CN103775441A - Electrical feedback large-scale servo hydraulic cylinder driven by double motors - Google Patents
Electrical feedback large-scale servo hydraulic cylinder driven by double motors Download PDFInfo
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- CN103775441A CN103775441A CN201410037636.3A CN201410037636A CN103775441A CN 103775441 A CN103775441 A CN 103775441A CN 201410037636 A CN201410037636 A CN 201410037636A CN 103775441 A CN103775441 A CN 103775441A
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Abstract
The invention discloses an electrical feedback large-scale servo hydraulic cylinder driven by double motors. The electrical feedback large-scale servo hydraulic cylinder comprises a hydraulic cylinder, a pilot valve and a glide valve, wherein the pilot valve comprises a pilot valve body, a pilot valve core is arranged in the pilot valve body, a pilot valve first oil opening, a pilot valve second oil opening, a pilot valve third oil opening and a pilot valve fourth oil opening are sequentially formed in the pilot valve body from the left side to the right side, the pilot valve core can leftwards and rightwards move in the axial line direction of the pilot valve core via a slide moving mechanism through being driven by a driving motor and a feedback motor, the glide valve comprises a glide valve body, a glide valve core, a left valve cover, a right valve cover, a left spring and a right spring, the glide valve core is assembled in the glide valve body, the left valve cover is matched and connected with the left end of the glide valve body, the right end cover is matched and connected with the right end of the glide valve body, the left spring is arranged at the left end of the glide valve core, and the right spring is arranged at the right end of the glide valve core. When the electrical feedback large-scale servo hydraulic cylinder is adopted, the quantization control can be easily realized.
Description
Technical field
The present invention relates to servo hydraulic cylinder, relate generally to the large-scale servo hydraulic cylinder of electricity feedback.
Background technique
Traditional hydraulic servo and ratio control system control complexity, need D/A-A/D conversion, can not realize direct control.Under prior art, proportional valve control precision is low; Electrohydraulic control dead band is little, and stagnant ring is little, and frequency response is high, and control accuracy is high, but complex structure, and manufacture cost is high, uses complicated.The most internal mechanical feedback mechanisms that adopt of present digital quantization oil hydraulic cylinder (patent 200920081786.9) carry out control accuracy, but internal mechanical feedback mechanism manufacturing difficulty is difficult for installing, and keeps in repair numerous and diverse.Especially, when hydraulic cylinder travel increases, the problems referred to above can be more serious." a kind of internal feedback digital servo cylinder " that patent of invention 201310092096.4 proposes, although solved to a certain extent subproblem, but pilot stage digital valve is directly controlled oil hydraulic cylinder, cause flow unsuitable excessive, therefore slightly inadequate for the speed control of large-scale oil hydraulic cylinder; And its feedback silk braid is by two bearings, causes rotary inertia to increase, cannot guarantee its stationarity response and precision.
The patent No. is that the Chinese patent of CN201310079796.X discloses " a kind of directly-fed Digital Hydraulic Valve ", comprise valve body, spool, spline pair, instruction motor, instruction motor is for receiving command pulse and determining respectively rotating speed and the angle of swing of described instruction motor output shaft according to the frequency of described command pulse and number; The two-phase dorsal surface of spline pair is connected with the output shaft of described instruction motor and spool one end of described Digital Hydraulic Valve respectively, it is characterized in that: also comprise feedback screw pair and feedback motor, described feedback screw pair is threaded with the other end of described spool, when described spool is swayed, produces and moves axially; The output shaft of described feedback motor connects feedback screw pair, for receiving the feedback pulse signal of actuator, according to the frequency of described feedback pulse and number rotating speed and the angle of swing of definite described feedback motor output shaft respectively, the output shaft of the output shaft relative instruction motor that feeds back motor is rotated backward, complete thus for the instruction specified amount of described valve element position and the comparison operation of feedback quantity.This hydrovalve displacement transducer is external, the parallelism of installing is had to very high requirement, and sensor is difficult for protected.In addition this hydrovalve can only be controlled the to-and-fro motion of oil hydraulic cylinder at fixing point-to-point transmission, for the poor stability of speed control, and cannot accurately control the oil hydraulic cylinder of large flow.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, provide a kind of valve arrangement simple, manufacturing is relatively easy, and inner stressed even, the electricity of the Dual-motors Driving that control accuracy is high feeds back large-scale servo hydraulic cylinder.
