CN205918968U - Two power gear pump control formula electro -hydraulic linkage execution control systems - Google Patents
Two power gear pump control formula electro -hydraulic linkage execution control systems Download PDFInfo
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- CN205918968U CN205918968U CN201620670091.4U CN201620670091U CN205918968U CN 205918968 U CN205918968 U CN 205918968U CN 201620670091 U CN201620670091 U CN 201620670091U CN 205918968 U CN205918968 U CN 205918968U
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Abstract
The utility model discloses a two power gear pump control formula electro -hydraulic linkage execution control systems, including controller, servo motor driver, acceleration rate power module, conventional power module, buffer oil tank, the first and second function return circuits, hydro -cylinder, displacement sensor, manual pump module, acceleration rate power module includes: use two -way gear oil pump by a servo motor driven acceleration rate, the conventional power module includes: use two -way gear oil pump by the 2nd servo motor driven conventionality, the acceleration rate links to each other with the hydro -cylinder respectively through first, second function return circuit with two -way gear oil pump with two -way gear oil pump, conventionality, and the controller is connected with servo motor driver electricity, and the servo motor driver is connected with first, the 2nd servo motor electricity respectively, and the acceleration rate is used, the conventionality still links to each other with buffer oil tank respectively with two -way gear oil pump, and manual pump module links to each other with the hydro -cylinder, and displacement sensor is connected with the controller electricity. Foretell execution control system can compromise the control requirement of valve high speed and high accuracy simultaneously.
Description
Technical field
This utility model is related to electrohydraulic actuator field and in particular to a kind of execute control for electrohydraulic actuator
System.
Background technology
Electrohydraulic actuator is to receive control information in automation equipment and apply control action to controll plant
Device, usual controll plant is valve.Servopump control type electrohydraulic linkage executive control system is one of electrohydraulic actuator
New executive control system, servopump control type electrohydraulic linkage executive control system is generally two-way by a servomotor driving one
Gear oil pump to provide the pressure oil of different directions to the oil cylinder in electrohydraulic actuator, thus the action of control cylinder, this kind
Servopump control type electrohydraulic linkage executive control system has a disadvantage in that one, this executive control system uses open following
Ring hydraulic circuit it may be assumed that hydraulic circuit and atmosphere, so fluid easily by external environmental so that this executive control system
Easily break down, poor reliability, need to often safeguard；2nd, because the structure of this executive control system itself limits, lead to electro-hydraulic holding
The valve that in row mechanism, oil cylinder controls cannot be realized at a high speed and accurately reaching the requirement of target location, this is because: a side
Face, when needing control valve high speed motion, is necessary for greatly increasing the flow of the hydraulic oil driving oil cylinder, and increases liquid
Just it is difficult to the precise control to cylinder action after force feed flow；On the other hand, when the act bit needing precise control valve
It is necessary to reduce in order to drive the hydraulic fluid flow rate of oil cylinder when putting, thus can be by reality be come to the precise control of cylinder action
The now precise control to valve event, but the inherent character due to gear oil pump, pass through to reduce rotating speed minimizing output stream at it
During amount, after rotating speed is reduced to the certain proportion of rated speed, output pressure will be unable to reach rated pressure, thus can make
Become the undercapacity of electrohydraulic actuator.For ensureing the power output of electrohydraulic actuator, the rotating speed of gear oil pump must assure that
More than minimum operating speed, now gear oil pump still can export larger flow, make electrohydraulic actuator drive valve according to
Old high speed motion, thus be difficult to control to valve be accurately positioned.It can be seen that, above-mentioned drive mechanism is difficult to take into account at a high speed and high-precision simultaneously
The control of degree requires.3rd, oil cylinder can be carried out with the manual actuation module general structure of manual actuation all in this executive control system
Complex, Reliability comparotive is poor.
Utility model content
Technical problem to be solved in the utility model is: can take into account valve high speed and high accuracy by providing one kind simultaneously
Control require, the hydraulic oil in hydraulic circuit be difficult by external environmental and oil cylinder manual actuation modular structure more
Plus simple, reliably double dynamical gear pump control type electrohydraulic link executive control system.
In order to solve the above problems, the technical scheme that this utility model is adopted is: double dynamical gear pump control type electrohydraulic connection
Dynamic executive control system, is characterized in: include controller, motor servo driver, speedup power plant module, module powered by conventional energy,
Buffer oil tank, the first functional loop, the second functional loop, oil cylinder, displacement transducer, manual pump module；Speedup power plant module bag
Include: the two-way gear oil pump of speedup, speedup is driven by the first servomotor with two-way gear oil pump, the two-way gear oil pump of speedup
Two hydraulic fluid ports pass through that the first functional loop is one-to-one with the two chambers of oil cylinder respectively is connected；Module powered by conventional energy includes: often
Rule use two-way gear oil pump, and routine is driven by the second servomotor with two-way gear oil pump, and routine is with the two of two-way gear oil pump
Individual hydraulic fluid port is connected by the second functional loop is one-to-one with the two chambers of oil cylinder respectively；Displacement transducer is used for detecting that oil cylinder is lived
The position of stopper rod, the hydraulic fluid chamber in buffer oil tank is not connected with air and is provided that the low-pressure hydraulic oil with pressure, speedup
Connected respectively with two hydraulic fluid ports of two-way gear oil pump and be connected with the hydraulic fluid port of buffer oil tank after first check valve, conventional use
Two hydraulic fluid ports of two-way gear oil pump are connected respectively and are connected with the hydraulic fluid port of buffer oil tank after second check valve, and speedup is with double
Pass through the hydraulic fluid port phase of oil pipe and buffer oil tank to the drain tap of gear oil pump and routine with the drain tap of two-way gear oil pump respectively
Connection；Controller is electrically connected with motor servo driver, motor servo driver respectively with the first servomotor and the second servo
Motor electrically connects, and controller can be by the rotating speed of motor servo driver control the first servomotor and the second servomotor and rotation
Turn direction, thus controlling speedup to use two-way gear oil pump and conventional two-way gear oil pump to export pressure and the side of high pressure liquid force feed
To when speedup is not worked with two-way gear oil pump, the first functional loop is closed, and now the two chambers of oil cylinder cannot be by the
One functional loop flows into or from hydraulic oil；When the first servomotor drives speedup to be started working with two-way gear oil pump, delay
Rush fuel tank and low-pressure hydraulic oil can be conveyed to speedup with the inlet port of two-way gear oil pump by the first check valve, so that speedup use is double
The high pressure liquid that the first functional loop is opened can be made to press oil to the first functional loop conveying to the oil-out of gear oil pump, when first
The high pressure liquid force feed that after functional loop unlatching, the two-way gear oil pump of speedup conveys can flow into oil cylinder by the first functional loop
Oil suction chamber, thus driving cylinder movement, and the hydraulic oil that oil cylinder goes out in oil pocket can flow out to speedup by the first functional loop
