CN205446224U - Formula electricity liquid servo is directly driven to invariable backpressure - Google Patents
Formula electricity liquid servo is directly driven to invariable backpressure Download PDFInfo
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- CN205446224U CN205446224U CN201620211969.8U CN201620211969U CN205446224U CN 205446224 U CN205446224 U CN 205446224U CN 201620211969 U CN201620211969 U CN 201620211969U CN 205446224 U CN205446224 U CN 205446224U
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- asymmetrical cylinder
- oil
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Abstract
The utility model provides a formula electricity liquid servo is directly driven to invariable backpressure, include: controller, driver, servo motor, two -way constant delivery pump and asymmetric pneumatic cylinder, controller, driver and servo motor are consecutive, and this controller passes through driver control the servo motor operation, servo motor, two -way constant delivery pump and asymmetric pneumatic cylinder are consecutive, servo motor realizes the motion control of asymmetric pneumatic cylinder through controlling two -way quantitative pumping over outflow and orientation. Utility model is applicable to the control of perpendicular or non - horizontal installation structural style's asymmetric pneumatic cylinder, jump in presure problem when not only having solved asymmetric pneumatic cylinder flow completely balance problem is with the switching -over, simultaneously, and under the prerequisite that satisfies system control precision and response characteristic, can greatly reduced return circuit cost, the keep -It -Simple -Control scheme.
Description
Technical field
This utility model belongs to technical field of servo control, particularly relates to a kind of constant backpressure Direct Drive Electro-hydraulic Servo System.
Background technology
Electrohydraulic servo system owing to having that response is fast, control accuracy height, good stability, be prone to features such as automatically controlling, be applied to aviation and military field the earliest, progressed into industrial circle and civil area later.It is widely used at present in the industries such as metallurgy, engineering machinery, military project, aviation, boats and ships, chemical industry.The core component of conventional electro-hydraulic servosystem uses electrohydraulic servo valve mostly, and its prominent shortcoming is that attended operation requirement is high, energy consumption is high, and especially electrohydraulic servo valve requires height to oil cleanliness, and contamination resistance is poor.Along with developing rapidly of microelectric technique and ac variable speed technology, in addition servomotor material, structure and control theory have had breakthrough progress, response characteristic and the control accuracy of servomotor are greatly improved, occur in that a kind of novel servo-drive mode, i.e. Direct Drive Electro-hydraulic Servo System.
The most typical Direct Drive Electro-hydraulic Servo System uses driven by servomotor two-way quantitative pump, output flow and the direction of two-way pump is changed by the rotating speed and rotation direction changing servomotor, control system pressure is carried out by controlling the moment of torsion of servomotor, thus realize the commutation of actuator, speed governing, pressure regulation three zones, owing to these three function is directly by Serve Motor Control, need not the electrohydraulic servo valve of routine, thus the requirement to oil cleanliness is substantially reduced.Compared with conventional electro-hydraulic servosystem, big multiple advantage that Direct Drive Electro-hydraulic Servo System has that servo motor transmission controls flexibly, Electrified Transmission energy consumption is low and hydraulic drive is exerted oneself.
The execution drive mechanism of electrohydraulic servo system generally uses hydraulic cylinder and hydraulic motor, owing to single rod asymmetrical cylinder has simple in construction, occupy little space, the advantage such as exert oneself big, become a kind of actuator more commonly used, even must use single rod asymmetrical cylinder there being some occasions.But owing to asymmetrical cylinder easily produces pressure jump, forward and reverse flow difference when commutation, greatly have impact on control effect.
But, current Direct Drive Electro-hydraulic Servo System controls asymmetrical cylinder and uses double pump control principle to solve flow imbalance problem.Being achieved in that of double pump control principle uses two pumps to control two chambeies of asymmetrical cylinder respectively, and large discharge pump controls rodless cavity, and small displacement pump controls rod chamber.Although this scheme solves flow imbalance problem, but pressure jump problem during asymmetrical cylinder commutation still exists, it addition, use two pumps to not only increase system circuit cost, cost performance is the highest.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of constant backpressure Direct Drive Electro-hydraulic Servo System, pressure jump problem during for solving asymmetrical cylinder flow imbalance problem and commutation in prior art.
