CN101776107A - Exact stroke control method and stroke control device of serial oil cylinders - Google Patents
Exact stroke control method and stroke control device of serial oil cylinders Download PDFInfo
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- CN101776107A CN101776107A CN 201010140160 CN201010140160A CN101776107A CN 101776107 A CN101776107 A CN 101776107A CN 201010140160 CN201010140160 CN 201010140160 CN 201010140160 A CN201010140160 A CN 201010140160A CN 101776107 A CN101776107 A CN 101776107A
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- oil cylinder
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- cylinder stroke
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1404—Characterised by the construction of the motor unit of the straight-cylinder type in clusters, e.g. multiple cylinders in one block
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
- F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
- F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
- F04B9/10—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid
- F04B9/109—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers
- F04B9/117—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers the pumping members not being mechanically connected to each other
- F04B9/1172—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers the pumping members not being mechanically connected to each other the movement of each pump piston in the two directions being obtained by a double-acting piston liquid motor
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
Abstract
The invention discloses a stroke control method of serial oil cylinders. The method comprises the following steps of: forming an oil cylinder stroke control area by alternately arranging two oil cylinder stroke position collectors; judging the oil volume state of a communication cavity according to a position relation between an oil cylinder stroke and the control area and the communication state of the communication cavity of the serial oil cylinders; and adjusting the oil volume of the communication cavity according to the oil volume state of the communication cavity so as to control the oil cylinder stroke within the control area. The invention also discloses a stroke control device of the serial oil cylinders. In the invention, the control precision of the oil cylinder stroke is improved, and too long strokes and too short strokes can be detected. In an adjustment process of the oil volume, a method of gradually increasing or reducing an oil quantity inn each pumping cycle is adopted, thereby avoiding influences brought by oil volume adjustment works on pumping works of the serial oil cylinders.
Description
Technical field
The present invention relates to a kind of stroke control method of the serial oil cylinders that is applied to equipment such as concrete pump and use the travel control device of this method.
Background technique
Concrete pump is that the to-and-fro motion by two series cylinders realizes concrete uninterrupted pumping.Two series cylinder cylinder diameters, bar footpath is all identical, can keep in theory being synchronized with the movement.
But owing to reasons such as accuracy of manufacturing, load, leakages, can cause two oil cylinders asynchronous, along with the accumulation of time, its synchronization error increases gradually, as does not have control gear, and the system that can increase to can't proper functioning.
On concrete pump, generally adopt and unload the stroke that the die mould damping mechanism is adjusted serial oil cylinders.As shown in Figure 1, rodless cavity 143 UNICOMs of the rodless cavity 123 of first oil cylinder 12 of serial oil cylinders and second oil cylinder 14 become the UNICOM chamber together, the rod chamber 121 of first oil cylinder and the rod chamber of second oil cylinder 14 141 are oil suction chamber, when rod chamber 121 oil-feeds, cylinder rod 125 retreats, and cylinder rod 145 stretches out; When rod chamber 141 oil-feeds, cylinder rod 145 retreats, and cylinder rod 121 stretches out.First oil cylinder 12 is provided with pressure release type damping mechanism 127, the second oil cylinders 14 and is provided with pressure release type damping mechanism 147.The stroke of first oil cylinder 12 equates with the stroke of second oil cylinder 12, also is the stroke of serial oil cylinders, i.e. oil cylinder stroke simultaneously.
But unloading the die mould damping mechanism needs to punch on oil cylinder, therefore its position can not free adjusting, and along with the difference of pressure, flow, cylinder diameter, bar footpath, reversing control system, the cylinder buffer distance is also different, so be difficult to adapt to complex working condition, cause the fault that stroke shortens or stroke is elongated sometimes, cause lubricated not in place or suction variation, this will have a significant impact the antiwear characteristic and the efficient of pumping system.
Patent documentation WO1990004104A1 has disclosed a kind of control stroke mode of serial oil cylinders, as shown in Figure 2, carrying cylinder to carry out push-pull mode by driving oil cylinder with alternate type compression and induction stroke respectively for two controls, wherein, the mutual filler opening of hydraulic fluid port A, B and the oil outlet of rodless cavity, rod chamber UNICOM becomes the UNICOM chamber, control its additional fluid or drain fluid by three position four-way electromagnetic valve, wherein, hydraulic fluid port P is the repairing mouth, and hydraulic fluid port T is a return opening.It is the piston cap end that pressure oil alternately infeeds driving oil cylinder, and these two interconnected driving sides of rod end, its stroke of piston can be able to balance by the supply and the discharging of hydraulic oil, wherein, the continuous final position signal (being detected by sensor B1, B2, B3, B4) of logic triggers on four end positions of driving oil cylinder piston each other.
