CN111237264A - Oil circuit structure for realizing precise control of double-acting oil cylinder - Google Patents
Oil circuit structure for realizing precise control of double-acting oil cylinder Download PDFInfo
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- CN111237264A CN111237264A CN202010118992.3A CN202010118992A CN111237264A CN 111237264 A CN111237264 A CN 111237264A CN 202010118992 A CN202010118992 A CN 202010118992A CN 111237264 A CN111237264 A CN 111237264A
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- 238000004891 communication Methods 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 9
- 238000004146 energy storage Methods 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/027—Installations or systems with accumulators having accumulator charging devices
- F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/149—Fluid interconnections, e.g. fluid connectors, passages
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/202—Externally-operated valves mounted in or on the actuator
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses an oil path structure for realizing the precise control of a double-acting oil cylinder, which comprises the double-acting oil cylinder, an oil inlet pipeline and an oil outlet pipeline, the oil inlet pipe comprises an oil inlet pipe, a first energy accumulator and a second energy accumulator, wherein one end of the oil inlet pipe is an oil inlet, the other end of the oil inlet pipe is provided with a first branch pipe and a second branch pipe, the first branch pipe is communicated with a rodless cavity, a first electromagnetic valve is arranged on the first branch pipe, the first energy accumulator and a first two-way flow control valve are arranged, the second energy accumulator is communicated with the first branch pipe, the second branch pipe is communicated with the rod cavity of a double-acting oil cylinder, a second electromagnetic valve is arranged on the second branch pipe, a second two-way flow control valve is arranged on the oil outlet pipe, one end of the oil outlet pipe is connected with an oil outlet, a third branch and a fourth branch are formed at the other end of the oil outlet pipe, a third electromagnetic valve is arranged on the third branch and communicated with the. The oil way can realize accurate control on the double-acting oil cylinder, has lower overall cost and is more beneficial to popularization and promotion.
Description
Technical Field
The invention relates to the technical field of oil cylinder control, in particular to an oil way structure for realizing accurate control of a double-acting oil cylinder.
Background
The double-acting oil cylinder refers to a hydraulic cylinder which can input pressure oil from two sides of a piston. It is widely used in various fields. However, since the output of the double-acting cylinder is difficult to be accurately controlled, the double-acting cylinder is difficult to be used in the field of precision machining, for example, in the machining and production link of a dry granulator, the movement of the piston rod of the hydraulic cylinder is usually required to be accurately controlled, and the movement of the piston rod is required to be controlled within ± 0.5 mm. In order to realize the accurate control, the hydraulic servo control is usually adopted at present to realize the accurate control of the movement of the piston rod of the servo oil cylinder. However, the servo valve, the electro-hydraulic proportional valve and the servo cylinder are expensive, so the control mode has low cost performance and cannot be widely used.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the oil path structure for realizing the accurate control of the double-acting oil cylinder, which can realize the accurate control of the double-acting oil cylinder, meet the use requirements, has simple structure, is beneficial to realization, has lower overall cost and is more beneficial to popularization and promotion.
In order to achieve the above object, the present invention provides an oil path structure for realizing precise control of a double-acting oil cylinder, comprising a double-acting oil cylinder, an oil inlet pipeline, an oil outlet pipeline, a first accumulator and a second accumulator, wherein one end of the oil inlet pipeline is an oil inlet, the other end of the oil inlet pipeline is provided with a first branch pipe and a second branch pipe, the first branch pipe is communicated with a rodless cavity of the double-acting oil cylinder, the first branch pipe is provided with a first electromagnetic valve, the first accumulator is communicated with the first branch pipe through a first two-way flow control valve, the second accumulator is communicated with the first branch pipe and arranged between the first electromagnetic valve and the rodless cavity, the second branch pipe is communicated with the rod cavity of the double-acting oil cylinder, the second branch pipe is provided with a second electromagnetic valve, the oil outlet pipeline is provided with a second two-way flow control valve, one end of the oil outlet pipeline is connected with an oil outlet, and the other end of the, the third branch is provided with a third electromagnetic valve, the third branch is communicated with the second branch pipe to form a first communicating port, the first communicating port is arranged between the second electromagnetic valve and the rod cavity of the double-acting oil cylinder, the fourth branch is communicated with the first branch pipe to form a second communicating port, and the fourth branch is provided with a fourth electromagnetic valve between the second communicating port and the second two-way flow control valve.
