CN108979906A - A kind of EGR valve and engine - Google Patents
A kind of EGR valve and engine Download PDFInfo
- Publication number
- CN108979906A CN108979906A CN201810879406.XA CN201810879406A CN108979906A CN 108979906 A CN108979906 A CN 108979906A CN 201810879406 A CN201810879406 A CN 201810879406A CN 108979906 A CN108979906 A CN 108979906A
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- Prior art keywords
- cap
- valve
- inlet channel
- push rod
- exhaust passage
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/65—Constructional details of EGR valves
- F02M26/66—Lift valves, e.g. poppet valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/65—Constructional details of EGR valves
- F02M26/66—Lift valves, e.g. poppet valves
- F02M26/68—Closing members; Valve seats; Flow passages
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Exhaust-Gas Circulating Devices (AREA)
Abstract
The present invention discloses a kind of EGR valve and engine, is related to technical field of engines.The EGR valve includes valve body, interconnected inlet channel and exhaust passage are formed in valve body, one end of valve body is arranged in push rod, valve cap is arranged in exhaust passage, one end of push rod passes through inlet channel and is fixedly connected with valve cap, and push rod energy band moves valve cap and seals inlet channel and exhaust passage junction;The first holding tank is formed in inlet channel, balance cap is arranged in the first holding tank, and balance cap is fixedly connected on push rod, and balance cap circumferential side wall is bonded with the cell wall of the first holding tank and can slide along the cell wall of the first holding tank;In inlet channel exhaust gas act on the pressure generated on valve cap with to act on the pressure size that generates on balance cap equal and contrary.Also disclose a kind of engine.The EGR valve and engine, high reliablity prevent valve cap passive open, and intake resistance is low, and intake efficiency is high, and the control precision of EGR valve is high.
Description
Technical field
The present invention relates to technical field of engines more particularly to a kind of EGR valve and engines.
Background technique
Exhaust gas recycling (EGR) be in engine working process, by a part of exhaust gas guide to sucking fresh air (or
Gaseous mixture), it returns to cylinder interior and carries out the method that recycling participates in burning, which reduce chamber temperatures, improve engine
Working efficiency improves burning situation, reduces engine load, reduces NOxThe discharge of compound, reduction pinking, each component of extension make
Use the service life.EGR valve is that a kind of install is used to guide the exhaust gas that engine combustion is discharged on the engine to inlet manifold participation
The product of burning, when engine operates under a load, EGR valve is opened, and is made to discard into inlet manifold on a small quantity, be mixed with flammable
Gas enters combustion chamber together;In idling, EGR valve is closed.
In the prior art, the structural schematic diagram that EGR valve is in close state is as shown in Figure 1, EGR valve mainly includes valve body
1', end cap 2', valve cap 3', axle sleeve 4', push rod 5' and power source 6', valve body 1' form inlet channel 7' and exhaust passage 8'.
Wherein, power source 6' drives push rod 5' movement, and then controls the separation and fitting of valve cap 3' and end cap 2', and corresponding realize will be into
Gas channel 7' and exhaust passage 8' be connected to and closing.A kind of EGR valve structural schematic diagram of operating condition such as Fig. 2 in the open state
It is shown, valve cap 3' and end cap 2' separation, the flow direction of exhaust gas as denoted by the arrows in fig. 2, the opening direction of valve cap 3'
With exhaust gas flow direction on the contrary, exhaust gas is flowed into from inlet channel 7', it is discharged from exhaust passage 8'.The prior art is primarily present
The technical issues of include:
(1) push rod 5' needs to overcome pressure of the gas pressure of exhaust gas on valve cap 3' could open valve cap 3', beats
Exhaust gas collides valve cap 3' with certain speed while opening, and the direction of air-flow changes in valve cap 3' opening, at this
Exhaust energy loss is larger, and it is big that intake efficiency is low, EGR rate promotes difficulty;
(2) when engine is under the specific operations such as idling, slow-speed of revolution Smaller load, cold operation or full speed full load mode
When, EGR valve needs are in close state.At this time if the pressure at expulsion of exhaust gas is greater than admission pressure and power source 6' to push rod 5'
Pulling force when, valve cap 3' can be opened passively, and the opening direction of valve cap 3' is identical as exhaust gas flow direction at this time, EGR valve
Structural schematic diagram when in passive open state is as shown in figure 3, as shown in arrow direction in Fig. 3, and exhaust gas is from exhaust passage 8'
Middle inflow is discharged from inlet channel 7'.The aperture of valve cap 3' and exhaust gas recycling operating condition are in uncontrollable situation at this time,
Cause worsening engine performance;Push rod passively moves downward, and motive force reaches power source 6', leads to power source rotor failure.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes that a kind of EGR valve and engine, high reliablity can prevent valve cap passive
It opens, intake resistance is low, and intake efficiency is high, and the control precision that EGR valve opens and closes is high.
