CN101922483A - Short-range pressure-retaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor - Google Patents
Short-range pressure-retaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor Download PDFInfo
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- CN101922483A CN101922483A CN 201010230458 CN201010230458A CN101922483A CN 101922483 A CN101922483 A CN 101922483A CN 201010230458 CN201010230458 CN 201010230458 CN 201010230458 A CN201010230458 A CN 201010230458A CN 101922483 A CN101922483 A CN 101922483A
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Abstract
The invention relates to a short-range pressure-retaining high-pressure heavy hydraulic cylinder with a built-in linear displacement sensor, comprising a cylinder tube and a piston rod, wherein the piston rod is assembled into the cylinder tube, a cylinder head and a cylinder bottom are respectively arranged at the front and rear ends of the cylinder tube, the center of the cylinder head is provided with a cylinder head through hole, the piston rod is perforated into the cylinder head through hole, the piston rod is matched with the cylinder head in a sealing and sliding mode, and a piston is arranged at the inner end of the piston rod. The short-range pressure-retaining high-pressure heavy hydraulic cylinder with a built-in linear displacement sensor is characterized in that the outer side of the cylinder bottom is provided with the linear displacement sensor, the center of the cylinder bottom is provided with a cylinder bottom though hole, the center of the piston rod is provided with an axial center hole which corresponds to the cylinder bottom though hole, a magnetic ring is arranged at the inner end of the piston rod, and a wave guide rod of the linear displacement sensor is inserted into the center hole of the piston rod after being sequentially perforated through the cylinder bottom through hole and the magnetic ring. The invention has skillful and reasonable structure, little occupation space, high detection accuracy and long service life, is not easy to influence by surrounding environment and is capable of locking in a pressure-retaining mode, accurately positioning and increasing the safety of the hydraulic cylinder.
Description
Technical field
The invention belongs to the hydraulic equipment technical field, relate to a kind of improvement of oil hydraulic cylinder, specifically is a kind of short-range pressure-retaining high-pressure heavy hydraulic cylinder that can accurately detect the band built-in linear displacement transducer of piston rod position and speed.
Background technique
Oil hydraulic cylinder is a kind ofly can change hydraulic pressure into mechanical energy, makes machinery realize the device of linear reciprocating motion or swing, its transmission stable working, reliability height.Because the complexity that real work requires is increasing, the requirement of oil hydraulic cylinder control precision is more and more higher, and existing common oil hydraulic cylinder can't agree with the production needs fully, causes manufacturing efficiency lower; And do not have safety protection function, a poor stability.For satisfying actual requirement, load onto Linear displacement transducer on the common oil hydraulic cylinder usually, be used for the running position and the speed of the piston of reciprocal operation are monitored, to realize automatic control.
At present Linear displacement transducer normally is arranged on the outside of oil hydraulic cylinder, be contained in this oil hydraulic cylinder in piston on magnet corresponding.Because Linear displacement transducer is arranged on outside the oil hydraulic cylinder, not only takes up space, and is subjected to the influence of surrounding working environment easily, as the pollution of oil stain, solution, dust, causes its testing precision more and more lower, can't satisfy the requirement of automatic control gradually.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, the short-range pressure-retaining high-pressure heavy hydraulic cylinder of the ingenious rational band built-in linear displacement transducer of a kind of structure is provided, and this oil hydraulic cylinder takes up space few, is not subject to surrounding environment influence, the testing precision height, long service life; Can realize simultaneously pressurize locking, accurately locate that the Security that has improved oil hydraulic cylinder has realized the automation control of oil hydraulic cylinder.
According to technological scheme provided by the invention, the short-range pressure-retaining high-pressure heavy hydraulic cylinder of described band built-in linear displacement transducer comprises cylinder barrel and is fitted in the interior piston rod of cylinder barrel, the front end and back end of described cylinder barrel is separately installed with cylinder head and cylinder bottom, the cylinder head center offers the cylinder head through hole, piston rod is through in the cylinder head through hole, between piston rod and the cylinder head through hole be sealed sliding movingly, piston is equipped with in the inner of described piston rod, form rod end chamber between piston and the cylinder head, form piston cavity between piston and the cylinder bottom; It is characterized in that: the outside of described cylinder bottom is equipped with Linear displacement transducer, the cylinder bottom center offers the cylinder bottom through hole, described piston rod center offers and the corresponding axial center hole of cylinder bottom through hole, the inner end of piston rod is equipped with magnet ring, after the waveguide rod of described Linear displacement transducer is passed cylinder bottom through hole and magnet ring in turn, insert in the center hole of piston rod.