For achieving the above object and other relevant purposes, this utility model provides a kind of constant backpressure Direct Drive Electro-hydraulic Servo System, including:
Controller, driver, servomotor, two-way quantitative pump and asymmetrical cylinder, described controller, driver are sequentially connected with servomotor, this controller is operated by servomotor described in described driver control, described servomotor, two-way quantitative pump are sequentially connected with asymmetrical cylinder, described servomotor is by controlling two-way quantitative POF and direction, it is achieved the motor control of asymmetrical cylinder.
Preferably, also including constant voltage accumulator and conventional accumulator, described constant voltage accumulator connects with the rod chamber of described asymmetrical cylinder, and described conventional accumulator is respectively communicated with the first hydraulic fluid port of described two-way quantitative pump, the second hydraulic fluid port.
Preferably, the 3rd hydraulic fluid port of described two-way quantitative pump connects the rodless cavity of described asymmetrical cylinder.
Preferably, it is provided with electromagnetic shut-off valve between rodless cavity and the rod chamber of described asymmetrical cylinder of described asymmetrical cylinder.
Preferably, also include that the first relief valve and the second relief valve, described first relief valve reversely connect with described second relief valve, and it is connected to described electromagnetic shut-off valve two ends.
Preferably, also include that Solenoid ball valve, the oil-in of described Solenoid ball valve, oil-out are connected respectively the 3rd hydraulic fluid port of described two-way quantitative pump and the rodless cavity of described asymmetrical cylinder.
Preferably, also include that the first check valve and the second check valve, the oil-in of described first check valve, oil-out are connected respectively second and third hydraulic fluid port of described two-way quantitative pump, and its oil-out is connected in the same direction with described Solenoid ball valve；The oil-in of described second check valve is connected between described first relief valve and the second relief valve, and its oil-out is connected between first and second hydraulic fluid port of described two-way quantitative pump.
Preferably, described constant voltage accumulator and described conventional accumulator are correspondingly arranged the pressure transducer gathering oil circuit respectively.
Preferably, described asymmetrical cylinder is provided with the displacement transducer gathering its piston rod telescopic displacement.
Preferably, the outfan of the piston rod of described asymmetrical cylinder connects load.
As it has been described above, constant backpressure Direct Drive Electro-hydraulic Servo System of the present utility model, have the advantages that
This utility model uses constant backpressure, single-chamber control principle, realizes the motor control of asymmetrical cylinder with a pump, not only solves asymmetrical cylinder flow imbalance problem, it is also greatly reduced loop cost, meanwhile, simplify control program, reduce control difficulty；
Constant voltage accumulator is used to control asymmetrical cylinder back pressure cavity so that Pressure in Back-pressure Cavity is held essentially constant when hydraulic cylinder commutates, thus pressure jump problem when not havinging commutation, the Stress control for rodless cavity provides advantage；
This utility model is particularly suited for the control of the asymmetrical cylinder of vertical or non-horizontal mounting version, owing to this kind of operating mode has the existence of gravity load, can reduce the pressure of back pressure accumulator, improve system effectiveness.
Accompanying drawing explanation
Fig. 1 is shown as constant backpressure Direct Drive Electro-hydraulic Servo System structural representation of the present utility model.
Element numbers illustrates:
1 servomotor
2 two-way quantitative pumps
3 first check valves
4 second check valves
5 first pressure transducers
6 conventional accumulators
7 Solenoid ball valves
8 first relief valve
9 second relief valve
10 constant voltage accumulators
11 second pressure transducers
12 electromagnetic shut-off valve
13 the 3rd pressure transducers
14 displacement transducers
15 asymmetrical cylinder
16 loads
17 controllers
18 drivers
Detailed description of the invention
Below by way of specific instantiation, embodiment of the present utility model being described, those skilled in the art can be understood other advantages of the present utility model and effect easily by the content disclosed by this specification.This utility model can also be carried out by the most different detailed description of the invention or apply, and the every details in this specification can also carry out various modification or change based on different viewpoints and application under without departing from spirit of the present utility model.It should be noted that, in the case of not conflicting, the feature in following example and embodiment can be mutually combined.
