WO2012126207A1 - 缓冲液压缸及其控制方法、工程机械 - Google Patents

缓冲液压缸及其控制方法、工程机械 Download PDF

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Publication number
WO2012126207A1
WO2012126207A1 PCT/CN2011/075660 CN2011075660W WO2012126207A1 WO 2012126207 A1 WO2012126207 A1 WO 2012126207A1 CN 2011075660 W CN2011075660 W CN 2011075660W WO 2012126207 A1 WO2012126207 A1 WO 2012126207A1
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WIPO (PCT)
Prior art keywords
buffer
cavity
hydraulic cylinder
chamber
pressure
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.)
Ceased
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PCT/CN2011/075660
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English (en)
French (fr)
Inventor
易小刚
刘永东
贺电
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.)
Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
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Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
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Application filed by Hunan Sany Intelligent Control Equipment Co Ltd, Sany Heavy Industry Co Ltd filed Critical Hunan Sany Intelligent Control Equipment Co Ltd
Priority to BR112013012985A priority Critical patent/BR112013012985A2/pt
Publication of WO2012126207A1 publication Critical patent/WO2012126207A1/zh
Anticipated expiration legal-status Critical
Ceased 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
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • F15B15/227—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having an auxiliary cushioning piston within the main piston or the cylinder end face

Definitions

  • the invention relates to the technical field of hydraulic cylinders, and in particular to a buffer hydraulic cylinder. Further, the present invention relates to a construction machine including the buffer hydraulic cylinder. Furthermore, the present invention further relates to a control method of the above buffer hydraulic cylinder. Background technique
  • the cylinder often uses a displacement sensor to detect whether the oil rainbow is in operation and thus controls its commutation.
  • the displacement sensor generally comprises a proximity switch and a detection block, which are respectively disposed on the cylinder tube and the piston rod.
  • the detection block enters the detection range of the proximity switch, and the proximity switch sends a position detection signal, and then The control unit issues an instruction to reverse the cylinder based on the detection signal.
  • the above position detecting signal is generally a magnetic signal or an optical signal, and the magnetic signal or optical signal is susceptible to external interference and has the disadvantage of low reliability.
  • the proximity switch cannot detect the detection block due to external interference, and the proximity switch cannot issue the position detection signal, so the control component cannot issue the reversing command, which leads to the piston of the cylinder. A severe impact with the cylinder tube caused damage to the cylinder.
  • the buffer hydraulic cylinder includes a cylinder barrel and a piston rod, and the piston rod is provided with a piston, and the piston separates the inner cavity of the cylinder tube into a rodless cavity and a rod cavity, and the A buffer device is provided in the rod cavity or the rod cavity, for example, the buffer device may be a buffer plunger, and the buffer plunger is moved when the piston moves to the end of the cylinder (that is, when the cylinder moves to near position)
  • the oil port corresponding to the rodless cavity is inserted, and the gap between the buffer plunger and the port wall of the port forms a throttle passage, and the buffer plunger, the piston and the cylinder form a buffer cavity.
  • the buffer chamber since the oil port is blocked by the buffer plunger, the buffer chamber communicates with the external oil passage only through the throttle passage, and thus the oil The cylinder is further compressed and the pressure in the buffer chamber suddenly increases.
  • the buffer plunger seal is inserted into the corresponding port of the rodless cavity, and the throttle passage is a separately opened throttle or orifice.
  • the position detection of the above-mentioned buffer hydraulic cylinder is also generally detected by an optical signal or a magnetic signal by a displacement sensor, and as described in the first paragraph above, there is also a disadvantage that reliability is not high.
  • the technical problem to be solved by the present invention is to provide a buffer hydraulic cylinder whose structure design can relatively reliably detect the position when the movement is in place or close to the position, thereby significantly improving the reliability of the work. Further, another technical problem to be solved by the present invention is to provide a construction machine including the buffer hydraulic cylinder. Furthermore, another technical problem to be solved by the present invention is to provide a control method for the above buffer hydraulic cylinder.
  • the present invention provides a buffer hydraulic cylinder including a cylinder barrel and a piston rod, wherein the piston rod is provided with a piston, and the piston separates the inner cavity of the cylinder barrel into a rodless cavity and a rod a chamber; at least one of the rodless chamber and the rod chamber is provided with a damping device such that the rod is formed in the rodless cavity when the piston is near the end of the cylinder a buffering cavity, the buffering cavity is connected to the external oil passage only through the throttle passage; the buffer hydraulic cylinder further includes a pressure measuring hole communicating with the buffering cavity, and the pressure measuring hole is connected a pressure detecting member that detects a pressure in the buffer chamber and emits a pressure detecting signal.
  • the buffer device comprises a spring seat and a spring
  • the spring seat is disposed on the piston rod, the spring is disposed between the spring seat and the piston;
  • the spring seat closes the oil port at the end cover to form the buffer cavity;
  • the side wall of the piston rod is axially linearly provided with at least one throttle groove gradually increasing in depth along the end cover, and at least one balance oil groove is circumferentially opened; the throttle channel For the throttle slot.
  • the buffer hydraulic cylinder further includes a control component, and the control component receives the pressure The force detection signal, and according to the signal, the cylinder reversing command is issued.
  • the buffer hydraulic cylinder further includes a control component, the control component receives the pressure detection signal, and determines whether the pressure of the buffer cavity is within a predetermined range of values;
  • control component issues an instruction to increase the oil intake amount of the rodless cavity or the rod cavity;
  • the control unit issues an instruction to reduce the amount of oil entering the rodless chamber or the rod chamber.
  • the buffer device is disposed in the rod cavity, and the rod cavity is formed with the buffer cavity;
  • the control component issues an instruction to increase the oil intake amount of the rodless cavity
  • the control unit issues an instruction to reduce the amount of oil entering the rodless chamber.
  • the buffer device is disposed in the rodless cavity, and the rodless cavity is formed with the buffer cavity;
  • control component issues an instruction to increase the oil intake amount of the rod cavity
  • the control unit issues an instruction to reduce the amount of oil entering the rod chamber.
  • the present invention also provides a construction machine comprising the buffer hydraulic cylinder according to any one of the above.