It is circulated fuel feeding, now, buffer oil tank no longer passes through the first check valve and uses to speedup in inlet port with two-way gear oil pump
The inlet port of two-way gear oil pump provides low-pressure hydraulic oil；When routine is not worked with two-way gear oil pump, the second functional loop
Close, now the two chambers of oil cylinder cannot flow into or from hydraulic oil by the second functional loop；When the second servomotor drives
When dynamic routine is started working with two-way gear oil pump, buffer oil tank can pass through the second check valve to conventional with two-way gear oil pump
Inlet port conveys low-pressure hydraulic oil, so that routine can make the to the second functional loop conveying with the oil-out of two-way gear oil pump
The high pressure liquid force feed that two functional loops are opened, the conventional high pressure liquid with the conveying of two-way gear oil pump after the second functional loop is opened
Force feed can flow into the oil suction chamber of oil cylinder by the second functional loop, thus driving cylinder movement, and oil cylinder goes out the liquid in oil pocket
Force feed can be flowed out in the conventional inlet port with two-way gear oil pump by the second functional loop and be circulated fuel feeding, now, delay
Rush fuel tank and no longer pass through the second check valve to the conventional offer low-pressure hydraulic oil of the inlet port with two-way gear oil pump；Manual pump module
Be connected with the two chambers of oil cylinder by oil pipe, manually pump module can carry out manual actuation to oil cylinder, displacement transducer with
Controller electrically connects, and the position signalling of the cylinder piston rod detecting can be transferred to controller by displacement transducer；During work, control
Device processed can make speedup power plant module and module powered by conventional energy operate by motor servo driver simultaneously, thus increasing driving oil cylinder
, so that the piston rod of oil cylinder can move to target location at high speed, now displacement transducer can be by oil for the hydraulic fluid flow rate of action
The real-time position signal of cylinder piston rod is transferred to controller, when controller detects real time position and the target position of cylinder piston rod
Put when being close the first speed governing position set in advance, controller can make the first servomotor subtract by motor servo driver
Speed is to stopping, so that oil cylinder is simultaneously driven by speedup power plant module and module powered by conventional energy being only converted to by module powered by conventional energy
Drive, now drive the hydraulic fluid flow rate of cylinder action will reduce, thus just can be precisely controlled by module powered by conventional energy
The action of cylinder piston rod, when real time position and the target location of cylinder piston rod are close the second speed governing position set in advance
When putting, controller can make the second servomotor be decelerated to stopping by motor servo driver, so that cylinder piston rod can be high
Precision ground reaches target location.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: the first functional loop
It is integrated in a Hydraulic integration module with the second functional loop.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: the first functional loop
It is hydraulic lock with the second functional loop, be referred to as the first hydraulic lock and the second hydraulic lock；The two-way gear oil pump of speedup
Two hydraulic fluid ports pass through that oil pipe is one-to-one with two p ports of the first hydraulic lock is connected respectively, in the first hydraulic lock with its two
The one-to-one two a ports in individual p port pass through that oil pipe is one-to-one with the two chambers of oil cylinder to be connected, when the first servo respectively
When Motor drive speedup is started working with two-way gear oil pump, buffer oil tank can be by the first check valve to the two-way gear of speedup
The inlet port conveying low-pressure hydraulic oil of oil pump, so that speedup can be corresponded to the oil-out of two-way gear oil pump in the first hydraulic lock
That p port conveying can make first hydraulic lock open high pressure liquid force feed, when first hydraulic lock open after speedup bi-directional teeth
The high pressure liquid force feed of wheel oil pump conveying flows into the first hydraulic lock from this p port, then flows out to entering of oil cylinder from corresponding a port
Oil pocket, thus driving cylinder movement, the hydraulic oil that oil cylinder goes out in oil pocket flows into the first hydraulic lock from another a port, then from phase
Another p port corresponding flows out in the inlet port with two-way gear oil pump for the speedup and is circulated fuel feeding；Routine bi-directional teeth
Two hydraulic fluid ports of wheel oil pump are connected, in the second hydraulic lock by oil pipe is one-to-one with two p ports of the second hydraulic lock respectively
Two a ports one-to-one with two p port pass through that oil pipe is one-to-one with the two chambers of oil cylinder is connected respectively, when the
When two servomotors drive routine to be started working with two-way gear oil pump, buffer oil tank can be used double by the second check valve to routine
Convey low-pressure hydraulic oil to the inlet port of gear oil pump, can be to the second hydraulic lock with the oil-out of two-way gear oil pump so that conventional
Upper that p port corresponding conveys the high pressure liquid force feed that the second hydraulic lock can be made to open, conventional use after the second hydraulic lock is opened
The high pressure liquid force feed of two-way gear oil pump conveying flows into the second hydraulic lock from this p port, then flows out to oil from corresponding a port
The oil suction chamber of cylinder, thus driving cylinder movement, the hydraulic oil that oil cylinder goes out in oil pocket flows into the second hydraulic lock from another a port,
Flow out to the conventional inlet port with two-way gear oil pump from another corresponding p port again and be circulated fuel feeding.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: the knot of buffer oil tank
Structure includes: casing, and being provided with cabinets cavity can be along the piston of casing movement, and cabinets cavity is divided into two mutually not by piston
The chamber of connection, it may be assumed that shoe cream room and pushing tow chamber, offers the through hole being connected with shoe cream room on the box body wall of shoe cream room, should
Through hole is the hydraulic fluid port of buffer oil tank, is provided with the goring push spring of energy ejector piston, goring push spring ejector piston in pushing tow chamber
The hydraulic oil in shoe cream room can be made afterwards to become the low-pressure hydraulic oil with pressure.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: relative with piston
Offer open-work on the box body wall in pushing tow chamber, open-work is equipped with a straight-bar, the inner of straight-bar is fixed with piston phase, thus
Straight-bar can stretch with the movement of piston.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: on straight-bar side
Outside casing, a scale parallel with straight-bar is set, scale has axially also been disposed adjacent from inside to outside successively along scale
Repairing indicates section, normal work indicating section, high oil temperature sign section, straight-bar outer end throwing on scale flexible with straight-bar
Shadow shows in three segment marks and moves in section, judges hydraulic oil in buffer oil tank in the projected position on scale by observing straight-bar outer end
Situation.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: the oil of buffer oil tank
Mouth is connected with two hydraulic fluid ports of two-way gear oil pump with speedup by two the first overflow valves respectively, two the first overflow valve energy
Adjust the pressure of speedup two oil ports of two-way gear oil pump respectively；The hydraulic fluid port of buffer oil tank also passes through two second respectively
Overflow valve is connected with two hydraulic fluid ports of two-way gear oil pump with routine, two the second overflow valves can adjust respectively conventional with two-way
The pressure of two oil ports of gear oil pump.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: low in buffer oil tank
The pressure of hydraulic fluid force feed is not higher than 1mpa.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: speedup bi-directional teeth
Wheel oil pump with routine with the ratio of the metered flow of two-way gear oil pump is: (1 ~ 6): 1.
