CN113983011A - Intelligent digital hydraulic system - Google Patents

Intelligent digital hydraulic system Download PDF

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Publication number
CN113983011A
CN113983011A CN202111649018.0A CN202111649018A CN113983011A CN 113983011 A CN113983011 A CN 113983011A CN 202111649018 A CN202111649018 A CN 202111649018A CN 113983011 A CN113983011 A CN 113983011A
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China
Prior art keywords
digital hydraulic
hydraulic cylinder
spline
pile
oil
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CN202111649018.0A
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Chinese (zh)
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CN113983011B (en
Inventor
程博源
王阳
刘振宇
高至妍
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Qingzhou Haidun Hydraulic Machinery Co ltd
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Qingzhou Haidun Hydraulic Machinery Co ltd
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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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/20—Placing by pressure or pulling power
    • 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
    • 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
    • F15B13/027—Check valves
    • 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
    • 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
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0846—Electrical details
    • F15B13/086—Sensing means, e.g. pressure sensors
    • 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
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Mining & Mineral Resources (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention relates to the technical field of digital hydraulic pile pressing systems, in particular to an intelligent digital hydraulic system. The intelligent digital hydraulic system comprises a PLC (programmable logic controller) connected with an HMI (human machine interface), a first digital hydraulic cylinder connected with the PLC, a second digital hydraulic cylinder, an oil pump, two pressure sensors and two proximity switches, the first digital hydraulic cylinder and the second digital hydraulic cylinder are connected with an oil tank through the oil pump, the first digital hydraulic cylinder drives the pile pressing machine to vertically lift, the second digital hydraulic cylinder drives the pile pressing machine to horizontally clamp a pile body to be pressed, the proximity switches are respectively arranged at the highest point and the lowest point of the vertical stroke of the pile pressing machine, and the two pressure sensors respectively detect the pile pressing force value and the pile clamping force value of the pile pressing machine. The intelligent automatic pile pressing machine can realize intelligent automatic pile pressing, reduce the labor intensity and improve the working efficiency; the digital hydraulic cylinder which can realize internal feedback without being linked with the piston rod is adopted, and the transmission efficiency is improved.

Description

Intelligent digital hydraulic system
Technical Field
The invention relates to the technical field of digital hydraulic pile pressing systems, in particular to an intelligent digital hydraulic system.
Background
The hydraulic system has the function of increasing acting force by changing pressure intensity, and a complete hydraulic system consists of five parts, namely a power element, an executive element, a control element, an auxiliary element and hydraulic oil. The power element refers to an oil pump in a hydraulic system, which provides power to the whole hydraulic system, the executive element is generally a hydraulic cylinder or a hydraulic motor, which is used for converting pressure energy of liquid into mechanical energy and driving a load to do linear reciprocating motion or rotary motion, and the control element is various hydraulic valves used for controlling and adjusting the pressure, flow and direction of the liquid. The auxiliary elements refer to devices which have auxiliary effects on the hydraulic system, such as an oil tank, a sealing ring, a pressure sensor, a temperature sensor, an energy accumulator and the like.
The pile pressing machine is a pile driving machine which presses a pile into a bottom layer by using static pressure, and is mainly divided into a mechanical pile pressing machine and a hydraulic pile pressing machine, wherein the hydraulic pile pressing machine stably and quietly presses a precast pile into a foundation by using strong static pressure generated by hydraulic oil, and the hydraulic pile pressing machine comprises a pile frame, a pile hanging crane, a hydraulic pile clamping device, a pile pressing hydraulic cylinder, electrical equipment and the like. The pile frame is a complete machine supporting part and is provided with a main platform, a guide platform, a stand column and a lower walking trolley. The pile hoisting crane is arranged at the top end of the upright post and used for hoisting the pile in place. During operation, the hydraulic pile clamping device clamps the pile head of the pile body to be pressed, and then the pile clamping device is pushed and pressed by the pair of pile pressing hydraulic cylinders, so that the pile body to be pressed sinks. The electric equipment is used for driving the main pump to run and the machine to walk. When the existing hydraulic pile pressing machine is used for pressing piles, the automation degree is low, the pile pressing operation is mainly completed by manual cooperation control, pile loosening and pile clamping are carried out by means of judgment of workers, the labor intensity of the workers is increased, and the working efficiency and the engineering quality of pile pressing construction are influenced. Therefore, a hydraulic pile pressing system which adopts digitization and automation control, is convenient for workers to operate, reduces the workload of the workers, enables pile pressing to be operated more intelligently, and improves the pile pressing work efficiency and the engineering quality needs to be developed.
Disclosure of Invention
In order to solve at least one of the technical problems, the invention provides an intelligent digital hydraulic system which comprises a PLC (programmable logic controller) connected with an HMI (human machine interface), a first digital hydraulic cylinder, a second digital hydraulic cylinder, an oil pump, two pressure sensors and two proximity switches, wherein the first digital hydraulic cylinder, the second digital hydraulic cylinder, the oil pump, the two pressure sensors and the two proximity switches are connected with the PLC, the two oil inlet pipelines of the first digital hydraulic cylinder and the second digital hydraulic cylinder are converged into a main oil inlet pipeline, the main oil inlet pipeline is provided with the oil pump communicated with an oil tank, the first digital hydraulic cylinder drives a pile clamping machine on a pile pressing machine to vertically lift, the second digital hydraulic cylinder drives the pile clamping machine to horizontally clamp a pile body to be pressed, the two proximity switches are respectively arranged at the highest point and the lowest point of the vertical stroke of the pile clamping machine, and the two pressure sensors respectively detect the pile pressing force value and the pile clamping force value of the pile pressing machine.