The invention adopts the following technical scheme:
A kind of EGR valve, including valve body, valve body is interior to form interconnected inlet channel and exhaust passage, and push rod setting exists
One end of valve body further include:
Valve cap, valve cap are arranged in exhaust passage, and one end of push rod passes through inlet channel and is fixedly connected with valve cap,
Push rod energy band moves valve cap and inlet channel is sealed or is connected to exhaust passage junction;
Balance cap, inlet channel is interior to form the first holding tank, and balance cap is arranged in the first holding tank, and balance cap is fixed to be connected
It connects on push rod, balance cap circumferential side wall is bonded with the cell wall of the first holding tank and can slide along the cell wall of the first holding tank;
Exhaust gas acts on the pressure generated on valve cap and acts on the pressure size generated on balance cap in inlet channel
It is equal and contrary.
As a preferred solution of the present invention, it is integrally formed to form cap body by connector sleeve between valve cap and balance cap
Component, push rod are threaded through in cap body component and are fixedly connected with cap body component.
As a preferred solution of the present invention, inlet channel and exhaust passage junction are provided with end cap, end cap and valve
Body is fixedly connected, and valve cap can abut the sealing for realizing inlet channel and exhaust passage with end cap.
As a preferred solution of the present invention, end cap is circular ring structure, and the inner ring surface diameter of end cap is less than valve cap
Outer diameter, valve cap can be abutted from exhaust passage side with the inner ring surface of end cap, realize that valve cap is close by inlet channel and exhaust passage
Envelope.
As a preferred solution of the present invention, the slot bottom of the first holding tank is additionally provided with the second holding tank, and second accommodates
Axle sleeve is provided in slot, push rod is threaded through in axle sleeve.
As a preferred solution of the present invention, mounting groove is offered on balance cap outer peripheral surface, and sealing is embedded in mounting groove
Circle, sealing ring can be bonded with the first holding tank.
As a preferred solution of the present invention, valve cap includes interconnecting piece and is connecting with bending part, bending part setting
The periphery in portion and it is arranged with interconnecting piece in angle, interconnecting piece connect with connector sleeve, and bending part can be abutted with the inner ring surface of end cap.
As a preferred solution of the present invention, the flow direction phase of the direction of motion of the valve cap far from end cap and exhaust gas
Together.
As a preferred solution of the present invention, the side of valve body is arranged in inlet channel, and exhaust passage is arranged in valve body
Bottom surface, inlet channel is at right angles connected to exhaust passage.
A kind of engine, using above-mentioned EGR valve.
The invention has the benefit that
(1) a kind of EGR valve proposed by the present invention, by setting valve cap and balance cap, exhaust gas is acted in inlet channel
The pressure generated on valve cap with to act on the pressure size that generates on balance cap equal and contrary so that no matter air inlet is logical
Exhaust gas pressure in road is much, and push rod can be offset by the active force of valve cap and balance cap, so that the opening of valve cap is dynamic
Make only by power source drive, this set can prevent valve cap passive open, and intake resistance is low, what EGR valve opened and closed
It is high to control precision.
