CN211506233U - Cylinder closed-loop control device and system - Google Patents
Cylinder closed-loop control device and system Download PDFInfo
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- CN211506233U CN211506233U CN202020543278.4U CN202020543278U CN211506233U CN 211506233 U CN211506233 U CN 211506233U CN 202020543278 U CN202020543278 U CN 202020543278U CN 211506233 U CN211506233 U CN 211506233U
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Abstract
The utility model discloses a cylinder closed-loop control device and a system, which comprises at least one laser ranging sensor, a control circuit, an airflow controller and a movable substrate; the movable substrate is arranged at the output end of the cylinder; the cylinder drives the movable substrate to move; the laser ranging sensor is used for emitting laser signals, receiving and processing the laser signals reflected by the reflecting surface of the movable substrate and outputting ranging signals; the control circuit is respectively and electrically connected with the laser ranging sensor and the airflow controller; the control circuit is used for receiving the ranging signal and outputting an airflow control signal to the airflow controller according to a comparison result of the ranging signal and a preset signal; the air flow controller is arranged on a gas pipeline between an air inlet of the air cylinder and the gas source; the gas flow controller is used for controlling the gas flow provided by the gas source to the gas inlet of the cylinder according to the gas flow control signal. The embodiment of the utility model provides a can realize controlling the cylinder accurately and reliably.
Description
Technical Field
The embodiment of the utility model provides a relate to pneumatic control technical field, especially relate to a cylinder closed-loop control device and system.
Background
With the development of intelligent technology, the pneumatic control technology is widely applied to the intelligent field of robots and the like, for example, the pneumatic cylinder is adopted to control the limbs of the robot, so that the robot can realize the limb actions. The prior art pneumatic control technology is generally an open-loop control mode, that is, when a gas source control enters a cylinder, the cylinder drives a corresponding load to move in a forward direction or a reverse direction.
However, the existing open-loop control method can only control the motion direction of the load driven by the cylinder, but cannot control the displacement of the load driven by the cylinder, so that the precise action of pneumatic control cannot be realized, and the reliability of the control method is low.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the utility model provides a cylinder closed-loop control device and system to improve pneumatic control's reliability, make pneumatic control load can accurate action.
In a first aspect, an embodiment of the present invention provides a cylinder closed-loop control device, including: the device comprises at least one laser ranging sensor, a control circuit, an airflow controller and a moving substrate;
the movable substrate is arranged at the output end of the air cylinder; the cylinder drives the movable substrate to move;
the laser ranging sensor is used for emitting laser signals, receiving and processing the laser signals reflected by the reflecting surface of the movable substrate and outputting ranging signals;
the control circuit is electrically connected with the laser ranging sensor and the airflow controller respectively; the control circuit is used for receiving a ranging signal and outputting an airflow control signal to the airflow controller according to a comparison result of the ranging signal and a preset signal;
the air flow controller is arranged on an air pipeline between an air inlet of the air cylinder and an air source; the gas flow controller is used for controlling the gas flow provided by the gas source to the gas inlet of the cylinder according to the gas flow control signal.
Optionally, a reflecting plate is disposed on the reflecting surface of the moving substrate;
the laser ranging sensor transmits a laser signal to the movable substrate, and the laser signal is reflected by the reflector.
Optionally, the cylinder closed-loop control device further includes: a sensor holder;
the sensor support supports the laser ranging sensor, and is located on the sensor support, a laser signal emitting surface of the laser ranging sensor is opposite to a reflecting surface of the movable substrate.
Optionally, the cylinder closed-loop control device includes two laser ranging sensors, and is arranged in two on the sensor support the optical axes of the laser ranging sensors are parallel to each other.
Optionally, the control circuit includes a processor, a laser driving detection circuit, an airflow driving circuit, and a power supply circuit;
the processor is respectively electrically connected with the laser drive detection circuit, the airflow drive circuit and the power supply circuit; the processor outputs a driving signal to the laser ranging sensor through the laser driving detection circuit, receives a ranging signal output by the laser ranging sensor through the laser driving detection circuit, and outputs a driving signal to the airflow controller through the airflow driving circuit;
the power supply circuit is also electrically connected with the laser drive detection circuit and the airflow drive circuit respectively; the power supply circuit is used for providing power supplies for the processor, the laser driving detection circuit and the airflow driving circuit respectively.