Further, aforesaid double dynamical gear pump control type electrohydraulic linkage executive control system, wherein: manual pump module bag
Include: manual plunger oil pump, 3-position 4-way o type hand-operated direction valve, the 3rd hydraulic lock, the 3rd overflow valve, the suction of manual plunger oil pump
Hydraulic fluid port is connected with the hydraulic fluid port of buffer oil tank by oil pipe, and the oil-out of manual plunger oil pump passes through oil pipe and 3-position 4-way o type
The p end of hand-operated direction valve is connected, and the t end of 3-position 4-way o type hand-operated direction valve is connected with the hydraulic fluid port of buffer oil tank by oil pipe
Logical, a end of 3-position 4-way o type hand-operated direction valve is connected by oil pipe is one-to-one with two p ends of the 3rd hydraulic lock respectively with b end
Logical, in the 3rd hydraulic lock, two a ports one-to-one with two p port pass through the two chambers one of oil pipe and oil cylinder respectively
It is connected to one, the oil-out of manual plunger oil pump is connected with the oil-in of the 3rd overflow valve also by oil pipe, the 3rd overflow
The oil-out of valve is connected with the hydraulic fluid port of buffer oil tank by oil pipe.
Advantage of the present utility model is: double dynamical gear pump control type electrohydraulic linkage execution described in the utility model controls system
System can take into account valve high speed and high-precision control requirement simultaneously；In addition, the hydraulic circuit of this executive control system not with air
Connection, so the hydraulic oil in the hydraulic circuit of this executive control system is difficult by external environmental, substantially increases this and holds
The reliability of row control system；And this executive control system employs, and structure is simpler, reliably manual pump module conduct
The manual actuation module of oil cylinder.
Brief description
Fig. 1 is the structural representation of double dynamical gear pump control type electrohydraulic linkage executive control system described in the utility model
Figure.
Fig. 2 is the structural representation of buffer oil tank shown in Fig. 1.
Specific embodiment
With reference to specific embodiments and the drawings, this utility model is described in further detail.
The executive control system as shown in figure 1, double dynamical gear pump control type electrohydraulic links, drives including controller 8, servomotor
Dynamic device 81, speedup power plant module 1, module powered by conventional energy 2, buffer oil tank 5, the first functional loop 3, the second functional loop 4, oil cylinder
6th, displacement transducer 9, manual pump module 7；Speedup power plant module 1 includes: speedup two-way gear oil pump 12, speedup bi-directional teeth
Wheel oil pump 12 is driven by the first servomotor 11, and speedup passes through the first functional loop 3 with two hydraulic fluid ports of two-way gear oil pump 12
One-to-one with the two chambers of oil cylinder 6 respectively it is connected；Module 2 powered by conventional energy includes: routine two-way gear oil pump 22, conventional use
Two-way gear oil pump 22 is driven by the second servomotor 21, and conventional two hydraulic fluid ports with two-way gear oil pump 22 pass through the second function
Loop 4 is one-to-one with the two chambers of oil cylinder 6 respectively to be connected；In the present embodiment, speedup is used with conventional with two-way gear oil pump
The ratio of the metered flow of two-way gear oil pump is: (1 ~ 6): 1, so it is disposed to preferably to take into account valve high speed and high-precision
The control of degree requires；Displacement transducer 9 is used for detecting the position of oil cylinder 6 piston rod, the hydraulic fluid chamber in buffer oil tank 5 not with greatly
Gas phase connects and is provided that the low-pressure hydraulic oil with pressure, and speedup connects one respectively with two hydraulic fluid ports of two-way gear oil pump 12
It is connected with the hydraulic fluid port of buffer oil tank 5 after first check valve 13, routine is connected respectively with two hydraulic fluid ports of two-way gear oil pump 22
It is connected with the hydraulic fluid port of buffer oil tank 5 after one the second check valve 23, the speedup drain tap of two-way gear oil pump 12 and routine
It is connected with the hydraulic fluid port of buffer oil tank 5 by oil pipe respectively with the drain tap of two-way gear oil pump 22；Controller 8 and servomotor
Driver 81 electrically connects, and motor servo driver 81 is electrically connected with the first servomotor 11 and the second servomotor 21 respectively, control
Device 8 processed can be by the rotating speed of motor servo driver 81 control the first servomotor 11 and the second servomotor 21 and rotation side
To thus controlling speedup to use two-way gear oil pump 12 and conventional two-way gear oil pump 22 to export pressure and the side of high pressure liquid force feed
To generally oil-out will be referred to as toward outer that the fuel-displaced hydraulic fluid port of pump on two-way gear oil pump, by that hydraulic fluid port toward oil-feed in pump
Referred to as oil-in, in real work, two hydraulic fluid ports on two-way gear oil pump can alternately be changed into oil-in and oil-out；With
Sample ground, the two chambers in oil cylinder 6 also can alternately oil-feed and fuel-displaced and be alternately changed into oil suction chamber and go out oil pocket.When speedup is used
When two-way gear oil pump 12 does not work, the first functional loop 3 is closed, and now the two chambers of oil cylinder 6 cannot pass through the first function
Loop 3 flows into or from hydraulic oil；When the first servomotor 11 drives speedup to be started working with two-way gear oil pump 12, due to
Now the first functional loop 3 is closed, so speedup can be because inhaling less than first with the inlet port of two-way gear oil pump 12
