CN204041615U - Controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof - Google Patents
Controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof Download PDFInfo
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- CN204041615U CN204041615U CN201420363001.8U CN201420363001U CN204041615U CN 204041615 U CN204041615 U CN 204041615U CN 201420363001 U CN201420363001 U CN 201420363001U CN 204041615 U CN204041615 U CN 204041615U
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- switch valve
- servovalve
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- piston
- hydraulic fluid
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Abstract
A kind of controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof, comprise cylinder barrel, first stage piston bar, second piston rod.First stage piston bar is arranged on cylinder barrel by piston ring and end bracket enclosed, and first stage piston bar is the cylinder barrel of second piston rod, and second piston rod is arranged in first stage piston bar by piston ring and end bracket enclosed.Above-mentioned variable cross section oil hydraulic cylinder control system, by controlling two-bit triplet electromagnetic switch valve and 3-position 4-way servovalve, select whether first stage piston rodless cavity, first stage piston rod chamber, second piston rodless cavity, second piston rod chamber are communicated with the oil outlet of pump, fuel tank is communicated with or ends, thus obtains different effective active area.Second piston rod arranges a load force sensor, measures the load on second piston rod in real time, that is to say the load of variable cross section oil hydraulic cylinder.According to load feedback, by the control of electromagnetic switch valve group and servovalve group, select suitable effective active area, realize the maximum ouput force of oil hydraulic cylinder to mate with load force, by the output flow of self adaption variable functional realiey pump and the mating of load flow of variable displacement pump, thus realize mating of variable displacement pump output power and bearing power, improve system effectiveness with this.
Description
Technical field
The utility model relates to a kind of controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof.
Background technique
Movable robot obtains significant progress in fields such as structure, perception, path planning and controls in recent years, achieve the sophisticated functions such as entertainment service, human-computer interaction, extreme environment investigation, but the energy and actuation techniques lagging in development, cause movable robot's load capacity limited, constrain the practical of movable robot.Now there are some researches show, when the delivery pressure of power source is more than 3.5MPa, the hydraulic driving system with power has higher specific power than pure electromechanical driving system.Hydraulic driving system is adopted to be improve the effective way of load capacity.Current many research units start trial hydraulic power system to drive movable robot, as BIGDOG, petman of the development of boston, u.s.a utility companies, the KenKen II hydraulic driving quadruped robot of istituto Italiano Di Tecnologia, the high-performance quadruped robot project of being subsidized by Chinese 863 high-tech research development plans in addition clearly proposes to adopt hydraulic driving system.
Due to the restriction of weight and volume, what the hydraulic driving system of movable robot adopted is all single pumping source-multi executors system architecture.Such hydraulic driving system efficiency is very low, main cause is that the load of each final controlling element is not identical at synchronization, and same final controlling element is load is not identical yet in the same time, a pumping source can not carry out power match with the load of multiple final controlling element simultaneously, the high-power final controlling element load of general selection is mated, cause other final controlling element branch roads to occur that a large amount of throttling is consumed thus, cause inefficiency.
Inefficiency can cause following problem: the power requirements of power source is high, and the weight and volume of power source can rise; The energy (as gasoline) completing same need of work increases, and weight increases; System hydraulic pressure element function index request can improve, and the weight and volume of hydraulic element can increase; System heating can be more serious, and the power of cooling system will become large, and the volume and weight of cooling system will increase.Therefore inefficiency can have a strong impact on the load capacity of movable robot.
The method of the single pumping source of existing raising-multi executors hydraulic driving system efficiency is a lot, as the control of oil inlet and oil return independent throttle, electrohydraulic mixed power and Energy Recovery Technology, load sensitive pump control techniques, hydraulic transformer etc.These technical energy saving limited efficiency and do not consider the volume and weight of system, are difficult to use on movable robot.
The effective active area of oil hydraulic cylinder is changed in real time according to load, make the induced pressure of each final controlling element branch road all close with the delivery pressure of pumping source, automatically the output flow of pump is regulated to mate with each branch circuit load flow sum by the variable adaptive mechanism of pump, thus the output power realizing pump is mated with each branch circuit load power sum, effectively improves system effectiveness.
Therefore controlled variable cross section oil hydraulic cylinder is developed significant for raising movable robot load capacity.
Model utility content
The purpose of this utility model is to provide one effectively can improve movable robot's hydraulic driving system efficiency for the deficiencies in the prior art, by select the different cavity of multistage hydraulic cylinder by, realize mating of oil supply pressure and induced pressure with high-pressure oil passage conducting or with low pressure oil way conducting, finally reach variable cross section oil hydraulic cylinder and the hydraulic control system thereof of raising hydraulic system efficiency object.