It should be noted that, diagram provided in following example illustrates basic conception of the present utility model the most in a schematic way, component count, shape and size when only showing the assembly relevant with this utility model rather than implement according to reality in the most graphic are drawn, during its actual enforcement, the kenel of each assembly, quantity and ratio can be a kind of random change, and its assembly layout kenel is likely to increasingly complex.
Referring to Fig. 1, this utility model provides a kind of constant backpressure Direct Drive Electro-hydraulic Servo System structural representation, including:
Controller 17, driver 18, servomotor 1, two-way quantitative pump 2 and asymmetrical cylinder 15, described controller 17, driver 18 are sequentially connected with servomotor 1, this controller 17 controls described servomotor 1 by described driver 18 and operates, described servomotor 1, two-way quantitative pump 2 are sequentially connected with asymmetrical cylinder 15, described servomotor 1 is by controlling two-way quantitative pump 2 output flow and direction, it is achieved the motor control of asymmetrical cylinder 15.
Also include constant voltage accumulator 10 and conventional accumulator 6, described constant voltage accumulator 10 connects with the rod chamber of described asymmetrical cylinder 15, described conventional accumulator 6 connects with the first hydraulic fluid port, second hydraulic fluid port of described two-way quantitative pump 2 respectively, 3rd hydraulic fluid port of described two-way quantitative pump 2 connects the rodless cavity of described asymmetrical cylinder 15, wherein, first hydraulic fluid port of two-way quantitative pump 2 is B mouth, 3rd hydraulic fluid port of two-way quantitative pump 2 is A mouth, the rotating forward of servomotor 1 drives two-way quantitative pump 2A mouth fuel-displaced, B mouth oil suction；The reversion of servomotor 1 drives two-way quantitative pump 2B mouth fuel-displaced, A mouth oil suction.
Specifically, it is provided with electromagnetic shut-off valve 12 between rodless cavity and the rod chamber of described asymmetrical cylinder 15 of described asymmetrical cylinder 15, under normal circumstances, electromagnetic shut-off valve 12 cuts off the connection between rod chamber and the rodless cavity of asymmetrical cylinder 15, when it is controlled energising by controller 17, the rod chamber of connection asymmetrical cylinder 15 and rodless cavity.
Specifically, also including the first relief valve 8 and the second relief valve 9, described first relief valve 8 reversely connects with described second relief valve 9, and is connected to described electromagnetic shut-off valve 12 two ends.The oil-in of described Solenoid ball valve 7, oil-out are connected respectively the 3rd hydraulic fluid port of described two-way quantitative pump 2 and the rodless cavity of described asymmetrical cylinder 15, wherein, the described Solenoid ball valve 7 controlled device 17 that whether is energized controls, and above-mentioned relief valve prevents two chamber superpressures of asymmetrical cylinder 15；Solenoid ball valve 7 is energized in normal state and oil circuit is turned on, and locks asymmetrical cylinder 15 current location, it is possible to achieve the off-position function of asymmetrical cylinder 15 under power failure state.
Preferably, also including the first check valve 3 and the second check valve 4, the oil-in of described first check valve 3, oil-out are connected respectively second and third hydraulic fluid port of described two-way quantitative pump 2, and its oil-out is connected in the same direction with described Solenoid ball valve 7；The oil-in of described second check valve 4 is connected between described first relief valve 8 and the second relief valve 9, and its oil-out is connected between first and second hydraulic fluid port of described two-way quantitative pump 2, and the first check valve 3 realizes the repairing function of asymmetrical cylinder 15 rodless cavity；The pressure disturbances between two-way quantitative pump 2A mouth and asymmetrical cylinder 15 rodless cavity isolated by second check valve 4.