Functional loop 3 output oil and reduced pressure, now buffer oil tank 5 can pass through the first check valve 13 to the two-way gear oil of speedup
The inlet port conveying low-pressure hydraulic oil of pump 12, so that speedup can be to the first functional loop 3 with the oil-out of two-way gear oil pump 12
Conveying can make the high pressure liquid force feed that the first functional loop 3 is opened, the two-way gear oil pump of speedup after the first functional loop 3 is opened
The high pressure liquid force feed of 12 conveyings can flow into the oil suction chamber of oil cylinder 6 by the first functional loop 3, thus driving oil cylinder 6 to move, and
The hydraulic oil that oil cylinder 6 goes out in oil pocket can be flowed out in the inlet port with two-way gear oil pump 12 for the speedup by the first functional loop 3
It is circulated fuel feeding, now, the pressure going out the hydraulic oil flowing out oil pocket from oil cylinder 6 is higher than the pressure of hydraulic oil in buffer oil tank 5
Power provides low pressure liquid to speedup with the inlet port of two-way gear oil pump 12 so that buffer oil tank 5 no longer passes through the first check valve 13
Force feed；When routine is not worked with two-way gear oil pump 22, the second functional loop 4 is closed, and now the two chambers of oil cylinder 6 cannot
Hydraulic oil is flowed into or from by the second functional loop 4；When the second servomotor 21 drives routine to be opened with two-way gear oil pump 22
During beginning work, because now the second functional loop 4 is closed, so the conventional inlet port meeting with two-way gear oil pump 22
Because inhaling the oil less than the second functional loop 4 output and reduced pressure, now buffer oil tank 5 can be by the second check valve 23 to routine
Convey low-pressure hydraulic oil with the inlet port of two-way gear oil pump 22, so that the conventional oil-out with two-way gear oil pump 22 can be to the
Two functional loop 4 conveying can make the high pressure liquid force feed that the second functional loop 4 is opened, conventional use after the second functional loop 4 is opened
The high pressure liquid force feed of two-way gear oil pump 22 conveying can flow into the oil suction chamber of oil cylinder 6 by the second functional loop 4, thus driving
Oil cylinder 6 moves, and the hydraulic oil that oil cylinder 6 goes out in oil pocket can flow out to routine by the second functional loop 4 and use two-way gear oil pump
It is circulated fuel feeding, now, the pressure going out the hydraulic oil flowing out oil pocket from oil cylinder 6 is higher than buffer oil tank 5 in 22 inlet port
The pressure of middle hydraulic oil is so that buffer oil tank 5 no longer passes through the second check valve 23 to the conventional oil suction with two-way gear oil pump 22
Mouth provides low-pressure hydraulic oil；Manual pump module 7 is connected with the two chambers of oil cylinder 6 by oil pipe, and manually pump module 7 can be right
Oil cylinder 6 carries out manual actuation, and displacement transducer 9 is electrically connected with controller 8, and displacement transducer 9 can be by the oil cylinder detecting 6 piston
The position signalling of bar is transferred to controller 8；During work, controller 8 can make speedup power plant module 1 by motor servo driver 81
Operate with module 2 powered by conventional energy, thus increasing the hydraulic fluid flow rate driving oil cylinder 6 action so that the piston rod energy of oil cylinder 6 simultaneously
Move to target location at high speed together with the valve plate in valve, now displacement transducer 9 can be real-time by oil cylinder 6 piston rod
Position signalling is transferred to controller 8, when controller 8 detects the real time position of oil cylinder 6 piston rod and target location is close
During the first speed governing position set in advance, controller 8 can make the first servomotor 11 with certain by motor servo driver 81
Speed is decelerated to stopping, so that oil cylinder 6 is simultaneously driven by speedup power plant module 1 and module powered by conventional energy 2 being only converted to by normal
Rule power plant module 2 drives, and now drives the hydraulic fluid flow rate of oil cylinder 6 action will reduce, thus just can be by module 2 powered by conventional energy
It is precisely controlled the action of cylinder piston rod, set in advance when the real time position of oil cylinder 6 piston rod is close to target location
During fixed second speed governing position, controller 8 can make the second servomotor 21 subtract with given pace by motor servo driver 81
Speed extremely stops, so that oil cylinder 6 piston rod can accurately reach target location.Speedup power plant module 1 and module powered by conventional energy 2
The hydraulic fluid flow rate of output need to configure by a certain percentage according to practical situation, is ensureing that speedup is used, routine uses two-way gear oil pump
12nd, on the premise of 22 rotating speeds are not less than minimum speed, output oil pressure is not less than rated oil pressure, two two-way gear oil pump outputs
Hydraulic fluid flow rate has very big dynamic range, so as to take into account valve high-speed cruising and pinpoint requirement well.
In actual applications, depending on the first speed governing position and the second speed governing position all can be according to practical working situation, and speedup is with double
It is generally higher than the metered flow of conventional two-way gear oil pump 22 to the metered flow of gear oil pump 12, certainly, the two specified
Flow can also be identical, or the former is less than the latter, and the size of the two metered flow all can be decided according to the actual requirements.At this
In embodiment, the first functional loop 3 and the second function 4 loop are integrated in a Hydraulic integration module 91, are integrated in a liquid
Oil circuit can be made simpler on pressure integration module 91, easier for installation.
