CN110594475A - Motor-driven digital valve - Google Patents
Motor-driven digital valve Download PDFInfo
- Publication number
- CN110594475A CN110594475A CN201810603151.4A CN201810603151A CN110594475A CN 110594475 A CN110594475 A CN 110594475A CN 201810603151 A CN201810603151 A CN 201810603151A CN 110594475 A CN110594475 A CN 110594475A
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- motor
- valve
- sleeve
- digital
- connecting rod
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- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 239000000306 component Substances 0.000 abstract 2
- 239000008358 core component Substances 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000280 densification Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- 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
- F16K31/047—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor characterised by mechanical means between the motor and the valve, e.g. lost motion means reducing backlash, clutches, brakes or return means
Abstract
The invention relates to a motor-driven digital valve, which comprises a motor, a digital valve component and a controller microcomputer or a programmable logic controller, wherein the motor is connected with a digital core component, receives a digital pulse signal sent by the controller microcomputer or the programmable logic controller, controls the output flow of a product to be large or small and closed, and completes multi-point and multi-speed control of a single cylinder or multiple cylinders and synchronous and interpolation motion of the multiple cylinders. One end of a threaded sleeve of the digital valve component is fixed on the motor, the other end of the threaded sleeve is in threaded connection with a connecting rod, the valve core and the positioning sleeve are integrated through a positioning pin, an anti-rotation screw is fixed on the end cover and extends into a groove in the positioning sleeve, when the motor rotates, the connecting rod cannot rotate under the action of the positioning pin, and the threads of the threaded sleeve and the connecting rod are changed into linear motion, so that the valve core and the valve body do relative linear displacement motion, and the opening of each oil port of the valve body is changed in size or closed. The control precision and the pollution resistance are high; and the structure is simple and the cost is low.
Description
Technical Field
The invention relates to a servo valve or a proportional valve in the hydraulic field, in particular to a motor-driven digital valve which is applied to the hydraulic field and used for controlling the running direction and the running speed of an actuating mechanism such as a hydraulic cylinder or a hydraulic motor.
Background
In hydraulic fluid transmissions, it is often desirable to precisely control the direction, speed and position of actuators such as rams. The traditional method is to adopt a servo valve or a proportional valve, and the two valves change the opening degree of a valve port according to the magnitude of a control current or voltage signal, so as to control the flow rate passing through, and further control the direction, the speed and the position of an oil cylinder.
A typical proportional servo valve, as shown in fig. 3, is a two-stage proportional servo valve consisting of a main stage 15, a pilot stage 16 and a displacement sensor 17. The pilot stage 16 is a control stage and the main stage 15 is a flow output stage.
The valve has a single electromagnetic coil to control the movement of the valve core, and the current of the control coil generates different thrusts to move the primary valve core and output different pressures to drive the secondary valve core, thereby generating different valve port openings and outputting different flows, and achieving the purpose of controlling the speed or displacement of an actuating mechanism such as an oil cylinder. The proportional valve or servo valve is controlled by first sending the displacement of the actuating mechanism such as oil cylinder to the computer or special controller to compare with the set value, then outputting the regulating signal to regulate the servo amplifier after the difference value is subjected to complex mathematical operation, and reducing the control error with the set value.
Therefore, a set of high-level control software needs to be developed, high-speed sampling and high-speed operation of a control result are needed, complex parameter setting is needed, and elaborate anti-interference processing needs to be carried out on a transmitted weak current signal. All servo controls therefore require complex field commissioning and elaborate maintenance, which increases the difficulty and, of course, the cost of use and maintenance.
In view of the above-mentioned disadvantages of the prior servo valve or proportional valve, the present inventors have conducted extensive research and design, and have conducted repeated trial and error and have developed the present invention with practical value.
Disclosure of Invention
The invention aims to overcome the defects of high cost, difficult debugging and the like of the traditional servo valve or proportional valve, and provides a motor-driven digital valve with a novel structure, which aims to solve the technical problem of enabling the digital valve with direction, flow and proportion control, simple structure and low cost to be more suitable for practical application.
Another object of the present invention is to provide a motor-driven digital valve, which is capable of performing multi-point and multi-speed control of a single cylinder or multiple cylinders, and also capable of performing synchronization and interpolation motions of multiple cylinders, and is simple in operation, thereby being more practical.