Preferably, described constant voltage accumulator 10 and described conventional accumulator 6 are correspondingly arranged the pressure transducer gathering oil circuit respectively, and described electromagnetic shut-off valve 12 also is provided with gathering the pressure transducer of its oil pressure, the rod chamber of described asymmetrical cylinder 15 connects the displacement transducer 14 gathering its piston rod telescopic displacement, and the outfan of the piston rod of described asymmetrical cylinder 15 connects and has load 16, two-way quantitative pump 2B mouth and 15 liang of chambeies of asymmetrical cylinder (rod chamber and rodless cavity) are respectively arranged with the first pressure transducer 5, second pressure transducer 11, 3rd pressure transducer 13, monitoring pressure change in real time；The oil circuit pressure parameter gathered is transmitted to controller 17 by institute's displacement sensors 14 by the telescopic displacement parameter transmission gathered to controller 17, described pressure transducer.
Embodiment 1, asymmetrical cylinder 15 piston rod extending action process:
Controller 17 accepts external command, and send displacement stretch out instruction to driver 18, driver 18 drives servomotor 1 to rotate forward, servomotor 1 drives that two-way quantitative pump 2A mouth is fuel-displaced, B mouth oil suction, conventional accumulator 6 provides two-way quantitative pump 2B mouth oil suction flow, Solenoid ball valve 7 must conduct, and two-way quantitative pump 2A mouth pressure oil enters the rodless cavity of asymmetrical cylinder 15；Electromagnetic shut-off valve 12 must not be electric simultaneously, and the rod chamber of asymmetrical cylinder 15 is absorbed, by constant voltage accumulator 10, fluid and the holding certain pressure that asymmetrical cylinder 15 rod chamber is discharged；The power produced due to asymmetrical cylinder 15 rod chamber is less than the power that rodless cavity produces, and when the difference of two chamber power is more than load, asymmetrical cylinder 15 piston rod stretches out；Displacement transducer 14 in asymmetrical cylinder 15 detects stretching out displacement and sending in controller 17 of piston rod in real time；The actual displacement of displacement commands with detection is compared by controller 17, and its difference is by algorithm correction thus exports the displacement commands of correction to driver 18, thus realizes the position-force control of asymmetrical cylinder 15, accurately arrives expection extended position.
Embodiment 2, asymmetrical cylinder 15 piston rod retract action process:
Controller 17 accepts external command, and send displacement retraction instruction to driver 18, driver 18 drives servomotor 1 to reversely rotate, servomotor 1 drives that two-way quantitative pump 2B mouth is fuel-displaced, A mouth oil suction, conventional accumulator 6 absorbs the two-way quantitative pump fuel-displaced flow of 2B mouth, Solenoid ball valve 7 must conduct, and two-way quantitative pump 2A mouth absorbs the fluid of the rodless cavity of asymmetrical cylinder 15, so that the rodless cavity pressure of asymmetrical cylinder 15 reduces；Simultaneously electromagnetic shut-off valve 12 must not electricity, the rod chamber of asymmetrical cylinder 15 is provided, by constant voltage accumulator 10, the fluid and holding certain pressure that asymmetrical cylinder 15 rod chamber sucks；The power produced due to asymmetrical cylinder 15 rod chamber is superimposed with the power that carrying produces more than rodless cavity, and asymmetrical cylinder 15 piston rod is retracted；Displacement transducer 14 in asymmetrical cylinder 15 detects the retraction displacement of piston rod in real time and sends in controller 17；The actual displacement of displacement commands with detection is compared by controller 17, and its difference is by algorithm correction thus exports the displacement commands of correction to driver 18, thus realizes the position-force control of asymmetrical cylinder 15, accurately arrives expection retracted position.
