 and proportional direction valve 11 is connected to external fuel tank.Wherein proportional direction valve 11 can control major-minor
The telescopic direction of the opening of power source, closing and three-level hydraulic cylinder 1, and can accurately control the oil inlet quantity of active force branch with
And the stretching speed of three-level hydraulic cylinder 1, to optimize perpendicular track；Oil inlet balanced valve 12 and balancing oil valve 13 can be with balance weights
Power load, and vertical arm can have been made to stop for a long time at an arbitrary position.
During active force branch release liquid is oily, the liquid oil in oil supply unit is balanced by proportional direction valve 11 and oil inlet
Valve 12 enters the oil suction chamber of high-pressure hydraulic cylinder, middle pressure cylinder or low-pressure hydraulic cylinder, high-pressure hydraulic cylinder, middle pressure cylinder or low pressure
Liquid oil in the oil back chamber of hydraulic cylinder flow to external fuel tank by balancing oil valve 13 and proportional direction valve 11.
In order to avoid the impurity in liquid oil pollutes proportional direction valve 11, height is equipped between oil supply unit and proportional direction valve 11
Press through filter 14.In view of 11 pairs of pollutions of proportional direction valve are very sensitive, the impurity in liquid oil can reduce the control of proportional direction valve 11
Precision processed, or even the effect of proportional direction valve 11 itself is lost, the Set scale direction at the liquid-inlet of proportional direction valve 11
Valve 11.
For the structure of oil supply unit, illustratively, it may include oil pump 15 (for example, quantitative gear pump) and be used for
The motor 16 of power is provided for oil pump 15；The liquid-inlet of oil pump 15 is connected to external fuel tank, the liquid outlet difference of oil pump 15
It is connected to active force branch and auxiliary power branch.Wherein, motor 16 can be connect by shaft coupling with oil pump 15, to drive
15 fuel feeding of oil pump.
The liquid oil in active force branch and auxiliary power branch flows backward in oil pump 15 in order to prevent, and oil supply unit further includes
The liquid outlet of check valve 16, oil pump 15 is connected to by check valve 16 with active force branch and auxiliary power branch.Due to unidirectional
The flow direction of liquid is from oil pump 15 to active force branch and auxiliary power branch in valve 16, that is to say, that liquid oil can only be from
Oil pump 15 is injected into active force branch and auxiliary power branch, and can not flow backward to oil from active force branch and auxiliary power branch
In pump 15, to ensure that the pressure stability of active force branch and auxiliary power branch.
Since during the work time, the pressure of active force branch and three auxiliary power branches is different, in filling process,
In order to adjust the pressure of active force branch and three auxiliary power branches, oil supply unit and active force branch, high pressure auxiliary power
Proportional pressure control valve 17 can be set on the pipeline that branch, middle pressure auxiliary power branch are connected with low pressure auxiliary power branch.Auxiliary
In the filling process of power-assist power branch, by taking high pressure auxiliary power branch as an example, high pressure auxiliary power branch is opened, opens motor
16, oil pump 15 pours the liquid oil of certain pressure and flow, the pressure in high pressure auxiliary power branch into high pressure auxiliary power branch
Power constantly increases, and after the pressure is more than the preset pressure of proportional pressure control valve 17, the liquid oil for being more than can be by proportional pressure control valve 17
It is flow to external fuel tank, at this point, high pressure auxiliary power branch is closed, so that the pressure of high pressure auxiliary power branch is equal to proportional overflow
The preset pressure of valve 17, the filling process of other auxiliary branch is similarly.And for active force branch, it is discharged in auxiliary power branch
While liquid oil pushes three-level hydraulic cylinder 1 to stretch out, oil pump 15 maintains constant rotational speed always, can make to lead by proportional pressure control valve 17
Power branch maintains constant pressure always, when switching to active force branch from auxiliary power branch, maintains constant pressure
Active force branch can provide the liquid oil with certain pressure in time and three-level hydraulic cylinder 1 is pushed slowly to stretch out, so that auxiliary power
Branch is switched between active force branch and can be linked up well.In addition, the setting of proportional pressure control valve 17 can also guarantee
The pressure of three-level Erecting System is not exceeded, to guarantee the safety of system.