(2) a kind of engine proposed by the present invention, using above-mentioned EGR valve, high reliablity, intake efficiency is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that EGR valve is in close state in the prior art;
Fig. 2 is EGR valve a kind of structural schematic diagram of operating condition in the open state in the prior art;
Fig. 3 is structural schematic diagram when EGR valve is in passive open state in the prior art;
Fig. 4 is the structural schematic diagram of EGR valve provided by the invention;
Fig. 5 is the partial enlarged view in Fig. 4 at A;
Fig. 6 is the structural schematic diagram of cap body component in EGR valve provided by the invention.
In figure:
1, valve body;2, end cap;
3, valve cap;31, interconnecting piece;32, bending part;
4, axle sleeve;5 push rods;6, power source;7, inlet channel;
8, exhaust passage;81, the first holding tank;82, the second holding tank;
9, balance cap;91, sealing ring;10, connector sleeve;11, cap body component;
1', valve body;2', end cap;3', valve cap;4', axle sleeve;5' push rod;6', power source;7', inlet channel;8', row
Gas channel.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 4 is the structural schematic diagram of EGR valve provided by the invention, as shown in Figure 4, the EGR valve mainly include valve body 1,
Push rod 5, valve cap 3 and balance cap 9 wherein form interconnected inlet channel 7 and exhaust passage 8, inlet channel in valve body 1
7 exhaust gas for engine combustion to be discharged introduces in EGR valve, and exhaust passage 8 is connected to the inlet manifold of engine, by EGR
Exhaust gas in valve guides to inlet manifold and participates in burning.Specifically, state shown in Fig. 4 is the state that EGR valve is closed, valve
Cap 3 is arranged in exhaust passage 8, and for opening or closing EGR valve, the other end of push rod 5 passes through inlet channel 7 and valve cap
3 are fixedly connected, and 5 energy band of push rod moves valve cap 3 and seals inlet channel 7 and 8 junction of exhaust passage.It is formed in inlet channel 7
In the first holding tank 81, balance cap 9 is arranged in the first holding tank 81, and balance cap 9 is fixedly connected on push rod 5, and balance cap 9 weeks
It is bonded and can slide along the cell wall of the first holding tank 81 with the cell wall of the first holding tank 81 to side wall.When EGR valve needs to open,
In inlet channel 7 exhaust gas act on the pressure generated on valve cap 3 it is equal with the pressure size that generates on balance cap 9 is acted on and
It is contrary, therefore, because to generate pressure on valve cap 3 and balance cap 9 mutual for the pressure action of exhaust gas in inlet channel 7
It offsets.Therefore, though in inlet channel 7 pressure of exhaust gas have it is much, the movement of valve cap 3 be always by push rod 5 act realize
, so that the control precision that EGR valve opens and closes is high, and intake resistance is low, and intake efficiency is high;Meanwhile when engine is in
When under the specific operations such as idling, slow-speed of revolution Smaller load, cold operation or full speed full load mode, the exhaust gas in exhaust passage 8 is only
Valve cap 3 can be pressed on to 8 junction of inlet channel 7 and exhaust passage, inlet channel 7 will not be entered in turn, therefore solve
The aperture of valve cap and exhaust gas are in uncontrollable situation in state of cyclic operation in the prior art, and power source will not be caused to turn
Son damage, can prevent 3 passive open of valve cap.
Further, the other end of push rod 5 is connect with power source 6, and one end of valve body 1, i.e. power source is arranged in power source 6
The movement of 6 driving push rods 5, push rod 5 and then drive valve cap 3 and balance cap 9 act.It is preferred that power source 6 is motor, control precision is more
It is high.