Optionally, the airflow driving circuit comprises a transistor.
Optionally, the control circuit further includes a communication circuit;
the communication circuit is used for connecting the processor and the upper computer.
Optionally, the air inlet of the cylinder comprises a first direction air inlet and a second direction air inlet;
the air cylinder is controlled by the air entering through the first-direction air inlet to drive the movable substrate to move towards a first direction, and the air cylinder is controlled by the air entering through the second-direction air inlet to drive the movable substrate to move towards a second direction; wherein the first direction is different from the second direction;
the air flow controller comprises a first proportional solenoid valve and a second proportional solenoid valve; the first proportional solenoid valve is arranged between the first direction air inlet and the gas source, and the second proportional solenoid valve is arranged between the second direction air inlet and the gas source.
Optionally, the air inlet of the cylinder comprises a first direction air inlet and a second direction air inlet;
the air cylinder is controlled by the air entering through the first-direction air inlet to drive the movable substrate to move towards a first direction, and the air cylinder is controlled by the air entering through the second-direction air inlet to drive the movable substrate to move towards a second direction; wherein the first direction is different from the second direction;
the air flow controller comprises a double-control proportional electromagnetic valve; the double-control proportional electromagnetic valve respectively controls the gas flow provided by the gas source to the first-direction gas inlet and the gas flow provided by the gas source to the second-direction gas inlet.
In a second aspect, the embodiment of the present invention further provides a cylinder closed-loop control system, including: gas source and the cylinder closed-loop control device.
The utility model provides a cylinder closed-loop control device and system, through setting up the removal base plate in the output of cylinder, adopt laser ranging sensor to send laser signal to accept the laser signal that the removal base plate reflects, in order to output corresponding range finding signal to control circuit; the control circuit outputs a corresponding air flow control signal to the air flow controller according to the comparison result of the ranging signal and the preset information; this airflow controller can be according to the size of the gas flow of air flow control signal control input to the cylinder air inlet to make the cylinder can move to corresponding position under the control of the gas of corresponding gas flow, thereby can improve the reliability of cylinder, make the load that this cylinder drove realize accurate action.
Drawings
Fig. 1 is a schematic structural diagram of a cylinder closed-loop control device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another cylinder closed-loop control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another cylinder closed-loop control device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control circuit according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a laser driving detection circuit according to an embodiment of the present invention;
fig. 6 is a circuit diagram of an airflow driving circuit according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a cylinder closed-loop control device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. The features of the embodiments and examples of the invention may be combined with each other without conflict.
The embodiment of the utility model provides a cylinder closed-loop control device, this cylinder closed-loop control device can control the motion of cylinder. Fig. 1 is a schematic structural diagram of a cylinder closed-loop control device provided by an embodiment of the present invention. As shown in fig. 1, the cylinder closed-loop control apparatus 100 includes at least one laser ranging sensor 10, a control circuit 20, an air flow controller 30, and a moving substrate 40. Wherein, the movable substrate 40 is arranged at the output end of the cylinder 50; the cylinder 50 drives the movable substrate 40 to move; the laser ranging sensor 10 is used for emitting a laser signal, receiving and processing the laser signal reflected by the reflecting surface 401 of the movable substrate 40, and outputting a ranging signal; the control circuit 20 is electrically connected with the laser ranging sensor 10 and the air flow controller 30 respectively; the control circuit 20 is configured to receive a ranging signal output by the laser ranging sensor 10, and output an airflow control signal to the airflow controller 30 according to a comparison result between the ranging signal and a preset signal; the gas flow controller 30 is disposed on the gas line 70 between the gas inlet 510 of the gas cylinder 50 and the gas source 60; the gas flow controller is used for controlling the gas flow provided by the gas source 60 to the gas inlet 510 of the cylinder 50 according to the gas flow control signal output by the control circuit 20.