The electricity of Dual-motors Driving of the present invention feeds back large-scale servo hydraulic cylinder, it comprises oil hydraulic cylinder, it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body, in described pilot valve body, pilot valve core is housed, on described pilot valve core, be provided with four pilot valve boss, between two the pilot valve boss in left side, form the left chamber of pilot valve, between the pilot valve boss of two, right side, form the right chamber of pilot valve, on described pilot valve body, have successively from left to right pilot valve the first hydraulic fluid port, pilot valve the second hydraulic fluid port, pilot valve the 3rd hydraulic fluid port and pilot valve the 4th hydraulic fluid port, two of centres boss in four boss can seal pilot valve the first hydraulic fluid port and pilot valve the 3rd hydraulic fluid port setting simultaneously, on described pilot valve body, be provided with built-in the first perforate passage that is communicated with the left chamber of pilot valve and the right chamber of pilot valve, described pilot valve core left end is connected with the feedback motor being arranged on pilot valve body, described pilot valve core right-hand member is connected with the active motor being arranged on pilot valve body, described pilot valve core can move left and right along pilot valve core axial direction by slipping mechanism under the driving of active motor and feedback motor, described lower guiding valve comprises downslide valve body, be assemblied in the lower valve core of the spool valve in downslide valve body, coordinate with downslide valve body left end the left valve gap being connected, coordinate with downslide valve body right-hand member the right valve gap being connected, be arranged on the left spring and the right spring that is arranged on lower valve core of the spool valve right-hand member of lower valve core of the spool valve left end, on described lower valve core of the spool valve, be provided with four lower guiding valve boss, between two the lower guiding valve boss in left side, form the left chamber of lower guiding valve, between the lower guiding valve boss in two, right side, form the right chamber of lower guiding valve, between lower valve core of the spool valve left end and left valve gap inwall, form left side spring chamber, between lower valve core of the spool valve right-hand member and right valve gap inwall, form right side spring chamber, on described downslide valve body, be provided with the built-in second perforate passage in the left chamber of guiding valve and the right chamber of lower guiding valve under connection, on described downslide valve body, have successively from left to right lower guiding valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port, lower guiding valve the second hydraulic fluid port, lower guiding valve the 3rd hydraulic fluid port and lower guiding valve the 5th hydraulic fluid port, under two centres in four lower guiding valve boss, guiding valve boss can seal lower guiding valve the first hydraulic fluid port and the 3rd hydraulic fluid port setting of lower guiding valve simultaneously, left side spring chamber is communicated with by the A mouth runner of opening on downslide valve body with pilot valve the first hydraulic fluid port, right side spring chamber be communicated with pilot valve the 3rd hydraulic fluid port by the B mouth runner of opening on downslide valve body, lower guiding valve the second hydraulic fluid port is communicated with pilot valve the second hydraulic fluid port by the P mouth runner of opening on downslide valve body, the Y mouth runner that lower guiding valve the 5th hydraulic fluid port is crossed out on downslide valve body is communicated with pilot valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port is connected with oil hydraulic cylinder left side hydraulic fluid port by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port is connected with oil hydraulic cylinder right side hydraulic fluid port by B mouth oil pipe, built-in sensors is arranged on hydraulic cylinder piston, control module and active motor, feedback motor and built-in sensors are connected, built-in sensors gathers hydraulic cylinder piston displacement signal and passes to control module, control module sends signal processing to feedback motor, the rotation that feedback motor produces with initiatively motor is contrary.
Advantage and good effect that the present invention has are: control module is sent out initiatively driven by motor pilot valve of pulse control, and then drive lower guiding valve that oil hydraulic cylinder is moved, export large quantity of fluid, built-in sensors is measured oil hydraulic cylinder amount of movement and is fed back to control module, control module is controlled feedback motor compensating valve core movement again, reach accurate control, inner stressed evenly and operate steadily.The present invention is simple in structure, controls simply, is easy to manufacture, and is easy to quantified controlling, is more suitable in to large hydraulic cylinder requirement position, velocity accuracy control and the very large working environment of thrust.