  • the present invention also provides a control method for a buffer hydraulic cylinder, comprising the following steps:
  • the buffer hydraulic cylinder provided by the present invention further comprises a pressure detecting component for detecting the pressure in the buffer chamber, and pressure detection is performed according to the sudden increasing pressure of the buffer cavity. signal.
  • the buffer cylinder When the buffer cylinder is running close to the position, the buffer cylinder enters The buffer zone, at this time, forms a buffer cavity in the rodless cavity or the rod cavity of the buffer hydraulic cylinder, and the buffer cavity communicates with the external oil passage only through the throttle passage, and thus the buffer hydraulic cylinder
  • the pressure in the buffer chamber suddenly increases, and the pressure detecting component detects the sudden increase of the pressure, and sends a pressure detection signal, according to which the hydraulic cylinder can be operated to be close to the position.
  • the buffer cylinder can then be used for reversing or other actions in time. Since the present invention determines the position of the hydraulic cylinder based on the sudden increase of the pressure signal in the buffer chamber, the structural design is designed to avoid external interference to a large extent relative to the structural design for position detection by optical signals or magnetic signals. Therefore, the reliability of the position detection is significantly improved, thereby improving the reliability of the operation of the buffer hydraulic cylinder.
  • the buffer hydraulic cylinder provided by the present invention can relatively reliably detect the position when the movement is in position or close to the position, thereby significantly improving the reliability of the work.
  • the present invention provides a construction machine including the buffer hydraulic cylinder, and a control method of the buffer hydraulic cylinder, the technical effects of which are substantially the same as those of the above-described buffer hydraulic cylinder, and will not be described herein.
  • FIG. 1 is a schematic structural view of a buffer hydraulic cylinder according to a first embodiment of the present invention
  • FIG. 2 is a schematic structural view of a buffer hydraulic cylinder in a second embodiment of the present invention.
  • FIG. 3 is a schematic structural view of a buffer hydraulic cylinder according to a third embodiment of the present invention.
  • Figure 4 is a schematic structural view of a buffer hydraulic cylinder in a fourth embodiment of the present invention.
  • Figure 5 is a schematic structural view of a buffer hydraulic cylinder in a fifth embodiment of the present invention.
  • Figure 6 is a schematic structural view of a buffer hydraulic cylinder in a sixth embodiment of the present invention.
  • FIG. 7 is a flow chart showing a control method of a buffer hydraulic cylinder according to an embodiment of the present invention.
  • the core of the present invention is to provide a buffer hydraulic cylinder whose structural design can more reliably detect the position when the movement is in place or close to the position, thereby significantly improving the reliability of the work. Further, another core of the present invention is to provide a construction machine including the buffer hydraulic cylinder. Furthermore, another core of the present invention is to provide a control method for the above buffer hydraulic cylinder.
  • FIG. 1 is a schematic structural view of a buffer hydraulic cylinder according to a first embodiment of the present invention
  • FIG. 2 is a schematic structural view of a buffer hydraulic cylinder according to a second embodiment of the present invention
  • 3 is a schematic structural view of a buffer hydraulic cylinder in a third embodiment of the present invention.
  • the buffer body 13 is connected to the external oil passage only through the throttle passage; it should be noted that, firstly, only the rodless chamber 11 may be provided with a buffer device, and when the piston 3 is close to the compression limit position At the time, the buffer chamber 13 is formed in the rodless chamber 11; secondly, only the buffer chamber may be provided in the rod chamber 12, and when the piston 3 approaches the elongation limit position, in the rod chamber 12 A buffer chamber 13 is formed; thirdly, the rodless chamber 11 and the rod chamber 12 may each be provided with a buffer
  • the buffer cylinder further includes a pressure detecting member 4 for detecting the pressure in the buffer chamber 13, and a pressure detecting signal is issued according to the sudden increase in pressure of the buffer chamber 13.
  • the buffer cylinder When the buffer hydraulic rainbow is running close to the position (that is, close to the compression limit position or the extension limit position), the buffer cylinder enters the buffer zone, and at this time, the corresponding rodless chamber 11 of the buffer cylinder is present.
  • a buffer cavity 13 is formed in the rod cavity 12, and the buffer cavity 13 communicates with the external oil passage only through the throttle passage, so that the pressure in the buffer cavity 13 suddenly increases as the buffer hydraulic cylinder further moves.
  • the pressure detecting component 4 detects the sudden increase of the pressure, and sends a pressure detection signal, according to which the hydraulic pressure detection signal can be determined to be close to the position, and then the buffer Pressing the rainbow can perform reversing or other actions in time.
  • the present invention determines the position of the hydraulic cylinder based on the sudden increase of the pressure signal in the buffer chamber 13, the structural design is designed to avoid the outside world to a large extent relative to the structural design for position detection by optical signals or magnetic signals. The interference, so the reliability of the position detection is significantly improved, thereby improving the reliability of the buffer cylinder operation.
  • the structure of the buffer device is not limited, and the buffer device may be designed to include the spring 62 and the spring seat 61 shown in FIG. 1 to FIG. 3, and may also be the foregoing.
  • the structural design of the buffer plunger in the prior art of course, any other structure of the buffer device, as long as the piston can be operated close to the position, a buffer with a sudden increase in pressure is formed in the corresponding rodless cavity or the rod cavity.
  • the cavity should be within the scope of the present invention.
  • the buffer device comprises a spring seat 61 and a spring 62.
  • the spring seat 61 is disposed on the piston rod 2, and the spring 62 is disposed between the spring seat 61 and the piston 3.
  • the spring seat 61 closes the oil port at the end cover to form the buffer cavity 13; at the position of the spring seat 61 and between the spring seat 61 and the piston 3 Positioned on the side wall of the piston rod 2, at least one of the throttle grooves 63 gradually increasing in depth along the end cover, and at least one balance oil groove 64 is circumferentially opened;
  • the throttle channel is a throttle groove 63.
  • the throttle groove 63 Since the throttle groove 63 is opened, the high-pressure oil in the buffer cavity 13 can be discharged through the throttle groove 63, and since the throttle groove 63 gradually increases in groove depth as it approaches the end cap of the hydraulic cylinder, As the piston 3 moves further in the buffer chamber 13, the spring 62 is compressed, and the spring seat 61 moves toward the piston 3, so that the flow area of the throttle groove 63 is gradually reduced, so that the high pressure in the buffer chamber 13 The discharge flow rate of the oil is gradually reduced, thereby providing greater resistance to the piston 3, making it faster to reduce its speed.
