EP2725241A1 - Verfahren und Vorrichtung zur Bestimmung des Füllstandes eines Volumens - Google Patents

Verfahren und Vorrichtung zur Bestimmung des Füllstandes eines Volumens Download PDF

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Publication number
EP2725241A1
EP2725241A1 EP13166634.9A EP13166634A EP2725241A1 EP 2725241 A1 EP2725241 A1 EP 2725241A1 EP 13166634 A EP13166634 A EP 13166634A EP 2725241 A1 EP2725241 A1 EP 2725241A1
Authority
EP
European Patent Office
Prior art keywords
fluid
volume
container
pressure
cylinder chamber
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13166634.9A
Other languages
German (de)
English (en)
French (fr)
Inventor
Dirk Becher
Lutz Bienemann
Steffen Klukas
Martin Schindelin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Moog GmbH
Original Assignee
Moog GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Moog GmbH filed Critical Moog GmbH
Priority to EP13166634.9A priority Critical patent/EP2725241A1/de
Priority to CN201310523063.0A priority patent/CN103790894A/zh
Publication of EP2725241A1 publication Critical patent/EP2725241A1/de
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/634—Electronic controllers using input signals representing a state of a valve

Definitions

  • the invention relates to a method for determining the current level of a volume or the position of the movable component of a fluidic actuator. Furthermore, the invention relates to a fluid power device.
  • the fluidic device may include volumes whose level is determined by the inventive method.
  • the fluid power device may be equipped with a fluidic actuator in which the position of a movable component of the actuator is determined by the inventive method.
  • a fluidic actuator can be both a hydraulic cylinder and a hydraulic motor with a stop.
  • the movable component is meant the component of the fluidic actuator which transmits the generated force or torque to the object to be moved. This is, for example, in a hydraulic cylinder of the cylinder piston or in a hydraulic gear motor, the shaft of a gear.
  • the position of the movable component is at translationally acting fluidic actuators by a linear dimension and rotatory fluidic actuators, such as.
  • a gear motor determined by an angle, in particular by the rotation angle of a shaft of a gear.
  • the stop of the hydraulic motor limits the range of motion of the movable component, d. H. that the position of the movable component can not exceed a maximum value.
  • a stop may be formed by a mechanical blockage or by a software signal. The stop can act directly on the movable component of the hydraulic motor or indirectly, for example, over the object to be moved.
  • the German patent application DE 100 24 009 A1 describes a method and apparatus for controlling the actuation of a hydraulic cylinder.
  • the process should overcome the problem that a hydraulic cylinder piston with large Speed hits a stroke end of the cylinder.
  • a position sensor senses the position of the hydraulic cylinder piston and generates a position signal.
  • An electronic control device receives an operator command signal, for example, at the travel speed of the hydraulic cylinder piston, and the position signal determines the actual velocity of the hydraulic cylinder piston and determines a limit value in response to the actual velocity of the hydraulic cylinder piston.
  • the controller compares the operator signal magnitude to the threshold and generates a flow control signal in response to the comparison.
  • An electro-hydraulic control device receives the flow control signal and responsively controls the movement of the hydraulic cylinder piston.
  • Fluid technology actuators are used in drive technology u.a. used speed and pressure controlled. If a fluidic actuator is to be controlled in both ways, it is necessary to switch between the two operating modes. At the changeover point, the setpoints of the two control loops must be matched to each other in order to ensure a smooth switchover. This requires a position and a pressure sensor. Based on the sensor signals, a switching point can be defined.
  • the object of the invention is to provide a method for determining the current level of a container or the current position of the movable component of a fluid power actuator, without using signals of a position sensor. It is another object of the invention to provide a fluid power system, wherein the level of the container or the position of the movable component of a fluidic actuator is determined by the inventive method.
  • this object is achieved by a method having the features of independent claim 1.
  • Advantageous developments of the method will become apparent from the dependent claims 2-8.
  • the object is further achieved by a device according to claim 9.
  • Advantageous embodiments of the device will become apparent from the dependent claims 10-15.
  • the level is thus not measured directly but indirectly over measured physical quantities such as e.g. determines the pressure from which the level can be derived.
  • the term level is to be understood that there are two mutually delimitable sub-volumes within the container. These partial volumes may e.g. separated by a phase boundary (liquid fluid / gaseous fluid) or by a mechanical separator such as e.g. a cylinder piston to be separated.
  • the maximum value of the physical quantity could be the maximum volume of the container and the instantaneous value of the physical quantity could be the volume filled by the fluid within the container at a particular time.
  • the instantaneous value of the volume of the volume due to e.g.