Specifically, the air cylinder 50 can drive the load at the output end of the air cylinder to reciprocate under the action of air pressure, and the output end of the air cylinder 50 is provided with the movable substrate 40, so that a laser signal emitted by the laser ranging sensor 10 can be emitted onto the movable substrate 40, and the movable substrate 40 can reflect the laser signal emitted onto the reflecting surface 401 of the movable substrate back to the laser ranging sensor 10; at this time, the laser distance measuring sensor 10 can obtain the distance between the moving substrate 40 and the laser distance measuring sensor 10 by detecting the time required for transmitting the laser signal and receiving the laser signal reflected by the moving substrate. Because the movable substrate 40 is disposed at the output end of the cylinder 50, the distance between the movable substrate 40 and the laser ranging sensor 10 can obtain the displacement of the piston in the cylinder 50 and the load driven by the cylinder 50, that is, the ranging signal output by the laser ranging sensor 10 can be a signal indicating the displacement of the cylinder 50. When the control circuit 20 receives the ranging signal sent by the laser ranging sensor 10, the control circuit 20 compares the ranging signal with a preset signal indicating a preset displacement of the cylinder 50 or a load driven by the cylinder 50 to obtain a difference between the current displacement and the preset displacement, and outputs an airflow control signal to the airflow controller 30 according to a comparison result between the ranging signal and the preset signal; the gas flow controller 30 can control the flow of gas through the gas line 70 to the gas inlet 510 of the cylinder 50 according to the gas flow control signal to control the cylinder 50 to accelerate, decelerate, or remain stable, etc.
Because the moving distance of the piston in the cylinder 50 is related to the magnitude of the gas flow, and the moving distance of the piston in the cylinder 50 corresponds to the moving distance of the load driven by the cylinder 50, the distance of the moving substrate 40 arranged at the output end of the cylinder 50 is detected in real time by the laser ranging sensor 10, the current displacement of the cylinder 50 is fed back in real time, and the gas flow of the gas for controlling the displacement of the cylinder 50 is output according to the comparison result of the current displacement and the preset displacement, for example, the gas flow can represent the gas pressure value of the gas, so that the cylinder 50 drives the corresponding load to move directionally and quantitatively, thereby improving the control reliability of the cylinder 50 and realizing accurate action of the load driven by the cylinder 50. The gas flow controller 30 may be, for example, a proportional solenoid valve, and the gas pressure value of the gas may be adjusted by the opening size of the proportional solenoid valve, so that the cylinder 50 realizes the processes of acceleration, stabilization, deceleration, and the like.
It should be noted that fig. 1 is only an exemplary drawing of an embodiment of the present invention, and fig. 1 only illustrates an exemplary laser distance measuring sensor; and the utility model discloses can include at least one laser rangefinder sensor among the cylinder closed-loop control device, promptly the utility model discloses can include a laser rangefinder sensor, two laser rangefinder sensors or a plurality of laser rangefinder sensor among the cylinder closed-loop control device, the embodiment of the utility model provides a do not specifically inject to this.
Optionally, fig. 2 is a schematic structural diagram of another cylinder closed-loop control device provided in the embodiment of the present invention. As shown in fig. 2, in addition to the above-described embodiment, the reflective surface 401 of the movable substrate 40 of the cylinder closed-loop control device 100 is provided with the reflective plate 41. The laser signal emitted by the laser ranging sensor 10 to the movable substrate 40 can be reflected by the reflector 41, and the reflector 41 can improve the intensity, stability and reliability of the reflected laser signal.
Optionally, the cylinder closed-loop control device may further include a sensor bracket; this sensor support can support laser rangefinder sensor, and the laser signal emitting face that is located the laser rangefinder sensor on the sensor support sets up with the plane of reflection of removing the base plate relatively to the laser signal who makes laser rangefinder sensor send can the rectilinear propagation to removing the base plate, and returns by the laser signal straight line that removes the base plate reflection, is convenient for carry out the visual reflection to the distance of removing the base plate, thereby simplifies the processing procedure, raises the efficiency.
Optionally, fig. 3 is a schematic structural diagram of another cylinder closed-loop control device provided in the embodiment of the present invention. As shown in fig. 3, two laser ranging sensors (11 and 12) may be included in the cylinder closed-loop control device 100, the two laser ranging sensors (11 and 12) may be disposed on the same sensor support 80, and optical axes of the two laser ranging sensors (11 and 12) are parallel to each other, so that laser signals emitted from the two laser ranging sensors 11 and 12 can be directly transmitted to the moving substrate 40. Meanwhile, by adopting the two laser ranging sensors 11 and 12, when the sensitivity of one of the two laser ranging sensors 11 and 12 is reduced or a fault occurs, the other laser ranging sensor can be continuously adopted for real-time detection, so that the reliability of the cylinder closed-loop control device 100 is further improved.