It is still another object of the present invention to provide a motor-driven digital valve, which can control the motion of large mechanical equipment in micron order with high resolution and fast response.
The invention also aims to provide a motor-driven digital valve, which aims to solve the technical problem of high anti-interference and high pollution resistance.
The purpose of the invention and the technical problem to be solved are realized by adopting the following technical scheme. The invention provides a motor-driven digital valve, which comprises a motor, a digital valve component and a controller microcomputer or a Programmable Logic Controller (PLC), wherein the motor is connected with the digital valve component, and a digital pulse signal sent by the controller microcomputer or the Programmable Logic Controller (PLC) controls and drives the motor to rotate at any angle to control the flow size and the closing of the digital valve component, so that single-cylinder or multi-cylinder multipoint and multi-speed control is completed, and multi-cylinder synchronization and interpolation motion can be completed.
The digital valve component comprises a threaded sleeve, a connecting rod, a valve core and a positioning sleeve, wherein one end of the threaded sleeve is fixed on an output shaft of the motor through a set screw, the other end of the threaded sleeve is connected with the connecting rod, the valve core and the positioning sleeve are connected through positioning pins and integrated, and the valve core is fixed in the middle of the connecting rod.
The digital valve assembly further comprises a sleeve, a valve body and an end cover, wherein one end face of the sleeve is fixed on one end face of the motor, the other end face of the sleeve is fixed with one end face of the valve body, the other end face of the valve body is fixed with one end face of the end cover, and the threaded sleeve, the connecting rod, the valve core and the positioning sleeve are all arranged in a cavity formed by the sleeve, the valve body and the end cover; the position sleeve is arranged on one side of the end cover.
According to the motor-driven digital valve, the end cover is fixedly provided with the anti-rotation screw which extends into the groove in the positioning sleeve, the threaded sleeve rotates when the motor rotates, the connecting rod cannot rotate under the action of the positioning pin, and the threaded sleeve is in threaded connection with the connecting rod and can move linearly through threads, so that the valve core and the valve body can only move linearly and the opening of each oil port of the valve body can be changed in size or closed.
Compared with the prior art, the invention has obvious advantages and beneficial effects. It has at least the following advantages:
1. the digital valve can be controlled in a full digitalization mode through numerical control programming, can be completely fused with modern digital technology, computer technology and information technology, and is easy and flexible to operate.
2. The invention can control the precision of the motion at high resolution. Micron-scale motion control of large-scale mechanical equipment can be realized, and response is rapid.
3. The invention can be remotely controlled and executed without loss. The invention is driven by a stepping motor or a servo motor, the motor receives a pulse signal output by a PLC, and the PLC can be programmed through a computer, a host and other networks. The pulse signal is a digital quantity, and is different from an analog quantity in that: the resistance is not increased due to the overlong cable, the transmission signal is changed, the output signal size is not changed, wireless network transmission can be performed, and therefore the digital valve can be remotely controlled through a network and the like without worrying about loss, delay or interference of command information.
4. The invention has high anti-interference performance. Because the transmission adopts digital pulse power signals (namely, the control and the drive), the system can still work well under the most severe electromagnetic radiation state. The performance is greatly superior to existing hydraulic and electrical control systems.
5. The invention can resist pollution with high degree. The filter precision of the hydraulic oil is not strictly required, even the hydraulic oil is polluted, the precision of the system is not reduced, and serious misoperation or even accidents are not caused
6. The control system is simple. One microcomputer or Programmable Logic Controller (PLC) can complete single-cylinder or multi-cylinder multi-point and multi-speed control, and can also complete multi-cylinder synchronization and interpolation movement. The operation is simple and the practicability is good.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a portion of the structure of the present invention.
Wherein:
15: the main stage 16: pilot stage
17: displacement sensor
FIG. 2 is a schematic view of a single cylinder application of the present invention.
Fig. 3 is a schematic diagram of a typical proportional servo valve of the prior art.
Wherein:
1: and a motor 2: fastening screw
3: and (4) screw sleeve: connecting rod
5: positioning pin 6: sleeve barrel
7: the valve body 8: valve core
9: the label 10: anti-rotation screw
11: the positioning sleeve 12: end cap
13: hydraulic cylinder 14: load(s)
FIG. 4: the invention is a working principle schematic diagram of multi-cylinder multi-point and multi-speed control.