  • liquid fluid within the container at this time filled volume or the position of the separator could be determined from the volume flow of the fluid into the container or from the container.
  • the volume flow of the fluid could be e.g. from the variables pressure of the fluid in the system, the pressure of the fluid before and / or behind the closure element, as well as from the position of the closure element are determined.
  • the present invention enables a determination of the level of a volume or the position of the movable component of a fluidic actuator actuated by a control valve with a closure element by means of an observable physical quantity which includes the position of the movable component.
  • the maximum value of the physical variable is determined.
  • the term "detect" includes both the direct or indirect measurement of the maximum value of the physical quantity and the assumption of a corresponding predetermined value, e.g. is stored in a data memory.
  • the instantaneous value of the physical quantity is determined in order to make a statement about the current fill level or the current position of the movable component from a comparison of the current value with the maximum value of the physical quantity.
  • the present invention enables a determination of the level or a shock-free switching between the speed and pressure-controlled operation of a fluidic actuator without a position sensor for determining the current position of the movable component must be available.
  • the fluidic actuator has at least one cylinder chamber and the physical quantity is the volume of the at least one cylinder chamber.
  • the instantaneous value of the volume of the at least one cylinder chamber is determined from the volume flow of the fluidic medium to the fluidic actuator, wherein the Volumetric flow of the fluidic medium to the fluidic actuator from the variables pressure of the fluidic medium in the system and pressure of the fluidic medium in the at least one cylinder chamber and the position of the closure element is determined.
  • the position of the closure element can be determined by means of a direct measurement.
  • the closure element is electrically activated, this can be, for example, the activation voltage.
  • the determination of the instantaneous volume of the at least one cylinder chamber takes place by integration of the volume flow. A once determined or predetermined maximum volume is used as a reference for the maximum cylinder stroke.
  • the signals used are standard on most systems. Thus, for example, the switching point between the speed and pressure control determined and a shock-free switching can be ensured without a position sensor that detects the position of the cylinder piston must be present.
  • This method is universal and can, for. B. be applied to cylinders of different sizes.
  • the once determined or predetermined maximum volume is used as a reference for the maximum cylinder stroke.
  • the volume determined during operation represents the current cylinder piston position.
  • the comparison of the two variables maximum volume and specific volume allows a statement about the current cylinder piston position.
  • the hydraulic capacity of an oil spring enclosed in a cylinder chamber can also be used as a physical variable, including the position of the cylinder piston.
  • the fluid power device has a not accessible from the outside or viewable container.
  • the level of the container with a fluid is via a control valve, containing a closure element, driven.
  • the fluid power device has an electronic control means, means for measuring physical quantities (G ph ) and a control program.
  • the control program includes an algorithm for determining the actual level of the fluid in the container from an observed physical quantity (G ph, best ), the observed physical quantity (G ph, best ) in the control program being calculated from the measured physical quantities (G ph ) becomes.
  • the control program thus operates the method described above.
  • Another embodiment of the fluidic device according to the invention has a fluidic actuator with a movable component, wherein the fluidic actuator is also controlled via a control valve, containing a closure element.
  • the fluid power device has an electronic control, means for measuring physical quantities and a control program.
  • the control program includes an algorithm for determining the current position of the moveable component from an observed physical quantity that includes the position of the moveable component, wherein the observed physical variable in the control program is calculated from the measured physical quantities.
  • the fluidic actuator has at least one cylinder chamber and the observed physical variable is the volume of the at least one cylinder chamber.
  • the means for observing physical variables may include a sensor for measuring the pressure of the fluidic medium in the system, a sensor for measuring the pressure of the fluidic medium in the at least one cylinder chamber and / or a sensor for determining the position of the closure element. If the position of the closure element is determined indirectly, the means for observing physical quantities may also comprise means for determining these indirect variables, for example a means for determining the drive voltage in the case of electrical activation of the closure element.
  • the algorithm for monitoring the volumes can be implemented, for example, as a part of the software in the valve electronics or in a higher-level controller.