When the rod end final position signal of a piston exists, when simultaneously the lid end final position signal of another piston did not exist, hydraulic oil liquid was infeeded, and did not exist when the rod end final position signal of a piston, when the lid end final position signal of another piston existed simultaneously, hydraulic oil liquid was discharged; And when the rod end of two pistons exists simultaneously or do not exist with lid end final position signal, will stop the supply and the discharging of hydraulic oil liquid.
This scheme has several defectives:
(1) control accuracy is limited: under the different pressures effect, the amount that fluid replenishes or discharges has bigger variation, and therefore under identical standard (same induced signal), control accuracy can change bigger.
(2) control range is limited: can not detect the long problem of stroke, only can realize that stroke can too short control.
(3) influence the complete machine performance: wait for that control puts in place if oil cylinder stops, then the pumping number of times of per minute will be subjected to considerable influence, so reduce overall efficiency.
Summary of the invention
The accurate serial oil cylinders stroke control method that the object of the invention is to provide equipment such as concrete pump to use the present invention also aims to provide a kind of travel control device of serial oil cylinders.
For this reason, the invention provides a kind of stroke control method of serial oil cylinders, may further comprise the steps: by the control area of two oil cylinder stroke station acquisition devices that be staggeredly arranged with the formation oil cylinder stroke; Judge the fluid volume conditions in UNICOM chamber according to the connected state in the UNICOM chamber of the position between oil cylinder stroke and control area relation and serial oil cylinders, wherein, close position between oil cylinder stroke and the control area: the no show control area, arrive the control area, surpass the control area, the fluid volume conditions in UNICOM chamber is: very few, suitable, too much, the connected state in UNICOM chamber comprises that rod chamber UNICOM and rodless cavity are communicated with; And adjust according to the fluid volume of the fluid volume conditions distich cavity in UNICOM chamber, so that oil cylinder stroke is controlled in the control area.
Preferably, adjust the control accuracy of oil cylinder stroke by the distance that staggers of adjusting two travel position collectors.
Preferably, when two pumping circulation are finished, there is nil case to determine relation between oil cylinder stroke and the control area by the signal of adding up two oil cylinder stroke station acquisition devices.
Preferably, during when oil cylinder stroke no show control area or above the control area, in ensuing each pumping circulation, increase one by one or minimizing repairing amount or dredge oil amount, be positioned at the control area up to oil cylinder stroke.
Preferably, when oil cylinder stroke is positioned at the control area, in ensuing each pumping circulation, keep repairing amount or dredge oil amount constant.
Preferably, oil cylinder stroke is controlled by repairing amount or dredge oil amount, and repairing amount or dredge oil amount are opened time or Proportional valve flow or servovalve flow by the control switch solenoid valve and controlled.
On the other hand, the invention provides a kind of travel control device of serial oil cylinders of concrete pump, it comprises signal pickup assembly, signal processing apparatus and benefit draining hydraulic system, wherein signal pickup assembly comprises two the oil cylinder stroke station acquisition devices that are staggeredly arranged, to form the control area of oil cylinder stroke; Signal processing apparatus is judged the fluid volume conditions in UNICOM chamber according to the connected state in the UNICOM chamber of relation of the position between oil cylinder stroke and the control area and serial oil cylinders, and controls the fluid volume of mending draining hydraulic system distich cavity according to the fluid volume conditions in UNICOM chamber and adjust.
Preferably, two of above-mentioned serial oil cylinders oil cylinders are respectively equipped with oil cylinder stroke station acquisition device.
Preferably, above-mentioned oil cylinder stroke station acquisition device is arranged on cylinder rod chamber or oil cylinder rodless cavity or the water tank, or other can detect the place of piston or piston rod position.
Preferably, above-mentioned benefit draining hydraulic system comprises: first solenoid directional control valve is used to select the connected state in the UNICOM chamber of serial oil cylinders; Second solenoid directional control valve makes the UNICOM chamber have three kinds of states: the repairing state that is communicated with oil supply system, the draining state that is communicated with low voltage terminal or fuel tank and former state hold mode.