Accompanying drawing explanation
Fig. 1 is the plan view that the electricity of Dual-motors Driving of the present invention feeds back large-scale servo hydraulic cylinder;
Fig. 2 is the structural representation of the pilot valve in the oil hydraulic cylinder shown in Fig. 1;
Fig. 3 is the structural representation that in the oil hydraulic cylinder shown in Fig. 1, pilot valve core is connected with the first coupling;
Fig. 4 is the structural representation of lower guiding valve in the oil hydraulic cylinder shown in Fig. 1.
Embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Consult Fig. 1～Fig. 4, the electricity of Dual-motors Driving of the present invention feeds back large-scale servo hydraulic cylinder, it comprises oil hydraulic cylinder, it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body 4, pilot valve core 5 is housed in described pilot valve body 4, on described pilot valve core 5, be provided with four pilot valve boss, between two the pilot valve boss in left side, form the left chamber of pilot valve, between the pilot valve boss of two, right side, form the right chamber of pilot valve, on described pilot valve body 4, have successively from left to right pilot valve the first hydraulic fluid port A, pilot valve the second hydraulic fluid port P, pilot valve the 3rd hydraulic fluid port B and pilot valve the 4th hydraulic fluid port T, two of centres boss in four boss can seal pilot valve the first hydraulic fluid port A simultaneously and pilot valve the 3rd hydraulic fluid port B arranges, on described pilot valve body 4, be provided with built-in the first perforate passage 15 that is communicated with the left chamber of pilot valve and the right chamber of pilot valve, described pilot valve core 5 left ends are connected with the feedback motor 2 being arranged on pilot valve body, described pilot valve core 5 right-hand members are connected with the active motor 7 being arranged on pilot valve body, described pilot valve core 5 can move left and right along pilot valve core 5 axial directions by slipping mechanism under the driving of active motor and feedback motor, described lower guiding valve comprises downslide valve body 8, be assemblied in the lower valve core of the spool valve 11 in downslide valve body 8, coordinate with downslide valve body 8 left ends the left valve gap 1 being connected, coordinate with downslide valve body 8 right-hand members the right valve gap 9 being connected, be arranged on the left spring 12 and the right spring 10 that is arranged on lower valve core of the spool valve right-hand member of lower valve core of the spool valve left end, on described lower valve core of the spool valve 11, be provided with four lower guiding valve boss, between two the lower guiding valve boss in left side, form the left chamber of lower guiding valve, between the lower guiding valve boss in two, right side, form the right chamber of lower guiding valve, between lower valve core of the spool valve left end and left valve gap 1 inwall, form left side spring chamber, between lower valve core of the spool valve right-hand member and right valve gap inwall, form right side spring chamber, on described downslide valve body 8, be provided with the built-in second perforate passage 16 in the left chamber of guiding valve and the right chamber of lower guiding valve under connection, on described downslide valve body, have successively from left to right lower guiding valve the 4th hydraulic fluid port T, lower guiding valve the first hydraulic fluid port A, lower guiding valve the second hydraulic fluid port P, lower guiding valve the 3rd hydraulic fluid port B and lower guiding valve the 5th hydraulic fluid port Y, under two centres in four lower guiding valve boss, guiding valve boss can seal lower guiding valve the first hydraulic fluid port A and the 3rd hydraulic fluid port B setting of lower guiding valve simultaneously, left side spring chamber is communicated with by the A mouth runner of opening on downslide valve body 8 with pilot valve the first hydraulic fluid port A, right side spring chamber be communicated with pilot valve the 3rd hydraulic fluid port B by the B mouth runner of opening on downslide valve body 8, lower guiding valve the second hydraulic fluid port P is communicated with pilot valve the second hydraulic fluid port P by the P mouth runner of opening on downslide valve body 8, the Y mouth runner that lower guiding valve the 5th hydraulic fluid port Y crosses out on downslide valve body 8 is communicated with pilot valve the 4th hydraulic fluid port T, lower guiding valve the first hydraulic fluid port A is connected with oil hydraulic cylinder left side hydraulic fluid port by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port B is connected with oil hydraulic cylinder right side hydraulic fluid port by B mouth oil pipe, built-in sensors is arranged on hydraulic cylinder piston, control module 14 and active motor 7, feedback motor 2 and built-in sensors are connected, built-in sensors gathers hydraulic cylinder piston displacement signal and passes to control module 14, control module 14 sends signal processing to feedback motor 2, the rotation that feedback motor 2 produces with initiatively motor 7 is contrary.