The utility model is achieved through the following technical solutions above-mentioned purpose.
A kind of variable cross section oil hydraulic cylinder, comprise cylinder barrel, first stage piston and second piston, described first stage piston comprises first stage piston bar and cylinder barrel, described first stage piston bar is arranged in described cylinder barrel by piston ring and end bracket enclosed, described second piston comprises described first stage piston bar and second piston rod, the boring of described first stage piston bar, described first stage piston bar is as the cylinder barrel of second piston rod, described second piston rod is arranged in described first stage piston bar by piston ring and end bracket enclosed, described second piston rod inside is provided with described secondary rodless cavity oil circuit and secondary rod chamber oil circuit, outside oil circuit is communicated with described second piston rodless cavity by described secondary rodless cavity oil circuit, outside oil circuit is communicated with described second piston rod chamber by described secondary rod chamber oil circuit.
A kind of hydraulic control system of variable cross section oil hydraulic cylinder, first stage piston rodless cavity, first stage piston rod chamber, second piston rodless cavity and second piston rod chamber respectively with the hydraulic fluid port C1 of the first switch valve, the hydraulic fluid port C2 of second switch valve, the hydraulic fluid port C3 of the 3rd switch valve is connected with the hydraulic fluid port C4 of the 4th switch valve, described first switch valve is connected with the first servovalve with second switch valve, described 3rd switch valve is connected with the second servovalve with the 4th switch valve, the hydraulic fluid port A1 of described first switch valve, the hydraulic fluid port B2 of described second switch valve is communicated with the hydraulic fluid port VA1 of described first servovalve, the hydraulic fluid port B1 of described first switch valve, the hydraulic fluid port A2 of described second switch valve is communicated with the hydraulic fluid port VB1 of described first servovalve, the hydraulic fluid port A3 of described 3rd switch valve, the hydraulic fluid port B4 of described 4th switch valve is communicated with the hydraulic fluid port VA2 mouth of described second servovalve, the hydraulic fluid port B3 of described 3rd switch valve, the hydraulic fluid port A4 of described 4th switch valve is communicated with the hydraulic fluid port VB2 of described second servovalve, the high pressure oil inlet P 1 of described first servovalve is communicated with the high-pressure oil outlet of the power source that the high pressure oil inlet P 2 of described second servovalve is formed with safety overflow valve 9 with constant pressure variable displacement pump 8, the low pressure oil return inlet T 1 of described first servovalve is communicated with fuel tank with the low pressure oil return inlet T 2 of described second servovalve.
Described switch valve is two-bit triplet electromagnetic switch valve, and described servovalve is 3-position 4-way servovalve.
Owing to adopting such scheme, the utility model is that the effective active area with certain load matching capabilities changes controlled linear hydraulic cylinder, effectively can improve the efficiency of the larger single pumping source-multi executors hydraulic driving system of each final controlling element load variations.When performing varying load operating mode, by the control combination of different electromagnetic switch valve and servovalve, select the conduction status of two-stage telescopic hydraulic cylinder each cavity and high-pressure oil passage and low pressure oil way to realize mating of the maximum ouput force of oil hydraulic cylinder and load, finally reach the object of raising hydraulic system efficiency.The utility model can be used on the larger all kinds of middle-size and small-size mobile platform of each final controlling element load variations of energy autonomy, as biped robot, quadruped robot, miniature self-service excavator, ectoskeleton equipment etc., effectively can improve this type of equipment hydraulic driving system efficiency, thus improve its load capacity, promote that it is practical further, realize energy-conserving and environment-protective simultaneously, there is good economic value.In addition because the cylinder body of second piston is first stage piston, therefore this variable cross section oil hydraulic cylinder has Long Distances and little fundamental length, can effectively reduce the installing space of oil hydraulic cylinder.The induced pressure P obtained by this system of selection
lnoil supply pressure P can be approached as far as possible
s, thus reduce restriction loss.
Accompanying drawing explanation
Fig. 1 (a) is stereogram of the present utility model;
Fig. 1 (b) is one-stage hydraulic cylinder cut-away view of the present utility model;
Fig. 1 (c) is two-stage hydraulic cylinder cut-away view of the present utility model;
Fig. 2 structural principle of the present utility model and hydraulic control system schematic diagram;
The schematic diagram of Fig. 3 oil hydraulic cylinder ouput force of the present utility model;
Fig. 4 oil hydraulic cylinder ouput force of the present utility model and load matched schematic diagram;
The efficiency that Fig. 5 the utility model is applied in single pumping source-Multi-actuator Hydraulic System improves principle schematic.