Preferably, the oil pump outlet end is provided with a pressure sensor connected with the PLC, two oil return pipelines of the outlet pipeline of the oil pump, the first digital hydraulic cylinder and the second digital hydraulic cylinder are respectively provided with a one-way valve, the two oil return pipelines are converged into a total oil return pipeline, the total oil return pipeline is provided with an energy storage bypass communicated with the total oil inlet pipeline, the energy storage bypass is provided with an energy accumulator, the total oil return pipeline between the energy storage bypass and the oil tank and the upstream and downstream pipelines of the energy accumulator are respectively provided with an electromagnetic valve connected with the PLC.
Preferably, the first digital hydraulic cylinder and the second digital hydraulic cylinder have the same structure and comprise a slide valve, a hydraulic oil cylinder and a stepping motor, wherein the slide valve is a three-position four-way valve, and the stepping motor receives a signal of the PLC and controls the reversing of an oil circuit in the slide valve according to the signal.
Preferably, the slide valve comprises a valve body, a driving cavity, a sliding cavity and a feedback cavity which are sequentially communicated are arranged in the valve body, and the sliding cavity is provided with an oil inlet communicated with an oil inlet pipeline, an oil outlet communicated with an oil return pipeline, a first working oil port communicated with a rod cavity of the hydraulic oil cylinder and a second working oil port communicated with a rodless cavity of the hydraulic oil cylinder.
Preferably, a spline pair is arranged in the driving cavity, a valve core is arranged in the sliding cavity, a feedback mechanism is arranged in the feedback cavity, the output end of the stepping motor is connected with a spline sleeve of the spline pair, one end of the valve core is connected with a spline shaft of the spline pair, the other end of the valve core is connected with the feedback mechanism, and the feedback mechanism can drive the valve core to reset.
Preferably, the feedback mechanism includes ball, ball's threaded rod one end fixed connection the case, other end axial is equipped with the internal spline, the rotary drum is established to fixed cover on ball's the nut seat, the outer circumference symmetry of rotary drum is equipped with two telescopic fixture, and rotary mechanism is rotatable to be fixed in the valve body inner wall, including a pivot, pivot one end be equipped with the corresponding external spline of internal spline, the inner of the fixed flat spiral spring of the other end, the outer end of flat spiral spring is connected the rotary drum, the torque sensor who links to each other with the PLC controller is connected respectively the pivot with the rotary drum.
Preferably, a first fillet is formed at the intersection of the central hole of the internal spline and the spline tooth groove, a second fillet is formed at the intersection of the mandrel of the external spline and the spline tooth, a first gap is formed between the top of the spline tooth groove and the top of the spline tooth, a second gap is formed between the first fillet and the second fillet, and the side wall of the spline tooth groove is in sliding abutting joint with the side wall of the spline tooth; the spline sleeve and the spline shaft of the spline pair have the same structure as the internal spline and the external spline.
Preferably, the clamping mechanism comprises an arc-shaped clamping plate and an electromagnetic telescopic sleeve fixedly arranged at the center of the outer arc surface of the clamping plate, the electromagnetic telescopic sleeve comprises an outer barrel and an inner barrel which are sleeved with a sliding sleeve, the outer barrel is fixed on the clamping plate, a permanent magnet is arranged inside the outer barrel, the inner barrel is fixedly arranged on the inner wall of the valve body, and a magnetic conduction column wound with a conductive coil is arranged inside the inner barrel.
Preferably, the inner end face of the clamping plate is fixedly provided with a rubber gasket, the rubber gasket is provided with anti-skid protrusions, and the outer peripheral face of the rotary drum is provided with anti-skid patterns.
The invention provides a using method of an intelligent digital hydraulic system, which comprises the following steps:
s100, moving a pile pressing machine to a to-be-constructed area, placing a pile body to be pressed in a pile clamping hole of a pile clamping device, inputting pile pressing parameters through an HMI (human machine interface), and starting an intelligent digital hydraulic system;
step S200, a PLC sends a signal to a first digital hydraulic cylinder, a piston rod of the first digital hydraulic cylinder contracts to drive a pile clamping device to ascend, when the pile clamping device ascends to the highest point of a stroke, a proximity switch at the highest point sends a signal to the PLC, the piston rod of the first digital hydraulic cylinder stops moving and starts timing at the same time, after one second, the PLC sends a signal to a second digital hydraulic cylinder, the piston rod of the second digital hydraulic cylinder extends to clamp a pile body to be pressed, and when a pile clamping force value detected by a pressure sensor reaches a set value, the piston rod of the second digital hydraulic cylinder stops moving, and at the moment, the pile clamping device completely clamps the pile body to be pressed;
step S300, after the pile clamping device completely clamps the pile body to be pressed, the PLC sends a signal to the first digital hydraulic cylinder, a piston rod of the first digital hydraulic cylinder extends to drive the pile clamping device to descend for pile pressing, when the pile clamping device descends to the lowest point of the stroke, the proximity switch at the lowest point sends a signal to the PLC, the piston rod of the first digital hydraulic cylinder stops moving and starts timing at the same time, after one second, the PLC sends a signal to the second digital hydraulic cylinder, and the piston rod of the second digital hydraulic cylinder contracts to loosen the pile body to be pressed; the pressure sensor detects the pile pressing force value in real time, when the pile pressing force value is zero, the PLC sends a signal to the first digital hydraulic cylinder, a piston rod of the first digital hydraulic cylinder contracts to drive the pile clamping device to ascend, and single pile pressing operation is completed;
and S400, repeating the step S200 and the step S300 according to the set pile pressing times until pile pressing operation is completed.