It should be noted that the quantity of proportional pressure control valve 17 can be multiple, active force branch and multiple auxiliary power branch
A proportional pressure control valve 17 is respectively set in road, certainly, can be only actively in order to simplify the internal structure of three-level Erecting System
A proportional pressure control valve 17 is arranged in power branch or one of auxiliary power branch road, due to active force branch and multiple auxiliary
Communicated between power branch, be only arranged in three-level Erecting System a proportional pressure control valve 17 can to active force branch and
The pressure of three auxiliary power branches is adjusted.
The pressure in pressure monitoring and active force branch and auxiliary power branch in order to monitor the liquid outlet of oil pump 15
Pressure gauge 18 can also be arranged on the pipeline that above-mentioned oil supply unit is connect with active force branch and auxiliary power branch in power.For
The quantity and arrangement and proportional pressure control valve 17 of pressure gauge 18 are essentially identical, will not repeat them here.
In order to guarantee that the oil return circuit of auxiliary power branch three-level hydraulic cylinder 1 in quick Fuel injection system can be returned quickly
Oil, above-mentioned three-level Erecting System further include oil return branch, and oil return branch road is equipped with oil return switch valve 19；Three-level hydraulic cylinder 1 returns
Oil circuit is connect by oil return branch with external fuel tank.When the quick fuel feeding of auxiliary power branch, the oil return of oil return branch road is opened
It closes valve 19 to open, enables the quick oil return of the oil return circuit of three-level hydraulic cylinder 1, when the slow fuel feeding of active force branch, oil return
The oil return switch valve 19 of branch road, which is in, closes.
In practical application, three auxiliary power branches can be integrated on an integrated unit, by active force branch, height
Filter 14, check valve 16, proportional pressure control valve 17 and pressure gauge 18 is pressed through to be integrated on another integrated unit.
Specifically, perpendicular method is played using above-mentioned three-level Erecting System, it should be noted that rise it is perpendicular before, own
Valve body and component be in closed state, include the following steps:
Step S1: playing the perpendicular preparation stage, since the filling liquid accumulation of energy process of auxiliary power branch needs oil supply unit to participate in, because
This needs to close corresponding valve body after filling liquid respectively to three auxiliary power branch filling liquids from low pressure to high pressure, completes auxiliary
The pressure of proportional pressure control valve 17 is specifically set as the preset pressure of low pressure accumulator 9 by the filling liquid of power-assist power branch, is opened
Low tension switch valve 8, opens motor 16 and oil pump 15, liquid oil pour low pressure accumulator 9, when pressure reaches the pre- of low pressure accumulator 9
If pressure, proportional pressure control valve 17 is opened, and extra liquid oil flow to external fuel tank by proportional pressure control valve 17, closes low tension switch valve
8, so that the pressure of low pressure accumulator 9 maintains the preset pressure of low pressure accumulator 9；During the pressure of proportional pressure control valve 17 is set as
The preset pressure of accumulator 6 is pressed, opens Medium voltage switch or circuit breaker valve 5, liquid oil pours intermediate-pressure accumulator 6, when pressure reaches intermediate-pressure accumulator 6
Preset pressure, proportional pressure control valve 17 opens, and extra liquid oil flow to external fuel tank by proportional pressure control valve 17, presses off in closing
Valve 5 is closed, so that the pressure of intermediate-pressure accumulator 6 maintains the preset pressure of intermediate-pressure accumulator 6；The pressure of proportional pressure control valve 17 is set
For the preset pressure of high pressure accumulator 3, high-voltage switch gear valve 2 is opened, liquid oil pours high pressure accumulator 3, stores when pressure reaches high pressure
The preset pressure of energy device 3, proportional pressure control valve 17 are opened, and extra liquid oil flow to external fuel tank by proportional pressure control valve 17, are closed
High-voltage switch gear valve 2, so that the pressure of high pressure accumulator 3 maintains the preset pressure of high pressure accumulator 3；
Step S2: opening high-voltage switch gear valve 2 and high-voltage ratio flow valve 4, high-voltage ratio flow valve 4 control according to certain rules