In the present embodiment, the first functional loop 3 and the second functional loop 4 are hydraulic lock, are referred to as the first liquid
Pressure lock and the second hydraulic lock；Hydraulic lock is a kind of conventional hydraulic part with auto-lock function, when hydraulic lock is closed, in hydraulic lock
Two groups are all turned off between one-to-one p, a port respectively and can not be interconnected；Only to any one p end of hydraulic lock
Hydraulic lock just can be made after mouthful conveying high-pressure hydraulic oil to open it may be assumed that make two groups respectively one-to-one p, a port mutually interconnect respectively
Logical.Speedup passes through the one-to-one phase in two p ports of oil pipe and the first hydraulic lock 3 respectively with two hydraulic fluid ports of two-way gear oil pump 12
Connection, in the first hydraulic lock 3, two a ports one-to-one with two p port pass through two chambeies of oil pipe and oil cylinder 6 respectively
Room is one-to-one to be connected, when the first servomotor 11 drives speedup to be started working with two-way gear oil pump 12, due to now the
One hydraulic lock 3 is closed, so speedup can be defeated less than the first hydraulic lock 3 because inhaling with the inlet port of two-way gear oil pump 12
The oil that goes out and reduced pressure, now buffer oil tank 5 can be by the first check valve 13 to the speedup oil suction of two-way gear oil pump 12
Mouth conveying low-pressure hydraulic oil, so that speedup can be to that p corresponding in the first hydraulic lock 3 with the oil-out of two-way gear oil pump 12
Port conveying can make the high pressure liquid force feed that the first hydraulic lock 3 is opened, the two-way gear oil pump of speedup after the first hydraulic lock 3 is opened
The high pressure liquid force feed of 12 conveyings flows into the first hydraulic lock 3 from this p port, then the oil-feed flowing out to oil cylinder 6 from corresponding a port
Chamber, thus driving oil cylinder 6 to move, the hydraulic oil that oil cylinder 6 goes out in oil pocket flows into the first hydraulic lock 3 from another a port, then from phase
Another p port corresponding flows out in the inlet port with two-way gear oil pump 12 for the speedup and is circulated fuel feeding.Conventional with two-way
Two hydraulic fluid ports of gear oil pump 22 are connected by oil pipe is one-to-one with two p ports of the second hydraulic lock 4 respectively, the second hydraulic pressure
On lock 4, two a ports one-to-one with two p port are connected by oil pipe is one-to-one with the two chambers of oil cylinder 6 respectively
Logical, when the second servomotor 21 drives routine to be started working with two-way gear oil pump 22, because now the second hydraulic lock 4 is in
Closed mode, so the conventional inlet port with two-way gear oil pump 22 can be because inhaling the oil less than the second hydraulic lock 4 output and pressure
Reduce, now buffer oil tank 5 can convey low pressure liquid by the second check valve 23 to the conventional inlet port with two-way gear oil pump 22
Force feed, so that routine can be able to be made to that p port corresponding conveying in the second hydraulic lock 4 with the oil-out of two-way gear oil pump 22
The high pressure liquid force feed that second hydraulic lock 4 is opened, the high pressure liquid of the second hydraulic lock 4 conventional two-way gear oil pump 22 conveying after opening
Press oil from this p port inflow the second hydraulic lock 4, then flow out to the oil suction chamber of oil cylinder 6 from corresponding a port, thus driving oil
Cylinder 6 moves, and the hydraulic oil that oil cylinder 6 goes out in oil pocket flows into the second hydraulic lock 4 from another a port, then from another corresponding p
Port flows out in the conventional inlet port with two-way gear oil pump 22 and is circulated fuel feeding.When speedup is with two-way gear oil pump 12 He
When routine is all quit work with two-way gear oil pump 22, first, second hydraulic lock 3,4 is in closed mode, now 6 liang of oil cylinder
Hydraulic oil in individual chamber will be locked in two chambers, thus oil cylinder 6 will not produce change in location because of load change.
In actual applications, deform upon because hydraulic oil itself is pressurized, the change of temperature in hydraulic circuit, two on oil cylinder
In the foozle of individual chamber, hydraulic circuit, the impact of the factor such as mechanically deform of each hydraulic unit is so that described in the utility model
The hydraulic circuit of executive control system in hydraulic oil inevitably produce change in volume, thus easily cause two-way
Gear oil pump self-priming is smooth or the generation of oil circuit pocketed oil phenomenon, and oil circuit pocketed oil phenomenon refers to that unnecessary hydraulic oil is trapped in hydraulic pressure and returns
Cannot discharge in road, above-mentioned two kinds of situations all can cause hydraulic circuit functional fault or damage, and the introducing of buffer oil tank 5 has
Effect solves the problems referred to above, and when two-way gear oil pump suction is not smooth, buffer oil tank 5 can carry to the inlet port of two-way gear oil pump
For making the low-pressure hydraulic oil of its normal fuel injection；When there is oil circuit pocketed oil phenomenon, unnecessary hydraulic oil can be from two-way gear oil pump
Drain tap be flowed in buffer oil tank 5.Further, since the hydraulic fluid chamber in buffer oil tank 5 not with atmosphere and is provided that
Low-pressure hydraulic oil, on the one hand makes the hydraulic oil in executive control system be not easily susceptible to the pollution of external environment, thus greatly improving
The reliability of executive control system, on the other hand makes the work of hydraulic circuit be no longer dependent on atmospheric pressure, so that hydraulic pressure returns
Road is no longer influenced by the impact of installation direction and height above sea level.
