CN103277531A - Pre-stretching-pre-twisting type simplified full-bridge 2D electro-hydraulic proportional reversing valve - Google Patents
Pre-stretching-pre-twisting type simplified full-bridge 2D electro-hydraulic proportional reversing valve Download PDFInfo
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- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/06—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements
- F16K11/078—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with pivoted and linearly movable closure members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
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Abstract
The invention discloses a pre-stretching-pre-twisting type full-bridge 2D electro-hydraulic proportional reversing valve. Linear electro-mechanical converters are connected with the two ends of the 2D valve respectively through a compression-twist coupler and springs. One (4) of the springs is installed among a valve body and sliding wedges. The pre-compression amount of the spring is larger than the travel of a valve core. A left sensitive cavity and a right sensitive cavity are formed among end shoulders, the sliding wedges and the valve body. High-pressure holes are formed in the end shoulders respectively and communicated with a P port through an inner hole of the valve core. Damping slots are formed in the two ends of the inner hole wall of the valve body, wherein the diameters of the damping slots are half-round cross sections, and the two ends of each damping slot are communicated with the left sensitive cavity, the right sensitive cavity and T ports. The high-pressure holes in the shoulders at the two ends of the valve core are intersected with the damping slots to form two tiny opening areas, and hydraulic resistance half-bridges are formed in series. The pressure of the sensitive cavities in the two ends is controlled by the hydraulic resistance half-bridges respectively.
Description
Technical field
The invention belongs to the electro-hydraulic proportional valve in fluid transmission and the control field, relate in particular to a kind of electro-hydraulic proportion reversing valve.
Background technique
The electro-hydraulic servo control technology has organically combined the advantage of fluid transmission control technique and information electronic technology, and the national strategy army industry field important at Aero-Space, sophisticated weapons, iron and steel, power generation etc. is applied, and rakes in success.It is poor that but electrohydraulic control also exists contamination resistance simultaneously, valve internal pressure loss big (7MPa), and manufacture cost and maintenance cost height, system energy consumption loses defectives such as big.Because many defectives that electrohydraulic control exists make its fast-response that has can't be extensive use of in general industry equipment.Traditional electrohydraulic valve control simultaneously can not be satisfied the requirement that modern industry is produced needed high quality control system again.Therefore, people wish to have a kind of production and maintenance cost is low, safe and reliable, control accuracy and response characteristic all can satisfy the industrial control system actual demand electrohydraulic control technology.
For these reasons, people have proposed electrohydraulic proportion technology.As the representative of electrohydraulic proportion technology, electro-hydraulic proportional valve is to use on the basis of hydrovalve in traditional industry, adopts reliable inexpensive electromechanical converter (proportion electro-magnet etc.) and valve correspondingly to design.Thereby we have just obtained oil is required proportional control element identical with the general industry valve, that the valve internal pressure loss is few, performance can satisfy most of industrial control requirement again.
Because electro-hydraulic proportional valve can be combined with electric control device, can carry out computing and processing to various inputs, output signal very easily, realize complicated control function.It has antipollution, low cost again and responds advantage faster simultaneously.In industrial production, obtained to use widely, as ceramic floor brick base press machine, the permanent tension force control of band steel, pressurized container fatigue life test machine, hudraulic lift motion and control system, the control of metal-cutting machine tool working table movement, rolling mill pressure and the control system of being with steel to roll, Presseshydraulic, tube bender, plastic injection machine etc.
In ratio control system, electro-hydraulic proportional valve is the electro-hydraulic conversion element, also is power amplification element simultaneously.It plays an important role to the performance of system, is the core parts of ratio control system.
The notable attribute of electro-hydraulic proportional valve and the most successful part are to adopt proportion electro-magnet as electromechanical converter.Compare with the moving-iron type torque motor with moving coil, proportion electro-magnet has simple and reliable for structure, and materials are general, and good manufacturability can be exported bigger power and displacement, and working service is convenient.Proportion electro-magnet also can be used as the low power output stage of direct driving except as driving the pilot valve.Such as, according to the balance each other direct action type proportional valve of control valve element position principle of electromagnet thrust and spring force, only be applicable to the small flow occasion, the maximum functional flow of practical application is 21MPa at the 15L/min(maximum service pressure generally) below.In addition, in order to realize axial static pressure equilibrium of forces, direct action type proportional selector valve or Flow valve all adopt sliding valve structure, and " clamping stagnation " phenomenon appears in the influence that is subjected to frictional force and oil contamination easily.