The output flow of high pressure accumulator 3,3 quick release liquid oil of high pressure accumulator, pushes high-pressure hydraulic cylinder to stretch out, and it is fast to play vertical arm
Speed is promoted to certain angle, and when high-pressure hydraulic cylinder is close to range, high-voltage switch gear valve 2 and high-voltage ratio flow valve 4 are closed,
Proportional direction valve 11 is opened, and by active force branch release liquid oil, is pushed high-pressure hydraulic cylinder to be slowly reached range, is completed high pressure
The extending action of hydraulic cylinder；
Step S3: opening Medium voltage switch or circuit breaker valve 5 and middle pressure proportional flow control valve 7, middle pressure proportional flow control valve 7 control according to certain rules
The output flow of intermediate-pressure accumulator 6,6 quick release liquid of intermediate-pressure accumulator is oily, and pressure cylinder stretches out in promotion, and it is fast to play vertical arm
Speed is further promoted to certain angle, when pressure cylinder is close to range in the middle, Medium voltage switch or circuit breaker valve 5 and middle pressure proportional flow control valve
7 close, and proportional direction valve 11 is opened, and by active force branch release liquid oil, pressure cylinder is slowly reached range in promotion, complete
At the extending action of middle pressure cylinder；
Step S4: opening low tension switch valve 8 and low pressure proportional flow control valve 10, low pressure proportional flow control valve 10 are controlled according to certain rules
The output flow of low pressure accumulator 9 processed, 9 quick release liquid oil of low pressure accumulator, pushes low-pressure hydraulic cylinder to stretch out, and will play vertical arm
Fast lifting is to close to 90 °, and low tension switch valve 8 and low pressure proportional flow control valve 10 are closed, and proportional direction valve 11 is opened, by active force
Branch release liquid oil will play vertical arm and slowly be promoted to 90 °, completed perpendicular.Due to rise vertical arm exist turn up a little, that is, exist load by
Impedance load becomes Exceed load, so when arrival is turned up, auxiliary power power branch terminates to act on, at this time needed for system
Load force and flow it is all very small, hereafter pushed vertical arm to complete perpendicular by active force branch and accurately braked at 90 °.
It should be noted that, since the accumulator working time is very short, the whole work process time exists in above-mentioned perpendicular method
Work can be completed in several seconds, and vertical arm will be played and promoted to certain angle, this process, which can substantially shorten, erects the time, shorten to
Part originally, this needs to determine in conjunction with actual loading and relevant operating parameter.
Further, since playing vertical arm is gradually retarded motion after auxiliary power branch acts on, it is connected the moment when reaching
Afterwards, active force branch has pushed vertical arm to be steadily connected movement, and has completed perpendicular process in the case where rule is erected in certain rising.Here rank
The determination for connecing the moment is a critical issue, this moment is that the maximum speed that can be provided according to active force branch determines,
It is the linking moment when decelerating to the maximum speed that main power source can be provided after the effect of auxiliary power branch, protects at this time
The continuity of liquid oil stream amount is demonstrate,proved.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of three-level Erecting System, which is characterized in that including oil supply unit, three-level hydraulic cylinder and active force parallel with one another
Branch and three auxiliary power branches；Three auxiliary power branches are divided into high pressure auxiliary power branch, middle pressure auxiliary power branch
With low pressure auxiliary power branch；The three-level hydraulic cylinder is divided into high-pressure hydraulic cylinder, middle pressure cylinder and low-pressure hydraulic cylinder；
The high-pressure hydraulic cylinder passes through active force branch respectively and high pressure auxiliary power branch is connected to oil supply unit；Medium pressure
Hydraulic cylinder passes through active force branch respectively and middle pressure auxiliary power branch is connected to oil supply unit；The low-pressure hydraulic cylinder leads to respectively
It crosses active force branch and low pressure auxiliary power branch is connected to oil supply unit；
The stretching of high-pressure hydraulic cylinder and middle pressure cylinder is first pushed by corresponding auxiliary power branch, close to high-pressure hydraulic cylinder