  • This invention allows to build a level or position or velocity loop without a directly measured fill level or position signal being available. Should a level sensor or position sensor still be present, the described method can be used for diagnostic purposes. The procedure can also be used to implement an emergency running strategy. The method can be implemented not only with a cylinder chamber volume or the hydraulic capacity of an enclosed oil spring, but with any physical quantity including the position of the movable component.
  • Fig. 1 shows a block diagram of a fluid power device according to the invention 1.
  • the container in the form of a container 15 has a volume that can not be viewed from the outside.
  • the volume can be filled at least partially with the aid of a pump with a fluid, so that the volume has a certain level V r .
  • the term level is to be understood that there are two mutually delimitable sub-volumes within the container. These partial volumes can be separated from one another, for example, by a phase boundary (liquid fluid / gaseous fluid) or else by one mechanical separator such as a cylinder piston 11, the in Fig. 2 will be described in more detail.
  • one or two compressible fluids such as gases may be present in the subvolume (pneumatics), or one or two incompressible fluids such as hydraulic oils may be present which are separated by the separator.
  • one or two compressible fluids such as gases may be present in the subvolume (pneumatics), or one or two incompressible fluids such as hydraulic oils may be present which are separated by the separator.
  • the in Fig. 1 described embodiment is located in a first sub-volume 16, a hydraulic oil and in a second sub-volume 17, a gas such as air.
  • the container 15 also has no means for direct detection of the level V r or alternatively for determining the position of the phase boundary, so that the level V r can not be measured directly.
  • the container 15 is controlled via a control valve 20 which has a closure element 21.
  • a control valve 20 which has a closure element 21.
  • the control valve 20 has a means 44 for measuring the position y VK of the closure element 21.
  • This means 44 may be, for example, an inductive displacement transducer.
  • all other suitable means 44 for measuring the position y VK of the closure element 21, which also need not necessarily be connected to the control valve 20, are encompassed by the invention.
  • the working ports A, B of the valve are connected to the first sub-volume 16 and the second sub-volume 17.
  • the working ports S and T are connected to a hydraulic pump 25 and to the return line, respectively.
  • means 42,43 for measuring the pressure of the respective fluids p 12 , p 13 are provided. These may be, for example, pressure gauges which output a voltage proportional to the respective measured pressure p 12 , p 13 .
  • these means 42, 43 can also have other embodiments and can also be located elsewhere, as long as they are suitable for measuring the pressure of the fluids p 12 , p 13 in the respective sub-volume 16, 17.
  • the measurement of the pressure p 13 and the pressure p T described below is optional in this embodiment.
  • the device has a means 41 for measuring the pressure of, for example, hydraulic oil p S between the control valve 20 and the hydraulic pump 25, which may also be, for example, a pressure gauge that outputs a proportional to the respective measured pressure p S electrical voltage
  • the device comprises a means 46 for measuring the pressure of, for example, hydraulic oil p T between the control valve 20 and the tank, which may also be, for example, a pressure gauge which outputs an electrical signal proportional to the respective measured pressure p T.
  • the measured values p 12 , p 13 , p s , p T , y VK are fed to an electronic control means 30, the value p 13 and p T in this case being merely optional.
  • the instantaneous value of the first subvolume 16 W 12, akt is determined.
  • the volume flow Q A flowed into the first partial volume 16 is determined, K 1 designating the flow factor or the flow coefficient of the control valve 20 from S to A, and p denotes the density of the fluid (hydraulic oil). It is a measure of the achievable throughput of a liquid or gas through the control valve for the path S to A. If the specific volume flow Q A is integrated over the time in which the hydraulic oil flows into the container 15, a statement about the in the container 15 flowed volume W 12, akt recovered. In the case of a fluid flowing out of the partial volume 16, the term (p s -p 12 ) under the root in equation (1) is replaced by the term (p 12 -p T ).
  • the currently determined volume W 12, akt is set in relation to the maximum volume W 12, max in a second arithmetic unit 32, whereby the normalized volume is obtained.
  • the corresponding maximum volume W 12, max could be specified as a constant if the design data of the container 15 were known. However, the corresponding maximum volume W 12, max could also be determined during a reference run as described above, if the design data of the container 15 are not known a priori, for example. Apart from the internal leakage of the container 15, the course of a normalized volume corresponds to the filling level Vr.
  • the electronic control means 30 may also have only one calculating unit 31, 32 for the determination.
  • the electronic control means 30 may also consist of an integrated valve electronics.
  • the determination of the inflowing from the second partial volume volume W 13, akt then takes place again over time integration of the volume flow Q B over the duration of the outflow.
  • V W 12
  • W 13 W 13
  • the second pressure line 3 could also be omitted.
  • the container would then be eg an accumulator whose level can be determined, for example, with a hydraulic oil by means of Equation 1.