Compared with the prior art, the invention has the following beneficial technical effects:
1. according to the invention, the PLC automatically switches the two digital hydraulic cylinders according to the position signal and the pressure signal, so that intelligent automatic pile pressing is realized, the labor intensity is reduced, and the working efficiency is improved; the digital hydraulic cylinder is adopted, so that the requirement of the system on the purity of hydraulic oil can be reduced, and the process tolerance is improved;
2. an energy storage bypass is arranged on the oil return pipeline, energy is recovered through an energy accumulator on the energy storage bypass, and the recovered energy is recycled, so that the energy waste is avoided, and the energy-saving effect is achieved;
3. the feedback mechanism in the digital hydraulic cylinder can realize axial sliding and resetting of the valve core without linkage with the piston rod, so that the transmission efficiency is improved;
4. a spline structure with low sliding resistance is arranged in a sliding valve of the digital hydraulic cylinder, so that the contact surface connection of an internal spline and an external spline is greatly reduced, the sliding resistance between the internal spline and the external spline is reduced, and the transmission efficiency is further improved;
5. the electromagnetic telescopic sleeve is adopted to clamp or loosen the rotary drum, the state switching is carried out on the feedback mechanism, the response speed is high, and the switching efficiency is high;
in conclusion, the intelligent digital hydraulic system provided by the invention can realize intelligent automatic pile pressing, reduce the labor intensity and improve the working efficiency; the digital hydraulic cylinder which can realize internal feedback without being linked with the piston rod is adopted, and the transmission efficiency is improved.
Drawings
FIG. 1 is a diagram of a control system of the present invention;
FIG. 2 is a schematic diagram of the first digital hydraulic cylinder and the second digital hydraulic cylinder;
FIG. 3 is a schematic perspective view of a feedback mechanism and a cross-sectional view thereof;
FIG. 4 is an exploded view of FIG. 3;
FIG. 5 is a cross-sectional view of the clamping mechanism of FIG. 4;
FIG. 6 is a right side view of the internal spline of FIG. 4;
FIG. 7 is a left side view of the outer spline of FIG. 4;
fig. 8 is a schematic diagram of the insertion state of the internal spline and the external spline.
Description of reference numerals:
1. a first digital hydraulic cylinder, 2, a second digital hydraulic cylinder, 3, an oil pump, 4, a pressure sensor, 5, a proximity switch, 6, an oil tank, 7, an energy accumulator, 8, an electromagnetic valve, 9 and a one-way valve,
100. the slide valve 110, the valve body 120, the driving chamber 130, the slide chamber 131, the oil inlet 132, the oil outlet 133, the first working oil port 134, the second working oil port 140, the feedback chamber 150, the valve core,
200. a hydraulic oil cylinder 210, a rod cavity 220, a rodless cavity 300 and a stepping motor,
400. spline pair, 410, spline housing, 420, spline shaft,
500. a feedback mechanism 510, a ball screw shaft 511, a threaded rod 512, a nut seat 513, an internal spline 5131, a central hole 5132, a spline tooth groove 5133, a first round angle 5134, a first gap 5135, a second gap,
520. a drum 530, a rotation mechanism 531, a turntable 532, a first turntable bearing 533, a second turntable bearing 534, a spring mounting shaft 535, an external spline 5351, a spindle 5352, a spline tooth 5353, a second fillet,
540. the device comprises a flat spiral spring, 550, a clamping mechanism, 551, a clamping plate, 552, an electromagnetic telescopic sleeve, 553, an outer cylinder, 5531, an outer cylinder body, 5532, an axial sliding groove, 5533, a cover body, 5534, a first conducting strip, 5535, a permanent magnet, 554, an inner cylinder, 5541, an inner cylinder body, 5542, an axial sliding block, 5543, a second conducting strip, 5544, a top plate, 5545, a bottom plate, 5546, a magnetic conduction column, 5547 and a conductive coil.
Detailed Description
The following description of the embodiments of the present invention refers to the accompanying drawings and examples:
it should be noted that the structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are only for the purpose of understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined by the following claims, and all modifications of the structures, changes in the proportions and adjustments of the sizes and other dimensions which are within the scope of the disclosure should be understood and encompassed by the present disclosure without affecting the efficacy and attainment of the same.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Example 1
With reference to fig. 1, this embodiment provides an intelligent digital hydraulic system, which includes a PLC controller connected to an HMI, a first digital hydraulic cylinder 1, a second digital hydraulic cylinder 2, an oil pump 3, two pressure sensors 4, and two proximity switches 5 connected to the PLC controller, where the two oil inlet pipelines of the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2 are converged into one total oil inlet pipeline, the oil pump 3 communicated with an oil tank 6 is disposed on the total oil inlet pipeline, the first digital hydraulic cylinder 1 drives the vertical lifting of a pile gripper on a pile gripper, the second digital hydraulic cylinder 2 drives the pile gripper to horizontally clamp a pile body to be pressed, the two proximity switches 5 are respectively disposed at the highest point and the lowest point of the vertical stroke of the pile gripper, and the two pressure sensors 4 respectively detect a pile pressing force value and a pile gripping force value of the pile gripper.