The beneficial effect who so sets up is: the mode is set, after oil is introduced into an oil inlet pipeline, energy is accumulated in the first energy accumulator and the second energy accumulator, after energy accumulation is completed, the first electromagnetic valve is closed, and when control is needed, the equipment is started, so that the pressure of the first energy accumulator is equal to the pressure of the second energy accumulator, and the position of a piston rod of the double-acting oil cylinder can be set or adjusted. When the double-acting piston needs to be controlled to accurately move towards the rod cavity, the second electromagnetic valve and the third electromagnetic valve are simultaneously opened, and the opening of the second two-way flow control valve is slightly larger than the opening of the second two-way flow control valve, so that the oil quantity discharged by the rod cavity of the double-acting oil cylinder is equal to the oil quantity discharged by the second two-way flow control valve minus the oil quantity discharged by the first two-way flow control valve. And similarly, when the piston is required to move towards the direction of the rodless cavity, the fourth electromagnetic valve and the second electromagnetic valve are simultaneously opened, the pressure of the rodless cavity of the double-acting cylinder is gradually reduced, and when the pressure of the rod cavity exceeds the rodless cavity, the piston slowly moves towards the rodless cavity. Thereby realize the accurate control to two effect cylinder output shafts, and the combination of displacement sensor, solenoid valve, flow control valve and energy storage ware in this oil circuit, be the device that often establishes in the equipment that needs the control, for example displacement sensor, electromagnetic switch valve, flow control valve and energy storage ware all belong to the indispensable part of dry process granulator, use like this and can not increase extra equipment cost, only need set for PLC control can, this kind of structure is also very simple, do benefit to the realization, low in production cost simultaneously, be convenient for popularize and use.
Furthermore, a plurality of auxiliary energy accumulators are arranged on the first branch pipe between the second energy accumulator and the double-acting oil cylinder, and the auxiliary energy accumulators are communicated with the first branch pipe through electromagnetic switch valves.
The beneficial effect who so sets up is: set up a plurality of auxiliary energy storage wares again, because conventional energy storage ware, the pressure that can accumulate is limited, can not satisfy all pressure interval's requirements, through increasing a plurality of energy storage wares for at the pressure range of difference, can open a plurality of auxiliary energy storage wares, supplementary pressure that maintains needs, this kind of simple structure does benefit to the realization, improves overall structure's result of use.
Further, still be connected with first flow sensor on the oil inlet pipeline, be connected with second flow sensor in second intercommunication mouth position on the fourth tributary.
The beneficial effect who so sets up is: the flow sensor is arranged to monitor flow information of the corresponding position in real time, so that a user can conveniently acquire data, know the oil pressure condition in the oil way and improve the using effect of the whole oil way structure.
Drawings
Fig. 1 is a schematic diagram of an oil path structure according to an embodiment of the present invention.
Detailed Description
The embodiment of the oil circuit structure for realizing the precise control of the double-acting oil cylinder is shown in figure 1: the double-acting oil cylinder type oil pump comprises a double-acting oil cylinder 1, an oil inlet pipeline 2, an oil outlet pipeline 3, a first energy accumulator 71 and a second energy accumulator 72, wherein one end of the oil inlet pipeline 2 is provided with an oil inlet, the other end of the oil inlet pipeline is provided with a first branch pipe 21 and a second branch pipe 22, the first branch pipe 21 is communicated with a rodless cavity of the double-acting oil cylinder 1, the first branch pipe 21 is provided with a first electromagnetic valve 41, the first energy accumulator 71 is communicated with the first branch pipe 21 through a first two-way flow control valve 61, the second energy accumulator 72 is communicated with the first branch pipe 21 and is arranged between the first electromagnetic valve 41 and the rodless cavity, the second branch pipe 22 is communicated with the rodless cavity of the double-acting oil cylinder 1, the second branch pipe 22 is provided with a second electromagnetic valve 42, the oil outlet pipeline 3 is provided with a second two-way flow control valve 62, one end of the oil outlet pipeline 3 is connected with an oil, the third branch 31 is provided with a third electromagnetic valve 43, the third branch 31 is communicated with the second branch pipe 22 to form a first communication port, the first communication port is arranged between the second electromagnetic valve 42 and the rod cavity of the double-acting oil cylinder 1, the fourth branch 32 is communicated with the first branch pipe 21 to form a second communication port, and the fourth branch 32 is provided with a fourth electromagnetic valve 44 between the second communication port and the second two-way flow control valve 62. The beneficial effect who so sets up is: with this configuration, after the oil is introduced into the oil inlet line 2, energy is accumulated in the first accumulator 71 and the second accumulator 72, after the energy accumulation is completed, the first solenoid valve 41 is closed, and when control is required, the