Can increase Proportional valve or servovalve in the above-mentioned benefit draining hydraulic system, so that repairing flow or draining flow are controlled.
In the present invention, by oil cylinder stroke is controlled in the control area, and adjust the fluid volume in UNICOM chamber according to the connected state in UNICOM chamber, its Stroke Control precision is improved, and can detect stroke is long and too short.In the adjustment process of fluid volume, adopt the method that in each pumping circulation, increases or reduce the fluid amount one by one, avoided fluid volume adjustment work to give the influence that serial oil cylinders pumping work is brought, to guarantee overall efficiency.
Except purpose described above, feature and advantage, the present invention also has other purpose, feature and advantage.With reference to figure, the present invention is further detailed explanation below.
Description of drawings
Constitute this specification a part, be used for further understanding accompanying drawing of the present invention and show the preferred embodiments of the present invention, and be used for illustrating principle of the present invention with specification.Among the figure:
Fig. 1 shows having of prior art and unloads the schematic representation of die mould damping mechanism with the serial oil cylinders of adjustment oil cylinder stroke;
Fig. 2 shows the schematic representation that collection piston rod terminal signaling is adjusted the concrete pump of oil cylinder stroke that passes through of prior art;
Fig. 3 shows the theory diagram according to serial oil cylinders travel control device of the present invention;
Fig. 4 shows a kind of schematic layout pattern of the signal pickup assembly of the travel control device of serial oil cylinders according to the present invention;
Fig. 5 shows the another kind of schematic layout pattern of the signal pickup assembly of the travel control device of serial oil cylinders according to the present invention; And
Fig. 6 shows the theory diagram of benefit draining hydraulic system of the travel control device of the serial oil cylinders according to the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
Fig. 3 shows the theory diagram according to the travel control device of serial oil cylinders of the present invention.As shown in the figure, travel control device comprises signal pickup assembly 10, benefit draining hydraulic system 20 and the signal processing apparatus 30 of oil cylinder stroke.Signal pickup assembly 10 comprise two stagger relatively install near switch, promptly before near switch and back near switch; Signal processing apparatus 30 1 ends link to each other with hydraulic system, and the other end links to each other with the relative signal pickup assembly that staggers 10; Mending draining hydraulic system 20 links to each other with serial oil cylinders UNICOM chamber.
Wherein, signal pickup assembly can be loaded on cylinder rod chamber or oil cylinder rodless cavity or the water tank, or other can detect the place of piston or piston rod position.
Fig. 4 and Fig. 5 show two kinds of partial schematic diagrams according to the signal pickup assembly of the travel control device of serial oil cylinders of the present invention.As shown in Figure 4 and Figure 5, concrete cylinder 11,13 is used for delivering concrete, water tank 15 is in order to cooling and replacing component space is provided, and oil cylinder 12,14 is a pumping system actuator, and commutation signal generator 16,17 is used to control the pumping system commutation and keeps continuous firing.
In Fig. 4, travel position collector 18 is used to detect the stroke of oil cylinder 12, and its position is forward; Travel position collector 19 is used to detect the stroke of oil cylinder 14, after its position is leaned on, when travel position collector 18,19 when constituting near switch, near switch, 19 of travel position collectors were called the back near switch before travel position collector 18 was called.
In Fig. 5, travel position collector 18,19 is used to detect the stroke of same oil cylinder, and it one in front and one in back is provided with.
The movement process and the stroke of oil cylinder 12 and oil cylinder 14 are identical, travel position collector 18,19 is respectively applied for when detecting two oil cylinder strokes (as shown in Figure 4), when commutation signal generator 16,17 breaks down, can be used as the commutation signal generator and use, so can increase the functional reliability of concrete pump.
In addition, two assemblings near the switching position are to change according to different requirements, therefore do not make qualification, have just provided for example, just precision.Technician in the industry can make adjustment according to own needs.
Fig. 6 shows the theory diagram of benefit draining hydraulic system of the travel control device of the serial oil cylinders according to the present invention.As shown in Figure 6, mend draining hydraulic system 20 and comprise two solenoid directional control valves 21 and three-position electromagnetic selector valve 22 and oil supply system 23.