The pile pressing machine in the technical scheme is universal equipment in the prior art, the PLC and the HMI are arranged in an operating chamber of the pile pressing machine, the intelligent digital hydraulic system in the embodiment adopts the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2, and the requirement of the system on the purity of hydraulic oil can be reduced. The two proximity switches 5 respectively send position signals of the pile clamping device to the PLC, and the two pressure sensors 4 respectively send pile pressing force signals and pile clamping force signals to the PLC. And the PLC adjusts the extension and contraction of the piston rods of the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2 according to the position signal and the pressure signal.
The working process is as follows: moving the pile pressing machine to a to-be-constructed area, placing a to-be-pressed pile body in a pile clamping hole of a pile clamping device, inputting pile pressing parameters through an HMI (human machine interface), and starting an intelligent digital hydraulic system; the PLC controller sends a signal to the first digital hydraulic cylinder 1, a piston rod of the first digital hydraulic cylinder 1 contracts to drive the pile clamping device to ascend to the highest point of travel, when the pile clamping device reaches the highest point, a proximity switch 5 at the highest point sends a signal to the PLC controller, the PLC controller receives a position signal and sends a signal to the first digital hydraulic cylinder 1, the piston rod of the first digital hydraulic cylinder 1 stops contracting, after the pile clamping device stabilizes for one second, the PLC controller sends a signal to the second digital hydraulic cylinder 2, the piston rod of the second digital hydraulic cylinder 2 extends to clamp the pile body to be pressed, when the pressure sensor 4 detects that the pile clamping force value reaches a set value, the PLC controller sends a signal to the second digital hydraulic cylinder 2, the piston rod of the second digital hydraulic cylinder 2 stops extending, at the moment, the pile clamping device completely clamps the pile body to be pressed and stabilizes for one second, the PLC sends a signal to the first digital hydraulic cylinder 1, a piston rod of the first digital hydraulic cylinder 1 extends to drive the pile clamping device to descend to carry out pile pressing operation, when the pile clamping device descends to the lowest point of travel, the proximity switch 5 at the lowest point sends a signal to the PLC, the PLC receives a position signal and sends a signal to the first digital hydraulic cylinder 1, the piston rod of the first digital hydraulic cylinder 1 stops extending, after the pile is stabilized for one second, the PLC sends a signal to the second digital hydraulic cylinder 2, and the piston rod of the second digital hydraulic cylinder 2 contracts to release a pile body to be pressed; when the pile pressing force value detected by the pressure sensor 4 is zero, the PLC sends a signal to the first digital hydraulic cylinder 1, a piston rod of the first digital hydraulic cylinder 1 contracts, and the pile clamping device is driven to ascend again to complete one pile pressing operation; pile pressing times are set through the HMI, and pile pressing can be automatically completed by repeating the operation.
Preferably, the outlet end of the oil pump 3 is provided with a pressure sensor 4 connected with the PLC controller, two oil return pipelines of the outlet pipeline of the oil pump 3, the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2 are respectively provided with a one-way valve 9, the two oil return pipelines are converged into a total oil return pipeline, the total oil return pipeline is provided with an energy storage bypass communicated with a total oil inlet pipeline, the energy storage bypass is provided with an energy accumulator 7, the total oil return pipeline between the energy storage bypass and the oil tank 6 and the upstream and downstream pipelines of the energy accumulator 7 are respectively provided with an electromagnetic valve 8 connected with the PLC controller.
In the technical scheme, an energy storage bypass is additionally arranged on a main oil return pipeline, energy is recovered through an energy accumulator 7 on the energy storage bypass, the recovered energy is recycled, energy waste is avoided, and an energy-saving effect is achieved. The working process is as follows:
a non-energy-saving state: the PLC controller controls electromagnetic valves 8 on upstream and downstream pipelines of an energy accumulator 7 to be closed, the electromagnetic valves 8 on a main oil return pipeline between an energy storage bypass and an oil tank 6 are opened, at the moment, hydraulic oil in oil return pipelines of a first digital hydraulic cylinder 1 and a second digital hydraulic cylinder 2 is collected and then directly flows into the oil tank 6 through the main oil return pipeline, an oil pump 3 pumps the hydraulic oil from the oil tank 6 to a main oil inlet pipeline, and then the hydraulic oil is divided into two parts and respectively enters oil inlet pipelines of the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2;
energy-saving and energy-storing state: the PLC controls an electromagnetic valve 8 on a main oil return pipeline between the energy storage bypass and the oil tank 6 and an electromagnetic valve 8 on an oil outlet pipeline of the energy storage 7 to be closed, the electromagnetic valve 8 on an upstream pipeline of the energy storage 7 is opened, and at the moment, hydraulic oil in the oil return pipelines of the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2 flows into the energy storage 7 to be stored;
energy-saving energy utilization state: when the oil pressure in the energy accumulator 7 reaches a set value, the PLC controls the electromagnetic valve 8 on the upstream pipeline of the energy accumulator 7 to be closed, the electromagnetic valve 8 on the oil outlet pipeline of the energy accumulator 7 is opened, the electromagnetic valve 8 on the main oil return pipeline between the energy storage bypass and the oil tank 6 is opened, at the moment, the hydraulic oil in the oil return pipelines of the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2 directly flows into the oil tank 6 through the main oil return pipeline after being collected, the hydraulic oil in the energy accumulator 7 enters the main oil inlet pipeline and enters the oil inlet pipelines of the first digital hydraulic cylinder 1 and the second digital hydraulic cylinder 2 together with the hydraulic oil pumped by the oil pump 3, the amount of the hydraulic oil pumped by the oil pump 3 is reduced, the output power of the oil pump 3 is reduced, and the energy-saving effect is realized.