Embodiment
Below in conjunction with accompanying drawing, further describe the embodiment of this patent.
As shown in Figure 1, controlled variable cross section oil hydraulic cylinder is made up of the end ring 7 etc. of end ring 1, two-bit triplet plug-in type switch valve 2,3-position 4-way servovalve 3, cylinder barrel 4, first stage piston bar 5, second piston rod 6, band oil-through hole.Wherein switch valve 2 and servovalve 3 are directly installed on cylinder barrel 4, the first switch valve SW in corresponding diagram 2
1, second switch valve SW
2with the first servovalve SV
1, its oil circuit relation is each other realized by the integrated oil way block 42 as Suo Shi Fig. 1 (b) on cylinder barrel 4.First servovalve SV in Fig. 2
1oil inlet P 1 mouthful and oil return inlet T 1 mouthful be external oil circuit interface 41, the first switch valve SW of two as shown in Fig. 1 (b)
1realized by the internal oil passages in integrated oil way block 42 with the connection of first stage piston rodless cavity, second switch valve SW
2realized by connecting pipeline 44 in Fig. 1 (b) with the connection of first stage piston rod chamber, in Fig. 1 (b), in the oil circuit of integrated package 42, be provided with technique plug 43.Cylinder barrel 4 passes on left screw thread and end ring 1 connects together, and realizes the sealing between first stage piston bar 54 on the right side of cylinder barrel 4 by end cap 46, static sealing ring 45 and dynamic seal ring 47.First stage piston 51 realizes the sealing with cylinder barrel 4 inwall by lead ring 52 and dynamic seal ring 53.First stage piston bar 5 is the cylinder barrel of second piston rod 6, and the right-hand member of first stage piston bar 5 realizes the sealing between second piston rod 6 by end cap 56, static sealing ring 55 and dynamic seal ring 57.Second piston 61 realizes the slippage sealing of elastoplastic in relative motion dust seal with first stage piston by slip ring 62 and seal ring 63.The cavity of second piston 61 left end realizes the conducting with external impetus system oil-way by oil-through hole 71 on oil-through hole 611, end ring 7 and dynamic seal ring 72, and the cavity of second piston 61 right-hand member realizes the conducting with external impetus system oil-way by oil-through hole 71 on oil-through hole 612, end ring 7 and dynamic seal ring 72.In the frame that being contained in of being connected with second piston about 61 two ends cavity in Fig. 2 is connected with end ring 7, the 3rd switch valve SW
3, the 4th switch valve SW
4and servovalve SV
2owing to belonging to the rack construction of actuator driven, therefore not in the external overall structural drawing shown in Fig. 1 (a).
Working principle of the present utility model: as shown in Figure 2, variable cross section of the present utility model is realized by four two-bit triplet plug-in type switch valves 2 and two 3-position 4-way servovalves 3, and high-precision power and Bit andits control are realized by two 3-position 4-way servovalves 3.Described first switch valve SW
1c1 mouth be communicated with the first stage piston rodless cavity of described variable cross section oil hydraulic cylinder, described second switch valve SW
2c2 mouth be communicated with the first stage piston rod chamber of described variable cross section oil hydraulic cylinder, described first switch valve SW
1hydraulic fluid port A1 and described second switch valve SW
2hydraulic fluid port B2 and described first servovalve SV
1vA1 mouth be communicated with, described second switch valve SW
2hydraulic fluid port B2 and described second switch valve SW
2hydraulic fluid port A2 and described first servovalve SV
1vB1 mouth be communicated with.Described 3rd switch valve SW
3c3 mouth be communicated with the second piston rod chamber of described variable cross section oil hydraulic cylinder, described 4th switch valve SW
4c4 mouth be communicated with the second piston rodless cavity of described variable cross section oil hydraulic cylinder, described 3rd switch valve SW
3hydraulic fluid port A3 and described 4th switch valve SW
4hydraulic fluid port B4 and described second servovalve SV
2vA1 mouth be communicated with, described 3rd switch valve SW
3hydraulic fluid port B3 and described 4th switch valve SW
4hydraulic fluid port A4 and described second servovalve SV
2vB2 mouth be communicated with.Described first servovalve SV
1p1 mouth and described second servovalve SV
2p2 mouth be communicated with the high-pressure oil outlet of the power source be made up of with safety overflow valve 9 constant pressure variable displacement pump 8, described first servovalve SV
1t1 mouth and described second servovalve SV
2t2 mouth be communicated with fuel tank 10.