As a further improvement on the present invention, the duty valve piece with pressurize lock function is installed on the described cylinder bottom, this duty valve piece is connected with rod end chamber by pipeline on the one hand, is connected with piston cavity by the adjusting oilhole of offering on the cylinder bottom on the other hand.
As a further improvement on the present invention, the central fovea of described piston rod interior edge face is provided with installation room, and described magnet ring is contained between first gland and second gland, and first gland, magnet ring and second gland are encapsulated in the installation room by circlip for hole.
As a further improvement on the present invention, the inwall of described cylinder head through hole is provided with three road circumferential recess, and the groove of outermost is equipped with dust ring, and middle groove is equipped with seal ring, and interior groove is equipped with guide ring; Offer the twice circumferential recess on the outer wall of described piston, wherein one groove is equipped with seal ring, and another road groove is equipped with guide ring.Preferably, described guide ring adopts bronze composite material to make.
Between described piston rod and the cylinder head through hole three seals circle is housed, the two seals circle is housed between piston and the cylinder barrel.
As a further improvement on the present invention, described duty valve piece is made up of Pilot operated check valve and relief valve; The filler opening of described Pilot operated check valve is communicated with by first connecting tube with the rod end chamber of oil hydraulic cylinder, and described relief valve is connected on first connecting tube; The oil outlet of described Pilot operated check valve is communicated with by second connecting tube with the piston cavity of oil hydraulic cylinder, and the control port of Pilot operated check valve is connected with second connecting tube.
As a further improvement on the present invention, described waveguide rod is threaded in the cylinder bottom through hole and utilizes locknut to tighten, and between the root of described waveguide rod and the cylinder bottom through hole edge, and between locknut and the cylinder bottom outer side surface seal ring is housed all.
The present invention compared with prior art, advantage is:
(1), Linear displacement transducer is built-in, occupies little space, and is affected by environment little, even also can proper functioning under the environment of high temperature, high pressure, high vibration and HI high impact; Guarantee the operating accuracy of oil hydraulic cylinder, can realize high speed, accurate industry automatic control.
(2), each element of sensor all is non-contact, can not cause any wearing and tearing, improved the working life of equipment.
(3), the duty valve piece with pressurize lock function is installed on the oil hydraulic cylinder as required, can improve the reliability of security of system and hydraulic cylinder works, and can also energy-conservation of consumption reduction.
Description of drawings
Fig. 1 is the structural representation of the preferred embodiment of the present invention.
Fig. 2 is an A portion enlarged diagram among Fig. 1.
Fig. 3 is the hydraulic principle schematic representation of duty valve piece among the present invention.
Embodiment
The invention will be further described below in conjunction with concrete drawings and Examples.
As shown in the figure: the short-range pressure-retaining high-pressure heavy hydraulic cylinder of the band built-in linear displacement transducer among the embodiment mainly is made up of component such as cylinder head 1, pipeline 2, cylinder barrel 3, piston rod 4, piston 5, duty valve piece 6, cylinder bottom 8, Linear displacement transducer 10, circlip for hole 11, first gland 12, magnet ring 13 and second glands 14.
As shown in Figure 1, piston rod 4 is fitted in the cylinder barrel 3, and the front end and back end of cylinder barrel 3 utilizes screw and packing ring that cylinder head 1 and cylinder bottom 8 are installed respectively, and described cylinder head 1 center offers the cylinder head through hole, piston rod 4 is through in the cylinder head through hole, between piston rod 4 and the cylinder head through hole be sealed sliding movingly; Piston 5 is equipped with in the inner of described piston rod 4, forms rod end chamber 16 between piston 5 and the cylinder head 1, forms piston cavity 9 between piston 5 and the cylinder bottom 8; The outside of described cylinder bottom 8 utilizes screw that Linear displacement transducer 10 is installed, cylinder bottom 8 centers offer the cylinder bottom through hole, described piston rod 4 centers offer and the corresponding axial center hole 17 of cylinder bottom through hole, the inner end of piston rod 4 is equipped with magnet ring 13, after the waveguide rod 15 of described Linear displacement transducer 10 is passed cylinder bottom through hole, magnet ring 13 in turn, insert in the center hole 17 of piston rod 4.