When range, active force branch is switched to, when close to middle pressure cylinder range, switches to active force branch；Low pressure
The stretching of hydraulic cylinder is first pushed by corresponding auxiliary power branch, is being played when playing vertical angle degree close to 90 ° of vertical arm, is being switched to actively
Power branch pushes, so that the vertical angle degree that rises for playing vertical arm reaches 90 °, has completed perpendicular；
In vertical arm during playing perpendicular, firstly, high pressure auxiliary power branch is opened, release liquid oil, the height communicated therewith is pushed
Pressure cylinder stretches out, and when high-pressure hydraulic cylinder is close to range, high pressure auxiliary power branch is closed, active force branch opens,
Release liquid oil, pushes high-pressure hydraulic cylinder to range；
Then, middle pressure auxiliary power branch opening, release liquid oil, push the middle pressure cylinder communicated therewith to stretch out, in middle hydraulic fluid
When cylinder pressure is close to range, middle pressure auxiliary power branch is closed, and active force branch opens, release liquid oil, hydraulic fluid pressure in promotion
Cylinder is to range；
Finally, low pressure auxiliary power branch is opened, release liquid oil, the low-pressure hydraulic cylinder communicated therewith is pushed to stretch out, is playing vertical arm
When playing vertical angle degree close to 90 °, low pressure auxiliary power branch is closed, and active force branch opens, release liquid oil, pushes low-pressure hydraulic
Cylinder stretches out, so that the vertical angle degree that rises for playing vertical arm reaches 90 °, has completed perpendicular；
The auxiliary power branch includes sequentially connected switch valve, accumulator and proportional flow control valve；
The liquid-inlet of the switch valve is connected to the liquid outlet of the oil supply unit, the liquid outlet of the proportional flow control valve
With the oil inlet oil communication of corresponding one-stage hydraulic cylinder；
During high-pressure hydraulic cylinder is stretched out, the switch valve and proportional flow control valve of high pressure auxiliary power branch are opened, high pressure auxiliary
The accumulator release liquid oil of power branch, pushes the high-pressure hydraulic cylinder communicated therewith to stretch out；Real-time monitoring plays the acceleration of vertical arm,
Proportional flow control valve adjusts the output flow of the accumulator of high pressure auxiliary power branch according to preset unlatching curve in real time, so that rising
The acceleration of vertical arm is in the range of restriction；When monitoring high-pressure hydraulic cylinder close to range, high pressure auxiliary power branch
Switch valve and proportional flow control valve close, active force branch opens, release liquid oil, pushes high-pressure hydraulic cylinder to range；
During middle pressure cylinder stretches out, the switch valve and proportional flow control valve of middle pressure auxiliary power branch are opened, middle pressure auxiliary
The accumulator release liquid oil of power branch, pushes the middle pressure cylinder communicated therewith to stretch out；Real-time monitoring plays the acceleration of vertical arm,
Proportional flow control valve according to it is preset unlatching curve adjusts in real time in press auxiliary power branch accumulator output flow so that
The acceleration of vertical arm is in the range of restriction；When monitoring middle pressure cylinder close to range, middle pressure auxiliary power branch
Switch valve and proportional flow control valve close, active force branch opens, release liquid oil, and pressure cylinder is to range in promotion；
During low-pressure hydraulic cylinder stretches out, the switch valve and proportional flow control valve of low pressure auxiliary power branch are opened, low pressure auxiliary
The accumulator release liquid oil of power branch, pushes the low-pressure hydraulic cylinder communicated therewith to stretch out；Real-time monitoring plays the acceleration of vertical arm,
Proportional flow control valve adjusts the output flow of the accumulator of low pressure auxiliary power branch according to preset unlatching curve in real time, so that rising
The acceleration of vertical arm is in the range of restriction；When having monitored the angle of vertical arm close to 90 °, low pressure auxiliary power branch is opened
It closes valve and proportional flow control valve is closed, active force branch is opened, release liquid is oily, is pushed and is stretched out with low-pressure hydraulic cylinder, so that playing vertical arm
Rise vertical angle degree reach 90 °, has completed erect.