Described second piston rod is arranged a load force sensor, first piston forms two faces and is respectively A
lface and A
rface, the second piston forms two faces and is respectively B
lface and B
rface, thus when piston stretches out outward, there are four effective active area A
l, B
l, A
l-A
rand B
l-B
r, piston is toward having two effective active area B during interior contraction
rand A
r, according to the real time load of load force sensor measurement, by the control of described electromagnetic switch valve group and described servovalve group, select suitable effective active area to realize the maximum ouput force of oil hydraulic cylinder and mate with load force, concrete controlling method is as follows:
If effective active area is Ae, if the controlled quentity controlled variable of switch valve is x
k, (k=1,2,3,4), above-mentioned x
1, x
2, x
3, x
4represent the first switch valve, second switch valve, the 3rd switch valve and the 4th switch valve respectively, x
k=1 represents that electromagnetic switch valve is in left position, x
k=0 represents that electromagnetic switch valve is in right position, sets the controlled quentity controlled variable of servovalve as u simultaneously
k(k=1,2), u
1, u
2divide expression first servovalve and the second servovalve, u
k=-1 represents that servovalve is in left position maximum open, u
k=0 represents that servovalve is in meta, u
k=1 represents that servovalve is in right position maximum open;
When described electromagnetic switch valve and described servovalve are in different state of a controls, corresponding different effective active areas, effective active area controls as shown in the table;
When delivery pressure one timing of constant pressure variable displacement pump 8, due to the pressure loss of two-bit triplet plug-in type switch valve 2 and 3-position 4-way servovalve 3 opening maximum time the pressure loss less, the ouput force of oil hydraulic cylinder can be approximately:
F
O＝P
s·A
e
Wherein P
sfor the outlet pressure of constant pressure variable displacement pump, F
ofor oil hydraulic cylinder ouput force.
By selecting the different state of a controls of 3-position 4-way servovalve 3 and two-bit triplet plug-in type switch valve 2, different effective active area A can be obtained
e, thus obtain different oil hydraulic cylinder ouput forces, by designing each active area of oil hydraulic cylinder, different distributions oil hydraulic cylinder ouput force can be obtained, as equally distributed oil hydraulic cylinder ouput force, as shown in Figure 3.For different loads, select different oil hydraulic cylinder ouput forces to mate with it, load matched schematic diagram as shown in Figure 4.
The principle that the variable cross section oil hydraulic cylinder utilizing this effective active area controlled improves drive-train efficiency is as follows.The basic principle block diagram of movable robot's single pumping source multi executors hydraulic driving system as shown in Figure 5.If the n-th valve-controlled cylinder drives the varying load of branch road to be F
ln, induced pressure is P
ln, then have:
P
Ln＝F
Ln/A
e
P
ln=F
ln/ A
ewhen adopting constant pressure oil source (movable robot is upper adopts such oil sources usually), if constant pressure oil source delivery pressure is P
s, the maximum ouput force P of oil hydraulic cylinder that different effective active areas is corresponding different
sa
e(when namely servovalve opening is maximum, the ouput force of oil hydraulic cylinder, in order to simplified characterization, the choke pressure drop of valve when omission servovalve opening is maximum here, not impact analysis result in essence).From the above mentioned, 7 effective active area A
e7 different maximum ouput forces of oil hydraulic cylinder can be obtained, be set to F
k(k=1 ~ 7).Through rational size design, the maximum ouput force F of oil hydraulic cylinder of different distributions can be obtained
k(k=1 ~ 7), the as shown in Figure 3 maximum ouput force of equally distributed oil hydraulic cylinder.