As shown in Figure 1, the duty valve piece 6 with pressurize lock function is installed on the described cylinder bottom 8, this duty valve piece 6 is connected with rod end chamber 16 by pipeline 2 on the one hand, is connected by adjusting oilhole 7 piston cavity of offering on the cylinder bottom 89 on the other hand.Described duty valve piece 6 is formed (as shown in Figure 3) by Pilot operated check valve 6a and relief valve 6b; The filler opening of described Pilot operated check valve 6a is communicated with by the first connecting tube 6c with the rod end chamber of oil hydraulic cylinder 16, and described relief valve 6b is connected on the first connecting tube 6c; The oil outlet of described Pilot operated check valve 6a is communicated with by the second connecting tube 6d with the piston cavity of oil hydraulic cylinder 9, and the control port of Pilot operated check valve 6a is connected with the second connecting tube 6d.Pilot operated check valve 6a has the pressurize locking function, and relief valve 6b has superpressure pressure release function, and two valves use simultaneously just can be accomplished and can pressure release arrive setting pressure after exceeding setting pressure again in pressurize under the setting pressure.The present invention directly is installed on duty valve piece 6 on the oil hydraulic cylinder, each valve and the connecting tube between the oil hydraulic cylinder of control oil hydraulic cylinder are quite short like this, under high pressure conditions, pipeline is difficult for revealing, and oil hydraulic cylinder is easier to pressurize, thereby the pipeline that has overcome between valve piece and the oil hydraulic cylinder is longer, pipeline is under the high pressure conditions for a long time, the weld cracky of pipeline, oil hydraulic cylinder rushes down pressure easily, can influence defectives such as the normal use of oil hydraulic cylinder then.
As shown in Figure 1 and Figure 2, because piston rod 4 can strike cylinder bottom 8 inevitably when reciprocal operation,, clashed into easily and damaged if magnet ring 13 is directly installed on the interior edge face of piston rod 4.The present invention is arranged with an installation room by the center at piston rod 4 interior edge faces, described magnet ring 13 is contained between first gland 12 and second gland 14, first gland 12, magnet ring 13 and second gland 14 are encapsulated in the installation room by circlip for hole 11, thereby have effectively avoided magnet ring 13 to be collided and the generation of damaged condition.
As shown in Figure 1, between the piston rod 4 and cylinder head through hole among the present invention, be sealed sliding movingly between piston 5 and the cylinder barrel 3, for improving sealing effect and slip accuracy, the inwall of described cylinder head through hole is provided with three road circumferential recess, the groove of outermost is equipped with dust ring, middle groove is equipped with seal ring, and interior groove is equipped with guide ring; Offer the twice circumferential recess on the outer wall of described piston 5, wherein one groove is equipped with seal ring, and another road groove is equipped with guide ring.The bronze composite material that it is good that described guide ring preferably adopts wear-resisting property is made.
As shown in Figure 2, described waveguide rod 15 is threaded in the cylinder bottom through hole and utilizes locknut 18 to tighten, and for preventing leakage of oil, between the root of described waveguide rod 15 and the cylinder bottom through hole edge, and between locknut 18 and cylinder bottom 8 outer side surfaces seal ring is housed all.
The Linear displacement transducer 10 preferred LHMRAOOMO17ORO that adopt American MTS company to produce among the present invention, it is installed and used according to known manner.
Working procedure of the present invention and working principle are as follows:
During work, piston rod 4 is done linear reciprocating motion in cylinder barrel 3 under the pressure effect of hydraulic oil, to be installed on its inner magnet ring 13 reciprocating along the waveguide rod 15 on the Linear displacement transducer 10 thereby drive, and Linear displacement transducer 10 utilizes two different magnetic fields to intersect and the strain-pulse signal that produces calculates the accurate position and the motion speed of piston rod 4 motions.