Example 2
With reference to fig. 2 to 8, the present embodiment provides a structure suitable for a first digital hydraulic cylinder 1 and a second digital hydraulic cylinder 2, including a slide valve 100, a hydraulic cylinder 200, and a stepping motor 300, where the slide valve 100 is a three-position four-way valve, and the stepping motor 300 receives a signal from a PLC controller and controls the direction change of an internal oil path of the slide valve 100 according to the signal.
The slide valve 100 comprises a valve body 110, a driving cavity 120, a sliding cavity 130 and a feedback cavity 140 which are sequentially communicated are arranged in the valve body 110, and an oil inlet 131 communicated with an oil inlet pipeline, an oil outlet 132 communicated with an oil return pipeline, a first working oil port 133 communicated with a rod cavity 210 of the hydraulic oil cylinder 200 and a second working oil port 134 communicated with a rodless cavity 220 of the hydraulic oil cylinder 200 are arranged on the sliding cavity 130.
The driving cavity 120 is internally provided with a spline pair 400, the sliding cavity 130 is internally provided with a valve core 150, the feedback cavity 140 is internally provided with a feedback mechanism 500, the output end of the stepping motor 300 is connected with a spline sleeve 410 of the spline pair 400, one end of the valve core 150 is connected with a spline shaft 420 of the spline pair 400, the other end of the valve core 150 is connected with the feedback mechanism 500, and the feedback mechanism 500 can drive the valve core 150 to reset.
In the above technical solution, the valve core 150 has a conventional four-shoulder structure, the positional relationships between the valve core 150 and the oil inlet 131, the oil outlet 132, the first working oil port 133 and the second working oil port 134 are the same as those in the prior art, and details are omitted, the step motor 300 receives a pulse signal and then drives the spline pair 400 to rotate, the spline shaft 420 drives the valve core 150 to rotate, and the feedback mechanism 500 converts the rotation of the valve core 150 into axial displacement, thereby opening or closing the passage between the hydraulic oils. In the prior art, a feedback nut linked with a piston rod is usually used to form the feedback mechanism 500 by matching with a threaded portion fixed on the valve core 150, so as to realize axial sliding and resetting of the valve core 150.
The present embodiment provides a feedback mechanism 500 that achieves axial sliding and resetting of the spool 150 without linkage with the piston rod, as shown in fig. 3 and 4, the feedback mechanism 500 includes a ball screw 510, one end of a threaded rod 511 of the ball screw 510 is fixedly connected to the valve core 150, the other end is axially provided with an internal spline 513, the nut seat 512 of the ball screw 510 is fixedly sleeved with a rotary drum 520, two retractable clamping mechanisms 550 are symmetrically arranged on the outer circumference of the rotary drum 520, the rotary mechanism 530 is rotatably fixed on the inner wall of the valve body 110 and comprises a rotary shaft, one end of the rotating shaft is provided with an external spline 535 corresponding to the internal spline 513, the other end of the rotating shaft fixes the inner end of a flat spiral spring 540, the outer end of the flat spiral spring 540 is connected with the rotating drum 520, torque sensors (not shown) connected to the PLC controller are connected to the shaft and the drum 520, respectively.
In a specific embodiment, a further optimized structure of the rotating mechanism 530 is provided, the rotating mechanism 530 further includes a rotating disk 531, the rotating shaft is disposed at the center of the rotating disk 531, one end of the rotating shaft close to the rotating disk 531 is provided with a spring mounting shaft 534, the other end of the rotating shaft is provided with an external spline 535, one end of the rotating disk 531 is rotatably connected to the inner wall of the feedback cavity 140 through a first rotating disk bearing 532, the other end of the rotating shaft is rotatably connected to the rotating disk 520 through a second rotating disk bearing 533, the rotating disk 531, the rotating disk 520 and the nut seat 512 together enclose to form a sealed rotating chamber, a sliding insertion between the external spline 535 and the internal spline 513 and a flat spiral spring 540 and a torque sensor are protected, and meanwhile, the rotating disk 531 further increases a contact area between the rotating mechanism 530 and the inner wall of the feedback cavity 140, so that the rotating mechanism 530 is more stably fixed.