Load matched and effective active area system of selection: load force sensor obtains actual loading F in real time
ln, itself and 7 maximum ouput forces of oil hydraulic cylinder being compared, determining that actual loading drops between those two maximum ouput forces, as dropped on F
k-1<F
ln<F
k.If oil hydraulic cylinder is toward overhanging, maximum High power output should be allowed load could to be driven toward overhanging in actual loading, so select F
kas maximum ouput force, F
kcorresponding effective active area is effective active area to be selected; If at selection F
kwhen as maximum ouput force, by detecting the tracking error of lower two moment oil hydraulic cylinders, if tracking error (tracking error: the difference between the expectation displacement of hydraulic cylinder piston rod and actual displacement) expands further, just illustrate that the maximum ouput force selected is large not, be difficult to satisfied dynamic track demand, tune up the maximum ouput force of oil hydraulic cylinder so further, select F
k+1as maximum ouput force, and then repeat above-mentioned steps, until tracking error no longer expands, effective active area corresponding to the maximum ouput force now selected is effective active area to be selected.In like manner, if oil hydraulic cylinder is toward retraction, maximum ouput force should be allowed to be less than actual loading just stretchy load retraction, so to select F
k-1as maximum ouput force, and then repeat above-mentioned steps, until tracking error no longer expands, effective active area corresponding to the maximum ouput force now selected is effective active area to be selected; If at selection F
k-1when as maximum ouput force, even if lower two moment servovalve openings are maximum, system tracking error expands further, just illustrate that the maximum ouput force selected is little not, be difficult to satisfied dynamic track demand, turn the maximum ouput force of oil hydraulic cylinder so further down, select F
k-2as maximum ouput force, F
k-2corresponding effective active area is effective active area to be selected.The induced pressure P obtained by this kind of system of selection
lnoil supply pressure P can be approached as far as possible
s, thus reduce restriction loss.The method while realizing higher degree load matched, can meet the requirement of dynamic tracking accuracy, namely can realize system function requirement, can improve drive efficiency again.
Analyze the power throttle loss of branch road below:
The power throttle loss of the n-th branch road is:
ΔW
n＝P
s·Q
n-P
Ln·Q
n
＝(P
s-P
Ln)·Q
n
＝ΔP
n·Q
n
As load F
lnduring change, by regulation and control A
e, can allow P
lnclose to P
s, namely can realize Δ P
nbe less than a smaller pressure drop Δ P
min, that is:
ΔW
n<ΔP
min·Q
n
Drive system total power throttle loss be:
Q
scan be regulated in real time by the variable adaptive structure of constant pressure variable displacement pump, namely each time etching system need how many flows, pump just provides how many flows.Therefore as can be seen from the above equation, the power throttle loss of drive system depends primarily on Δ P
min, the namely induced pressure P of each branch road
lnmore close to delivery side of pump pressure P
s, the power loss of system is less.
Thus upper analysis is known relative to traditional constant cross-section oil hydraulic cylinder and can only at the multi-stage expansion oil hydraulic cylinder in change cross section, fixed position, along with the change of load, each branch road P
lnchange greatly, simultaneously due to P during system
sbe greater than the maximum load pressure P occurred in whole system operation process
lmax, cause each branch road choke pressure drop Δ P
nchanging greatly and differ greatly each other, can not unify to a less pressure drop Δ P as employing the utility model when designing
minon, therefore the loss of its power throttle is than adopting power throttle of the present utility model loss Δ P
minq
smuch bigger; And apply this patent, can according to load F
lnchange adjust effective active area A in real time
e, make induced pressure P
lnclose to or equal pump outlet pressure, reduce power loss, thus improve system effectiveness.
Another feature of the present utility model is: the cylinder body due to second piston is first stage piston, and therefore this controlled variable cross section oil hydraulic cylinder has short fundamental length and long stroke, and required installing space is less.
Claims (3)
1. a controlled variable cross section oil hydraulic cylinder, it is characterized in that: comprise cylinder barrel, first stage piston and second piston, described first stage piston comprises first stage piston bar and cylinder barrel, described first stage piston bar is arranged in described cylinder barrel by piston ring and end bracket enclosed, described second piston comprises described first stage piston bar and second piston rod, the boring of described first stage piston bar, described first stage piston bar is as the cylinder barrel of second piston rod, described second piston rod is arranged in described first stage piston bar by piston ring and end bracket enclosed, described second piston rod inside is provided with described secondary rodless cavity oil circuit and secondary rod chamber oil circuit, outside oil circuit is communicated with described second piston rodless cavity by described secondary rodless cavity oil circuit, outside oil circuit is communicated with described second piston rod chamber by described secondary rod chamber oil circuit.