  • the balance oil groove 64 is opened (the balance oil groove 64 is specifically an annular groove formed along the circumferential side wall of the piston rod 2), the spring seat 61 can be balanced to prevent vibration in the radial direction, and The hydraulic oil in the balance oil groove 64 can also lubricate the movement of the spring seat 61 on the side wall of the piston rod 2.
  • the buffer hydraulic cylinder may further include a control unit, the control unit receives the pressure detection signal, and issues an instruction of the cylinder reversal according to the signal.
  • the control unit receives the pressure detection signal, and issues an instruction of the cylinder reversal according to the signal.
  • the pressure change process in the buffer chamber 13 is: first increase, reach a peak, and then lower the process; at this time, one of the pressure drop processes can be taken
  • the value when the pressure detecting means 4 detects the pressure value, sends a pressure detecting signal to the control means, and based on the signal, the control means issues a command for commutation.
  • the control unit issues a reversing command, which is not limited in the present invention.
  • the control component receives the pressure detection signal
  • the pressure detection signal corresponds to a signal value
  • the control component determines whether the signal value is within a predetermined range value; when the signal value is less than the minimum value of the predetermined range value , indicating that the running speed of the hydraulic cylinder is too slow at this time, and at this time, the control unit issues an instruction to increase the corresponding rodless chamber 11 or the amount of oil entering the rod chamber 12, thereby causing the pressure value in the buffer chamber 13 Being within a predetermined range of values, thereby causing the operating speed of the hydraulic cylinder to be within a reasonable speed range; when the signal value is greater than the maximum value of the predetermined range value, the operating speed of the hydraulic cylinder is too fast.
  • control unit issues a command to reduce the corresponding rodless chamber 11 or the amount of oil entering the rod chamber 12, so that the pressure value in the buffer chamber 13 is within a predetermined range, thereby causing the operating speed of the hydraulic cylinder. Achieve a reasonable speed.
  • the predetermined range value can be obtained by a person skilled in the art according to common knowledge and routine experiment in the art; the predetermined range value corresponds to a reasonable operating speed range of a cylinder, and the detection is performed. If the arriving signal value is not within the predetermined range value, it indicates that the operating speed of the cylinder is too slow or too fast.
  • the buffer device is only disposed in the rod cavity 12, and the rod cavity 12 is formed with the buffer cavity 13; thus, when the signal value is less than
  • the control unit issues an instruction to increase the amount of oil entering the rodless chamber 11 when the minimum value of the predetermined range value is; when the signal value is greater than the maximum value of the predetermined range value, the control unit issues a subtraction The command for the amount of oil entering the small rodless chamber 11.
  • the structure of a buffer device can be specifically set.
  • the buffer hydraulic cylinder includes a first end cover 51 located on the side of the rod cavity 12, and the first end cover 51 is provided with a first oil port 51a communicating with the rod cavity 12, the throttle groove
  • the groove depth of 63 gradually increases toward the first end cover 51; on this basis, the piston 3 moves to the first end cover 51 -
  • the spring seat 61 closes the first port 51a to form the buffer cavity 13, and at this time, the hydraulic oil is returned to the oil through the throttle groove 63 provided on the piston rod 2.
  • the structural design can conveniently form the buffer cavity 13 in the rod cavity 12, and the structure is relatively simple, and the work reliability is high.
  • the buffer device is only disposed in the rodless cavity 11, and the rodless cavity 11 is formed with the buffer cavity 13; thus when the signal value is less than When the minimum value of the predetermined range value is reached, the control unit issues an instruction to increase the amount of oil entering the rod chamber 12; when the signal value is greater than the maximum value of the predetermined range value, the control unit issues a subtraction The command for the amount of oil entering the rod chamber 12 is small.
  • a buffer device structure can be specifically set.
  • the buffer hydraulic cylinder includes a second end cover 52 on one side of the rodless cavity 11, and the second end cover 52 is provided with a second oil port 52a communicating with the rodless cavity 11
  • the groove depth of the flow groove 63 gradually increases toward the first end cover 51.
  • the piston rod 2 is provided with a projection 21 which projects into the rodless cavity 11, and the spring
  • the seat 61 is disposed at an end of the protruding portion 21 away from the piston 3.
  • the spring 62 is disposed between the spring seat 61 and the piston 3.
  • the spring seat 61 closes the second oil port 52a.
  • the buffer chamber 13 is at this time, and the hydraulic oil in the buffer chamber 13 is returned to the oil through the throttle groove 63 provided on the piston rod 2.
  • the structural design can conveniently form the buffer cavity 13 in the rodless cavity 11, and the structure is relatively simple, and the work reliability is high.
  • both the rodless chamber 11 and the rod chamber 12 are provided with a cushioning device, so that when the piston 3 approaches the compression limit position, in the rodless chamber 11 Forming a buffer cavity 13; when the piston 3 is near the extension limit position, a buffer cavity 13 is formed in the rod cavity 12; in FIG. 3, there is a buffer device in the rod cavity 12 and a rodless cavity 11
  • the specific structure of the buffer device is the same as that of the buffer device in FIG. 1 and FIG. 2, and details are not described herein again.
  • the buffer hydraulic cylinder further includes a pressure measuring hole 14 communicating with the buffer cavity 13 , and the pressure measuring hole 14 .
  • the side wall of the cylinder tube 1 or the corresponding end cover may be specifically opened, and the pressure detecting member 4 is connected to the pressure measuring hole 14. This structural design facilitates the purpose of detecting pressure on the buffer chamber 13.
  • FIG. 4 is a schematic structural view of a buffer hydraulic cylinder according to a fourth embodiment of the present invention
  • FIG. 5 is a schematic structural view of a buffer hydraulic cylinder according to a fifth embodiment of the present invention
  • 6 is a schematic structural view of a buffer hydraulic cylinder in a sixth embodiment of the present invention.
  • the structure of the buffer device and the formation of the buffer cavity 13 can also be specifically designed.