Wherein:
18-1: first motor-driven digital valve 18-2: second motor driven digital valve
18-3: third motor-driven digital valve 19-1: first hydraulic cylinder
19-2: second hydraulic cylinder 19-3: third hydraulic cylinder
20-1: a first load
20-2: a second load; 20-3: third load
FIG. 5: is a schematic diagram of the present invention implementing position and velocity changes.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects of the motor-driven digital valve according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1 and 2, a motor-driven digital valve according to a preferred embodiment of the present invention mainly includes: the motor receives a digital pulse signal sent by the Programmable Logic Controller (PLC), and controls and drives the motor to rotate at any angle to control the flow size and close of the digital valve assembly, thereby completing single-cylinder or multi-cylinder multipoint and multi-speed control and also completing multi-cylinder synchronization and interpolation movement.
Referring to fig. 1, the digital valve assembly is composed of a set screw, a threaded sleeve 3, a connecting rod 4, a positioning pin 5, a sleeve 6, a valve body 7, a valve core 8, an anti-rotation screw 10, a positioning sleeve 11, an end cover 12 and an anti-rotation screw 12;
the sleeve 6 is sleeved outside the threaded sleeve 3, one end face of the sleeve 6 is fixed on the motor 1, the other end face of the sleeve 6 is fixed with one end face of the valve body 7, the other end face of the valve body 7 is fixed with one end face of the end cover 12, and the threaded sleeve 3, the connecting rod 4, the valve core 8 and the positioning sleeve 11 are all arranged in a cavity formed by the sleeve 6, the valve body 7 and the end cover 12;
the screw sleeve 3 is connected with the motor 1, one end of the screw sleeve 3 is fixed on an output shaft of the motor 1 through a set screw 2, the other end of the screw sleeve 3 is connected with the connecting rod 4 through a fine thread, the connecting rod 4, the valve core 8 and the positioning sleeve 11 are connected and integrated through the positioning pin 5, the valve core 8 is fixed in the middle of the connecting rod 4, and the positioning sleeve 11 is located on one side of the end cover 12. The anti-rotation screw 10 is fixed to the end cap 12 and extends into the keyway in the locating sleeve 11.
When the motor 1 is powered on and the digital controller outputs a pulse signal to the motor 1, the motor 1 converts the pulse signal into a rotation angle to drive the threaded sleeve 3 to rotate, and meanwhile, the rotation-preventing screw 10 enables the valve core 8 not to rotate through the key slot on the positioning sleeve 11, so that the valve core 8 and the valve body 7 do relative linear displacement, and the size of the opening of each oil port of the valve body 7 is changed or closed. Therefore, each pulse signal corresponds to the displacement of one valve core, and finally the purpose of controlling the flow direction and the flow rate is achieved, so that the rotating direction and the rotating speed of the hydraulic cylinder or the hydraulic motor of the actuating mechanism are controlled.
Referring to fig. 2, the single-cylinder implementation process of the present embodiment is: because a pulse signal corresponds to a fixed rotation angle of the motor 1, the end cover 12 is provided with an anti-rotation screw 10, and the anti-rotation screw 10 extends into a key groove on the positioning sleeve 11, so that the valve core 8 cannot rotate; meanwhile, the threaded connection is formed between the threaded sleeve 3 and the connecting rod 4, the motor 1 is fixed with the threaded sleeve 3, and the connecting rod 4 is fixed with the valve core 8; when the motor 1 rotates, the threaded sleeve 3 rotates, but the connecting rod 4 cannot rotate due to the action of the positioning pin 5, so that the valve core 8 and the valve body 7 can only do relative linear displacement motion. Therefore, a pulse signal generates a certain opening amount change of the valve element 8 and the valve body 7, and the flow rate and thus the speed of the load 14 are constant because the system pressure is constant. For a plurality of pulse signals, the rotating angle is increased, the relative opening amount of the valve core 8 and the valve body 7 is increased, the flow rate is increased, and the speed of the load 14 is increased. When a signal is given, oil is fed to a port B of the digital valve to a rodless cavity of the hydraulic cylinder 13, so that a piston rod of the hydraulic cylinder extends out, and the load 14 is pushed to advance; when a signal is given, oil is fed to the port A of the digital valve to provide a rod cavity for the hydraulic cylinder 13, so that a piston rod of the hydraulic cylinder retracts to push the load 14 to retract; when no signal is given, the hydraulic cylinder stops moving.