Further, the main purpose of balance cap 9 is set, is that exhaust gas acts on valve cap 3 in inlet channel 7 to realize
The pressure of generation with to act on the pressure size that generates on balance cap 9 equal and contrary, mainly set in terms of two
Set: in a first aspect, being formed in the first holding tank 81 in inlet channel 7, balance cap 9 is arranged in the first holding tank 81, balance
Cap 9 is fixedly connected on push rod 5, i.e., balance cap 9 is fixedly connected with push rod 5;Second aspect, valve cap 3 are arranged in exhaust passage 8
Interior, the other end of push rod 5 passes through inlet channel 7 and is fixedly connected with valve cap 3.When exhaust gas enters in inlet channel 7, exhaust gas is made
Certain pressure can be generated used in 9 surface of balance cap, exhaust gas, which acts on 3 surface of valve cap, can also generate certain pressure, this two
A pressure passes to push rod 5 simultaneously;When the two pressure values are equal, two pressure for passing to push rod 5 can be supported mutually
Disappear.Physically, F=P*A, F are the size of pressure that a surface is subject to, and P is the atmospheric pressure value for acting on the surface, A be by
The size for the pressure being subject to the area of gas pressure intensity action face, i.e. a surface multiplies equal to the atmospheric pressure value for acting on the surface
With the area on the surface.It is anticipated that ground is, in order to realize exhaust gas act on the pressure on 3 surface of valve cap and exhaust gas act on it is flat
The pressure size on weighing apparatus 9 surface of cap is equal and contrary, need to only set the surface area that valve cap 3 and balance cap 9 are contacted with air pressure
It is set to equal, this mode is easy to accomplish.The pressure that this set generates push rod 5 by exhaust gas effect,
Therefore the power that driving valve cap 3 acts only controls push rod 5 by power source 6 and realizes.Correspondingly, it is illustrated in figure 2 the prior art
The structural schematic diagram that middle EGR valve is opened needs power source 6' control push rod 5' to move downward in Fig. 2, and power source 6' controls push rod
5' downward power needs to be greater than the pressure that inlet channel 7' acts on valve cap 3', is just able to achieve the unlatching of valve cap 3'.Therefore,
The control precision that middle EGR valve in the present invention opens and closes is high, and intake resistance is low, and intake efficiency is high.
Preferably, as shown in figure 4, the side of valve body 1 is arranged in inlet channel 7, the bottom of valve body 1 is arranged in exhaust passage 8
Face, inlet channel 7 are preferably at right angles connected to exhaust passage 8.The first holding tank 81 is arranged in inlet channel 7 along perpendicular in Fig. 4
Histogram is arranged to the position far from exhaust passage 8.The state that state shown in Fig. 4 is closed for EGR valve, but it is contemplated that ground
It is that, when valve cap 3 is opened downwards, i.e., EGR valve is opened, exhaust gas enters from the side of valve body 1, is discharged from the bottom surface of valve body 1, i.e.,
Valve cap 3 is identical as the flow direction of exhaust gas to the direction of motion (opening direction) far from end cap 2.In the prior art, such as Fig. 3 institute
Show, when engine is under the specific operations such as idling, slow-speed of revolution Smaller load, cold operation or full speed full load mode, EGR valve
It needs to be in close state, that is, needs to close valve cap 3', and the exhaust gas pressure in exhaust passage 8' is very big, exhaust passage 8'
Interior exhaust gas can act on the surface of valve cap 3' in turn, so that valve cap 3' is moved downward.When useless in exhaust passage 8'
The power that the surface that gas acts on valve cap 3' generates is greater than the power that power source 6' control push rod 5' is lifted up valve cap 3', then gas
Door cap 3' can not be closed, and exhaust gas is in uncontrollable situation in state of cyclic operation;Even valve cap 3' will continue to move downward, and lead
Actuating power source rotor failure.And in the present invention, as shown in figure 4, no matter pressure is much for the exhaust gas in exhaust passage 8, valve cap 3
The junction of inlet channel 7 and exhaust passage 8 can only be all pushed against.Therefore, technical solution of the present invention solves the prior art
The aperture and exhaust gas of middle valve cap are in uncontrollable situation in state of cyclic operation, will not lead to power source rotor failure, energy
Enough prevent 3 passive open of valve cap.