When load changes and when causing the oil hydraulic cylinder change in displacement, hydraulic control system action is at once adjusted to desired location with oil hydraulic cylinder.When hydraulic control system breaks down, (break or situation such as brake failure), can keep essential hydraulic pressure on the described duty valve piece 6, the loss when reducing the hydraulic control system fault as pipeline 2 outside the system failure, outage, the cylinder.Use through reality, under 20MPa pressure, oil hydraulic cylinder of the present invention can guarantee to be no more than 4% internal pressure decline in 10 minutes when system's fortuitous event suspends supply pressure oil, has improved the reliability and the Security of hydraulic cylinder works greatly.
Claims (7)
1. be with the short-range pressure-retaining high-pressure heavy hydraulic cylinder of built-in linear displacement transducer, comprise cylinder barrel (3) and be fitted in the interior piston rod (4) of cylinder barrel (3), the front end and back end of described cylinder barrel (3) is separately installed with cylinder head (1) and cylinder bottom (8), cylinder head (1) center offers the cylinder head through hole, piston rod (4) is through in the cylinder head through hole, between piston rod (4) and the cylinder head through hole be sealed sliding movingly; Piston (5) is equipped with in the inner of described piston rod (4), forms rod end chamber (16) between piston (5) and the cylinder head (1), forms piston cavity (9) between piston (5) and the cylinder bottom (8); It is characterized in that: the outside of described cylinder bottom (8) is equipped with Linear displacement transducer (10), cylinder bottom (8) center offers the cylinder bottom through hole, described piston rod (4) center offers and the corresponding axial center hole of cylinder bottom through hole (17), the inner end of piston rod (4) is equipped with magnet ring (13), after the waveguide rod (15) of described Linear displacement transducer (10) is passed cylinder bottom through hole and magnet ring (13) in turn, insert in the center hole (17) of piston rod (4).
2. the short-range pressure-retaining high-pressure heavy hydraulic cylinder of band built-in linear displacement transducer as claimed in claim 1, it is characterized in that: described cylinder bottom (8) is gone up the duty valve piece (6) with pressurize lock function is installed, this duty valve piece (6) is connected with rod end chamber (16) by pipeline (2) on the one hand, is connected with piston cavity (9) by the adjusting oilhole of offering on the cylinder bottom (8) (7) on the other hand.
3. the short-range pressure-retaining high-pressure heavy hydraulic cylinder of band built-in linear displacement transducer as claimed in claim 1, it is characterized in that: the central fovea of described piston rod (4) interior edge face is provided with installation room, described magnet ring (13) is contained between first gland (12) and second gland (14), and first gland (12), magnet ring (13) and second gland (14) are encapsulated in the installation room by circlip for hole (11).
4. the short-range pressure-retaining high-pressure heavy hydraulic cylinder of band built-in linear displacement transducer as claimed in claim 1, it is characterized in that: the inwall of described cylinder head through hole is provided with three road circumferential recess, the groove of outermost is equipped with dust ring, and middle groove is equipped with seal ring, and interior groove is equipped with guide ring; Offer the twice circumferential recess on the outer wall of described piston (5), wherein one groove is equipped with seal ring, and another road groove is equipped with guide ring.
5. the short-range pressure-retaining high-pressure heavy hydraulic cylinder of band built-in linear displacement transducer as claimed in claim 2 is characterized in that: described duty valve piece (6) is made up of Pilot operated check valve (6a) and relief valve (6b); The filler opening of described Pilot operated check valve (6a) is communicated with by first connecting tube (6c) with the rod end chamber (16) of oil hydraulic cylinder, and described relief valve (6b) is connected on first connecting tube (6c); The oil outlet of described Pilot operated check valve (6a) is communicated with by second connecting tube (6d) with the piston cavity (9) of oil hydraulic cylinder, and the control port of Pilot operated check valve (6a) is connected with second connecting tube (6d).