2. the hydraulic control system of a controlled variable cross section oil hydraulic cylinder, for controlling variable cross section oil hydraulic cylinder as claimed in claim 1, it is characterized in that, first stage piston rodless cavity, first stage piston rod chamber, second piston rodless cavity and second piston rod chamber respectively with the hydraulic fluid port C1 of the first switch valve, the hydraulic fluid port C2 of second switch valve, the hydraulic fluid port C3 of the 3rd switch valve is connected with the hydraulic fluid port C4 of the 4th switch valve, described first switch valve is connected with the first servovalve with second switch valve, described 3rd switch valve is connected with the second servovalve with the 4th switch valve, the hydraulic fluid port A1 of described first switch valve, the hydraulic fluid port B2 of described second switch valve is communicated with the hydraulic fluid port VA1 of described first servovalve, the hydraulic fluid port B1 of described first switch valve, the hydraulic fluid port A2 of described second switch valve is communicated with the hydraulic fluid port VB1 of described first servovalve, the hydraulic fluid port A3 of described 3rd switch valve, the hydraulic fluid port B4 of described 4th switch valve is communicated with the hydraulic fluid port VA2 mouth of described second servovalve, the hydraulic fluid port B3 of described 3rd switch valve, the hydraulic fluid port A4 of described 4th switch valve is communicated with the hydraulic fluid port VB2 of described second servovalve, the high pressure oil inlet P 1 of described first servovalve is communicated with the high-pressure oil outlet of the power source that the high pressure oil inlet P 2 of described second servovalve is formed with safety overflow valve (9) with constant pressure variable displacement pump (8), the low pressure oil return inlet T 1 of described first servovalve is communicated with fuel tank with the low pressure oil return inlet T 2 of described second servovalve.
3. the hydraulic control system of controlled variable cross section oil hydraulic cylinder according to claim 2, it is characterized in that: described switch valve is two-bit triplet electromagnetic switch valve, described servovalve is 3-position 4-way servovalve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420363001.8U CN204041615U (en) | 2014-07-02 | 2014-07-02 | Controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420363001.8U CN204041615U (en) | 2014-07-02 | 2014-07-02 | Controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204041615U true CN204041615U (en) | 2014-12-24 |
Family
ID=52242284
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|---|---|---|---|
| CN201420363001.8U Expired - Fee Related CN204041615U (en) | 2014-07-02 | 2014-07-02 | Controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132023A (en) * | 2014-07-02 | 2014-11-05 | 中国人民解放军国防科学技术大学 | Controllable variable-section hydraulic cylinder and hydraulic control system and method therefor |
| CN105114388A (en) * | 2015-08-28 | 2015-12-02 | 中国重型机械研究院股份公司 | Pressure self-adaptive switching hydraulic logic control device for main and auxiliary hydraulic cylinders |
| CN106996405A (en) * | 2017-04-17 | 2017-08-01 | 佛山市恒力泰机械有限公司 | A kind of stage variable pressure oil cylinder and its control method |
| CN107355450A (en) * | 2017-09-05 | 2017-11-17 | 烟台未来自动装备有限责任公司 | Four controllable hydraulic fluid port two-stage double acting hydraulic cylinders of a kind of sequence of movement |
| CN108820154A (en) * | 2018-06-29 | 2018-11-16 | 山东大学 | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder |
| CN113653709A (en) * | 2021-07-01 | 2021-11-16 | 武汉船用机械有限责任公司 | Hydraulic control driving system |
-
2014
- 2014-07-02 CN CN201420363001.8U patent/CN204041615U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132023A (en) * | 2014-07-02 | 2014-11-05 | 中国人民解放军国防科学技术大学 | Controllable variable-section hydraulic cylinder and hydraulic control system and method therefor |
| CN105114388A (en) * | 2015-08-28 | 2015-12-02 | 中国重型机械研究院股份公司 | Pressure self-adaptive switching hydraulic logic control device for main and auxiliary hydraulic cylinders |
| CN105114388B (en) * | 2015-08-28 | 2017-08-25 | 中国重型机械研究院股份公司 | A kind of major-minor cylinder pressure adaptively switches hydraulic logical control device |
| CN106996405A (en) * | 2017-04-17 | 2017-08-01 | 佛山市恒力泰机械有限公司 | A kind of stage variable pressure oil cylinder and its control method |
| CN106996405B (en) * | 2017-04-17 | 2019-05-10 | 佛山市恒力泰机械有限公司 | A kind of stage variable pressure oil cylinder and its control method |
| CN107355450A (en) * | 2017-09-05 | 2017-11-17 | 烟台未来自动装备有限责任公司 | Four controllable hydraulic fluid port two-stage double acting hydraulic cylinders of a kind of sequence of movement |
| CN108820154A (en) * | 2018-06-29 | 2018-11-16 | 山东大学 | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder |
| CN113653709A (en) * | 2021-07-01 | 2021-11-16 | 武汉船用机械有限责任公司 | Hydraulic control driving system |
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