Wherein, serial oil cylinders be communicated with the oil outlet A that the UNICOM chamber constitute is connected to two solenoid directional control valves 21 by rodless cavity, serial oil cylinders be communicated with the oil outlet B that the UNICOM chamber constitute is connected to two solenoid directional control valves 21 by rod chamber, the filler opening of two position switching valves 21 is communicated with the oil outlet A of three position directional valve, the return opening shutoff, according to the UNICOM chamber is rodless cavity or rod chamber, and electromagnet T1a has dead electricity and gets electric two states.Wherein, rodless cavity is corresponding to low-pressure state, and rod chamber is corresponding to high pressure conditions.
The oil outlet B shutoff of three position directional valve, oil inlet P connects oil supply system 23, and the oil return inlet T connected tank is with oil return.Three kinds of states of electromagnet T2a and T2b control three-position electromagnetic selector valve 22: fluid infusion state, draining state and the also state of draining not of repairing neither.
The stroke control method of serial oil cylinders is as follows: form a control area by two travel position collectors that stagger relatively, control the benefit draining state of communicated cavity by judging the oil cylinder stroke and the relation in this zone, with the control of realization oil cylinder stroke.
Particularly, can judge the fluid volume conditions in UNICOM chamber, in conjunction with the control of two solenoid valves 21,22, realize that the fluid volume of distich cavity is controlled, thereby the control oil cylinder stroke be a pumping stroke by the logical relation of travel position collector 18,19.
Controlling method of the present invention is made up of two-part: state is judged, controlled quentity controlled variable is calculated.
One, state is judged
The state of oil cylinder stroke mainly comprises three kinds: not put in place be oil cylinder stroke no show control area, to put in place be that oil cylinder stroke is positioned at the control area, crosses that to put in place be that oil cylinder stroke surpasses the control area.
Before and after on the water tank, can distinguish above three kinds of situations near the layout of switch.
Judgment mode: after two pumping circulation are finished, before and after the statistics near the RST of switch: two all do not have signal-----do not put in place near switch; Before have near switch that then------puts in place near the switch no signal; Two all have signal near switch, and------crossed and put in place.
As shown in Figure 5, if oil cylinder is return, signal is not all sensed near switch 18,19 in front and back, then oil cylinder stroke is just short (not putting in place), if but signal is all sensed near switch 18,19 in front and back, then oil cylinder stroke is just long (cross and put in place), in the present invention, wish just in time to be in after oil cylinder is return these two near between the switch, so just be called " putting in place ".
UNICOM's chamber oil mass state judgment mode: during low pressure, oil cylinder UNICOM chamber is a rodless cavity; During high pressure, oil cylinder UNICOM chamber is a rod chamber.
Relation between the fluid volume in UNICOM chamber and the state that stroke puts in place as shown in Table 1.
Table one:
Two, controlled quentity controlled variable is calculated
The aperture of imitating Proportional valve by the opening time of control switch solenoid valve changes, and realizes the meticulous control of distich cavity fluid.Whole control process is made up of two-part:
(1) original state is determined:
A) UNICOM chamber fluid is too much: draining, open solenoid valve 22, and the endurance is t second, promptly electromagnet T2a gets electric t second;
B) UNICOM chamber fluid is very few: repairing, open solenoid valve 22, and endurance t second, promptly the T2b electromagnet gets electric t second.
Only the determining of above original state value finished during pumping circulation in the first time, determined the approximate algorithm initial value, and this approximate algorithm will be described below.
(2) process values approaches: during when oil cylinder stroke no show control area or above the control area, increase repairing amount or dredge oil amount one by one in ensuing each pumping circulation, be positioned at the control area up to oil cylinder stroke.Remove primary all pumping circulation,, keep repairing of last one-period or draining state constant when UNICOM's chamber fluid occurring when neither too much nor too little.
The embodiment of the specific algorithm of repairing or draining
Table two has provided and increased progressively the identical repairing amount of coefficient or the example of vent flow in each pumping circulation, promptly according to the derive state of the n time pumping circulation of the state of the n-1 time pumping circulation.
Table two
After the t value is less than 100ms, the state counter-rotating.Be that the repairing state becomes draining, the draining state becomes repairing, resets initial value t, and then approaches again according to above algorithm.
It will be understood by those skilled in the art that above numerical value such as t=100ms, numerical value K1=1.2; K2=1.1 etc. are for example, can set as required.
By above description as can be seen, in the present invention, by oil cylinder stroke is controlled in the control area, and adjust the fluid volume in UNICOM chamber according to the connected state in UNICOM chamber, its Stroke Control precision is improved, and can detect stroke is long and too short.In the adjustment process of fluid volume, adopt the method that in each pumping circulation, increases or reduce the fluid amount one by one, with the influence of reduction, thereby improve overall efficiency to serial oil cylinders pumping number of times.