apparatus is started so that the pressure of the first accumulator 71 is equal to the pressure of the second accumulator 72, and the position of the piston rod of the double-acting cylinder 1 can be set or adjusted. When the double-acting piston needs to be controlled to accurately move towards the rod cavity, the second electromagnetic valve 42 and the third electromagnetic valve 43 are simultaneously opened, and the opening of the second two-way flow control valve 62 is slightly larger than the opening of the second two-way flow control valve 62, so that the oil quantity discharged by the rod cavity of the double-acting oil cylinder 1 is equal to the oil quantity discharged by the second two-way flow control valve minus the oil quantity discharged by the first two-way flow control valve, the oil quantity discharged by the rod cavity of the double-acting oil cylinder 1 is extremely small due to the extremely small difference between the openings of the second two-way flow control valve and the first two-way flow control valve, the pressure oil in the rod cavity of the double-acting oil cylinder 1 is continuously discharged, the pressure in the rod cavity of the double-acting oil cylinder 1 is gradually reduced, and the pressure in the rod cavity is gradually higher than that in the rod cavity due to the fact that the rodless cavity is communicated with the second accumulator 72, and. Further, a displacement sensor can be arranged at the output end of the double-acting cylinder, when the displacement sensor detects that the piston rod reaches a set value, the control electromagnetic valve is powered off, the piston stops moving, similarly, when the piston is required to move towards the direction of the rodless cavity, the fourth electromagnetic valve 44 and the second electromagnetic valve 42 are simultaneously opened, the pressure of the rodless cavity of the double-acting cylinder 1 gradually decreases, and when the pressure of the rod cavity exceeds the rodless cavity, the piston slowly moves towards the rodless cavity. Thereby realize the accurate control to two effect cylinder output shafts, and the combination of displacement sensor, solenoid valve, flow control valve and energy storage ware in this oil circuit, be the device that often establishes in the equipment that needs the control, for example displacement sensor, electromagnetic switch valve 45, flow control valve and energy storage ware all belong to the indispensable part of dry process granulator, use like this and can not increase extra equipment cost, only need set for PLC control can, this kind of structure is also very simple, do benefit to the realization, low in production cost simultaneously, be convenient for popularize and use.
Furthermore, a plurality of auxiliary accumulators 73 are arranged on the first branch pipe 21 between the second accumulator 72 and the double-acting oil cylinder 1, and the auxiliary accumulators 73 are communicated with the first branch pipe 21 through the electromagnetic switch valve 45. The beneficial effect who so sets up is: set up a plurality of auxiliary energy storage ware 73 again, because conventional energy storage ware, the pressure that can accumulate is limited, can not satisfy all pressure interval's requirements, through increasing a plurality of energy storage wares for at the pressure range of difference, can open a plurality of auxiliary energy storage ware 73, supplementary pressure that maintains needs, this kind of simple structure does benefit to the realization, improves overall structure's result of use.
Further, a first flow sensor 51 is connected to the oil inlet pipe 2, and a second flow sensor 52 is connected to the fourth branch 32 at a second communication port. The beneficial effect who so sets up is: the flow sensor is arranged to monitor flow information of the corresponding position in real time, so that a user can conveniently acquire data, know the oil pressure condition in the oil way and improve the using effect of the whole oil way structure.
The above example is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (3)
1. The utility model provides an oil circuit structure for realizing double-acting cylinder accurate control, includes double-acting cylinder, advances oil pipe way and goes out oil pipe way, its characterized in that: the double-acting oil cylinder system comprises an oil inlet pipeline, and is characterized by further comprising a first energy accumulator and a second energy accumulator, wherein one end of the oil inlet pipeline is provided with an oil inlet, the other end of the oil inlet pipeline is provided with a first branch pipe and a second branch pipe, the first branch pipe is communicated with a rodless cavity of the double-acting oil cylinder, a first electromagnetic valve is arranged on the first branch pipe, the first energy accumulator is communicated with the first branch pipe through a first two-way flow control valve, the second energy accumulator is communicated with the first branch pipe and arranged between the first electromagnetic valve and the rodless cavity, the second branch pipe is communicated with a rod cavity of the double-acting oil cylinder, a second electromagnetic valve is arranged on the second branch pipe, a second two-way flow control valve is arranged on the oil outlet pipeline, one end of the oil outlet pipeline is connected with an oil outlet, the other end of the oil outlet pipeline is provided with a third branch pipe and a fourth branch pipe, a third electromagnetic valve is arranged on the third branch pipe, the third branch pipe is, and the fourth branch is communicated with the first branch pipe to form a second communication port, and a fourth electromagnetic valve is arranged between the second communication port and the second two-way flow control valve.