Lower guiding valve puts the left spring chamber of left spring 12 and the A hydraulic fluid port of pilot valve body 4 is communicated with, and puts the right spring chamber of right spring 10 and the B hydraulic fluid port of pilot valve body 4 is communicated with.The P hydraulic fluid port of downslide valve body 8 is communicated with the P hydraulic fluid port of pilot valve body 4, and the 5th hydraulic fluid port Y of downslide valve body 8 is communicated with the first hydraulic fluid port T of pilot valve body 4.The left valve gap 1 and the right valve gap 9 that are arranged on lower valve core of the spool valve 11 fix respectively left spring 12 and right spring 10, and then the static initial position of valve core of the spool valve 11 under fixing centering.Preferred initiatively motor 7 is stepper motor with feedback motor 2, and quiet moment of torsion is large.
Described slipping mechanism comprises one end and the motor shaft of active motor 7 the first coupling 6 being connected of pegging graft, as one of the present invention preferred embodiment, initiatively motor 7 axles can be D type, first coupling 6 one end have D type groove, initiatively motor 7 axle D type ends are inserted in the first coupling 6D type groove, advantage is easy processing, and assembling is simple, and guarantees that motor shaft is not subject to axial force.First described coupling 6 the other ends are inserted in the fluting on pilot valve core 5 right sides, and the first described coupling 6, by pilot valve body 4 structural limitations, can not move, but can drive pilot valve core 5 to rotate.For easy to process, pilot valve core 5
right sidefluting be D type, first described coupling 6 the other ends are D type end, described D type end is inserted in D type fluting and D type end can move in D type fluting, peg graft and be connected with the second coupling 3 in described feedback motor shaft one end, as one of the present invention preferred embodiment, feedback motor shaft can be D type, second coupling 6 one end have D type groove, the D type end of feedback motor shaft is inserted in the D type groove of the second coupling 6, and second described coupling 3 the other ends have tapped hole, described
first pilot valve spool 5 left sides are provided with male end, described
firstthe male end of pilot valve spool 5 is threaded with tapped hole, and the second coupling 3 is assemblied in pilot valve, can only rotate and can not move.
Working principle of the present invention:
When control module is not given signal, pilot valve core 5 is in the time of meta, pilot valve the first hydraulic fluid port A and pilot valve the second hydraulic fluid port B are communicated with pilot valve the 4th hydraulic fluid port T hydraulic fluid port simultaneously, lower valve core of the spool valve 11 left and right pressure at two ends equate, the acting in conjunction that lower valve core of the spool valve 11 passes through left spring 12 and right spring 10 is in meta, pilot valve the first hydraulic fluid port A, pilot valve the second hydraulic fluid port B all without pressure oil flow, oil hydraulic cylinder does not move.
When control module is sent positive rotaring signal to active motor 7, initiatively motor 7 drives pilot valve core 5 forward rotation by the first coupling 6, because the first coupling 6, the second coupling 3 all can not move, and feedback motor does not obtain in the situation of feedback signal, because feedback motor static torque, the second coupling 3 also can not rotate, and pilot valve core 5 is moved to the left by screw thread.Pilot valve the second hydraulic fluid port P is communicated with the first hydraulic fluid port A, and the 3rd hydraulic fluid port B is communicated with the 4th hydraulic fluid port T.Pressure oil flows to pilot valve the second hydraulic fluid port P by lower guiding valve the second hydraulic fluid port P, and the left spring that enters lower guiding valve through the first hydraulic fluid port A promotes lower valve core of the spool valve 11 and moves right lower guiding valve the second hydraulic fluid port P is communicated with the 3rd hydraulic fluid port B, and the first hydraulic fluid port A is communicated with the 4th hydraulic fluid port T.Pressure oil enters oil hydraulic cylinder 13 right-hand members through the 3rd hydraulic fluid port B by oil pipe by lower guiding valve the second hydraulic fluid port P, and hydraulic cylinder piston is moved to the left, the large chamber of oil hydraulic cylinder oil from oil pipe through the first hydraulic fluid port A, then by the 4th hydraulic fluid port T flow out.Oil hydraulic cylinder built-in sensors gathers displacement signal and passes to control module 14, control module 14 sends signal processing to feedback motor 2, control the movement of feedback motor 2 rotation compensation pilot valve cores 5, control lower valve core of the spool valve 11 and move, and then control steadily accurately motion of oil hydraulic cylinder.