  • the piston 3 when the piston 3 is moved to the end of the rodless chamber 11 side, the piston 3 blocks the oil port 73, and the rod chamber is formed therein.
  • the buffer chamber 13 and the hydraulic oil in the buffer chamber 13 flow out through the throttle valve 71. Meanwhile, in order to improve the safety performance, the buffer chamber 13 is connected to the relief valve 72.
  • the piston 3 is provided with a buffer plunger 74.
  • the buffer plunger 74 is inserted into the buffer cavity 13, thereby The buffer chamber 13 is clogged, and at this time, the hydraulic oil in the buffer chamber 13 flows out through the throttle valve 71.
  • the piston 3 is provided with a buffer plunger 74.
  • the buffer plunger 74 is inserted into the buffer cavity 13, Thereby, the buffer chamber 13 is blocked, and the buffer plunger 74 is provided with a throttle groove 63 as shown in FIGS. 1 to 3, and the hydraulic oil in the buffer chamber 13 flows out through the throttle groove 63.
  • the present invention provides a construction machine comprising a buffer hydraulic cylinder in any of the above-described technical solutions, and other parts of the construction machine can be referred to the prior art, and will not be developed herein.
  • FIG. 7 is a flow chart of a control method of a buffer hydraulic cylinder according to an embodiment of the present invention.
  • the position of the buffer cylinder is generally detected by an optical signal or a magnetic signal by a displacement sensor. Since the optical signal or the magnetic signal is susceptible to external interference, the detection method is not highly reliable.
  • the present invention provides a new method for detecting the position of a buffer hydraulic cylinder, comprising the following steps:
  • S11 detecting a sudden increase pressure of the buffer cavity 13 of the buffer hydraulic cylinder; when the hydraulic rainbow is moved to the buffer zone, the buffer cavity 13 is formed, and the high buffer cavity 13 is detected by the pressure detecting component 4.
  • S12 Determine the position of the piston 3 of the buffer hydraulic cylinder according to the sudden increase pressure, or adjust the oil supply amount of the buffer cylinder with the rod chamber 12 or the rodless chamber 11.
  • the control unit of the buffer cylinder receives the pressure detection signal, and based on the signal, it can be determined that the hydraulic cylinder is in a position close to the compression limit or the extension limit, and thus the hydraulic cylinder reversing command or other command can be issued.
  • the control unit issues an instruction to increase the amount of oil entering the rodless chamber 11 or the rod chamber 12;