Optionally, fig. 4 is a schematic structural diagram of a control circuit according to an embodiment of the present invention. As shown in connection with fig. 1 and 4, the control circuit 20 may include a processor 21, a laser drive detection circuit 22, an airflow drive circuit 23, and a power supply circuit 24. The processor 21 is electrically connected with the laser driving detection circuit 22, the airflow driving circuit 23 and the power supply circuit 24, respectively, the processor 21 receives the ranging signal output by the laser ranging sensor 10 through the laser driving detection circuit 22, outputs a driving signal to the laser ranging sensor 10 through the laser driving detection circuit 22, and outputs a driving signal to the airflow controller 30 through the airflow driving circuit 23; the power supply circuit 24 is also electrically connected to the laser driving detection circuit 22 and the airflow driving circuit 23, respectively, and the power supply circuit 24 provides power supply for the processor 21, the laser driving detection circuit 22 and the airflow driving circuit 23, respectively.
Specifically, the power supply circuit 24 may be, for example, a power supply circuit with a voltage stabilizing function, and the power supply circuit 24 can convert the power supply signal VCC into power supplies for the processor 21, the laser driving detection circuit 22, and the airflow driving circuit 23, respectively, so that the processor 21, the laser driving detection circuit 22, and the airflow driving circuit 23 can operate stably. In addition, the power supply circuit 24 can also provide power supplies for the laser ranging sensor 10 and the airflow controller 30, and the like, so that the laser ranging sensor 10 and the airflow controller 30 can both operate stably. In addition, the control circuit 20 may further include a communication circuit 25 connected to the processor 21 and an upper computer (not shown in the figure), which may be, for example, an industrial personal computer; the signals received and processed by the processor 21 CAN be transmitted to the industrial personal computer through the communication circuit 25, and the control signals sent by the industrial personal computer CAN also be transmitted to the processor 21 through the communication circuit 25, and the communication circuit 25 CAN comprise a CAN bus driver and a CAN bus, for example. The processor 21 can ensure the accuracy of signal transmission through a corresponding control algorithm, a distance data filtering algorithm, a curve acceleration and deceleration algorithm, a PID algorithm, and the like, so that the entire cylinder closed-loop control device 100 can respond accurately at a high speed.
Wherein, the ranging signal output by the laser ranging sensor 10 can be transmitted to the signal processor 21 through the laser driving detection circuit 22; meanwhile, the signal processor 21 can also transmit a driving signal for driving the laser ranging sensor 10 to perform ranging to the laser ranging sensor 10 through the laser driving detection circuit 22. Exemplarily, fig. 5 is a schematic structural diagram of a laser driving detection circuit provided in an embodiment of the present invention. The laser drive detection circuit 22 may include a bus for transmitting signals, which may be, for example, a CAN bus or an RS485 bus; and the buses on which the processor 21 receives signals and transmits signals may be the same bus or different buses. When the bus on which the signal processor 21 receives the signal is different from the bus on which the signal is sent, the laser driving detection circuit 22 may further include a signal isolator 221 and resistors R7 and R8; the resistors R7 and R8 can pull up the power supplied to the bus to the power supply VDD of the bus, so as to provide a reliable high-level power supply signal for the bus, so that devices connected to the bus can operate stably; a signal isolator 221 is disposed in the bus between the processor 21 and the laser ranging sensor 10, and the signal isolator 221 can isolate signals transmitted on the bus so that the signals are directionally transmitted on the bus.
Accordingly, with continued reference to fig. 1 and 4, airflow driver circuit 23 may include a transistor, and the airflow control signal sent by processor 21 may control the turn-on or turn-off of the transistor, as well as the magnitude of the on-current in the transistor; the gas flow controller 30 may be, for example, a proportional solenoid valve, the opening degree of the valve of which is equal to the conducting current in the transistor, so that the gas flow controller 30 is controlled by controlling the transistor to be turned on, turned off and the conducting current, and the gas flow of the gas flowing in the gas pipeline 70 arranged between the gas source 60 and the cylinder 50 is controlled by the gas flow controller 30.