Adopt Linear displacement transducer (LVDT) that valve element position is measured and closed loop control, constitute directly moving proportional reversing valve of electric feedback-type, can improve locating stiffness and the control accuracy of spool to a great extent, simultaneously, people are also at its model, a large amount of theoretical research work has been carried out in non-linear and system applies aspect, finally make the straight moving Proportional valve of electricity feedback can as servovalve, be applied to the closed loop control of hydraulic system, but eventually because being subjected to limitation of magnetic saturation, the proportion electro-magnet ouput force is limited, can't fundamentally solve high pressure, the problem that influences of the power of surging under the big flow still the flow saturated phenomenon can occur under the working state of high pressure (pressure reduction is big) and big flow.
The elimination power of surging influences, improves the conveyance capacity of hydrovalve, and the most basic way is to adopt control (guide's control) technology of leading.The directly moving relief valve of power influence can't be realized high pressure, the pressure control problem of flow system has been invented and led the control relief valve greatly because surging in order to solve as far back as U.S. engineer Harry Vickers in 1936, its basic thought is the pilot valve control static pressure that adopts a latus rectum less, the motion of driving main valve plug, institute's power of surging that produces is much bigger when flowing through valve port because of this hydraulic thrust than fluid, is enough to eliminate the adverse effect that it produces main valve plug motion and control.The thought of leading control also was widely used in the design of other hydrovalve afterwards, made hydraulic system high pressure, big flow control become reality.Various electro-hydraulic servo control elements afterwards also are the design philosophys of having continued to use guide's control, and electro-hydraulic proportional valve is no exception, and has used the many structural principles of servovalve.
Summary of the invention
For overcome existing electro-hydraulic proportional valve be subject to frictional force, the power of surging and oil contamination influence and " clamping stagnation " phenomenon occurs and lead control level oil circuit decompression or pressure is too low makes the whole valve can't proper functioning and lead the bigger deficiency of control level leakage flow, the invention provides and a kind ofly not only have characteristics such as the common control type of leading electro-hydraulic proportional valve flow is big, working pressure height, and can realize as the direct action type proportional valve also that under zero-pressure (decompression) prestretching-pretwist type of proportional control function simplifies full-bridge type 2D electro-hydraulic proportion reversing valve.
Prestretching of the present invention-pretwist type is simplified full-bridge type 2D electro-hydraulic proportion reversing valve, by the linear electromechanical converter 2 at 2D valve, two ends, 16 and be in pressure between them and turn round coupling etc. and constitute.The 2D valve mainly is made up of spool 9 and valve body 8, and spool has rotation and two freedom of movement that slide (so gain the name " 2D valve ") in valve body.On the shoulder of spool two ends, respectively offer a pressure hole (b and c), communicate with the P mouth respectively; Two ends respectively offer a pair of damping slot (d on the valve body inner bore wall
1, d
2And e
1, e
2), communicate with left and right sides sensitive cavity (f and g) and T mouth respectively.When spool is installed in the spool bore, the pressure hole on the shoulder of spool two ends and damping slot intersect, and form two small opening areas, series connection formation flowed friction half-bridge.The pressure of two ends sensitive cavity is controlled by the flowed friction half-bridge at two ends respectively.
It is to realize that the straight line motion of linear electromechanical converter transfers the structure of the twist motion of spool to that described pressure is turned round coupling.In this process, can take full advantage of 2D valve hydraulic pressure and lead the characteristics of control bridge circuit Pressure gain big (small corner can make the pressure of sensitive cavity that bigger variation takes place), by pressure being turned round the appropriate design of coupling, the torsional moment that drives valve core rotation is amplified, make the adverse effect of the non-linear factor Comparative Examples characteristics such as frictional force between spool and the spool bore be reduced to minimum degree.
The electromagnetic push of linear electromechanical converter output is turned round coupling by pressure makes valve core rotation, and then the pressure that makes the valve sensitive cavity changes the actuating valve mandrel to movement, spool backward rotation in mobile process, the pressure of its sensitive cavity reverts to original value again gradually, spool arrives a new equilibrium position, the displacement that spool moves and the proportional relation of the thrust of proportion electro-magnet.