  • the control unit issues an instruction to reduce the amount of oil entering the rodless chamber 11 or the rod chamber 12.
  • the above method of detecting the position of the hydraulic cylinder by the pressure signal has significantly improved the reliability of the position detection because the external disturbance is largely avoided.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Fluid-Damping Devices (AREA)
  • Fluid-Pressure Circuits (AREA)

Description

緩冲液压缸及其控制方法、 工程机械 本申请要求于 2011 年 03 月 23 日提交中国专利局、 申请号为 201110070738.1、发明名称为"緩冲液压缸及其控制方法、工程机械"的中国 专利申请的优先权， 其全部内容通过引用结合在本申请中。 技术领域
本发明涉及液压缸技术领域， 特别涉及一种緩冲液压缸。 此外， 本发 明还涉及一种包括该緩冲液压缸的工程机械。 再者， 本发明又涉及一种上 述緩冲液压缸的控制方法。 背景技术
目前， 油缸往往通过位移传感器来检测油虹运行是否到位， 进而控制 其换向。 位移传感器一般包括接近开关和检测块， 二者分别设于缸筒和活 塞杆上， 当油缸运行到位或者接近到位时， 检测块进入接近开关的检测范 围之内， 接近开关发出位置检测信号， 然后控制部件根据该检测信号发出 油缸换向的指令。
然而， 上述位置检测信号一般为磁信号或光信号， 该磁信号或光信号 易于受到外界干扰， 具有可靠性不高的缺点。 比如， 当油缸运行到位或者 接近到位时， 由于受到外界的干扰， 接近开关不能检测到检测块， 接近开 关不能发出位置检测信号， 因而控制部件也就不能发出换向的指令， 进而 导致油缸的活塞和缸筒发生剧烈的撞击， 对油缸造成损坏。
现有技术中存在一种緩冲液压缸， 该緩冲液压缸包括缸筒和活塞杆， 活塞杆上设有活塞， 该活塞分隔缸筒的内腔为无杆腔和有杆腔， 该无杆腔 或者有杆腔中设有緩冲装置， 比如该緩冲装置可以为緩冲柱塞， 当活塞运 动到油缸的端部 （亦即油缸运动到接近到位时） 时， 该緩冲柱塞插入无杆 腔对应的油口， 同时该緩冲柱塞与油口孔壁之间的间隙形成节流通道， 此 时緩冲柱塞、 活塞和缸筒形成一个緩冲腔体。 在该緩冲腔体内， 由于油口 被緩冲柱塞堵塞， 緩冲腔体仅通过节流通道与外部油路连通， 因而随着油 缸进一步压缩， 緩冲腔体内的压力会突然增大。 当然， 在另一种形式的緩 冲液压缸中， 緩冲柱塞密封插入无杆腔对应的油口中， 此时节流通道为另 行开设的一个节流阀或节流孔。 对于该緩冲液压缸的详细介绍可参见专利 号为 "20090019621.9" 专利文献的背景技术部分。
上述緩冲液压缸的位置检测一般也是通过位移传感器， 通过光信号或 磁信号来检测， 如前文第一段所述， 因而也存在可靠性不高的缺点。
有鉴于此， 如何对现有技术中的緩冲液压缸进行改进， 从而提高其位 置检测的可靠性， 是本领域技术人员亟需解决的问题。
发明内容
本发明要解决的技术问题为提供一种緩冲液压缸， 该緩冲液压缸的结 构设计能够较为可靠地检测其运动到位或接近到位时的位置， 从而明显提 高了工作的可靠性。 此外， 本发明另一个要解决的技术问题为提供一种包 括该緩冲液压缸的工程机械。 再者， 本发明又一个要解决的技术问题为提 供一种上述緩冲液压缸的控制方法。
为解决上述技术问题， 本发明提供一种緩冲液压缸， 包括缸筒和活塞 杆， 所述活塞杆上设有活塞， 所述活塞分隔所述缸筒的内腔为无杆腔和有 杆腔； 所述无杆腔和所述有杆腔中的至少一者设有緩冲装置， 以便所述活 塞接近所述缸筒的端部时所述无杆腔或者所述有杆腔中形成有緩冲腔体， 该緩冲腔体仅通过节流通道与外部油路连通； 所述緩冲液压缸还包括与所 述緩冲腔体连通的测压孔， 所述测压孔连接有压力检测部件， 所述压力检 测部件检测所述緩冲腔体内的压力， 并发出压力检测信号。
优选地， 所述緩冲装置包括弹簧座和弹簧， 所述弹簧座设于所述活塞 杆上， 所述弹簧设于所述弹簧座和所述活塞之间； 所述活塞运动至所述緩 冲液压缸的端盖一侧时， 所述弹簧座封闭该端盖处的油口形成所述緩冲腔 体； 在所述弹簧座位置及所述弹簧座与所述活塞之间的位置， 所述活塞杆 的侧壁上沿轴向直线开设有至少一个随着靠近所述端盖其槽深逐渐加大的 节流槽，并沿周向开设有至少一个平衡油槽； 所述节流通道为所述节流槽。
优选地， 所述緩冲液压缸还包括控制部件， 所述控制部件接收所述压 力检测信号， 并根据该信号发出油缸换向的指令。
优选地， 所述緩冲液压缸还包括控制部件， 所述控制部件接收所述压 力检测信号， 并判断所述緩冲腔体的压力是否处于预定范围值之内；
当所述压力检测信号对应的信号值小于所述预定范围值的最小值时， 所述控制部件发出增大所述无杆腔或者所述有杆腔的进油量的指令；
当所述压力检测信号对应的信号值大于所述预定范围值的最大值时， 所述控制部件发出减小所述无杆腔或者所述有杆腔的进油量的指令。
优选地， 所述緩冲装置设于所述有杆腔内， 所述有杆腔形成有所述緩 冲腔体；
当所述压力检测信号对应的信号值小于所述预定范围值的最小值时， 所述控制部件发出增大所述无杆腔的进油量的指令；
当所述压力检测信号对应的信号值大于所述预定范围值的最大值时， 所述控制部件发出减小所述无杆腔的进油量的指令。
优选地， 所述緩冲装置设于所述无杆腔内， 所述无杆腔形成有所述緩 冲腔体；
当所述压力检测信号对应的信号值小于所述预定范围值的最小值时， 所述控制部件发出增大所述有杆腔的进油量的指令；
当所述压力检测信号对应的信号值大于所述预定范围值的最大值时， 所述控制部件发出减小所述有杆腔的进油量的指令。
此外， 为解决上述技术问题， 本发明还提供一种工程机械， 所述工程 机械包括上述任一项所述的緩冲液压缸。