The working process of the feedback mechanism 500 is as follows, in an initial state, the valve core 150 is located at the center of the sliding chamber 130, the oil inlet 131, the oil outlet 132, the first working oil port 133 and the second working oil port 134 are not communicated, the two clamping mechanisms 550 of the feedback mechanism 500 are in an extension state, the rotating drum 520 is clamped and fixed, at this time, the spiral spring 540 is in a natural extension state, and the torque value of the torque sensor is zero; when the stepping motor 300 receives a pulse signal to rotate, the valve core 150 drives the threaded rod 511 connected with the valve core to rotate, the nut seat 512 and the rotary drum 520 are both in a fixed and non-rotatable state, the threaded rod 511 drives the valve core 150 to axially displace in a rotating state, when the valve core 150 displaces towards the right side, the first working oil port 133 is communicated with the oil outlet 132, the second working oil port 134 is communicated with the oil inlet 131, at the moment, oil is fed into the rodless cavity 220 of the hydraulic oil cylinder 200, oil is discharged from the rod cavity 210, and the piston rod extends; the external spline 535 inserted into the internal spline 513 of the threaded rod 511 drives the rotating shaft to rotate, when the rotating shaft rotates, the spiral spring 540 fixed between the rotating shaft and the rotary drum 520 accumulates elastic torsion force, the torque value of the torque sensor increases, when the stepping motor 300 stops rotating, the PLC controller controls the two clamping mechanisms 550 to contract, the rotary drum 520 is loosened, at this time, the rotating shaft and the threaded rod 511 are locked by the stepping motor 300 and can not rotate, the spiral spring 540 releases the elastic torsion force to drive the rotary drum 520 to rotate, the torque value of the torque sensor decreases, the rotary drum 520 drives the nut seat 512 to rotate together, the threaded rod 511 drives the valve core 150 to displace leftwards, when the elastic torsion force of the spiral spring 540 is completely released, the torque value of the torque sensor is zero, the rotary drum 520 stops rotating, the PLC controller controls the clamping mechanisms 550 to extend, the rotary drum 520 is clamped and fixed, and the valve core 150 returns to the central position, the oil inlet 131, the oil outlet 132, the first working oil port 133 and the second working oil port 134 are not communicated with each other, and a piston rod of the hydraulic oil cylinder 200 stops moving. When the stepping motor 300 rotates in the reverse direction, the valve element 150 is displaced to the left, and the piston rod of the hydraulic cylinder 200 is retracted.
In a specific embodiment, a spline structure with low sliding resistance is provided, as shown in fig. 6 to 8, a first rounded corner 5133 is formed at the intersection of the central hole 5131 of the internal spline 513 and the spline tooth groove 5132, a second rounded corner 5353 is formed at the intersection of the mandrel 5351 and the spline tooth 5352 of the external spline 535, a first gap 5134 is formed between the top of the spline tooth groove 5132 and the top of the spline tooth 5352, a second gap 5135 is formed between the first rounded corner 5133 and the second rounded corner 5353, and the side wall of the spline tooth groove 5132 is slidably abutted against the side wall of the spline tooth 5352; spline housing 410 and spline shaft 420 of spline pair 400 are identical in construction to internal spline 513 and external spline 535.
The technical scheme is further detailed as follows, the internal spline 513 comprises a central hole 5131 and spline tooth grooves 5132 which are circumferentially and equidistantly arranged on the central hole 5131, a first round angle 5133 is formed at the intersection of the central hole 5131 and the spline tooth grooves 5132, the external spline 535 comprises a mandrel 5351 and spline teeth 5352 which are circumferentially and equidistantly arranged on the mandrel 5351, a second round angle 5353 is formed at the intersection of the mandrel 5351 and the spline teeth 5352, the diameter of the mandrel 5351 is not more than that of the central hole 5131, and the radial length of the spline tooth grooves 5132 is more than that of the spline teeth 5352; when the external spline 535 is inserted into the internal spline 513, a second gap 5135 is formed between the first rounded corner 5133 and the second rounded corner 5353, the side wall of the spline tooth groove 5132 is in sliding abutment with the side wall of the spline tooth 5352, and the top of the spline tooth groove 5132 and the top of the spline tooth 5352 form a first gap 5134; preferably, the outer side wall of the external spline 535 is covered with a sliding layer (not shown) with a low friction coefficient.
The structure can greatly reduce the contact surface connection between the internal spline 513 and the external spline 535, reduce the sliding resistance between the two and improve the transmission efficiency.
In one embodiment, referring to fig. 4 and 5, the clamping mechanism 550 includes an arc-shaped clamping plate 551 and an electromagnetic telescopic sleeve 552 fixedly disposed at the center of an outer arc surface of the clamping plate 551, where the electromagnetic telescopic sleeve 552 includes an outer cylinder 553 and an inner cylinder 554 slidably sleeved, the outer cylinder 553 is fixed on the clamping plate 551, a permanent magnet 5535 is disposed inside the outer cylinder 553, the inner cylinder 554 is fixedly disposed on an inner wall of the valve body 110, and a magnetic conductive column 5546 wound around the conductive coil 5547 is disposed inside the inner cylinder.
In the above technical solution, the PLC controller controls the power supply to supply current to the conductive coil 5547, so that the conductive column 5546 generates a magnetic pole, and the magnetic pole of the conductive column 5546 can be changed by changing the current direction; when the magnetic pole of the magnetic conduction column 5546 is the same as that of the permanent magnet 5535, the electromagnetic telescopic sleeve 552 extends, and the clamping plate 551 clamps the rotary drum 520; when the magnetic pole of the magnetic pole 5546 is opposite to the magnetic pole of the permanent magnet 5535, the electromagnetic telescopic sleeve 552 contracts and the clamping plate 551 releases the drum 520.