6. the short-range pressure-retaining high-pressure heavy hydraulic cylinder of band built-in linear displacement transducer as claimed in claim 1, it is characterized in that: described waveguide rod (15) is threaded in the cylinder bottom through hole and utilizes locknut (18) to tighten, between the root of described waveguide rod (15) and the cylinder bottom through hole edge, and between locknut (18) and cylinder bottom (8) outer side surface seal ring is housed all.
7. the short-range pressure-retaining high-pressure heavy hydraulic cylinder of band built-in linear displacement transducer as claimed in claim 4 is characterized in that: described guide ring adopts bronze composite material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010230458 CN101922483A (en) | 2010-07-12 | 2010-07-12 | Short-range pressure-retaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010230458 CN101922483A (en) | 2010-07-12 | 2010-07-12 | Short-range pressure-retaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor |
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| CN101922483A true CN101922483A (en) | 2010-12-22 |
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| CN 201010230458 Pending CN101922483A (en) | 2010-07-12 | 2010-07-12 | Short-range pressure-retaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102562706A (en) * | 2012-02-23 | 2012-07-11 | 无锡亿利大机械有限公司 | Integrated servo cylinder |
| CN103511387A (en) * | 2013-09-18 | 2014-01-15 | 梁招仙 | Hydraulic oil cylinder |
| CN103759744A (en) * | 2014-01-21 | 2014-04-30 | 南京理工技术转移中心有限公司 | Flexible displacement transmitting mechanism |
| CN103836024A (en) * | 2014-03-19 | 2014-06-04 | 太原科技大学 | Hollow hydraulic cylinder with built-in sensor |
| CN104141645A (en) * | 2014-07-25 | 2014-11-12 | 济南金钟电子衡器股份有限公司 | Hydraulic system for bulk cargo automobile unloading device |
| CN107939773A (en) * | 2017-12-07 | 2018-04-20 | 中煤张家口煤矿机械有限责任公司 | A kind of high thrust is compound singly to stretch hydraulic cylinder |
| CN107983924A (en) * | 2016-10-26 | 2018-05-04 | 宝山钢铁股份有限公司 | The support device and method of a kind of twin-roll thin-strip casting side sealing plate |
| CN108412840A (en) * | 2018-04-28 | 2018-08-17 | 安徽唐兴机械装备有限公司 | A kind of built-in sensors oil cylinder |
| CN108474394A (en) * | 2015-12-11 | 2018-08-31 | 莱卡姆动力传动***责任有限公司 | Hydraulic control device |
| CN108895060A (en) * | 2018-09-10 | 2018-11-27 | 江阴市洪腾机械有限公司 | A kind of built-in stroke measurment hydraulic cylinder |
| CN109654084A (en) * | 2018-11-27 | 2019-04-19 | 中国石油化工股份有限公司 | A kind of explosion-proof type servo hydraulic cylinder |
| CN110161116A (en) * | 2018-04-25 | 2019-08-23 | 北京机电工程研究所 | Displacement and sound emission integrated sensing device |
| CN110925265A (en) * | 2019-12-09 | 2020-03-27 | 徐州徐工液压件有限公司 | Maximum stroke self-adjusting hydraulic cylinder |
| CN111288039A (en) * | 2020-05-07 | 2020-06-16 | 江苏恒立液压股份有限公司 | Double-rod oil cylinder and engineering machinery with same |
| CN111356845A (en) * | 2017-07-14 | 2020-06-30 | 液压开采***公司 | Hydraulic actuator cylinder and device using at least one such cylinder |
| CN112431813A (en) * | 2020-12-09 | 2021-03-02 | 盐城奥晖机械有限公司 | Short-range pressure-maintaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor |
| CN113915191A (en) * | 2021-02-18 | 2022-01-11 | 上海圣克赛斯液压股份有限公司 | Oil cylinder for proportional servo control hydraulic pitch control of wind driven generator |