When control module is sent reverse signal to active motor 7, principle is the same.
Although by reference to the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation that aim of the present invention and claim protect, can also make a lot of forms, within these all belong to protection scope of the present invention.
Claims (5)
1. the electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder, it comprises oil hydraulic cylinder, it is characterized in that: it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body, in described pilot valve body, pilot valve core is housed, on described pilot valve core, be provided with four pilot valve boss, between two the pilot valve boss in left side, form the left chamber of pilot valve, between the pilot valve boss of two, right side, form the right chamber of pilot valve, on described pilot valve body, have successively from left to right pilot valve the first hydraulic fluid port, pilot valve the second hydraulic fluid port, pilot valve the 3rd hydraulic fluid port and pilot valve the 4th hydraulic fluid port, two of centres boss in four boss can seal pilot valve the first hydraulic fluid port and pilot valve the 3rd hydraulic fluid port setting simultaneously, on described pilot valve body, be provided with built-in the first perforate passage that is communicated with the left chamber of pilot valve and the right chamber of pilot valve, described pilot valve core left end is connected with the feedback motor being arranged on pilot valve body, described pilot valve core right-hand member is connected with the active motor being arranged on pilot valve body, described pilot valve core can move left and right along pilot valve core axial direction by slipping mechanism under the driving of active motor and feedback motor, described lower guiding valve comprises downslide valve body, be assemblied in the lower valve core of the spool valve in downslide valve body, coordinate with downslide valve body left end the left valve gap being connected, coordinate with downslide valve body right-hand member the right valve gap being connected, be arranged on the left spring and the right spring that is arranged on lower valve core of the spool valve right-hand member of lower valve core of the spool valve left end, on described lower valve core of the spool valve, be provided with four lower guiding valve boss, between two the lower guiding valve boss in left side, form the left chamber of lower guiding valve, between the lower guiding valve boss in two, right side, form the right chamber of lower guiding valve, between lower valve core of the spool valve left end and left valve gap inwall, form left side spring chamber, between lower valve core of the spool valve right-hand member and right valve gap inwall, form right side spring chamber, on described downslide valve body, be provided with the built-in second perforate passage in the left chamber of guiding valve and the right chamber of lower guiding valve under connection, on described downslide valve body, have successively from left to right lower guiding valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port, lower guiding valve the second hydraulic fluid port, lower guiding valve the 3rd hydraulic fluid port and lower guiding valve the 5th hydraulic fluid port, under two centres in four lower guiding valve boss, guiding valve boss can seal lower guiding valve the first hydraulic fluid port and the 3rd hydraulic fluid port setting of lower guiding valve simultaneously, left side spring chamber is communicated with by the A mouth runner of opening on downslide valve body with pilot valve the first hydraulic fluid port, right side spring chamber be communicated with pilot valve the 3rd hydraulic fluid port by the B mouth runner of opening on downslide valve body, lower guiding valve the second hydraulic fluid port is communicated with pilot valve the second hydraulic fluid port by the P mouth runner of opening on downslide valve body, the Y mouth runner that lower guiding valve the 5th hydraulic fluid port is crossed out on downslide valve body is communicated with pilot valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port is connected with oil hydraulic cylinder left side hydraulic fluid port by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port is connected with oil hydraulic cylinder right side hydraulic fluid port by B mouth oil pipe, built-in sensors is arranged on hydraulic cylinder piston, control module and active motor, feedback motor and built-in sensors are connected, built-in sensors gathers hydraulic cylinder piston displacement signal and passes to control module, control module sends signal processing to feedback motor, the rotation that feedback motor produces with initiatively motor is contrary.
