CN109114255B - Servo synchronous hydraulic valve and application thereof - Google Patents
Servo synchronous hydraulic valve and application thereof Download PDFInfo
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- CN109114255B CN109114255B CN201811145828.0A CN201811145828A CN109114255B CN 109114255 B CN109114255 B CN 109114255B CN 201811145828 A CN201811145828 A CN 201811145828A CN 109114255 B CN109114255 B CN 109114255B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/06—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements
- F16K11/065—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members
- F16K11/07—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with cylindrical slides
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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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
- F16K31/046—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor with electric means, e.g. electric switches, to control the motor or to control a clutch between the valve and the motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/44—Mechanical actuating means
- F16K31/50—Mechanical actuating means with screw-spindle or internally threaded actuating means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a servo synchronous hydraulic valve and application thereof. The servo motor is adopted to drive the lead screw to rotate to control the valve core to move in the valve cavity, and the opening degree of the A, B two oil outlets is adjusted, so that the oil output of the A, B two oil outlets is changed; the stroke signals of the two oil cylinders are obtained through the encoder, and the flow rates of the two oil outlets are controlled through signal comparison to form closed-loop control. The invention is not influenced by load, has high synchronization precision, realizes the electric flow regulation of the double-cylinder hydraulic system instead of pressure regulation, and ensures that the oil quantity regulation can be controlled. The double-cylinder motion is not influenced by load, and the problem of low synchronization precision of the traditional synchronous valve is solved.
Description
Technical Field
The invention belongs to the technical field of synchronous hydraulic valves, and particularly relates to a servo synchronous hydraulic valve and application thereof.
Background
The hydraulic valve is an automatic element operated by pressure oil, is controlled by the pressure oil of a distribution valve, is usually combined with an electromagnetic distribution valve for use, and can be used for remotely controlling the connection and disconnection of oil, gas and water pipeline systems of hydropower stations. It is commonly used for oil circuits of clamping, controlling, lubricating and the like. The synchronous control modes of the execution elements in the hydraulic system are multiple, such as a synchronous motor, mechanical synchronization, a proportional valve, a servo valve, a synchronous valve, a newly-developed digital valve and the like, and the traditional synchronous valve changes the position of a valve core by depending on the pressure difference of two sides of the valve core to realize oil distribution, so that the problems of larger influence of load on the synchronous precision of the synchronous valve and lower precision occur.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems of low synchronization precision and large load influence of a synchronization valve in the prior art, the invention aims to provide a servo synchronous hydraulic valve and application thereof.
The technical scheme is as follows: in order to solve the problems, the technical scheme adopted by the invention is as follows:
the application of a servo synchronous hydraulic valve in controlling the synchronous operation of a double-cylinder hydraulic valve is characterized in that the servo synchronous hydraulic valve comprises a valve body, a servo motor and an encoder; the valve body comprises a valve cavity, a valve core, an end cover, a tailstock, an oil inlet, an oil outlet A and an oil outlet B; a valve seat is arranged between the oil outlet A and the oil outlet B, and a valve seat is arranged at the oil inlet; the valve core is arranged in the valve cavity; the end cover and the tailstock are respectively arranged at two ends of the valve body, the oil outlet A and the oil outlet B are arranged at the upper part of the valve body, the oil inlet is arranged at the bottom of the valve body, the screw rod penetrates through the valve core and is connected with the servo motor through the coupling, and the servo motor is arranged at one end of the tailstock; the oil outlet A is close to the side of the near end cover, and the oil outlet B is close to the side of the servo motor; the encoder is arranged on the servo motor;
a servo motor is adopted to drive a lead screw to rotate to control a valve core to move in a valve cavity, and the opening degrees of two oil outlets of an oil outlet A and an oil outlet B are adjusted, so that the oil output of the two oil outlets of the oil outlet A and the oil outlet B are changed; the method comprises the following steps of obtaining two-cylinder stroke signals through an encoder, controlling the flow of two oil outlets through signal comparison, and forming closed-loop control, wherein the method comprises the following specific steps:
(1) device checking and proofreading: checking whether the device is in a normal use state, checking whether the double-cylinder stroke signal is correct to measure the oil output change, and performing the steps (2) to (7) after the checking and the checking are qualified;
(2) and (3) standard data acquisition: the position signal of the oil cylinder A in the initial working process is collected by an encoder and is recorded as a standard position signal l of the oil cylinder AA(ii) a The position signal of the oil cylinder B in the initial working is recorded as the standard position signal l of the oil cylinder BB(ii) a Setting the standard position signal deviation of two oil cylinders as deltaAAnd ΔBAll the positive values are set to be 1-10 mm; when the oil cylinder A and the oil cylinder B are at standard positions, the oil outlet flow rates of the oil outlet A and the oil outlet B are equal;
(3) collecting operation data: encoder real-time position signal l of oil cylinder A and oil cylinder BA' and lB' and uploading the collected running stroke signal to a control system, and calculating a deviation position signal as △A′＝|lA-lA' | and △B′＝|lB-lB′|；
(4) Executing the editing program: when deltaA′＜ΔAOr ΔB′＜ΔBThe system executes a normal operation program; when deltaA′＞ΔAThen, the running program jumps to the step(5) (ii) a When deltaB′＞ΔBWhen the program is in operation, jumping to the step (6);
(5) operation regulating program for oil cylinder A pair △A″＝lA-lA' a judgment is made,
when deltaAWhen the oil quantity is larger than 0, the servo motor drives the valve core to move towards the side of the end cover, the oil quantity of the oil outlet A is reduced, the flow of the oil outlet B is increased, and the speed of the oil cylinder A is high, namely the speed of the oil cylinder A is adjusted; when deltaAWhen the oil quantity is less than 0, the servo motor drives the valve core to move towards the motor side, the oil quantity of the oil outlet B is reduced, the flow of the oil outlet A is increased, and the speed of the oil cylinder A is slow, namely the oil cylinder A is adjusted to increase the speed;
(6) the oil cylinder B runs a program adjusting program: for aB"＝lB-lB' a judgment is made,
when deltaBWhen the oil quantity is larger than 0, the servo motor drives the valve core to move towards the side of the end cover, the oil quantity of the oil outlet A is reduced, the flow of the oil outlet B is increased, and the speed of the oil cylinder B is slow, namely the oil cylinder B is adjusted to be accelerated; when deltaBWhen the oil quantity is less than 0, the servo motor drives the valve core to move towards the motor side, the oil quantity of the oil outlet B is reduced, the flow of the oil outlet A is increased, and the speed of the oil cylinder B is high, namely the speed of the oil cylinder B is adjusted;
(7) data feedback: and (4) acquiring running travel position signals of the oil cylinder A and the oil cylinder B in the steps (5) and (6) by the encoder until set time, and then jumping to the step (4) to perform real-time monitoring of the next round.
And (3) the servo synchronous hydraulic valve is applied to controlling the synchronous operation of the double-cylinder hydraulic valve, and the set time in the step (7) is 10-20 min.
The servo synchronous hydraulic valve is applied to controlling the synchronous operation of the double-cylinder hydraulic valve, and the valve seat is made of rubber, plastic or metal materials.
The servo synchronous hydraulic valve is applied to controlling the synchronous operation of the double-cylinder hydraulic valve, and the oil inlet is provided with two oil inlet pipelines in the valve seat and communicated with the valve cavity.
The servo synchronous hydraulic valve is applied to controlling synchronous operation of the double-cylinder hydraulic valve, the lead screw is connected with the valve seat and the tailstock in a sealing mode through the first sealing ring, and the valve seat is connected with the end cover in a sealing mode through the second sealing ring.
The servo synchronous hydraulic valve is applied to controlling the synchronous operation of the double-cylinder hydraulic valve, and the servo motor is fixed on the valve body through the flange plate.
The servo synchronous hydraulic valve is applied to controlling the synchronous operation of the double-cylinder hydraulic valve, and the valve body and the servo motor are fixed on the same mounting base through shockproof pins.
Has the advantages that: compared with the prior art, the invention has the advantages that:
(1) the servo motor is adopted to drive the lead screw to rotate to control the valve core to move in the valve cavity, the opening degree of the A, B two oil outlets is adjusted, and the oil outlet quantity of the A, B two oil outlets is changed.
(2) The invention controls the flow of the two oil outlets by comparing the stroke signals of the two cylinders to form closed-loop control, is not influenced by load and has high synchronization precision.