Be the preferred embodiments of the present invention only below, be not limited to the present invention, for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the stroke control method of a serial oil cylinders is characterized in that, may further comprise the steps:
By the control area of two oil cylinder stroke station acquisition devices that be staggeredly arranged with the formation oil cylinder stroke;
Judge the fluid volume conditions in described UNICOM chamber according to the connected state in the UNICOM chamber of the position between oil cylinder stroke and described control area relation and described serial oil cylinders, wherein, close position between described oil cylinder stroke and the control area: the no show control area, arrive the control area, surpass the control area, the fluid volume conditions in described UNICOM chamber is: very few, suitable, too much, the connected state in described UNICOM chamber comprises that rod chamber UNICOM and rodless cavity are communicated with; And
Fluid volume conditions according to described UNICOM chamber is adjusted the fluid volume in described UNICOM chamber, so that described oil cylinder stroke is controlled in the described control area.
2. the stroke control method of serial oil cylinders according to claim 1 is characterized in that, adjusts the control accuracy of described oil cylinder stroke by the distance that staggers of adjusting described two travel position collectors.
3. the stroke control method of serial oil cylinders according to claim 1, it is characterized in that, when two pumping circulation are finished, there is nil case to determine relation between described oil cylinder stroke and the described control area by the signal of adding up described two oil cylinder stroke station acquisition devices.
4. the stroke control method of serial oil cylinders according to claim 1, it is characterized in that, during when the described control area of described oil cylinder stroke no show or above described control area, in ensuing each pumping circulation, increase one by one or minimizing repairing amount or dredge oil amount, be positioned at described control area up to oil cylinder stroke.
5. the stroke control method of serial oil cylinders according to claim 4 is characterized in that, when described oil cylinder stroke is positioned at the control area, in ensuing each pumping circulation, keeps repairing amount or dredge oil amount constant.
6. the stroke control method of serial oil cylinders according to claim 1, it is characterized in that, described oil cylinder stroke is controlled by repairing amount or dredge oil amount, and described repairing amount or dredge oil amount are opened time or Proportional valve flow or servovalve flow by the control switch solenoid valve and controlled.
7. the travel control device of a serial oil cylinders is characterized in that, comprises signal pickup assembly, signal processing apparatus and benefit draining hydraulic system, wherein
Described signal pickup assembly comprises two the oil cylinder stroke station acquisition devices that are staggeredly arranged, to form the control area of oil cylinder stroke;
Described signal processing apparatus is judged the fluid volume conditions in described UNICOM chamber according to the connected state in the UNICOM chamber of relation of the position between oil cylinder stroke and the described control area and described serial oil cylinders, and controls described benefit draining hydraulic system according to the fluid volume conditions in described UNICOM chamber the fluid volume in described UNICOM chamber is adjusted.
8. the travel control device of serial oil cylinders according to claim 7 is characterized in that, two oil cylinders of described serial oil cylinders are respectively equipped with oil cylinder stroke station acquisition device, and perhaps, one of them oil cylinder is provided with two travel position collectors.
9. the travel control device of serial oil cylinders according to claim 7 is characterized in that, described oil cylinder stroke station acquisition device is arranged on cylinder rod chamber or oil cylinder rodless cavity or the water tank.
10. the travel control device of serial oil cylinders according to claim 7 is characterized in that, described benefit draining hydraulic system comprises: first solenoid directional control valve is used to select the connected state in the UNICOM chamber of described serial oil cylinders; Second solenoid directional control valve makes described UNICOM chamber have three kinds of states: the repairing state that is communicated with oil supply system, the draining state that is communicated with low voltage terminal or fuel tank and former state hold mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010140160 CN101776107B (en) | 2010-03-24 | 2010-03-24 | Exact stroke control method and stroke control device of serial oil cylinders |
| PCT/CN2011/072126 WO2011116702A1 (en) | 2010-03-24 | 2011-03-24 | Tandem hydraulic cylinders and stroke control device and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010140160 CN101776107B (en) | 2010-03-24 | 2010-03-24 | Exact stroke control method and stroke control device of serial oil cylinders |
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| CN101776107A true CN101776107A (en) | 2010-07-14 |
| CN101776107B CN101776107B (en) | 2012-05-30 |
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| WO2011116702A1 (en) | 2011-09-29 |
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