  • the pressure p 12 is a function of time can be. This time dependence is at the To consider integration.
  • Fig. 2 shows a block diagram of a hydraulic device 100 according to the invention.
  • the container is a fluidic actuator 10 in the form of a hydraulic cylinder and has in its interior a movable component 11 in the form of a cylinder piston. Furthermore, located on one side of the cylinder piston 11, a first cylinder chamber 12, while on the opposite side of the cylinder piston 11, a second cylinder chamber 13 is located.
  • the cylinder piston 11 is located at a real position x r .
  • the hydraulic cylinder 10 has no means for direct detection of this position x r , so that the position x r of the cylinder piston 11 can not be measured directly.
  • the hydraulic cylinder 10 is controlled via a control valve 20, which has a closure element 21.
  • a control valve 20 which has a closure element 21.
  • the Control valve 20 has a means 44 for measuring the position y VK of the closure element 21.
  • This means 44 may be, for example, an inductive displacement transducer.
  • all other suitable means 44 for measuring the position y VK of the closure element 21, which also need not necessarily be connected to the control valve 20, are encompassed by the invention.
  • the working ports A, B of the valve are connected to the first cylinder chamber 12 and the second cylinder chamber 13, respectively.
  • 3 means 42, 43 for measuring the pressure of the hydraulic medium p 12 , p 13 are provided in the respective pressure lines 2, 3 means 42, 43 for measuring the pressure of the hydraulic medium p 12 , p 13 are provided.
  • the apparatus may be, for example, pressure gauges which output proportional electrical signals to the respective measured pressure p 12 , p 13 .
  • these means 42, 43 may also have other embodiments and be located elsewhere as long as they are suitable to measure the pressure of the hydraulic medium p 12 , p 13 in the respective cylinder chamber 12, 13.
  • the device has a means 41 for measuring the pressure of the hydraulic medium p s in the system, which may also be, for example, a pressure gauge which outputs a voltage proportional to the respective measured pressure p s .
  • the apparatus includes a means 46 for measuring the pressure of for example hydraulic oil p T in the return line of the control valve 20 and the tank, which may for example be a pressure gauge also comprising a measured at the respective pressure p T proportional electrical signal outputs.
  • the measured values p 12 , p 13 , p s , p T , y VK are fed to an electronic control means 30.
  • the instantaneous values of the volumes W 12 , akt , W 13, akt of the first cylinder chamber 12 and second cylinder chamber 13 are determined.
  • the volume flows which have flowed into the cylinder chambers 12, 13 are first determined, which is known via the throttle cross section of the control edge of the closure element 21, which is known as a function of the stroke of the closure element 21, and the measured pressure drop across the control edge as the difference between the measured pressures of the hydraulic medium (p 12 , p 13 p S and p T ) between two times is possible. If the specific volume flows integrated over time, a statement about the flowed into the cylinder chamber volumes W 12, akt , W 13, akt obtained.
  • the currently determined volumes W 12, akt , W 13, akt are set in relation to the maximum volumes W 12, max , W 13, max in a second arithmetic unit 32, whereby the standardized volumes are obtained.
  • the corresponding maximum volumes W 12, max , W 13, max can be specified as constants, if the structural data of the hydraulic cylinder 10 are known. But the corresponding maximum volumes W 12, max, W 13, max can also during homing be determined as described above, when the design data of the hydraulic cylinder 10 are not a priori known, for example.
  • the course of a normalized volume corresponds to the normalized position Pos norm of the cylinder piston 11 during extension or retraction.
  • the volume W 13, max can be reset during extension and the volume W 12, max can be reset during retraction.
  • a first arithmetic unit 31 and a second arithmetic unit 32 drawn, wherein in the first arithmetic unit 31, the determination of the instantaneous values of the volumes W 12, act , W 13, act akt , while in the second arithmetic unit 32, the determination of the position x c of the cylinder piston 11 ,
  • the electronic control means 30 may also have only one calculating unit 31, 32 for both determinations.
  • the electronic control means 30 may also consist of an integrated valve electronics.
  • Fig. 3 shows the simulated waveforms of the real position x r of a cylindrical piston 11 (solid line) and the determined position x c of a cylinder piston 11 (dashed line) during extension. These are shown normalized. The specific course has with the increasing position x c an increasing deviation from the real position x r . This deviation may be due to an internal leakage of the hydraulic cylinder 10, for example. If the hydraulic cylinder 10 is assumed to be leak-free, the two curves are congruent.
  • the position x c of a cylinder piston 11 in a hydraulic cylinder 10 without a position sensor can be observed by means of the determined volume W 12, akt , W 13, act of a cylinder chamber 12, 13.
  • the method of determining the position can be implemented not only with volumes W 12, akt , W 13, act of the cylinder chambers 12, 13, but with any physical quantity G ph, best , which includes the position of the cylinder piston, such as the hydraulic capacity of a in a cylinder chambers 12, 13 enclosed oil spring or a similar size G ph, best .