In fig. 4, which is an embodiment for controlling three cylinders, the first hydraulic cylinder 19-1, the second hydraulic cylinder 19-2, and the third hydraulic cylinder 19-3 implement the speed and position changes in fig. 5 by the first motor-driven digital valve 18-1, the second motor-driven digital valve 18-2, and the third motor-driven digital valve 18-3, respectively, and can make the first load 20-1, the second load 20-2, and the third load 20-3 change according to the speed and position of fig. 5, and the position and speed can be steplessly changed by controlling the rotation speed of the motors by digital pulse signals sent by a Programmable Logic Controller (PLC).
The working principle of multi-cylinder synchronization and interpolation motion is as follows:
as shown in fig. 4: the digital pulse signals sent by a Programmable Logic Controller (PLC) control the rotating speed of the motor 1, so that the first motor-driven digital valve 18-1, the second motor-driven digital valve 18-2 and the third motor-driven digital valve 18-3 have the same pulse signals with the motor 1, the valve cores 8 of the three valves move in the same displacement and generate the same opening amount with the valve body 7, under the condition that the system pressure P is unchanged, the oil inlets P1, P2 and P3 of the 3 first motor-driven digital valves 18-1, the second motor-driven digital valve 18-2 and the third motor-driven digital valve 18-3 have the same pressure, the output flow rates of the output oil ports A1, A2, A2 or B1, B2 and B3 of the three motor-driven digital valves are the same, namely the output flow rates respectively enter the same oil cavities (rod cavities or rodless cavities) of the first hydraulic cylinder 19-1, the second hydraulic cylinder 19-2 and the third hydraulic cylinder 19-3, meanwhile, oil return flow rates of oil return ports T1, T2 and T3 are the same, so that multi-cylinder synchronous motion can be realized.
The interpolation motion is a method for calculating the intermediate point between the known points according to an interpolation algorithm, which is also called as "densification of data points", according to some data points on the known position-speed curve of the oil cylinder, as shown in fig. 5, so as to form a required position-speed curve track. If it is known that the current position of the oil cylinder is speed 1, and the position 1 is required to be speed 2, the speed and the position between the current position and the position 1, namely the inclined line between the speed 1 and the speed 2, can be obtained through an interpolation algorithm, namely, the position and the speed curve obtained through interpolation motion is obtained. Because the motor drives the digital valve, the valve core 8 is driven to move by the rotation of the motor 1, the relative opening amount is generated between the digital valve and the valve body 7, the digital valve is in stepless control, and the difference of the opening amount of the valve core can be controlled by controlling the pulse signal input into the motor, so that the hydraulic cylinder and the load generate the change of different speeds and positions.
As shown in FIG. 5, when the multi-cylinder interpolation motion is known, the speed of the first hydraulic cylinder 19-1 at the position 1 is 1, the speed of the second hydraulic cylinder 19-2 at the position 2 is required to be 2, the speed of the third hydraulic cylinder 19-3 at the position 3 is 2, and the speed at the position 4 is 3; by the interpolation algorithm, the speed and position relation between the position 1 and the position 2, namely the slope between the speed 1 and the speed 2, and the speed and position relation between the position 3 and the position 4, namely the slope between the speed 2 and the speed 3, can be obtained, namely, the position and speed curve obtained by the multi-cylinder interpolation motion.
The invention has the following characteristics: firstly, miniaturization, integration and diversification are realized; secondly, the device has high pressure, high speed, high precision and high reliability; thirdly, the method is efficient, energy-saving and environment-friendly; and fourthly, electromechanical integration.