Beneficial effect of the present invention mainly shows: 1, limited because of the magnetic saturation thrust output at proportion electro-magnet, proposed to press and turned round the amplification actuation techniques, proportion electro-magnet is amplified the driving force of spool, eliminated the adverse effect that the non-linear factor Comparative Examples characteristics such as frictional force between spool and the spool bore cause effectively; 2, realize leading control type electric-hydraulic proportion commutation (throttling) valve function with the rotation of spool and two freedom of movement of slip, by valve core rotation flowed friction bridge circuit delivery pressure is changed, and then produce static pressure actuating valve mandrel to motion, under high pressure, big flow, can overcome the adverse effect that the power of surging (Bernouilli force) causes effectively, effectively improve axially locating (main valve opening) precision of spool; 3,2D commutation (throttling) valve, pressure are turned round coupling and the coaxial connection of proportion electro-magnet three, constitute 2D electric-hydraulic proportion commutation (throttling) valve simple in structure, that principle is advanced, not only have common big, the high characteristics of working pressure of the control type of leading electro-hydraulic proportional valve flow, and under zero-pressure (decompression), also can as the direct action type proportional valve, realize the proportional control function.4, with respect to the spool of prestretching-pretwist type full-bridge type 2D electro-hydraulic proportion reversing valve, the spool left and right sides shoulder of this valve only need be processed a hole, and structure is simplified, and processing cost is reduced.
Description of drawings
Fig. 1 is the structural representation that prestretching-pretwist type is simplified full-bridge type 2D electro-hydraulic proportion reversing valve.
Fig. 2 is the spool valve body assembling schematic representation that prestretching-pretwist type is simplified full-bridge type 2D electro-hydraulic proportion reversing valve.
Fig. 3 is the structural representation of spool.
Fig. 4 is valve core inside structure sectional view.
Fig. 5 is the sectional view of valve body.
Fig. 6 is the side of valve body schematic representation.
Fig. 7 is spool and rolling bearing assembling schematic representation.
Fig. 8 is the structural representation of top cover.
Fig. 9 is the outer side surface structural representation of sliding wedge.
Figure 10 is the inner side surface structural representation of sliding wedge.
Figure 11 hydraulic pressure is led control full-bridge schematic representation.
Figure 12-14 is that prestretching-pretwist type is simplified full-bridge type 2D electro-hydraulic proportion reversing valve force analysis and movement process figure.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Figure 10, a kind of prestretching-pretwist type is simplified full-bridge type 2D electro-hydraulic proportion reversing valve and is comprised screw 1,3,12,30,33, linear electromechanical converter 2,16, end cap 4,19, linear bearing 5,13,31,32, cylindrical compression spring 21,23, O RunddichtringO 6,11,15,29, pin 7,10,22,24, valve body 8, spool 9, rolling bearing 14,27,36,38, top cover 17,28, bearing pin 18,26, sliding wedge 20,25, marks closely screw 34, steel ball 35, sleeve 37,39.
Prestretching-pretwist type simplification full-bridge type 2D electro-hydraulic proportion reversing valve is turned round coupling three parts by 2D valve, linear electromechanical converter and pressure and is formed.
Described 2D valve portion comprises a spool 9 and a valve body 8, spool 9 turns and can be arranged on axially slidably in valve body 8 endoporus, two ends, spool 9 left and right sides respectively are provided with the end shoulder, have T mouth, A mouth, P mouth, B mouth, T mouth on the valve body inner bore between the shoulder of described end successively, wherein the P mouth is liquid entering hole, and this place's pressure is system pressure; Between the shoulder of described end spool 9 be provided with two the middle part shoulders, two the middle part shoulders lay respectively at A mouth and B mouth; Each shoulder and valve body inner bore are sealed and matched slidably; It is characterized in that:
The two ends of 2D valve are all turned round coupling by pressure and are connected linear electromechanical converter with spring;
Spool end shoulder, end cap 4,19 and valve body 8 between form left and right sensitive cavity f, g;
As shown in Figure 3, Figure 4, respectively offer pressure hole b, a c on the shoulder of spool end, pressure hole b, c are through hole, communicate with the P mouth by hole a and spool endoporus k respectively;
As Fig. 5, shown in Figure 6, the two ends on the valve body inner bore wall respectively offer the damping slot (d of a pair of axisymmetric semi-circular cross-section
1, d
2And e
1, e
2), the two ends of each damping slot communicate with left and right sensitive cavity (f and g) and T mouth respectively;
Preferably, to be diameter be 0.5～1.0mm semi-circular cross-section to described damping slot.
As shown in figure 11, the pressure hole on the shoulder of spool end and damping slot intersect, and form two small opening areas, and series connection constitutes the flowed friction half-bridge, and the pressure of two ends sensitive cavity is controlled by the flowed friction half-bridge at two ends respectively.