2. The oil path structure for realizing the precise control of the double-acting oil cylinder according to claim 1, characterized in that: and a plurality of auxiliary energy accumulators are arranged between the second energy accumulator and the double-acting oil cylinder on the first branch pipe, and the auxiliary energy accumulators are communicated with the first branch pipe through electromagnetic switch valves.
3. The oil path structure for realizing the precise control of the double-acting oil cylinder according to claim 1 or 2, characterized in that: and the oil inlet pipeline is also connected with a first flow sensor, and the fourth branch is connected with a second flow sensor at the position of the second communication port.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010118992.3A CN111237264A (en) | 2020-02-26 | 2020-02-26 | Oil circuit structure for realizing precise control of double-acting oil cylinder |
| PCT/CN2020/106075 WO2021169175A1 (en) | 2020-02-26 | 2020-07-31 | Oilway structure for achieving precise control of double-acting cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010118992.3A CN111237264A (en) | 2020-02-26 | 2020-02-26 | Oil circuit structure for realizing precise control of double-acting oil cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111237264A true CN111237264A (en) | 2020-06-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010118992.3A Pending CN111237264A (en) | 2020-02-26 | 2020-02-26 | Oil circuit structure for realizing precise control of double-acting oil cylinder |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111237264A (en) |
| WO (1) | WO2021169175A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021169175A1 (en) * | 2020-02-26 | 2021-09-02 | 浙江迦南科技股份有限公司 | Oilway structure for achieving precise control of double-acting cylinder |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114109963B (en) * | 2021-11-19 | 2023-12-15 | 济南悉通液压设备配套有限公司 | Corner-assembled engine oil cylinder operation control method and hydraulic system |
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| WO2000000748A1 (en) * | 1998-06-27 | 2000-01-06 | Lars Bruun | Mobile working machine |
| US20040020355A1 (en) * | 2002-07-30 | 2004-02-05 | Ming-Hsiang Shih | Accumulated semi-active hydraulic damper |
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| CN111237264A (en) * | 2020-02-26 | 2020-06-05 | 浙江迦南科技股份有限公司 | Oil circuit structure for realizing precise control of double-acting oil cylinder |
-
2020
- 2020-02-26 CN CN202010118992.3A patent/CN111237264A/en active Pending
- 2020-07-31 WO PCT/CN2020/106075 patent/WO2021169175A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2106188A (en) * | 1981-09-21 | 1983-04-07 | Otis Eng Co | Hydraulic cylinder control |
| WO2000000748A1 (en) * | 1998-06-27 | 2000-01-06 | Lars Bruun | Mobile working machine |
| US20040020355A1 (en) * | 2002-07-30 | 2004-02-05 | Ming-Hsiang Shih | Accumulated semi-active hydraulic damper |
| CN204961454U (en) * | 2015-09-21 | 2016-01-13 | 常州阿尔菲特机电科技有限公司 | Cylinder multiple spot accurate positioning gas accuse system |
| CN105508319A (en) * | 2016-01-19 | 2016-04-20 | 中国地质大学（武汉） | Ultrahigh-pressure hydraulic pressurization system controlled by low-pressure servo source |
| WO2019188129A1 (en) * | 2018-03-27 | 2019-10-03 | Smc株式会社 | Air cylinder |
| CN213176218U (en) * | 2020-02-26 | 2021-05-11 | 浙江迦南科技股份有限公司 | Oil circuit structure for realizing precise control of double-acting oil cylinder |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021169175A1 (en) * | 2020-02-26 | 2021-09-02 | 浙江迦南科技股份有限公司 | Oilway structure for achieving precise control of double-acting cylinder |
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| WO2021169175A1 (en) | 2021-09-02 |
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