The invention can be widely applied to the wide application fields of metallurgy, mines, ships, aerospace, war industry, construction, transportation, energy, light industry machinery and the like.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A motor-driven digital valve characterized by: the multi-point multi-speed flow control device comprises a motor (1), a digital valve component and a controller microcomputer or a Programmable Logic Controller (PLC), wherein the motor (1) is connected with the digital valve component, and a digital pulse signal sent by the controller microcomputer or the Programmable Logic Controller (PLC) controls and drives the motor to rotate at any angle to control the flow of the digital valve component and close the digital valve component, so that single-cylinder or multi-cylinder multi-point and multi-speed control is completed, and multi-cylinder synchronization and interpolation motion can be completed.
2. The motor-driven digital valve according to claim 1, wherein the digital valve component comprises a threaded sleeve (3), a connecting rod (4), a valve core (8) and a positioning sleeve (11), one end of the threaded sleeve (3) is fixed on the output shaft of the motor through a set screw (2), the other end of the threaded sleeve (3) is connected with the connecting rod (4), the valve core (8) and the positioning sleeve (11) are connected and integrated through a positioning pin (5), and the valve core (8) is fixed in the middle of the connecting rod (4).
3. A motor-driven digital valve according to claim 1 or 2, wherein the digital valve assembly further comprises a sleeve (6), a valve body (7) and an end cap (12), wherein one end face of the sleeve (6) is fixed on one end face of the motor (1), the other end face of the sleeve (6) is fixed with one end face of the valve body (7), the other end face of the valve body (7) is fixed with one end face of the end cap (12), and the threaded sleeve (3), the connecting rod (4), the valve core (8) and the positioning sleeve (11) are all arranged in a cavity formed by the sleeve (6), the valve body (7) and the end cap (12); the locating sleeve (11) is positioned on one side of the end cover (12).
4. The motor-driven digital valve according to claim 3, wherein an anti-rotation screw (10) is fixed on the end cover (12), the anti-rotation screw (10) extends into a groove on the positioning sleeve (11), the threaded sleeve (3) rotates when the motor rotates, the connecting rod (4) cannot rotate due to the action of the positioning pin (5), and the threaded sleeve (3) is in threaded connection with the connecting rod (4) and is changed into linear motion through threads, so that the valve core (8) and the valve body (7) can only perform relative linear displacement motion, and the opening of each oil port of the valve body (7) can be changed in size or closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810603151.4A CN110594475A (en) | 2018-06-12 | 2018-06-12 | Motor-driven digital valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810603151.4A CN110594475A (en) | 2018-06-12 | 2018-06-12 | Motor-driven digital valve |
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|---|---|
| CN110594475A true CN110594475A (en) | 2019-12-20 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810603151.4A Pending CN110594475A (en) | 2018-06-12 | 2018-06-12 | Motor-driven digital valve |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483138A (en) * | 2021-06-16 | 2021-10-08 | 北京华德液压工业集团有限责任公司 | Digital valve with shaft motion controller |
| CN113898760A (en) * | 2021-10-27 | 2022-01-07 | 哈尔滨工业大学 | Digital reversing valve and control method thereof |
| CN114087414A (en) * | 2021-11-26 | 2022-02-25 | 哈尔滨理工大学 | Thing networking WIFI driving motor adjusts digital valve with displacement feedback |
| CN114427611A (en) * | 2021-12-22 | 2022-05-03 | 哈尔滨理工大学 | Damping slide valve core structure with combination groove |
| CN114658883A (en) * | 2022-05-18 | 2022-06-24 | 东北林业大学 | Servo motor driven digital reversing valve |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483138A (en) * | 2021-06-16 | 2021-10-08 | 北京华德液压工业集团有限责任公司 | Digital valve with shaft motion controller |
| CN113898760A (en) * | 2021-10-27 | 2022-01-07 | 哈尔滨工业大学 | Digital reversing valve and control method thereof |
| CN114087414A (en) * | 2021-11-26 | 2022-02-25 | 哈尔滨理工大学 | Thing networking WIFI driving motor adjusts digital valve with displacement feedback |
| CN114087414B (en) * | 2021-11-26 | 2024-03-08 | 哈尔滨理工大学 | Thing networking WIFI driving motor adjusts digital valve with displacement feedback |
| CN114427611A (en) * | 2021-12-22 | 2022-05-03 | 哈尔滨理工大学 | Damping slide valve core structure with combination groove |
| CN114658883A (en) * | 2022-05-18 | 2022-06-24 | 东北林业大学 | Servo motor driven digital reversing valve |
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