再者， 为解决上述技术问题， 本发明还提供一种緩冲液压缸的控制方 法， 包括如下步骤：
11 )检测所述緩冲液压缸的緩冲腔体的压力；
12 )根据该压力， 确定所述緩冲液压缸的活塞所处的位置， 或调节所 述緩冲液压缸的有杆腔或无杆腔的进油量。
在现有技术的基础上， 本发明所提供的緩冲液压缸， 进一步包括检测 其緩冲腔体内压力的压力检测部件， 并根据所述緩冲腔体的突然增大的压 力， 发出压力检测信号。 当緩冲液压缸运行到接近到位时， 緩冲油缸进入 緩冲区， 此时便在緩冲液压缸的无杆腔或者有杆腔内形成緩冲腔体， 该緩 冲腔体仅通过节流通道与外部油路连通，因而随着緩冲液压缸进一步动作， 该緩冲腔体内的压力会突然增大，压力检测部件检测到该突然增大的压力， 便发出压力检测信号， 根据该压力检测信号便可以确定此时液压缸运行到 接近到位， 然后緩冲液压缸便可以及时进行换向或其他动作。 由于本发明 是根据緩冲腔体内突然增大的压力信号来确定液压缸的位置， 该种结构设 计相对于通过光信号或磁信号进行位置检测的结构设计， 能够较大程度地 避免外界的干扰， 因而位置检测的可靠性得以明显提高， 进而提高了緩冲 液压缸工作的可靠性。
综上所述， 本发明所提供的緩冲液压缸能够较为可靠地检测其运动到 位或接近到位时的位置， 从而明显提高了工作的可靠性。
此外， 本发明所提供包括该緩冲液压缸的工程机械、 及该緩冲液压缸的控 制方法， 其技术效果与上述緩冲液压缸的技术效果基本相同， 在此不再赘 述。 附图说明
图 1为本发明第一种实施例中緩冲液压缸的结构示意图；
图 2为本发明第二种实施例中緩冲液压缸的结构示意图；
图 3为本发明第三种实施例中緩冲液压缸的结构示意图；
图 4为本发明第四种实施例中緩冲液压缸的结构示意图；
图 5为本发明第五种实施例中緩冲液压缸的结构示意图；
图 6为本发明第六种实施例中緩冲液压缸的结构示意图；
图 7为本发明一种实施例中緩冲液压缸的控制方法的流程框图。
其中， 图 1至图 7中附图标记与部件名称之间的对应关系为：
1缸筒； 11无杆腔； 12有杆腔； 13緩冲腔体； 14测压孔；
2活塞杆； 21凸出部； 3活塞； 4压力检测部件；
51第一端盖； 51a第一油口； 52第二端盖； 52a第二油口；
61弹簧座； 62弹簧； 63节流槽； 64平衡油槽。 具体实施方式 本发明的核心为提供一种緩冲液压缸， 该緩冲液压缸的结构设计能够 较为可靠地检测其运动到位或接近到位时的位置， 从而明显提高了工作的 可靠性。 此外， 本发明另一个核心为提供一种包括该緩冲液压缸的工程机 械。 再者， 本发明又一个核心为提供一种上述緩冲液压缸的控制方法。
为了使本领域的技术人员更好地理解本发明的技术方案， 下面结合附 图和具体实施例对本发明作进一步的详细说明。
请参考图 1、 图 2和图 3 , 图 1为本发明第一种实施例中緩冲液压缸的 结构示意图； 图 2为本发明第二种实施例中緩冲液压缸的结构示意图； 图 3为本发明第三种实施例中緩冲液压缸的结构示意图。
在基础技术方案中， 本发明所提供的緩冲液压缸， 包括缸筒 1和活塞 杆 2, 活塞杆 2上设有活塞 3, 活塞 3分隔缸筒 1的内腔为无杆腔 11和有 杆腔 12; 无杆腔 11和有杆腔 12中的至少一者设有緩冲装置， 以便活塞 3 接近缸筒 1的端部时无杆腔 11或者有杆腔 12中形成有緩冲腔体 13, 该緩 冲腔体 13仅通过节流通道与外部油路连通； 需要说明的是， 第一， 可以仅 无杆腔 11中设有緩冲装置， 此时当活塞 3接近压缩极限位置时，在无杆腔 11中形成有緩冲腔体 13; 第二， 可以仅有杆腔 12中设有緩冲装置， 此时 当活塞 3接近伸长极限位置时， 在有杆腔 12中形成有緩冲腔体 13; 第三， 无杆腔 11和有杆腔 12中可以均设有緩冲装置， 因而当活塞 3接近压缩极 限位置时， 在无杆腔 11中形成有緩冲腔体 13, 当活塞 3接近伸长极限位 置时， 在有杆腔 12中形成有緩冲腔体 13。
在上述现有技术的基础上， 所述緩冲液压缸还包括检测緩冲腔体 13 内压力的压力检测部件 4, 并根据緩冲腔体 13的突然增大的压力， 发出压 力检测信号。
当緩冲液压虹运行到接近到位时 （亦即接近压缩极限位置或伸长极限 位置时）， 緩冲油缸进入緩冲区， 此时便在緩冲液压缸相对应的无杆腔 11 或有杆腔 12内形成緩冲腔体 13 , 该緩冲腔体 13仅通过节流通道与外部油 路连通， 因而随着緩冲液压缸进一步动作，该緩冲腔体 13内的压力会突然 增大， 压力检测部件 4检测到该突然增大的压力， 便发出压力检测信号， 根据该压力检测信号便可以确定此时液压虹运行到接近到位， 然后緩冲液 压虹便可以及时进行换向或其他动作。由于本发明是根据緩冲腔体 13内突 然增大的压力信号来确定液压缸的位置， 该种结构设计相对于通过光信号 或磁信号进行位置检测的结构设计， 能够较大程度地避免外界的干扰， 因 而位置检测的可靠性得以明显提高，进而提高了緩冲液压缸工作的可靠性。
需要说明的是， 在上述基础技术方案中， 对于緩冲装置的结构不作限 制， 该緩冲装置可以为图 1至图 3所示的包括弹簧 62和弹簧座 61的结构 设计， 亦可以为前文背景技术中緩冲柱塞的结构设计； 当然， 其他任意结 构的緩冲装置， 只要能够当活塞运行接近到位时在相对应的无杆腔或有杆 腔中形成有压力突然增大的緩冲腔体， 均应该在本发明的保护范围之内。
具体地， 可以对緩冲装置作出具体设计。 比如， 如图 1、 图 2和图 3 所示，所述緩冲装置包括弹簧座 61和弹簧 62,弹簧座 61设于活塞杆 2上， 弹簧 62设于弹簧座 61和活塞 3之间； 活塞 3运动至所述緩冲液压缸的端 盖一侧时， 弹簧座 61封闭该端盖处的油口形成緩冲腔体 13; 在弹簧座 61 位置及弹簧座 61与活塞 3之间的位置，活塞杆 2的侧壁上沿轴向直线开设 有至少一个随着靠近所述端盖其槽深逐渐加大的节流槽 63 , 并沿周向开设 有至少一个平衡油槽 64; 所述节流通道为节流槽 63。
由于开设有节流槽 63 , 因而緩冲腔体 13 内的高压油可以通过该节流 槽 63排出，并且由于该节流槽 63随着靠近液压缸的端盖其槽深逐渐加大， 因而在緩冲腔体 13内随着活塞 3进一步运动， 弹簧 62被压缩， 弹簧座 61 向靠近活塞 3的方向运动， 因而节流槽 63的流通面积逐渐减小，使得緩冲 腔体 13内高压油的排出流量逐渐减小，从而对活塞 3提供更大的阻力，使 其速度减小得更快。