For example, fig. 6 is a circuit diagram of an airflow driving current provided by an embodiment of the present invention. As shown in fig. 6, the airflow driving circuit 23 may include a transistor Q1 and a driving circuit that drives the transistor Q1, and the driving circuit may include, for example, voltage dividing and current limiting resistors R1, R2, R3, R4, and R5, an RC circuit (C1 and R6) having a filtering function, and transistors Q2 and Q3 that function as switches; the transistor Q2 may be an NPN type transistor, and the transistor Q3 may be a PNP type transistor; the input power supplies VDD1, VDD2, and VDD3 may be the same or different, and embodiments of the present invention are not limited to this.
Optionally, fig. 7 is a schematic structural diagram of a cylinder closed-loop control device according to an embodiment of the present invention. As shown in fig. 7, the cylinder 50 may include two intake ports, i.e., a first direction intake port 511 and a second direction intake port 512; the gas control cylinder 50 entering through the first direction gas inlet 511 drives the moving substrate 40 to move towards the first direction, and the gas control cylinder 50 entering through the second direction gas inlet 512 drives the moving substrate to move towards the second direction; wherein the first direction is different from the second direction; accordingly, the air flow controller may include a first proportional solenoid valve 31 and a second proportional solenoid valve 32; the first proportional solenoid valve 31 is disposed between the first direction inlet 511 and the gas source 60, and the second proportional solenoid valve 32 is disposed between the second direction inlet 512 and the gas source 60.
For example, the cylinder 50 may be a straight cylinder, the first direction may be a direction of forward movement of a piston in the cylinder 50, and the second direction may be a direction of reverse movement of the piston in the cylinder 50. In this way, the flow of the gas transmitted to the first direction inlet 511 is controlled by the first proportional solenoid valve 31, so as to achieve the purpose of controlling the forward movement of the cylinder 50; the flow of gas to the second directional inlet 512 is controlled by the second proportional solenoid 32 to control the reverse motion of the cylinder 50.
Accordingly, when the control circuit 20 includes the airflow driving circuits, the number of the airflow driving circuits corresponds to the number of the intake ports of the air cylinder 50 one-to-one, so that the flow rates of the airflows transmitted to the different intake ports of the air cylinder 50 can be controlled respectively, thereby controlling the forward and reverse movements of the air cylinder 50 respectively.
In addition, optionally, when the cylinder includes two air inlets for controlling the piston in the cylinder to move in different directions, that is, a first-direction air inlet and a second-direction air inlet, the air flow controller may also include a double-control proportional solenoid valve. Two control valves in the double-control proportional electromagnetic valve can respectively control the gas flow provided by the gas source to the first-direction gas inlet and the gas flow provided by the second-direction gas inlet.
The embodiment of the utility model provides a still provide a cylinder closed-loop control system, this cylinder closed-loop control system can include the gas source with the embodiment of the utility model provides a cylinder closed-loop control device. In addition, the cylinder may also be part of a cylinder closed-loop control device, and when the cylinder closed-loop control device includes a cylinder, the cylinder closed-loop control system also includes a cylinder.
It is required to explain, because the embodiment of the utility model provides a cylinder closed-loop control system includes the utility model provides a cylinder closed-loop control device, consequently this cylinder closed-loop control system possesses equally the embodiment of the utility model provides a cylinder closed-loop control device's beneficial effect, the same part can refer to the embodiment of the utility model provides a description to cylinder closed-loop control device is no longer repeated here.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A cylinder closed-loop control apparatus, comprising: the device comprises at least one laser ranging sensor, a control circuit, an airflow controller and a moving substrate;
the movable substrate is arranged at the output end of the air cylinder; the cylinder drives the movable substrate to move;
the laser ranging sensor is used for emitting laser signals, receiving and processing the laser signals reflected by the reflecting surface of the movable substrate and outputting ranging signals;
the control circuit is electrically connected with the laser ranging sensor and the airflow controller respectively; the control circuit is used for receiving a ranging signal and outputting an airflow control signal to the airflow controller according to a comparison result of the ranging signal and a preset signal;
the air flow controller is arranged on an air pipeline between an air inlet of the air cylinder and an air source; the gas flow controller is used for controlling the gas flow provided by the gas source to the gas inlet of the cylinder according to the gas flow control signal.