Embodiment 3, the control process of exerting oneself of asymmetrical cylinder 15:
nullController 17 accepts external pressure instruction，Calculate 15 liang of chamber second pressure transducers 11 of asymmetrical cylinder simultaneously、The piston rod two cavity pressure value that 3rd pressure transducer 13 detects in real time，If calculated asymmetrical cylinder 15 piston rod output pressure value is less than command pressure，Controller 17 sends and stretches out instruction to driver 18，Driver 18 drives servomotor 1 to rotate forward，Servomotor 1 drives two-way quantitative pump 2A mouth fuel-displaced、B mouth oil suction，Conventional accumulator 6 provides two-way quantitative pump 2B mouth oil suction flow，Solenoid ball valve 7 must conduct，Two-way quantitative pump 2A mouth pressure oil enters the rodless cavity of asymmetrical cylinder 15，Rodless cavity pressure is caused to raise，Actual output pressure value after pressure instruction is converted by controller 17 with the pressure of detection compares，Its difference passes through algorithm correction thus output order is to driver 18，Thus realize the closed loop control of exerting oneself of asymmetrical cylinder 15，Accurately control to exert oneself.In like manner, if calculated asymmetrical cylinder 15 piston rod output pressure value is more than command pressure, controller 17 sends retraction instruction to driver 18, driver 18 drives servomotor 1 to reversely rotate, servomotor 1 drives that two-way quantitative pump 2B mouth is fuel-displaced, A mouth oil suction, conventional accumulator 6 absorbs the two-way quantitative pump fuel-displaced flow of 2B mouth, Solenoid ball valve 7 must conduct, two-way quantitative pump 2A mouth absorbs the fluid of the rodless cavity of asymmetrical cylinder 15, so that the rodless cavity pressure of asymmetrical cylinder 15 reduces；Actual exerting oneself after pressure instruction is converted by controller 17 with the pressure of detection compares, and its difference passes through algorithm correction thus output order is to driver 18, thus realizes the closed loop control of exerting oneself of asymmetrical cylinder 15, accurately controls to exert oneself.
In sum, this utility model uses the constant voltage accumulator of special construction to control asymmetrical cylinder rod chamber so that the pressure of back pressure cavity is held essentially constant during hydraulic cylinder；Asymmetrical cylinder rodless cavity is controlled by the two-way pump of driven by servomotor, the side oil-out of two-way pump connects asymmetrical cylinder rodless cavity, the opposite side oil-out of two-way pump connects low pressure accumulator, thus passes through pressure and the control of flow of the control realization asymmetrical cylinder rodless cavity of servomotor；Equipped with displacement transducer in asymmetrical cylinder, asymmetrical cylinder two chamber is equipped with pressure transducer, displacement transducer and the equal access controller of pressure sensor signal, by controller output control instruction to motor servo driver, motor servo driver operates according to order-driven servomotor, thus control the flow output of the two-way pump that servomotor connects, finally realize Position of Hydraulic Cylinder and pressure quick, accurately control.So, this utility model effectively overcomes various shortcoming of the prior art and has high industrial utilization.
Above-described embodiment only illustrative principle of the present utility model and effect thereof, not for limiting this utility model.Above-described embodiment all can be modified under spirit and the scope of the present utility model or change by any person skilled in the art.Therefore, art has all equivalence modification or changes that usually intellectual is completed under without departing from the spirit disclosed in this utility model and technological thought such as, must be contained by claim of the present utility model.
Claims (10)
1. a constant backpressure Direct Drive Electro-hydraulic Servo System, it is characterized in that, including: controller, driver, servomotor, two-way quantitative pump and asymmetrical cylinder, described controller, driver are sequentially connected with servomotor, this controller is operated by servomotor described in described driver control, described servomotor, two-way quantitative pump are sequentially connected with asymmetrical cylinder, and described servomotor is by controlling two-way quantitative POF and direction, it is achieved the motor control of asymmetrical cylinder.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 1, it is characterized in that, also include constant voltage accumulator and conventional accumulator, described constant voltage accumulator connects with the rod chamber of described asymmetrical cylinder, and described conventional accumulator is respectively communicated with the first hydraulic fluid port of described two-way quantitative pump, the second hydraulic fluid port.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 2, it is characterised in that the 3rd hydraulic fluid port of described two-way quantitative pump connects the rodless cavity of described asymmetrical cylinder.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 1, it is characterised in that be provided with electromagnetic shut-off valve between rodless cavity and the rod chamber of described asymmetrical cylinder of described asymmetrical cylinder.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 4, it is characterised in that also include that the first relief valve and the second relief valve, described first relief valve reversely connect with described second relief valve, and it is connected to described electromagnetic shut-off valve two ends.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 5, it is characterized in that, also include that Solenoid ball valve, the oil-in of described Solenoid ball valve, oil-out are connected respectively the 3rd hydraulic fluid port of described two-way quantitative pump and the rodless cavity of described asymmetrical cylinder.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 6, it is characterized in that, also include the first check valve and the second check valve, the oil-in of described first check valve, oil-out are connected respectively second and third hydraulic fluid port of described two-way quantitative pump, and its oil-out is connected in the same direction with described Solenoid ball valve；The oil-in of described second check valve is connected between described first relief valve and the second relief valve, and its oil-out is connected between first and second hydraulic fluid port of described two-way quantitative pump.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 2, it is characterised in that described constant voltage accumulator and described conventional accumulator are correspondingly arranged the pressure transducer gathering oil circuit respectively.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 1, it is characterised in that the displacement transducer being provided with its piston rod telescopic displacement of collection of described asymmetrical cylinder.