2. the electricity of Dual-motors Driving according to claim 1 feeds back large-scale servo hydraulic cylinder, it is characterized in that: described slipping mechanism comprises one end and the motor shaft of active motor the first coupling being connected of pegging graft, and the first described coupling the other end is inserted in the fluting on pilot valve core right side; Peg graft and be connected with the second coupling in described feedback motor shaft one end, the second described coupling the other end has tapped hole, is provided with male end in described pilot valve core left side, and the male end of described pilot valve core is threaded with tapped hole.
3. the electricity of Dual-motors Driving according to claim 1 and 2 feeds back large-scale servo hydraulic cylinder, it is characterized in that: the fluting on described pilot valve core right side is D type, the first described coupling the other end is D type end, and the first coupling D type end is inserted in D type fluting and D type end can move in D type fluting.
4. the electricity of Dual-motors Driving according to claim 3 feeds back large-scale servo hydraulic cylinder, it is characterized in that: initiatively motor shaft is D type, and first coupling one end has D type groove, and initiatively motor shaft D type end is inserted in the first coupling D type groove.
5. the electricity of Dual-motors Driving according to claim 3 feeds back large-scale servo hydraulic cylinder, it is characterized in that: feedback motor shaft is D type, and second coupling one end has D type groove, and the D type end of feedback motor shaft is inserted in the D type groove of the second coupling.
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| CN201410037636.3A CN103775441B (en) | 2014-01-26 | 2014-01-26 | The electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder |
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| CN201410037636.3A CN103775441B (en) | 2014-01-26 | 2014-01-26 | The electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder |
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| CN103775441B CN103775441B (en) | 2015-11-18 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104074818A (en) * | 2014-07-07 | 2014-10-01 | 武汉海力威机电科技有限公司 | Direct valve feedback hydraulic synchronization device |
| CN106224320A (en) * | 2016-09-12 | 2016-12-14 | 天津大学 | Inbuilt displacement sensor integrated form list rod symmetrical hydraulic cylinder |
| CN106321544A (en) * | 2016-11-03 | 2017-01-11 | 杭州欧盾机电有限公司 | Conversion valve |
| CN106762959A (en) * | 2017-02-13 | 2017-05-31 | 杭州欧盾机电有限公司 | Flow direction conversion equipment |
| CN107013525A (en) * | 2017-04-11 | 2017-08-04 | 杭州欧盾机电有限公司 | Hydraulic means and the bending straightener with hydraulic means |
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| CN103216478A (en) * | 2012-01-20 | 2013-07-24 | 杨世祥 | Digital hydraulic motor |
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| US4031813A (en) * | 1973-10-10 | 1977-06-28 | Sperry Rand Limited | Hydraulic actuator controls |
| CN85108167A (en) * | 1985-11-08 | 1986-09-03 | 冶金工业部北京钢铁设计研究总院 | Digital pulse-valve system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104074818A (en) * | 2014-07-07 | 2014-10-01 | 武汉海力威机电科技有限公司 | Direct valve feedback hydraulic synchronization device |
| CN106224320A (en) * | 2016-09-12 | 2016-12-14 | 天津大学 | Inbuilt displacement sensor integrated form list rod symmetrical hydraulic cylinder |
| CN106321544A (en) * | 2016-11-03 | 2017-01-11 | 杭州欧盾机电有限公司 | Conversion valve |
| CN106762959A (en) * | 2017-02-13 | 2017-05-31 | 杭州欧盾机电有限公司 | Flow direction conversion equipment |
| CN106762959B (en) * | 2017-02-13 | 2018-04-17 | 杭州欧盾机电有限公司 | Flow direction conversion equipment |
| CN107013525A (en) * | 2017-04-11 | 2017-08-04 | 杭州欧盾机电有限公司 | Hydraulic means and the bending straightener with hydraulic means |
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|---|---|
| CN103775441B (en) | 2015-11-18 |
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