In the present embodiment, as shown in Fig. 2 the structure of buffer oil tank 5 includes: casing 51, arrange in casing 51 inner chamber
Have can along the piston 52 of casing 51 movement, piston 52 by casing 51 inner chamber be divided into two mutually disconnected chamber it may be assumed that shoe cream room
53 and pushing tow chamber 54, the through hole 55 being connected with shoe cream room 53 is offered on the box body wall of shoe cream room 53, this through hole 55 is
The hydraulic fluid port of buffer oil tank 5, is provided with the goring push spring 56 of energy ejector piston 52, goring push spring 56 ejector piston in pushing tow chamber 54
The hydraulic oil in shoe cream room 53 can be made after 52 to become the low-pressure hydraulic oil with pressure, in the present embodiment, buffer oil tank 5 mesolow
The pressure of hydraulic oil is not higher than 1mpa；Open-work 57 is offered, in open-work 57 on the box body wall in pushing tow chamber 54 relative with piston 52
In be equipped with a straight-bar 58, the inner of straight-bar 58 is mutually fixed with piston 52, thus straight-bar 58 can be with the movement of piston 52
Flexible, in a casing 51 piece scale 59 parallel with straight-bar 58 of outside setting on straight-bar 58 side, along scale on scale 59
59 have axially also been disposed adjacent repairing from inside to outside successively indicates section 591, normal work indicating section 592, high oil temperature sign section
593, flexible with straight-bar 58, three segment marks that are projected on scale 59 for straight-bar 58 outer end are shown and are moved in section, straight by observing
Bar 58 outer end to judge the situation of hydraulic oil in buffer oil tank 5 in the projected position on scale 59, when straight-bar 58 outer end is in scale
When projected position on 59 is located at repairing sign section 591, illustrate that in buffer oil tank 5, hydraulic oil is inadequate, workman is accomplished by buffering
Fuel tank 5 carries out repairing, when projected position on scale 59 for straight-bar 58 outer end is located at normal work indicating section 592, illustrates slow
Rush that fuel tank 5 is working properly, when projected position on scale 59 for straight-bar 58 outer end is located at high oil temperature and indicates section 593, explanation
The high oil temperature of hydraulic oil in buffer oil tank 5, leads to hydraulic oil excessively to expand, and now needs shutdown to safeguard.
In the present embodiment, the hydraulic fluid port of buffer oil tank 5 passes through two the first overflow valves 14 and the two-way gear of speedup respectively
Two hydraulic fluid ports of oil pump 12 are connected, and two the first overflow valves 14 can adjust two oil of the two-way gear oil pump 12 of speedup respectively
Pressure at mouthful；The hydraulic fluid port of buffer oil tank 5 also passes through two the second overflow valves 24 with conventional respectively with two-way gear oil pump 22
Two hydraulic fluid ports are connected, and two the second overflow valves 24 can adjust the pressure of two oil ports of conventional two-way gear oil pump 22 respectively
Power.When the pressure of two oil ports of certain two-way gear oil pump is more than the pressure that corresponding overflow valve sets, two overflows
Valve can be respectively by the hydraulic oil overflow of two oil ports of this two-way gear oil pump to buffer oil tank 5, thus limiting this pair
To the pressure of two oil ports of gear oil pump, also limit the maximum output power of this executive control system simultaneously.
In the present embodiment, manual pump module 7 includes: manual plunger oil pump 74,3-position 4-way o type hand-operated direction valve 71,
3rd hydraulic lock 72, the 3rd overflow valve 73, the inlet port of manual plunger oil pump 74 is connected with the hydraulic fluid port of buffer oil tank 5 by oil pipe
Logical, the oil-out of manual plunger oil pump 74 is connected with the p end of 3-position 4-way o type hand-operated direction valve 71 by oil pipe, three four
The t end of logical o type hand-operated direction valve 71 is connected with the hydraulic fluid port of buffer oil tank 5 by oil pipe, 3-position 4-way o type hand-operated direction valve 71
A end and b end pass through that oil pipe is one-to-one with two p ends of the 3rd hydraulic lock 72 to be connected, with it in the 3rd hydraulic lock 72 respectively
The one-to-one two a ports in two p ports pass through that oil pipe is one-to-one with the two chambers of oil cylinder 6 to be connected respectively, manual post
The oil-out of plug oil pump 74 is connected with the oil-in of the 3rd overflow valve 73 also by oil pipe, and the oil-out of the 3rd overflow valve 73 leads to
The hydraulic fluid port crossing oil pipe with buffer oil tank 5 is connected.Operator manually can provide driving its shifting by plunger-type fuel pump 74 oil supply cylinder 6
Dynamic hydraulic oil；3-position 4-way o type hand-operated direction valve 71 can change the direction of manual plunger oil pump 74 oil supply cylinder 6 fuel feeding；3rd
When hydraulic lock 72 is closed, the two chambers of oil cylinder 6 cannot flow into or from hydraulic oil by the 3rd hydraulic lock 72；Work as manual plunger
When at the oil-out of oil pump 74, pressure is more than the setting pressure of the 3rd overflow valve 73, the 3rd overflow valve 73 can be by manual plunger oil pump
Hydraulic oil overflow at 74 oil-out to buffer oil tank 5, thus reducing the pressure at the oil-out of manual plunger oil pump 74
Power.Manual pump module 7 can make workman's manual actuation valve event when having a power failure or hydraulic circuit breaks down.
The beneficial effects of the utility model are: double dynamical gear pump control type electrohydraulic linkage described in the utility model executes control
System processed is due to being provided with two power plant modules it may be assumed that speedup power plant module and module powered by conventional energy, and passes through displacement transducer
The real-time position signal of cylinder piston rod is transferred to controller so that controller can accurately cut out speedup power plant module successively
With module powered by conventional energy, so as to take into account valve high speed and high-precision control requirement simultaneously；In addition, this executive control system
Hydraulic circuit not with atmosphere, so the hydraulic oil in the hydraulic circuit of this executive control system be difficult dirty by external environment
Dye, substantially increases the reliability of this executive control system；And it is simpler, reliable that this executive control system employs structure
Manual pump module as oil cylinder manual actuation module, additionally, manual pump module passes through the two chambers of hydraulic lock and oil cylinder
It is connected so that manual pump module when not in use, will not produce impact to oil cylinder, substantially increase this executive control system can
By property.