A further preferable structure of the clamping mechanism 550 is that the clamping mechanism 550 comprises an outer cylinder body 5531, two axial sliding chutes 5532 are symmetrically arranged on the side wall of the outer cylinder body 5531, a cover body 5533 is arranged on the axial sliding chutes 5532, first conducting strips 5534 are axially arranged on the inner side wall of the cover body 5533, the two first conducting strips 5534 are respectively connected with an external power supply, and a permanent magnet 5535 is fixedly arranged at the bottom of the outer cylinder body 5531;
the inner tube 554 comprises an inner tube body 5541, two axial sliders 5542 are symmetrically arranged on the side wall of the inner tube body 5541, a second conducting strip 5543 is arranged on the outer side wall of each axial slider 5542, a top plate 5544 and a bottom plate 5545 are fixedly arranged at the upper end and the lower end of the inner tube body 5541 respectively, a conducting magnetic column 5546 is fixed between the top plate 5544 and the bottom plate 5545, a conducting coil 5547 is wound on the conducting magnetic column 5546, the two ends of the conducting coil 5547 are connected with the two second conducting strips 5543 which are symmetrically arranged, the two second conducting strips 5543 are respectively abutted against the first conducting strips 5534 in a sliding mode, and the bottom plate 5545 is made of a magnetic conducting material.
Among the above-mentioned technical scheme, axial spout 5532 and axial slider 5542 sliding fit can play spacing guide effect on the one hand, avoid fixture 550 circumference rotatory, and on the other hand can form the current path through the first conducting strip 5534 and the second conducting strip 5543 of slip butt, has further optimized line structure.
Preferably, a rubber gasket is fixedly arranged on the inner end surface of the clamping plate 551, anti-skid protrusions are arranged on the rubber gasket, and anti-skid patterns are arranged on the outer peripheral surface of the rotary drum 520. The cleats and cleats may increase the friction between the clamping mechanism 550 and the drum 520, increasing clamping stability.
Example 3
The embodiment provides a using method of an intelligent digital hydraulic system, which comprises the following steps:
s100, moving a pile pressing machine to a to-be-constructed area, placing a pile body to be pressed in a pile clamping hole of a pile clamping device, inputting pile pressing parameters through an HMI (human machine interface), and starting an intelligent digital hydraulic system;
step S200, a PLC sends a signal to a first digital hydraulic cylinder 1, a piston rod of the first digital hydraulic cylinder 1 contracts to drive a pile clamping device to ascend, when the pile clamping device ascends to the highest point of a stroke, a proximity switch 5 at the highest point sends a signal to the PLC, the piston rod of the first digital hydraulic cylinder 1 stops moving and starts timing at the same time, after one second, the PLC sends a signal to a second digital hydraulic cylinder 2, the piston rod of the second digital hydraulic cylinder 2 extends to clamp a pile body to be pressed, when a pile clamping force value detected by a pressure sensor 4 reaches a set value, the piston rod of the second digital hydraulic cylinder 2 stops moving, and at the moment, the pile clamping device completely clamps the pile body to be pressed;
step S300, after the pile clamping device completely clamps the pile body to be pressed, the PLC sends a signal to the first digital hydraulic cylinder 1, a piston rod of the first digital hydraulic cylinder 1 extends to drive the pile clamping device to descend for pile pressing, when the pile clamping device descends to the lowest point of the stroke, the proximity switch 5 at the lowest point sends a signal to the PLC, the piston rod of the first digital hydraulic cylinder 1 stops moving, timing is started at the same time, after one second, the PLC sends a signal to the second digital hydraulic cylinder 2, and the piston rod of the second digital hydraulic cylinder 2 contracts to release the pile body to be pressed; the pressure sensor 4 detects the pile pressing force value in real time, when the pile pressing force value is zero, the PLC sends a signal to the first digital hydraulic cylinder 1, a piston rod of the first digital hydraulic cylinder 1 contracts to drive the pile clamping device to ascend, and single pile pressing operation is completed;
and S400, repeating the step S200 and the step S300 according to the set pile pressing times until pile pressing operation is completed.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.

Claims (8)

1. An intelligent digital hydraulic system is characterized by comprising a PLC controller connected with an HMI, a first digital hydraulic cylinder (1), a second digital hydraulic cylinder (2), an oil pump (3), two pressure sensors (4) and two proximity switches (5) which are connected with the PLC, the two oil inlet pipelines of the first digital hydraulic cylinder (1) and the second digital hydraulic cylinder (2) are converged into a main oil inlet pipeline, an oil pump (3) communicated with an oil tank (6) is arranged on the main oil inlet pipeline, the first digital hydraulic cylinder (1) drives the pile clamping device on the pile pressing machine to vertically lift, the second digital hydraulic cylinder (2) drives the pile clamping device to horizontally clamp the pile body to be pressed, the two proximity switches (5) are respectively arranged at the highest point and the lowest point of the vertical stroke of the pile clamping device, and the two pressure sensors (4) respectively detect the pile pressing force value and the pile clamping force value of a pile pressing machine;
the first digital hydraulic cylinder (1) and the second digital hydraulic cylinder (2) have the same structure and comprise a slide valve (100), a hydraulic oil cylinder (200) and a stepping motor (300); the slide valve (100) comprises a valve body (110), a spline pair (400), a valve core (150) and a feedback mechanism (500) are arranged in the valve body (110), the output end of the stepping motor (300) is connected with a spline sleeve (410) of the spline pair (400), one end of the valve core (150) is connected with a spline shaft (420) of the spline pair (400), the other end of the valve core (150) is connected with the feedback mechanism (500), and the feedback mechanism (500) can drive the valve core (150) to reset; feedback mechanism (500) includes ball (510), threaded rod (511) one end fixed connection of ball (510) case (150), other end axial are equipped with internal spline (513), fixed cover is established rotary drum (520) on nut seat (512) of ball (510), the outer circumference symmetry of rotary drum (520) is equipped with two telescopic fixture (550), and rotary mechanism (530) rotatable fastening in valve body (110) inner wall, including a pivot, pivot one end be equipped with corresponding external spline (535) of internal spline (513), the inner of the fixed flat spiral spring of the other end (540), the outer end of flat spiral spring (540) is connected rotary drum (520), and the torque sensor who links to each other with the PLC controller is connected the pivot with rotary drum (520) respectively.