2. three-level Erecting System according to claim 1, which is characterized in that the active force branch includes proportion directional
Valve, oil inlet balanced valve and balancing oil valve；
The oil inlet oil circuit of the high-pressure hydraulic cylinder, middle pressure cylinder and low-pressure hydraulic cylinder passes through oil inlet balanced valve and proportion directional
Valve is connected to the liquid outlet of the oil supply unit；
The oil return circuit of the high-pressure hydraulic cylinder, middle pressure cylinder and low-pressure hydraulic cylinder passes through balancing oil valve and proportion directional
Valve is connected to external fuel tank.
3. three-level Erecting System according to claim 1, which is characterized in that during active force branch release liquid is oily,
Liquid oil in oil supply unit enters high-pressure hydraulic cylinder, middle pressure cylinder or low-pressure hydraulic by proportional direction valve and oil inlet balanced valve
The oil suction chamber of cylinder, liquid oil in the oil back chamber of high-pressure hydraulic cylinder, middle pressure cylinder or low-pressure hydraulic cylinder by balancing oil valve and
Proportional direction valve flow to external fuel tank.
4. three-level Erecting System according to claim 1, which is characterized in that the oil supply unit and active force branch, height
The pipeline that pressure auxiliary power branch, middle pressure auxiliary power branch are connected with low pressure auxiliary power branch is equipped with proportional pressure control valve.
5. three-level Erecting System according to claim 4, which is characterized in that auxiliary to high pressure auxiliary power branch, middle pressure
In the filling process of power-assist power branch and low pressure auxiliary power branch, firstly, the preset pressure of setting ratio overflow valve is high pressure
The preset pressure of auxiliary power branch opens the switch valve in high pressure auxiliary power branch, opens oil supply unit, and liquid oil is filled with height
Press auxiliary power branch；After the pressure of high pressure auxiliary power branch reaches the preset pressure of proportional pressure control valve, liquid oil is from ratio
Overflow valve flow to external fuel tank；The switch valve in the high pressure auxiliary power branch is closed, so that the high pressure auxiliary power branch
The pressure on road maintains the preset pressure of high pressure auxiliary power branch, completes the filling process of high pressure auxiliary power branch；
Then, the preset pressure of setting ratio overflow valve is the preset pressure of middle pressure auxiliary power branch, and pressure auxiliary is dynamic in opening
Switch valve in power branch, opens oil supply unit, and liquid oil is filled with middle pressure auxiliary power branch；The pressure of auxiliary power branch is pressed in the middle
After power reaches the preset pressure of proportional pressure control valve, liquid oil flow to external fuel tank from proportional pressure control valve；It is dynamic to close medium pressure auxiliary
Switch valve in power branch, so that the pressure of medium pressure auxiliary power branch maintains the default pressure of middle pressure auxiliary power branch
Power presses the filling process of auxiliary power branch in completion；
Finally, the preset pressure of setting ratio overflow valve is the preset pressure of low pressure auxiliary power branch, it is dynamic to open low pressure auxiliary
Switch valve in power branch, opens oil supply unit, and liquid oil is filled with low pressure auxiliary power branch；When the pressure of low pressure auxiliary power branch
After power reaches the preset pressure of proportional pressure control valve, liquid oil flow to external fuel tank from proportional pressure control valve；It is dynamic to close the low pressure auxiliary
Switch valve in power branch, so that the pressure of the low pressure auxiliary power branch maintains the default pressure of low pressure auxiliary power branch
Power completes the filling process of low pressure auxiliary power branch.
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| CN110219849A (en) * | 2019-05-13 | 2019-09-10 | 北京航天发射技术研究所 | A kind of Multi-stage cylinder quickly plays perpendicular recovery control system |
| CN110374939B (en) * | 2019-07-19 | 2020-05-19 | 南京理工军邦特种智能装备研究院有限公司 | Hydraulic system for providing two different pressures and pressure supply method |
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| CN113586532B (en) * | 2021-09-27 | 2021-12-21 | 徐州徐工挖掘机械有限公司 | Construction machine |
| CN113944659A (en) * | 2021-10-29 | 2022-01-18 | 重庆零壹空间科技集团有限公司 | Rocket erecting hydraulic system adopting energy accumulator for assisting oil supplement and auxiliary erecting method |
| CN115434975B (en) * | 2022-07-22 | 2024-11-05 | 蓝箭航天空间科技股份有限公司 | Novel erection oil cylinder |
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