| CN113931890A (en) * | 2021-11-17 | 2022-01-14 | 太原理工大学 | Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof |
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| CN201461593U (en) * | 2009-08-06 | 2010-05-12 | 河北宏远液压机械有限公司 | Narrow side width-regulating servo hydraulic cylinder of crystallizer |
| CN201982406U (en) * | 2010-07-12 | 2011-09-21 | 无锡市长江液压缸厂 | Short-range pressure-retaining high-pressure heavy-duty hydraulic cylinder with built-in linear-displacement sensor |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102562706A (en) * | 2012-02-23 | 2012-07-11 | 无锡亿利大机械有限公司 | Integrated servo cylinder |
| CN102562706B (en) * | 2012-02-23 | 2015-02-04 | 无锡亿利大机械有限公司 | Integrated servo cylinder |
| CN103511387A (en) * | 2013-09-18 | 2014-01-15 | 梁招仙 | Hydraulic oil cylinder |
| CN103759744A (en) * | 2014-01-21 | 2014-04-30 | 南京理工技术转移中心有限公司 | Flexible displacement transmitting mechanism |
| CN103759744B (en) * | 2014-01-21 | 2016-03-02 | 南京理工技术转移中心有限公司 | A kind of flexible displacement transmission mechanism |
| CN103836024B (en) * | 2014-03-19 | 2016-08-24 | 太原科技大学 | The hollow hydraulic cylinder of built-in sensors |
| CN103836024A (en) * | 2014-03-19 | 2014-06-04 | 太原科技大学 | Hollow hydraulic cylinder with built-in sensor |
| CN104141645A (en) * | 2014-07-25 | 2014-11-12 | 济南金钟电子衡器股份有限公司 | Hydraulic system for bulk cargo automobile unloading device |
| CN108474394A (en) * | 2015-12-11 | 2018-08-31 | 莱卡姆动力传动***责任有限公司 | Hydraulic control device |
| CN107983924A (en) * | 2016-10-26 | 2018-05-04 | 宝山钢铁股份有限公司 | The support device and method of a kind of twin-roll thin-strip casting side sealing plate |
| CN111356845A (en) * | 2017-07-14 | 2020-06-30 | 液压开采***公司 | Hydraulic actuator cylinder and device using at least one such cylinder |
| CN111356845B (en) * | 2017-07-14 | 2022-08-05 | 液压开采***公司 | Hydraulic actuator cylinder and device using at least one such cylinder |
| CN107939773A (en) * | 2017-12-07 | 2018-04-20 | 中煤张家口煤矿机械有限责任公司 | A kind of high thrust is compound singly to stretch hydraulic cylinder |
| CN110161116A (en) * | 2018-04-25 | 2019-08-23 | 北京机电工程研究所 | Displacement and sound emission integrated sensing device |
| CN110161116B (en) * | 2018-04-25 | 2021-10-19 | 北京机电工程研究所 | Displacement and acoustic emission integrated sensing device |
| CN108412840A (en) * | 2018-04-28 | 2018-08-17 | 安徽唐兴机械装备有限公司 | A kind of built-in sensors oil cylinder |
| CN108895060A (en) * | 2018-09-10 | 2018-11-27 | 江阴市洪腾机械有限公司 | A kind of built-in stroke measurment hydraulic cylinder |
| CN109654084A (en) * | 2018-11-27 | 2019-04-19 | 中国石油化工股份有限公司 | A kind of explosion-proof type servo hydraulic cylinder |
| CN110925265A (en) * | 2019-12-09 | 2020-03-27 | 徐州徐工液压件有限公司 | Maximum stroke self-adjusting hydraulic cylinder |
| CN111288039A (en) * | 2020-05-07 | 2020-06-16 | 江苏恒立液压股份有限公司 | Double-rod oil cylinder and engineering machinery with same |
| CN112431813A (en) * | 2020-12-09 | 2021-03-02 | 盐城奥晖机械有限公司 | Short-range pressure-maintaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor |
| CN113915191A (en) * | 2021-02-18 | 2022-01-11 | 上海圣克赛斯液压股份有限公司 | Oil cylinder for proportional servo control hydraulic pitch control of wind driven generator |
| CN113931890A (en) * | 2021-11-17 | 2022-01-14 | 太原理工大学 | Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof |
| CN113931890B (en) * | 2021-11-17 | 2022-03-08 | 太原理工大学 | Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof |
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Application publication date: 20101222 |