2. The intelligent digital hydraulic system according to claim 1, wherein a pressure sensor (4) connected with a PLC controller is arranged at an outlet end of the oil pump (3), a one-way valve (9) is respectively arranged on an outlet pipeline of the oil pump (3) and two oil return pipelines of the first digital hydraulic cylinder (1) and the second digital hydraulic cylinder (2), the two oil return pipelines are converged into a main oil return pipeline, an energy storage bypass communicated with the main oil inlet pipeline is arranged on the main oil return pipeline, an energy accumulator (7) is arranged on the energy storage bypass, and electromagnetic valves (8) connected with the PLC controller are respectively arranged on the main oil return pipeline between the energy storage bypass and the oil tank (6) and upstream and downstream pipelines of the energy accumulator (7).
3. An intelligent digital hydraulic system as claimed in claim 2, wherein the slide valve (100) is a three-position four-way valve, and the stepping motor (300) receives a signal from a PLC controller and controls the direction change of the internal oil path of the slide valve (100) according to the signal.
4. The intelligent digital hydraulic system according to claim 3, wherein a driving cavity (120), a sliding cavity (130) and a feedback cavity (140) are arranged in the valve body (110) and sequentially communicated, and an oil inlet (131) communicated with an oil inlet pipeline, an oil outlet (132) communicated with an oil return pipeline, a first working oil port (133) communicated with the rod cavity (210) of the hydraulic oil cylinder (200) and a second working oil port (134) communicated with the rodless cavity (220) of the hydraulic oil cylinder (200) are arranged on the sliding cavity (130).
5. An intelligent digital hydraulic system according to claim 4, wherein a spline pair (400) is arranged in the driving cavity (120), a valve core (150) is arranged in the sliding cavity (130), and a feedback mechanism (500) is arranged in the feedback cavity (140).
6. An intelligent digital hydraulic system according to claim 5, wherein a first round angle (5133) is formed at the intersection of the central hole (5131) of the internal spline (513) and the spline tooth groove (5132), a second round angle (5353) is formed at the intersection of the spindle (5351) and the spline tooth (5352) of the external spline (535), a first gap (5134) is formed between the top of the spline tooth groove (5132) and the top of the spline tooth (5352), a second gap (5135) is formed between the first round angle (5133) and the second round angle (5353), and the side wall of the spline tooth groove (5132) is in sliding abutting joint with the side wall of the spline tooth (5352); the spline housing (410) and the spline shaft (420) of the spline pair (400) have the same structure as the internal spline (513) and the external spline (535).
7. The intelligent digital hydraulic system as claimed in claim 6, wherein the clamping mechanism (550) comprises an arc-shaped clamping plate (551) and an electromagnetic telescopic sleeve (552) fixedly arranged at the center of an outer arc surface of the clamping plate (551), the electromagnetic telescopic sleeve (552) comprises an outer cylinder (553) and an inner cylinder (554) which are slidably sleeved, the outer cylinder (553) is fixed on the clamping plate (551), a permanent magnet (5535) is arranged inside the outer cylinder, the inner cylinder (554) is fixedly arranged on the inner wall of the valve body (110), and a magnetic conduction column (5546) wound with a conductive coil (5547) is arranged inside the inner cylinder.
8. An intelligent digital hydraulic system as claimed in claim 7, wherein the inner end face of the clamping plate (551) is fixedly provided with a rubber gasket, the rubber gasket is provided with anti-skid protrusions, and the outer peripheral surface of the drum (520) is provided with anti-skid patterns.
CN202111649018.0A 2021-12-31 2021-12-31 Intelligent digital hydraulic system Active CN113983011B (en)

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CN111433500A (en) * 2018-05-17 2020-07-17 川崎重工业株式会社 Slide valve
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1450831A1 (en) * 1963-07-05 1969-03-27 Sperry Rand Ltd Hydraulic spindle valve
DE2949763A1 (en) * 1978-12-11 1980-06-19 Applied Power Inc SPINDLE VALVE IN MODULAR DESIGN
CN102588369A (en) * 2012-02-23 2012-07-18 江正庆 Numerical control hydraulic control unit
CN102705279A (en) * 2012-06-11 2012-10-03 山河智能装备股份有限公司 Automatic quick pressure and normal pressure switching control loop of hydraulic static pile driver
RU2505716C1 (en) * 2012-12-14 2014-01-27 Российская Федерация, от имени которой выступает Министерство промышленности и торговли Российской Федерации (Минпромторг России) Digital hydraulic control valve
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Denomination of invention: An intelligent digital hydraulic system

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