此外， 由于开设有平衡油槽 64 (该平衡油槽 64具体为沿活塞杆 2圆 周侧壁开设的环形凹槽）， 因而可以对弹簧座 61起到平衡作用， 防止其沿 径向发生振动， 同时该平衡油槽 64中的液压油也可以对弹簧座 61在活塞 杆 2侧壁上的运动起到润滑作用。
具体地， 在上述基础技术方案中， 所述緩冲液压缸还可以包括控制部 件， 所述控制部件接收所述压力检测信号， 并根据该信号发出油缸换向的 指令。 如图 1所示， 随着活塞 3在緩冲腔体 13内继续伸长， 如图 2所示， 随着活塞 3在緩冲腔体 13内继续压缩，緩冲腔体 13内的压力变化过程为： 先增大， 达到一个峰值， 然后再降低的过程； 此时可以取压力下降过程中 的一个值， 当压力检测部件 4检测到该压力值时， 向控制部件发出一个压 力检测信号， 根据该信号， 控制部件发出换向的指令。 当然， 也可以当緩 冲腔体 13内的压力为其他压力值时，控制部件发出换向指令，本发明对此 不作限制。
此外， 在上述基础技术方案中， 还可以作出进一步改进。 比如， 控制 部件接收到压力检测信号后， 该压力检测信号对应着一个信号值， 然后控 制部件判断该信号值是否处于预定范围值内； 当所述信号值小于所述预定 范围值的最小值时， 则说明此时液压缸的运行速度过慢， 此时控制部件发 出增大相对应的无杆腔 11或者有杆腔 12的进油量的指令， 从而使得緩冲 腔体 13内的压力值处于预定范围值之内，进而使得液压缸的运行速度处于 一个合理的速度范围内； 当所述信号值大于所述预定范围值的最大值时， 则说明此时液压缸的运行速度过快， 此时控制部件发出减少相对应的无杆 腔 11或者有杆腔 12的进油量的指令，从而使得緩冲腔体 13内的压力值处 于预定范围值之内， 进而使得液压缸的运行速度达到一个合理的速度。
需要说明的是， 在上述技术方案中， 本领域的技术人员根据本领域的 公知常识和常规试验是可以获得所述预定范围值的； 该预定范围值对应着 一个油缸合理的运行速度范围， 检测到的信号值不处于该预定范围值内， 则说明油缸的运行速度过慢或过快。
在本发明的第一种实施例中， 如图 1所示， 所述緩冲装置仅设于有杆 腔 12内， 有杆腔 12形成有緩冲腔体 13; 因而当所述信号值小于所述预定 范围值的最小值时， 所述控制部件发出增大无杆腔 11的进油量的指令； 当 所述信号值大于所述预定范围值的最大值时， 所述控制部件发出减小无杆 腔 11的进油量的指令。
进一步地，在上述第一种实施例中，可具体设定一种緩冲装置的结构。 如图 1所示， 所述緩冲液压缸包括位于有杆腔 12—侧的第一端盖 51 , 第 一端盖 51设有与有杆腔 12连通的第一油口 51a, 节流槽 63的槽深向靠近 第一端盖 51的方向逐渐加大； 在此基础上， 活塞 3运动至第一端盖 51— 侧时， 弹簧座 61封闭第一油口 51a形成緩冲腔体 13 , 此时液压油通过设 于活塞杆 2上的节流槽 63回油。显然，该种结构设计能够较为方便地在有 杆腔 12中形成有緩冲腔体 13 , 并且结构较为筒单， 工作可靠性高。
如图 2所示， 在本发明的第二种实施例中， 所述緩冲装置仅设于无杆 腔 11内， 无杆腔 11形成有緩冲腔体 13; 因而当所述信号值小于所述预定 范围值的最小值时，所述控制部件发出增大有杆腔 12的进油量的指令； 当 所述信号值大于所述预定范围值的最大值时， 所述控制部件发出减小有杆 腔 12的进油量的指令。
进一步地，在上述第二种实施例中，可以具体设定一种緩冲装置结构。 比如， 如图 2所示， 所述緩冲液压缸包括位于无杆腔 11一侧的第二端盖 52, 第二端盖 52设有与无杆腔 11连通的第二油口 52a, 节流槽 63的槽深 向靠近第一端盖 51的方向逐渐加大； 在此基础上， 如图 2所示， 活塞杆 2 设有伸入到无杆腔 11中的凸出部 21 ,弹簧座 61设于凸出部 21远离活塞 3 的一端， 弹簧 62设于弹簧座 61和活塞 3之间； 活塞 3运动至第二端盖 52 一侧时， 弹簧座 61封闭第二油口 52a形成緩冲腔体 13 , 此时緩冲腔体 13 内的液压油通过设于活塞杆 2上的节流槽 63回油。显然，该种结构设计能 够较为方便地在无杆腔 11 中形成有緩冲腔体 13 , 并且结构较为筒单， 工 作可靠性高。
如图 3所示， 在本发明的第三种实施例中， 无杆腔 11和有杆腔 12中 均设有緩冲装置， 因而当活塞 3接近压缩极限位置时，在无杆腔 11中形成 有緩冲腔体 13; 当活塞 3接近伸长极限位置时， 在有杆腔 12中形成有緩 冲腔体 13; 图 3中有杆腔 12中的緩冲装置和无杆腔 11中的緩冲装置的具 体结构分别与图 1和图 2中緩冲装置的具体结构相同， 在此不再赘述。
具体地， 在上述任一种技术方案中， 如图 1、 图 2和图 3所示， 所述 緩冲液压缸还包括与緩冲腔体 13连通的测压孔 14, 该测压孔 14可以具体 开设有缸筒 1的侧壁上或者相应的端盖上， 压力检测部件 4连接于测压孔 14上。 该种结构设计非常方便地实现了对緩冲腔体 13检测压力的目的。
需要说明的是， 本发明压力检测部件所发出的压力检测信号不仅可以 用于确定緩冲液压缸的活塞的位置和调节緩冲液压缸相应腔体内的流量， 请参考图 4、 图 5和图 6 , 图 4为本发明第四种实施例中緩冲液压缸的 结构示意图； 图 5为本发明第五种实施例中緩冲液压缸的结构示意图； 图 6为本发明第六种实施例中緩冲液压缸的结构示意图。
具体地， 在上述基础技术方案的基础上， 还可以对所述緩冲装置的结 构和緩冲腔体 13的形成作出具体设计。
比如， 在本发明第四种实施例中， 如图 4所示， 当活塞 3运动到无杆 腔 11一侧的端部时， 活塞 3将油口 73堵塞， 此时无杆腔中形成有緩冲腔 体 13 , 该緩冲腔体 13内的液压油通过节流阀 71流出； 同时， 为了提高安 全性能， 緩冲腔体 13连接有溢流阀 72。
在本发明第五种实施例中， 如图 5所示， 活塞 3设有緩冲柱塞 74, 当 活塞 3运行到端部时， 緩冲柱塞 74插入緩冲腔体 13内， 从而将緩冲腔体 13堵塞， 此时緩冲腔体 13内的液压油通过节流阀 71流出。