Described pressure turn round coupling by sliding wedge 20, be fixed on one on bearing pin 18 ends of passing the spool end two rolling bearings 14,38, be installed on the linear bearing 13,32 in sliding wedge hole p, the q, the pin 10,22 that the restriction sliding wedge rotates constitutes; Cylindrical compression spring 21 is installed between valve body and the sliding wedge, and its pre compressed magnitude is slightly larger than spool stroke;
It is to realize that the straight line motion of linear electromechanical converter transfers the structure of the twist motion of spool to that pressure is turned round coupling.In this process, can take full advantage of 2D valve hydraulic pressure and lead the characteristics of control bridge circuit Pressure gain big (small corner can make the pressure of sensitive cavity that bigger variation takes place), by pressure being turned round the appropriate design of coupling, the torsional moment that drives valve core rotation is amplified, make the adverse effect of the non-linear factor Comparative Examples characteristics such as frictional force between spool and the spool bore be reduced to minimum degree.
Described O RunddichtringO 6,11 is used for to sealing between end cap and the valve body; Described O RunddichtringO 15,29 is used for to sealing between end cap and the linear electromechanical converter; Described top cover 17,28 great circle styletable n and sliding wedge 20,25 central bore interference fit link to each other, and the masterpiece of the push rod output of linear electromechanical converter is used on the roundlet styletable m of top cover, and transfers is to sliding wedge.Described linear bearing 5,31 and 13,32 is installed in sliding wedge respectively up and down in two hole p, the q, in order to reduce the frictional force of sliding wedge when pin slides symmetrically; The described screw 34 of marking closely is used for steel ball 35 is withstood on the end face of spool endoporus k, is used for the end of spool endoporus k is sealed; Described sleeve 37, an end of 39 withstand on the spool, and the other end withstands on rolling bearing 36,38 the inner ring, plays the effect of spring bearing.
Described linear electromechanical converter is the high pressure resistant type proportion electro-magnet of wet type, also can select the high pressure resistant molded lines electromechanical converter of other wet type for use.
The working principle of present embodiment: as shown in figure 12, when the proportion electro-magnet no electric circuit at 2D electro-hydraulic proportional valve two ends, spring produces outside thrust F to sliding wedge
S(left end and right-hand member are respectively by subscript " l " and " r " expression) is passed to spool by two axisymmetric inclined-planes and two contacted positions of rolling bearing of sliding wedge.Because the effect on inclined-plane, spool is except bearing axial tension F
SAlso bear tangential force F outward,
tEffect, tangential force equal and opposite in direction, the direction of two contact positions of same end are opposite, constitute couple.The sliding wedge at two ends is opposite with the couple direction to the axial force of spool, thereby when the equilibrium position, spool is in the state of prestretching and pretwist.When the proportion electro-magnet of 2D electro-hydraulic proportional valve end is switched on, the thrust F of its generation
mNot only make the axial force disequilibrium of spool when acting on sliding wedge, and make the suffered moment of torsion disequilibrium of spool, valve core rotation.For example when the proportion electro-magnet of left end is switched on, produce electromagnetic push F to the right
Ml, make the sliding wedge of left end reduce the active force of spool, the axial force that the spool two ends are suffered and moment of torsion be disequilibrium all, and spool is subjected to axial driving force and anticlockwise torque (seeing from left to right) to the right.Axial driving force is equivalent to the driving force of direct action type proportional valve, under the operating mode of the big flow of high pressure since exist the power of surging and frictional force directly the actuating valve mandrel to motion.But, by reasonably selecting less sliding wedge bevel angle β and bigger rolling bearing distribution circle diameter, can obtain bigger tangential force, its frictional force drives spool that is enough to overcome spool is rotated counterclockwise.Meanwhile, the sliding wedge at two ends is owing to be subjected to the circumferential constraint of pin, be the axis of guide with the pin, be that supporting is slided to the right with the linear bearing, the decrement of right-hand member spring reduces, the left end amount of spring compression increases the thrust (seeing Figure 13) of the extra spring force balanced proportions electromagnet that produces.In this process, because spool rotates counterclockwise, the pressure of valve left side sensitive cavity raises, the pressure of right sensitive cavity reduces, spool moves right, in movement process because the rolling bearing at its two ends is subjected to the constraint on sliding wedge inclined-plane, two ends, spool when moving right also toward back rotation (clockwise rotating), the pressure of spool two ends sensitive cavity reverts to the equilibrium value of stable state again, and spool arrives a new equilibrium position (see Figure 14) corresponding with proportion electro-magnet thrust size.It needs to be noted, when the pressure of the P of valve mouth is zero (equating with the T mouth pressure), at this moment, can't pass through the variation actuating valve mandrel of two ends sensitive cavity pressure to movement, but because no fluid is mobile in the valve pocket, the do not surged effect of power and clamping force of spool, thereby, the end thrust that proportion electro-magnet energising back produces can directly drive valve core movement, and at this moment the working principle of 2D electro-hydraulic proportional valve is consistent with the direct action type proportional valve.