(3) The invention realizes the electric flow regulation of the double-cylinder hydraulic system instead of pressure regulation, so that the oil quantity regulation can be controlled. The double-cylinder motion is not influenced by load, and the problem of low synchronization precision of the traditional synchronous valve is solved.
Drawings
FIG. 1 is a schematic diagram of a servo-actuated synchronous hydraulic valve;
the automatic oil-water mixing valve comprises a valve seat 1, a valve core 2, an end cover 3, a tailstock 4, a screw rod 5, a coupling 6, a servo motor 7, an encoder 8, a first sealing ring 9, a second sealing ring 9', an oil inlet 10, an oil outlet A11 and an oil outlet B12.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with examples are described in detail below.
Example 1
A servo-synchronized hydraulic valve, as described in figure 1. As can be seen from FIG. 1, the servo synchronous hydraulic valve comprises a valve body, a servo motor and an encoder; the valve body comprises a valve cavity, a valve core, an end cover, a tailstock, an oil inlet, an oil outlet A and an oil outlet B; a valve seat is arranged between the oil outlet A and the oil outlet B, and a valve seat is arranged at the oil inlet; the valve core is arranged in the valve cavity; the valve seat is made of plastic materials, corrosion resistance and good sealing performance.
The end cover and the tail seat are respectively arranged at two ends of the valve body, the oil outlet A and the oil outlet B are arranged at the upper part of the valve body, the oil inlet is arranged at the bottom of the valve body, the screw rod penetrates through the valve core and is connected with the servo motor through the coupling, and the servo motor is fixed at one end of the tail seat of the valve body through a flange plate; the encoder is arranged on the servo motor, the oil outlet A is close to the side of the near end cover, and the oil outlet B is close to the side of the servo motor.
The oil inlet is equipped with two oil inlet pipelines in the disk seat, all communicates with the valve pocket, sets up two oil inlets and can make the interior oil input of valve pocket even.
The lead screw is connected with the valve seat and the tailstock in a sealing mode through the first sealing ring, and the valve seat and the end cover are connected in a sealing mode through the second sealing ring. The valve body and the servo motor are fixed on the same mounting base through the shockproof pins.
Example 2
The application of the servo synchronous hydraulic valve in the embodiment 1 in controlling the synchronous operation of the double-cylinder hydraulic valve is utilized, namely, a servo motor is adopted to drive a lead screw to rotate to control a valve core to move in a valve cavity, and the opening degrees of two oil outlets of an oil outlet A and an oil outlet B are adjusted, so that the oil output of the two oil outlets of the oil outlet A and the oil outlet B are changed; the stroke signals of the two cylinders are obtained through the encoder, the flow of the two oil outlets is controlled through signal comparison, closed-loop control is formed, the load influence is avoided, and the synchronization precision is high.
The method comprises the following specific steps:
(1) device checking and proofreading: checking whether the device is in a normal use state, checking whether the determination of the double-cylinder stroke on the oil output change is correct, and performing the step (2) after the checking and the checking are qualified;
(2) and (3) standard data acquisition: the encoder collects the position signal of the oil cylinder A during the initial work and records the position signal as the standard position signal l of the oil cylinder AA(ii) a The position signal of the oil cylinder B in the initial working is recorded as the standard l of the oil cylinder BB(ii) a Setting standard position signal deviation of oil outlet as deltaAAnd ΔB(ii) a All the positive values are set to be 1-10 mm; the oil cylinder A and the oil cylinder B are in standard positionsWhen the oil is discharged, the oil outlet flow rates of the oil outlet A and the oil outlet B are equal;
(3) collecting operation data: encoder real-time position signal l of oil cylinder A and oil cylinder BA' and lB' and uploading the collected running stroke position signal to the control system, and calculating the running stroke position deviation as △A′＝|lA-lA' | and △B′＝|lB-lB′|；
(4) Executing the program correcting when △A′＜△AOr △B′＜△BThe system executes the normal operation program when △A′＞△AWhen the program is running, the program jumps to step (5), when △B′＞△BWhen the program is in operation, jumping to the step (6);
(5) operation regulating program for oil cylinder A pair △A″＝lA-lA' a judgment is made,