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
EP13166634.9A 2012-10-29 2013-05-06 Verfahren und Vorrichtung zur Bestimmung des Füllstandes eines Volumens Withdrawn EP2725241A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP13166634.9A EP2725241A1 (de) 2012-10-29 2013-05-06 Verfahren und Vorrichtung zur Bestimmung des Füllstandes eines Volumens
CN201310523063.0A CN103790894A (zh) 2012-10-29 2013-10-29 容积加注位的确定

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP12190334 2012-10-29
EP13166634.9A EP2725241A1 (de) 2012-10-29 2013-05-06 Verfahren und Vorrichtung zur Bestimmung des Füllstandes eines Volumens

Publications (1)

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EP2725241A1 true EP2725241A1 (de) 2014-04-30

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EP13166634.9A Withdrawn EP2725241A1 (de) 2012-10-29 2013-05-06 Verfahren und Vorrichtung zur Bestimmung des Füllstandes eines Volumens

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EP (1) EP2725241A1 (zh)
CN (1) CN103790894A (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018120000A1 (de) * 2018-08-16 2020-02-20 Moog Gmbh Elektrohydrostatisches Aktuatorsystem mit Nachsaugbehälter
JP6962944B2 (ja) * 2019-01-08 2021-11-05 Ckd株式会社 流体圧アクチュエータの動作量検出装置
CN114658725B (zh) * 2022-05-19 2022-08-02 江苏力速达液压有限公司 一种用于液压缸制造的容积检测装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10024009A1 (de) 1999-05-17 2001-01-04 Caterpillar Inc Verfahren und Vorrichtung zur Steuerung der Betätigung eines Hydraulikzylinders
US20080163750A1 (en) * 2007-01-05 2008-07-10 Qinghui Yuan System and method for controlling actuator position
DE102011012714A1 (de) * 2010-04-02 2011-10-06 Engel Austria Gmbh Hydraulische Antriebseinheit für Spritzgießmaschine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10024009A1 (de) 1999-05-17 2001-01-04 Caterpillar Inc Verfahren und Vorrichtung zur Steuerung der Betätigung eines Hydraulikzylinders
US20080163750A1 (en) * 2007-01-05 2008-07-10 Qinghui Yuan System and method for controlling actuator position
DE102011012714A1 (de) * 2010-04-02 2011-10-06 Engel Austria Gmbh Hydraulische Antriebseinheit für Spritzgießmaschine

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