Claims (10)
1. double dynamical gear pump control type electrohydraulic linkage executive control system it is characterised in that: include controller, servomotor drives
Device, speedup power plant module, module powered by conventional energy, buffer oil tank, the first functional loop, the second functional loop, oil cylinder, displacement sensing
Device, manual pump module；Speedup power plant module includes: the two-way gear oil pump of speedup, and speedup is watched by first with two-way gear oil pump
Take Motor drive, speedup passes through the first functional loop two chambers one with oil cylinder respectively with two hydraulic fluid ports of two-way gear oil pump
It is connected to one；Module powered by conventional energy includes: the two-way gear oil pump of routine, routine is with two-way gear oil pump by the second servomotor
Drive, conventional two hydraulic fluid ports with two-way gear oil pump pass through the second functional loop one-to-one phase with the two chambers of oil cylinder respectively
Even；Displacement transducer is used for detecting the position of cylinder piston rod, the hydraulic fluid chamber in buffer oil tank is not connected with air and energy
Low-pressure hydraulic oil with pressure is provided, speedup two hydraulic fluid ports of two-way gear oil pump connect respectively after first check valve with
The hydraulic fluid port of buffer oil tank is connected, conventional two hydraulic fluid ports of two-way gear oil pump connect respectively after second check valve with slow
The hydraulic fluid port rushing fuel tank is connected, and speedup is distinguished with the drain tap of two-way gear oil pump and the drain tap of conventional two-way gear oil pump
It is connected with the hydraulic fluid port of buffer oil tank by oil pipe；Controller is electrically connected with motor servo driver, and motor servo driver divides
Do not electrically connect with the first servomotor and the second servomotor, controller can control the first servo electricity by motor servo driver
The rotating speed of machine and the second servomotor and direction of rotation, thus control speedup to use two-way gear oil pump and routine to use two-way gear oil
Pump exports pressure and the direction of high pressure liquid force feed, and when speedup is not worked with two-way gear oil pump, the first functional loop is closed, this
When oil cylinder two chambers hydraulic oil cannot be flowed into or from by the first functional loop；When the first servomotor drives speedup to use
When two-way gear oil pump is started working, buffer oil tank can be defeated with the inlet port of two-way gear oil pump to speedup by the first check valve
Send low-pressure hydraulic oil, so that speedup can make the first function return to the first functional loop conveying with the oil-out of two-way gear oil pump
The high pressure liquid force feed that road is opened, the high pressure liquid force feed that the two-way gear oil pump of speedup conveys after the first functional loop is opened can be led to
Cross the oil suction chamber that the first functional loop flows into oil cylinder, thus driving cylinder movement, and the hydraulic oil that oil cylinder goes out in oil pocket can lead to
Cross the first functional loop and flow out in the inlet port with two-way gear oil pump for the speedup and be circulated fuel feeding, now, buffer oil tank is not
Passing through the first check valve again provides low-pressure hydraulic oil to speedup with the inlet port of two-way gear oil pump；When routine uses two-way gear oil
During air pump inoperative, the second functional loop is closed, and now the two chambers of oil cylinder cannot be flowed into or from by the second functional loop
Hydraulic oil；When the second servomotor drives routine to be started working with two-way gear oil pump, buffer oil tank can be unidirectional by second
Valve conveys low-pressure hydraulic oil to the conventional inlet port with two-way gear oil pump, so that the conventional oil-out energy with two-way gear oil pump
The high pressure liquid that the second functional loop is opened can be made to press oil to the second functional loop conveying, routine is used after the second functional loop is opened
The high pressure liquid force feed of two-way gear oil pump conveying can flow into the oil suction chamber of oil cylinder by the second functional loop, thus driving oil cylinder
Motion, and the hydraulic oil that oil cylinder goes out in oil pocket can flow out to the inlet port of conventional two-way gear oil pump by the second functional loop
In be circulated fuel feeding, now, buffer oil tank is no longer carried with the inlet port of two-way gear oil pump to routine by the second check valve
For low-pressure hydraulic oil；Manual pump module is connected with the two chambers of oil cylinder by oil pipe, and manually pump module can enter to oil cylinder
Row manual actuation, displacement transducer is electrically connected with the controller, and the position of the cylinder piston rod detecting can be believed by displacement transducer
Number it is transferred to controller；During work, controller can make speedup power plant module and module powered by conventional energy by motor servo driver
Operate, thus increasing the hydraulic fluid flow rate driving cylinder action so that the piston rod of oil cylinder can be at high speed to target location simultaneously
Mobile, now the real-time position signal of cylinder piston rod can be transferred to controller by displacement transducer, when controller detects oil
The real time position of cylinder piston rod and target location be close the first speed governing position set in advance when, controller can pass through servo
Motor driver makes the first servomotor be decelerated to stopping, so that oil cylinder is by speedup power plant module and module powered by conventional energy simultaneously
Driving is converted to only by module drive powered by conventional energy, now drives the hydraulic fluid flow rate of cylinder action will reduce, thus with regard to energy
It is precisely controlled the action of cylinder piston rod by module powered by conventional energy, when real time position and the target location phase of cylinder piston rod
When being close to the second speed governing position set in advance, controller can make the second servomotor be decelerated to by motor servo driver
Stop, so that cylinder piston rod can accurately reach target location.
2. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 1 it is characterised in that: first
Functional loop and the second functional loop are integrated in a Hydraulic integration module.
3. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 1 and 2 it is characterised in that:
First functional loop and the second functional loop are hydraulic lock, are referred to as the first hydraulic lock and the second hydraulic lock；Speedup is used
Two hydraulic fluid ports of two-way gear oil pump are connected by oil pipe is one-to-one with two p ports of the first hydraulic lock respectively, the first liquid
Pressure is locked two a ports one-to-one with two p port and is connected by oil pipe is one-to-one with the two chambers of oil cylinder respectively
Logical, when the first servomotor drives speedup to be started working with two-way gear oil pump, buffer oil tank can pass through the first check valve to
Speedup conveys low-pressure hydraulic oil with the inlet port of two-way gear oil pump, so that speedup can be to the with the oil-out of two-way gear oil pump
In one hydraulic lock, that p port corresponding conveying can make the high pressure liquid force feed that the first hydraulic lock is opened, when the first hydraulic lock is opened
The high pressure liquid force feed that the two-way gear oil pump of speedup conveys afterwards flows into the first hydraulic lock from this p port, then from corresponding a port
Flow out to the oil suction chamber of oil cylinder, thus driving cylinder movement, the hydraulic oil that oil cylinder goes out in oil pocket flows into first from another a port
Hydraulic lock, then flow out to the inlet port with two-way gear oil pump for the speedup from another corresponding p port and be circulated fuel feeding；
Conventional two hydraulic fluid ports with two-way gear oil pump are connected by oil pipe is one-to-one with two p ports of the second hydraulic lock respectively,
In second hydraulic lock, two a ports one-to-one with two p port pass through a pair of the two chambers of oil pipe and oil cylinder respectively
One is connected, and when the second servomotor drives routine to be started working with two-way gear oil pump, buffer oil tank can be single by second
Convey low-pressure hydraulic oil to valve to the conventional inlet port with two-way gear oil pump, so that the conventional oil-out with two-way gear oil pump
The high pressure liquid that the second hydraulic lock is opened can be made to press oil to that p port corresponding conveying in the second hydraulic lock, when the second hydraulic pressure
The lock high pressure liquid force feed that after opening, conventional two-way gear oil pump conveys flows into the second hydraulic lock from this p port, then from corresponding
A port flow out to the oil suction chamber of oil cylinder, thus driving cylinder movement, oil cylinder goes out hydraulic oil in oil pocket from another a port
Flow into the second hydraulic lock, then flow out to routine with carrying out the inlet port of two-way gear oil pump from another corresponding p port
Circulation fuel feeding.
4. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 1 and 2 it is characterised in that:
The structure of buffer oil tank includes: casing, and being provided with cabinets cavity can be along the piston of casing movement, and piston is by cabinets cavity
Be divided into two mutually disconnected chamber it may be assumed that shoe cream room and pushing tow chamber, the box body wall of shoe cream room offers and is connected with shoe cream room
Logical through hole, this through hole is the hydraulic fluid port of buffer oil tank, is provided with the goring push spring of energy ejector piston, pushing tow bullet in pushing tow chamber
The hydraulic oil in shoe cream room can be made after spring ejector piston to become the low-pressure hydraulic oil with pressure.
5. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 4 it is characterised in that: with work
Fill in and offer open-work on the relative box body wall in pushing tow chamber, open-work is equipped with a straight-bar, the inner of straight-bar and piston phase
Fixing, thus straight-bar can stretch with the movement of piston.
6. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 5 it is characterised in that: straight
Outside the casing on bar side, a scale parallel with straight-bar is set, along the axial also phase successively from inside to outside of scale on scale
Neighbour is provided with repairing and indicates section, normal work indicating section, high oil temperature sign section, and flexible with straight-bar, straight-bar outer end is in mark
Three segment marks that are projected on chi are shown and are moved in section, judge buffer oil tank by observing projected position on scale for the straight-bar outer end
The situation of middle hydraulic oil.
7. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 1 and 2 it is characterised in that:
The hydraulic fluid port of buffer oil tank is connected with two hydraulic fluid ports of two-way gear oil pump with speedup by two the first overflow valves respectively, two
First overflow valve can adjust the pressure of two oil ports of the two-way gear oil pump of speedup respectively；The hydraulic fluid port of buffer oil tank is also distinguished
It is connected with two hydraulic fluid ports of two-way gear oil pump with routine by two the second overflow valves, two the second overflow valves can be adjusted respectively
The pressure of conventional two oil ports with two-way gear oil pump of section.
8. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 1 and 2 it is characterised in that:
The pressure of buffer oil tank lower pressure hydraulic oil is not higher than 1mpa.
9. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 1 and 2 it is characterised in that:
Speedup with the ratio of two-way gear oil pump and the metered flow of the two-way gear oil pump of routine is: (1 ~ 6): 1.
10. double dynamical gear pump control type electrohydraulic linkage executive control system according to claim 1 and 2 it is characterised in that:
Manual pump module includes: manual plunger oil pump, 3-position 4-way o type hand-operated direction valve, the 3rd hydraulic lock, the 3rd overflow valve, manually
The inlet port of plunger-type fuel pump is connected with the hydraulic fluid port of buffer oil tank by oil pipe, the oil-out of manual plunger oil pump pass through oil pipe with
The p end of 3-position 4-way o type hand-operated direction valve is connected, and oil pipe and buffer oil tank are passed through in the t end of 3-position 4-way o type hand-operated direction valve
Hydraulic fluid port be connected, two p ends of oil pipe and the 3rd hydraulic lock are passed through at a end of 3-position 4-way o type hand-operated direction valve and b end respectively
One-to-one be connected, in the 3rd hydraulic lock, two a ports one-to-one with two p port pass through oil pipe and oil cylinder respectively
Two chambers are one-to-one to be connected, and the oil-out of manual plunger oil pump is connected with the oil-in of the 3rd overflow valve also by oil pipe
Logical, the oil-out of the 3rd overflow valve is connected with the hydraulic fluid port of buffer oil tank by oil pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620670091.4U CN205918968U (en) | 2016-06-30 | 2016-06-30 | Two power gear pump control formula electro -hydraulic linkage execution control systems |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620670091.4U CN205918968U (en) | 2016-06-30 | 2016-06-30 | Two power gear pump control formula electro -hydraulic linkage execution control systems |
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| CN205918968U true CN205918968U (en) | 2017-02-01 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105952946A (en) * | 2016-06-30 | 2016-09-21 | 张家港市艾罗执行器有限公司 | Two-motor gear-pump-control electro-hydraulic linkage actuating control system |
| CN108644183A (en) * | 2018-06-06 | 2018-10-12 | 中国石油化工股份有限公司 | A kind of pump control type electrohydraulic actuator system |
| CN109027395A (en) * | 2018-08-10 | 2018-12-18 | 江苏金陵自控技术有限公司 | The control system and adjustment type actuator of electro-hydraulic linkage |
-
2016
- 2016-06-30 CN CN201620670091.4U patent/CN205918968U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105952946A (en) * | 2016-06-30 | 2016-09-21 | 张家港市艾罗执行器有限公司 | Two-motor gear-pump-control electro-hydraulic linkage actuating control system |
| CN105952946B (en) * | 2016-06-30 | 2018-04-13 | 张家港市艾罗执行器有限公司 | Double dynamical gear pump control type electrohydraulic linkage executive control system |
| CN108644183A (en) * | 2018-06-06 | 2018-10-12 | 中国石油化工股份有限公司 | A kind of pump control type electrohydraulic actuator system |
| CN108644183B (en) * | 2018-06-06 | 2023-12-01 | 中国石油化工股份有限公司 | Pump control type electrohydraulic actuator system |
| CN109027395A (en) * | 2018-08-10 | 2018-12-18 | 江苏金陵自控技术有限公司 | The control system and adjustment type actuator of electro-hydraulic linkage |
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Granted publication date: 20170201 Effective date of abandoning: 20180413 |