Further, since the other end of push rod 5 will pass through inlet channel 7 and exhaust passage 8 and the fixed company of valve cap 3
It connects, causes the damage of power source 6 in power source 6 to realize that gas will not be entered along the gap between push rod 5 and valve body 1
Bad, Fig. 5 is the partial enlarged view in Fig. 4 at A, as shown in figure 5, mounting groove is offered on 9 outer peripheral surface of balance cap, in mounting groove
It is embedded sealing ring 91, sealing ring 91 can be bonded with the first holding tank 81, when balance cap 9 is along the cell wall sliding of the first holding tank 81,
Sealing ring 91, which can guarantee, realizes sealing between balance cap 9 and the first holding tank 81.Further, in order to enable push rod 5 can be more
Add and smoothly drive, the second holding tank 82 is additionally provided in the slot bottom of the first holding tank 81, as shown in figure 5, the second holding tank 82
It is inside provided with axle sleeve 4, push rod 5 is threaded through in axle sleeve 4.
Further, in order to realize being fixedly connected between valve cap 3 and push rod 5 and between balance cap 9 and push rod 5,
Integrally-built intensity and reasonable stress are improved, connector sleeve 10 is also provided with.Fig. 6 is cap body in EGR valve provided by the invention
The structural schematic diagram of component forms cap body by the integrated molding of connector sleeve 10 between valve cap 3 and balance cap 9 as can be seen from Fig. 6
Component 11, in I-shaped, push rod 5 is threaded through in cap body component 11 and is fixedly connected with cap body component 11 in cap body component 11 section.
Integrally formed 11 structural strength of cap body component is more preferable, and assembly or disassembly is all more convenient.That is valve cap 3 and balance cap 9 both may be used
It to be arranged to split type structure, is fixedly connected respectively with push rod 5, integrated structure also can be set, form cap body component 11,
Cap body component 11 is fixedly connected with push rod 5.
Further, it in order to realize that valve cap 3 can preferably seal inlet channel 7 and 8 junction of exhaust passage, also sets
It is equipped with end cap 2.In Fig. 4, inlet channel 7 and 8 junction of exhaust passage are provided with end cap 2, and end cap 2 is circular ring structure, end cap 2
Inner ring surface diameter is less than the outer diameter of valve cap 3, can be realized valve cap 3 in this way and supports from 8 side of exhaust passage and the inner ring surface of end cap 2
It connects, realizes that valve cap 3 seals inlet channel 7 and exhaust passage 8.Further, as shown in Figure 6, valve cap 3 includes connection
Portion 31 and with bending part 32, bending part 32 be arranged in the periphery of interconnecting piece 31 and with interconnecting piece 31 in angle be arranged, interconnecting piece 31
It is connect with connector sleeve 10.So that the bending part 32 in angle setting has an inclined-plane, the inclined-plane energy when valve cap 3 is acted
It is abutted with the inner ring surface of end cap 2, realization preferably seals.
The invention also discloses a kind of engines, and using above-mentioned EGR valve, the high reliablity of engine, intake efficiency is high.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments here, be able to carry out for a person skilled in the art it is various it is apparent variation, again
Adjustment and substitution are without departing from protection scope of the present invention.Therefore, although by above embodiments to the present invention carried out compared with
For detailed description, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, can be with
Including more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of EGR valve, comprising: valve body (1), the valve body (1) is interior to form interconnected inlet channel (7) and exhaust passage
(8), the one end of push rod (5) setting in valve body (1), which is characterized in that further include:
Valve cap (3), in exhaust passage (8), one end of the push rod (5) passes through the air inlet for valve cap (3) setting
Channel (7) is fixedly connected with the valve cap (3), and the push rod (5) can drive the valve cap (3) by the inlet channel
(7) it is sealed with the exhaust passage (8) junction;
Balance cap (9), the inlet channel (7) is interior to form the first holding tank (81), and the balance cap (9) is arranged described first
In holding tank (81), the balance cap (9) is fixedly connected on the push rod (5), balance cap (9) circumferential side wall with it is described
The cell wall of first holding tank (81) is bonded and can slide along the cell wall of first holding tank (81);
The interior exhaust gas of the inlet channel (7) acts on the pressure generated on the valve cap (3) and acts on the balance cap (9)
The pressure size of upper generation is equal and contrary.