Constant backpressure Direct Drive Electro-hydraulic Servo System the most according to claim 1, it is characterised in that the outfan of the piston rod of described asymmetrical cylinder connects load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620211969.8U CN205446224U (en) | 2016-03-18 | 2016-03-18 | Formula electricity liquid servo is directly driven to invariable backpressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620211969.8U CN205446224U (en) | 2016-03-18 | 2016-03-18 | Formula electricity liquid servo is directly driven to invariable backpressure |
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| CN205446224U true CN205446224U (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620211969.8U Withdrawn - After Issue CN205446224U (en) | 2016-03-18 | 2016-03-18 | Formula electricity liquid servo is directly driven to invariable backpressure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105715597A (en) * | 2016-03-18 | 2016-06-29 | 中冶赛迪工程技术股份有限公司 | Constant-backpressure direct drive type electro hydraulic servo system and control method thereof |
| CN108533546A (en) * | 2018-07-02 | 2018-09-14 | 福建工程学院 | It is directly driven using double pump and the hydraulic crawler excavator dynamical system of the automatic changing-over of differential F.F. |
| CN110005598A (en) * | 2017-12-14 | 2019-07-12 | 罗伯特·博世有限公司 | Hydraulic pressure supply mechanism |
| CN113417896A (en) * | 2021-06-04 | 2021-09-21 | 燕山大学 | Pump-controlled hydraulic system of press machine and control method thereof |
| CN114294275A (en) * | 2021-12-31 | 2022-04-08 | 中冶赛迪技术研究中心有限公司 | Hydraulic control system of walking beam furnace |
-
2016
- 2016-03-18 CN CN201620211969.8U patent/CN205446224U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105715597A (en) * | 2016-03-18 | 2016-06-29 | 中冶赛迪工程技术股份有限公司 | Constant-backpressure direct drive type electro hydraulic servo system and control method thereof |
| CN105715597B (en) * | 2016-03-18 | 2018-07-20 | 中冶赛迪工程技术股份有限公司 | Constant backpressure Direct Drive Electro-hydraulic Servo System and its control method |
| CN110005598A (en) * | 2017-12-14 | 2019-07-12 | 罗伯特·博世有限公司 | Hydraulic pressure supply mechanism |
| CN108533546A (en) * | 2018-07-02 | 2018-09-14 | 福建工程学院 | It is directly driven using double pump and the hydraulic crawler excavator dynamical system of the automatic changing-over of differential F.F. |
| CN108533546B (en) * | 2018-07-02 | 2023-06-27 | 福建工程学院 | Hydraulic excavator power system adopting double-pump direct drive and differential fast forward automatic switching |
| CN113417896A (en) * | 2021-06-04 | 2021-09-21 | 燕山大学 | Pump-controlled hydraulic system of press machine and control method thereof |
| CN113417896B (en) * | 2021-06-04 | 2022-05-10 | 燕山大学 | Pump-controlled hydraulic system of press machine and control method thereof |
| CN114294275A (en) * | 2021-12-31 | 2022-04-08 | 中冶赛迪技术研究中心有限公司 | Hydraulic control system of walking beam furnace |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160810 Effective date of abandoning: 20180720 |