在本发明的第六种实施例中，如图 6所示，活塞 3上设有緩冲柱塞 74, 当活塞 3运行到端部时， 緩冲柱塞 74插入緩冲腔体 13内， 从而将緩冲腔 体 13堵塞， 同时緩冲柱塞 74上设有如图 1至图 3所示的节流槽 63 , 緩冲 腔体 13内的液压油通过该节流槽 63流出。
此外， 本发明还提供一种工程机械， 该工程机械包括上述任一种技术 方案中的緩冲液压缸， 该工程机械的其他部分可以参照现有技术， 本文不 再展开。
再者， 本发明还提供一种緩冲液压缸的控制方法， 具体请参考图 7 , 图 7为本发明一种实施例中緩冲液压缸的控制方法的流程框图。
在现有技术中， 一般是通过位移传感器， 通过光信号或磁信号来检测 緩冲液压缸的位置， 由于光信号或磁信号易于受到外界干扰， 该种检测方 法可靠性不高。 鉴于此， 本发明提供了一种新的緩冲液压缸的位置检测方 法， 包括如下步骤：
S11 : 检测所述緩冲液压缸的緩冲腔体 13的突然增大的压力； 当液压 虹运行到緩冲区， 形成緩冲腔体 13 , 通过压力检测部件 4检测高緩冲腔体 13内突然增大的压力， 并发出压力检测信号。 S12:根据该突然增大的压力，确定所述緩冲液压缸的活塞 3所处的位 置， 或调节所述緩冲液压缸有杆腔 12或无杆腔 11的进油量。 緩冲液压缸 的控制部件接收该压力检测信号， 根据该信号便可确定液压缸处于接近压 缩极限或伸长极限位置， 进而可以发出液压缸换向的指令或其他指令。 此 外， 如上文所述， 当所述信号值小于所述预定范围值的最小值时， 所述控 制部件发出增大无杆腔 11或者有杆腔 12的进油量的指令； 当所述信号值 大于所述预定范围值的最大值时，所述控制部件发出减小无杆腔 11或者有 杆腔 12的进油量的指令。
显然， 相对于现有技术， 上述通过压力信号检测液压缸位置的方法， 由于较大程度上避免了外界干扰， 因而位置检测的靠性得到显著提高。
以上对本发明所提供的緩冲液压缸及其控制方法、 工程机械进行了详 以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。 应当指 出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下， 还可以对本发明进行若干改进和修饰， 这些改进和修饰也落入本发明权利 要求的保护范围内。

Claims

权 利 要 求
1、 一种緩冲液压缸， 包括缸筒 （1 )和活塞杆（2 ), 所述活塞杆（2 ) 上设有活塞（3 ), 所述活塞（3 )分隔所述缸筒（1 )的内腔为无杆腔（11 ) 和有杆腔（ 12 ); 所述无杆腔（ 11 )和所述有杆腔（ 12 )中的至少一者设有 緩冲装置， 以便所述活塞（ 3 )接近所述缸筒（ 1 )的端部时所述无杆腔（ 11 ) 或者所述有杆腔（ 12 )中形成有緩冲腔体（ 13 ), 该緩冲腔体（ 13 )仅通过 节流通道与外部油路连通； 其特征在于， 所述緩冲液压缸还包括与所述緩 冲腔体（ 13 )连通的测压孔（ 14 ), 所述测压孔（ 14 )连接有压力检测部件 ( 4 ), 所述压力检测部件（ 4 )检测所述緩冲腔体（ 13 ) 内的压力， 并发出 压力检测信号。
2、 如权利要求 1所述的緩冲液压缸， 其特征在于， 所述緩冲装置包括 弹簧座（61 )和弹簧（62 ), 所述弹簧座（61 )设于所述活塞杆（2 )上， 所述弹簧（ 62 )设于所述弹簧座（ 61 )和所述活塞（ 3 )之间； 所述活塞（ 3 ) 运动至所述緩冲液压缸的端盖一侧时， 所述弹簧座（61 )封闭该端盖处的 油口形成所述緩冲腔体（ 13 ); 在所述弹簧座（ 61 )位置及所述弹簧座（ 61 ) 与所述活塞（3 )之间的位置， 所述活塞杆（2 ) 的侧壁上沿轴向直线开设 有至少一个随着靠近所述端盖其槽深逐渐加大的节流槽（ 63 ) , 并沿周向开 设有至少一个平衡油槽 （64 ); 所述节流通道为所述节流槽（63 )。
3、 如权利要求 1或 2所述的緩冲液压缸， 其特征在于， 所述緩冲液压 缸还包括控制部件， 所述控制部件接收所述压力检测信号， 并根据该信号 发出油紅换向的指令。
4、 如权利要求 1或 2所述的緩冲液压缸， 其特征在于， 所述緩冲液压 缸还包括控制部件， 所述控制部件接收所述压力检测信号， 并判断所述緩 冲腔体（13 ) 的压力是否处于预定范围值之内；
当所述压力检测信号对应的信号值小于所述预定范围值的最小值时， 所述控制部件发出增大所述无杆腔（11 )或者所述有杆腔（12 ) 的进油量 的指令；
当所述压力检测信号对应的信号值大于所述预定范围值的最大值时， 所述控制部件发出减小所述无杆腔（11 )或者所述有杆腔（12 ) 的进油量 的指令。
5、 如权利要求 4所述的緩冲液压缸， 其特征在于， 所述緩冲装置设于 所述有杆腔（ 12 ) 内， 所述有杆腔（ 12 )形成有所述緩冲腔体（ 13 ); 当所述压力检测信号对应的信号值小于所述预定范围值的最小值时， 所述控制部件发出增大所述无杆腔（ 11 ) 的进油量的指令；
当所述压力检测信号对应的信号值大于所述预定范围值的最大值时， 所述控制部件发出减小所述无杆腔（11 ) 的进油量的指令。
6、 如权利要求 4所述的緩冲液压缸， 其特征在于， 所述緩冲装置设于 所述无杆腔（ 11 ) 内， 所述无杆腔（ 11 )形成有所述緩冲腔体（ 13 );
当所述压力检测信号对应的信号值小于所述预定范围值的最小值时， 所述控制部件发出增大所述有杆腔（12 ) 的进油量的指令；
当所述压力检测信号对应的信号值大于所述预定范围值的最大值时， 所述控制部件发出减小所述有杆腔（12 ) 的进油量的指令。
7、 一种工程机械， 其特征在于， 所述工程机械包括如权利要求 1至 6 任一项所述的緩冲液压缸。
8、 一种緩冲液压缸的控制方法， 其特征在于， 包括如下步骤：
11 )检测所述緩冲液压缸的緩冲腔体的压力；
12 )根据该压力， 确定所述緩冲液压缸的活塞所处的位置， 或调节所 述緩冲液压缸的有杆腔或无杆腔的进油量。
PCT/CN2011/075660 2011-03-23 2011-06-13 缓冲液压缸及其控制方法、工程机械 Ceased WO2012126207A1 (zh)

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