2. EGR valve according to claim 1, which is characterized in that lead between the valve cap (3) and the balance cap (9)
Cross connector sleeve (10) and be integrally formed and formed cap body component (11), the push rod (5) be threaded through in the cap body component (11) and with
The cap body component (11) is fixedly connected.
3. EGR valve according to claim 2, which is characterized in that the inlet channel (7) and the exhaust passage (8) are even
The place of connecing is provided with end cap (2), and the end cap (2) is fixedly connected with the valve body (1), and the valve cap (3) can be with the end cap
(2) sealing for realizing the inlet channel (7) and the exhaust passage (8) is abutted.
4. EGR valve according to claim 3, which is characterized in that the end cap (2) is circular ring structure, the end cap (2)
Inner ring surface diameter is less than the outer diameter of the valve cap (3), and the valve cap (3) can be with the end cap (2) from exhaust passage (8) side
Inner ring surface abut, realize the valve cap (3) by inlet channel (7) and exhaust passage (8) sealing.
5. EGR valve according to claim 1, which is characterized in that the slot bottom of first holding tank (81) is additionally provided with
Two holding tanks (82), second holding tank (82) is interior to be provided with axle sleeve (4), and the push rod (5) is threaded through the axle sleeve (4)
It is interior.
6. EGR valve according to claim 1, which is characterized in that mounting groove is offered on balance cap (9) outer peripheral surface,
It is embedded in the mounting groove sealing ring (91), the sealing ring (91) can be bonded with first holding tank (81).
7. EGR valve according to claim 4, which is characterized in that the valve cap (3) includes interconnecting piece (31) and and bending
Portion (32), the bending part (32) are arranged the periphery in the interconnecting piece (31) and are arranged with the interconnecting piece (31) in angle,
The interconnecting piece (31) connect with the connector sleeve (10), and the bending part (32) can abut with the inner ring surface of the end cap (2).
8. EGR valve according to claim 3, which is characterized in that movement of the valve cap (3) far from the end cap (2)
Direction is identical as the flow direction of exhaust gas.
9. EGR valve according to any one of claims 1 to 8, which is characterized in that the inlet channel (7) is arranged described
The side of valve body (1), exhaust passage (8) setting is in the bottom surface of the valve body (1), the inlet channel (7) and the row
Gas channel (8) is at right angles connected to.
10. a kind of engine, which is characterized in that use EGR valve described in any one of claim 1-9.
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CN201810879406.XA CN108979906B (en) | 2018-08-03 | 2018-08-03 | EGR valve and engine |
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CN201810879406.XA CN108979906B (en) | 2018-08-03 | 2018-08-03 | EGR valve and engine |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110230558A (en) * | 2019-06-29 | 2019-09-13 | 无锡同益汽车动力技术有限公司 | A kind of double spool hot end EGR valve valve seat construction |
CN112594071A (en) * | 2020-12-08 | 2021-04-02 | 安徽江淮汽车集团股份有限公司 | EGR valve control method, control device and computer readable storage medium |
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CN110230558B (en) * | 2019-06-29 | 2024-05-07 | 无锡同益汽车动力技术有限公司 | Valve seat structure of double-valve-core hot-end EGR valve |
CN112594071A (en) * | 2020-12-08 | 2021-04-02 | 安徽江淮汽车集团股份有限公司 | EGR valve control method, control device and computer readable storage medium |
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