when △AWhen the oil quantity is greater than 0, the servo motor drives the valve core to move towards the side of the end cover, the oil quantity of the oil outlet A is reduced, the flow of the oil outlet B is increased, the speed of the oil cylinder A is high, namely the oil cylinder A is adjusted to decelerate, and when △ is used, the servo motor drives the valve core to move towards the side of the end cover, theAWhen the oil quantity is smaller than 0, the servo motor drives the valve core to move towards the motor side, the oil quantity of the oil outlet B is reduced, the flow of the oil outlet A is increased, and the speed of the oil cylinder A is slow, namely the oil cylinder A is adjusted to increase the speed;
(6) operation program regulating program of oil cylinder B pair △B″＝lB-lB' a judgment is made,
when △BWhen the oil quantity is greater than 0, the servo motor drives the valve core to move towards the side of the end cover, the oil quantity at the oil outlet A is reduced, the flow quantity at the oil outlet B is increased, the speed of the oil cylinder B is slow, namely the oil cylinder B is adjusted to be accelerated, when △BWhen the oil quantity is smaller than 0, the servo motor drives the valve core to move towards the motor side, the oil quantity of the oil outlet B is reduced, the flow of the oil outlet A is increased, and the speed of the oil cylinder B is high, namely the speed of the oil cylinder B is adjusted;
(7) data feedback: and (5) acquiring the running angles of the oil cylinder A and the oil cylinder B in the steps (5) and (6) by the encoder until the set time is 15min, and then jumping to the step (4) to perform the real-time monitoring of the next round.
Claims (7)
1. The application of the servo synchronous hydraulic valve in controlling the synchronous operation of the double-cylinder hydraulic valve is characterized in that the servo synchronous hydraulic valve comprises a valve body, a servo motor (7) and an encoder (8); the valve body comprises a valve cavity, a valve core (2), an end cover (3), a tailstock (4), an oil inlet (10), an oil outlet A (11) and an oil outlet B (12); a valve seat (1) is arranged between the oil outlet A (11) and the oil outlet B (12), and the valve seat (1) is arranged at the oil inlet (10); the valve core (2) is arranged in the valve cavity; the end cover (3) and the tailstock (4) are respectively arranged at two ends of the valve body, the oil outlet A (11) and the oil outlet B (12) are arranged at the upper part of the valve body, the oil inlet (10) is arranged at the bottom of the valve body, the screw rod (5) penetrates through the valve core (2) and is connected with the servo motor (7) through the coupling (6), and the servo motor (7) is arranged at one end of the tailstock (4); the oil outlet A (11) is close to the side of the end cover (3), and the oil outlet B (12) is close to the side of the servo motor (7); the encoder is arranged on the servo motor (7);
a servo motor is adopted to drive a lead screw to rotate to control a valve core to move in a valve cavity, and the opening degrees of two oil outlets of an oil outlet A and an oil outlet B are adjusted, so that the oil output of the two oil outlets of the oil outlet A and the oil outlet B are changed; the method comprises the following steps of obtaining two-cylinder stroke signals through an encoder, controlling the flow of two oil outlets through signal comparison, and forming closed-loop control, wherein the method comprises the following specific steps:
(1) device checking and proofreading: checking whether the device is in a normal use state, checking whether the double-cylinder stroke signal is correct to measure the oil output change, and performing the steps (2) to (7) after the checking and the checking are qualified;
(2) and (3) standard data acquisition: the position signal of the oil cylinder A in the initial working process is collected by an encoder and is recorded as a standard position signal l of the oil cylinder AA(ii) a The position signal of the oil cylinder B in the initial working is recorded as the standard position signal l of the oil cylinder BB(ii) a Setting the standard position signal deviation of two oil cylinders as deltaAAnd ΔBAll the positive values are set to be 1-10 mm; when the oil cylinder A and the oil cylinder B are at standard positions, the oil outlet flow rates of the oil outlet A and the oil outlet B are equal;
(3) collecting operation data: encoder real-time position signal l of oil cylinder A and oil cylinder BA' and lB', and will adoptUploading the collected running stroke signal to a control system, and calculating the deviation position signal to be deltaA′＝|lA-lA' | and ΔB′＝|lB-lB′|；