2. The closed-loop control device for the cylinder according to claim 1, wherein the reflecting surface of the moving substrate is provided with a reflecting plate;
the laser ranging sensor transmits a laser signal to the movable substrate, and the laser signal is reflected by the reflector.
3. The closed-loop control device for a cylinder as set forth in claim 1, further comprising: a sensor holder;
the sensor support supports the laser ranging sensor, and is located on the sensor support, a laser signal emitting surface of the laser ranging sensor is opposite to a reflecting surface of the movable substrate.
4. The cylinder closed-loop control device of claim 3, characterized by comprising two laser ranging sensors, and the optical axes of the two laser ranging sensors arranged on the sensor bracket are parallel to each other.
5. The cylinder closed-loop control device of claim 1, wherein the control circuit comprises a processor, a laser drive detection circuit, an airflow drive circuit, and a power supply circuit;
the processor is respectively electrically connected with the laser drive detection circuit, the airflow drive circuit and the power supply circuit; the processor outputs a driving signal to the laser ranging sensor through the laser driving detection circuit, receives a ranging signal output by the laser ranging sensor through the laser driving detection circuit, and outputs a driving signal to the airflow controller through the airflow driving circuit;
the power supply circuit is also electrically connected with the laser drive detection circuit and the airflow drive circuit respectively; the power supply circuit is used for providing power supplies for the processor, the laser driving detection circuit and the airflow driving circuit respectively.
6. The closed-loop control apparatus of a cylinder as set forth in claim 5 wherein said airflow driver circuit includes a transistor.
7. The cylinder closed-loop control device of claim 5, wherein the control circuit further comprises a communication circuit;
the communication circuit is used for connecting the processor and the upper computer.
8. The closed-loop cylinder control of claim 1 wherein said cylinder inlet ports comprise a first direction inlet port and a second direction inlet port;
the air cylinder is controlled by the air entering through the first-direction air inlet to drive the movable substrate to move towards a first direction, and the air cylinder is controlled by the air entering through the second-direction air inlet to drive the movable substrate to move towards a second direction; wherein the first direction is different from the second direction;
the air flow controller comprises a first proportional solenoid valve and a second proportional solenoid valve; the first proportional solenoid valve is arranged between the first direction air inlet and the gas source, and the second proportional solenoid valve is arranged between the second direction air inlet and the gas source.
9. The closed-loop cylinder control of claim 1 wherein said cylinder inlet ports comprise a first direction inlet port and a second direction inlet port;
the air cylinder is controlled by the air entering through the first-direction air inlet to drive the movable substrate to move towards a first direction, and the air cylinder is controlled by the air entering through the second-direction air inlet to drive the movable substrate to move towards a second direction; wherein the first direction is different from the second direction;
the air flow controller comprises a double-control proportional electromagnetic valve; the double-control proportional electromagnetic valve respectively controls the gas flow provided by the gas source to the first-direction gas inlet and the gas flow provided by the gas source to the second-direction gas inlet.
10. A cylinder closed-loop control system, comprising: a gas source and a cylinder closed loop control as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020543278.4U CN211506233U (en) | 2020-04-13 | 2020-04-13 | Cylinder closed-loop control device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020543278.4U CN211506233U (en) | 2020-04-13 | 2020-04-13 | Cylinder closed-loop control device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115419709A (en) * | 2022-09-23 | 2022-12-02 | 西安法士特汽车传动有限公司 | Gear engagement position detection system and method based on AMT (automated mechanical transmission) of pure electric commercial vehicle |
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2020
- 2020-04-13 CN CN202020543278.4U patent/CN211506233U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115419709A (en) * | 2022-09-23 | 2022-12-02 | 西安法士特汽车传动有限公司 | Gear engagement position detection system and method based on AMT (automated mechanical transmission) of pure electric commercial vehicle |
| CN115419709B (en) * | 2022-09-23 | 2023-08-08 | 西安法士特汽车传动有限公司 | Gear engaging position detection system and method based on AMT (automated mechanical transmission) of pure electric commercial vehicle |
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