Above-mentioned embodiment is used for explaining the present invention, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (3)
1. prestretching-pretwist type is simplified full-bridge type 2D electro-hydraulic proportion reversing valve, comprise a 2D valve of being formed by spool, valve body, spool is rotatable also can be arranged in the valve body inner bore axially slidably, two ends, the spool left and right sides respectively are provided with the end shoulder, have T mouth, A mouth, P mouth, B mouth, T mouth on the valve body inner bore between the shoulder of described end successively, wherein the P mouth is liquid entering hole, and this place's pressure is system pressure; Between the shoulder of described end spool be provided with two the middle part shoulders, two the middle part shoulders lay respectively at A mouth and B mouth; Each shoulder and valve body inner bore are sealed and matched slidably; It is characterized in that:
The two ends of 2D valve are all turned round coupling by pressure and are connected linear electromechanical converter with spring;
Pressure turn round coupling by sliding wedge 10, be fixed on one on bearing pin 13 ends of passing the spool end two rolling bearings 9, be installed on the linear bearing 3 on the sliding wedge, the pin 8 that the restriction sliding wedge rotates constitutes; Spring 4 is installed between valve body and the sliding wedge, and its pre compressed magnitude is slightly larger than the valve core stroke;
Form left and right sensitive cavity between end shoulder, sliding wedge 10 and the valve body;
On the shoulder of end, respectively offer pressure hole (a, c), communicate with the P mouth by the spool endoporus; Respectively to offer a diameter be semi-circular cross-section damping slot (b and d) at two ends on the valve body inner bore wall, and the two ends of each damping slot communicate with left and right sensitive cavity (e and f) and T mouth respectively; Pressure hole on the shoulder of spool two ends and damping slot intersect, and form two small opening areas, and series connection constitutes the flowed friction half-bridge; The pressure of the sensitive cavity at two ends is controlled by the flowed friction half-bridge at two ends respectively.
2. 2D electro-hydraulic proportion reversing valve as claimed in claim 1, it is characterized in that: described linear electromechanical converter is proportion electro-magnet.
3. 2D electro-hydraulic proportion reversing valve as claimed in claim 2, it is characterized in that: it is 0.5～1.0mm semi-circular cross-section that described damping slot is diameter.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101580870A CN103277531A (en) | 2013-04-27 | 2013-04-27 | Pre-stretching-pre-twisting type simplified full-bridge 2D electro-hydraulic proportional reversing valve |
| CN201310497666.8A CN103615572B (en) | 2013-04-27 | 2013-10-21 | Prestretching-pretwist type simplifies full-bridge type 2D electro-hydraulic proportion reversing valve |
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|---|---|---|---|
| CN2013101580870A CN103277531A (en) | 2013-04-27 | 2013-04-27 | Pre-stretching-pre-twisting type simplified full-bridge 2D electro-hydraulic proportional reversing valve |
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| CN103277531A true CN103277531A (en) | 2013-09-04 |
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| CN2013101580870A Pending CN103277531A (en) | 2013-04-27 | 2013-04-27 | Pre-stretching-pre-twisting type simplified full-bridge 2D electro-hydraulic proportional reversing valve |
| CN201310497666.8A Active CN103615572B (en) | 2013-04-27 | 2013-10-21 | Prestretching-pretwist type simplifies full-bridge type 2D electro-hydraulic proportion reversing valve |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103711945A (en) * | 2013-09-17 | 2014-04-09 | 浙江工业大学 | Single-end pretensioning-pretwisting full-bridge 2D electro-hydraulic proportional directional valve |
| WO2014173102A1 (en) * | 2013-04-27 | 2014-10-30 | 浙江工业大学 | Pre-tensioning-pre-twisting full-bridge 2d electro-hydraulic proportional directional valve |
| CN105465085A (en) * | 2016-01-25 | 2016-04-06 | 浙江大学城市学院 | Displacement reduction type 2D electro-hydraulic proportional reversing valve with compression-torsion couplers |
| CN105465420A (en) * | 2016-01-25 | 2016-04-06 | 左强 | Bidirectional high-precision electro-hydraulic proportional reversing valve |
| CN105465083A (en) * | 2016-01-25 | 2016-04-06 | 浙江大学城市学院 | Symmetrical full-bridge bi-directional 2D electro-hydraulic proportional reversing valve |
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