(4) Executing the editing program: when deltaA′＜ΔAOr ΔB′＜ΔBThe system executes a normal operation program; when deltaA′＞ΔAWhen the program is in operation, jumping to the step (5); when deltaB′＞ΔBWhen the program is in operation, jumping to the step (6);
(5) the oil cylinder A operates an adjusting program: for aA″＝lA-lA' a judgment is made,
when deltaAWhen the oil quantity is larger than 0, the servo motor drives the valve core to move towards the side of the end cover, the oil quantity of the oil outlet A is reduced, the flow of the oil outlet B is increased, and the speed of the oil cylinder A is high, namely the speed of the oil cylinder A is adjusted; when deltaAWhen the oil quantity is less than 0, the servo motor drives the valve core to move towards the motor side, the oil quantity of the oil outlet B is reduced, the flow of the oil outlet A is increased, and the speed of the oil cylinder A is slow, namely the oil cylinder A is adjusted to increase the speed;
(6) the oil cylinder B operates an adjusting program: for aB"＝lB-lB' a judgment is made,
when deltaBWhen the oil quantity is larger than 0, the servo motor drives the valve core to move towards the side of the end cover, the oil quantity of the oil outlet A is reduced, the flow of the oil outlet B is increased, and the speed of the oil cylinder B is slow, namely the oil cylinder B is adjusted to be accelerated; when deltaBWhen the oil quantity is less than 0, the servo motor drives the valve core to move towards the motor side, the oil quantity of the oil outlet B is reduced, the flow of the oil outlet A is increased, and the speed of the oil cylinder B is high, namely the speed of the oil cylinder B is adjusted;
(7) data feedback: and (4) acquiring running travel position signals of the oil cylinder A and the oil cylinder B in the steps (5) and (6) by the encoder until set time, and then jumping to the step (4) to perform real-time monitoring of the next round.
2. The application of the servo synchronous hydraulic valve in controlling the synchronous operation of the double-cylinder hydraulic valve according to claim 1, wherein the set time of the step (7) is 10-20 min.
3. Use of a servo-synchronized hydraulic valve according to claim 1 for controlling the synchronous operation of a two-cylinder hydraulic valve, characterized in that the valve seat (1) is of rubber, plastic or metal material.
4. The use of the servo-synchronized hydraulic valve according to claim 1 for controlling the synchronous operation of a two-cylinder hydraulic valve, wherein the oil inlet (10) has two oil inlet ducts in the valve seat (1), both of which are in communication with the valve chamber.
5. The application of the servo synchronous hydraulic valve in controlling the synchronous operation of a double-cylinder hydraulic valve according to claim 1, wherein the lead screw (5) is hermetically connected with the valve seat (1) and the tailstock (4) through a first sealing ring (9), and the valve seat (1) and the end cover (3) are hermetically connected through a second sealing ring (9').
6. Use of a servo-synchronized hydraulic valve according to claim 1 for controlling the synchronous operation of a two-cylinder hydraulic valve, characterized in that the servo motor (7) is fixed to the valve body by means of a flange.
7. Use of the servo-actuated hydraulic synchronous valve according to claim 1 for controlling the synchronous operation of a two-cylinder hydraulic valve, characterized in that the valve body and the servo motor (7) are fixed on the same mounting base by means of shock-absorbing feet.
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| CN201811145828.0A CN109114255B (en) | 2018-09-28 | 2018-09-28 | Servo synchronous hydraulic valve and application thereof |
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| CN201811145828.0A CN109114255B (en) | 2018-09-28 | 2018-09-28 | Servo synchronous hydraulic valve and application thereof |
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| CN109114255B true CN109114255B (en) | 2020-05-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2804035C2 (en) * | 1978-01-31 | 1986-08-07 | Aktiengesellschaft Kühnle, Kopp & Kausch, 6710 Frankenthal | Hydraulic servomotor |
| CN102606786B (en) * | 2012-03-09 | 2013-06-12 | 三一重工股份有限公司 | Electric-hydraulic valve as well as control device and control method thereof |
| CN102562702B (en) * | 2012-03-09 | 2016-03-16 | 三一重工股份有限公司 | A kind of electro-hydraulic valve |
| CN105221508A (en) * | 2015-10-29 | 2016-01-06 | 上海积健精密机械有限公司 | A kind of actuating motor direct-driving type servovalve |
| CN105757033B (en) * | 2016-05-05 | 2018-03-16 | 浙江亿洋工具制造有限公司 | A kind of digital control valve and its control method of control cylinder speed ring and position ring |
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