CN107816505A - A kind of active control hydraulic servo buffer - Google Patents

A kind of active control hydraulic servo buffer Download PDF

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Publication number
CN107816505A
CN107816505A CN201710979775.1A CN201710979775A CN107816505A CN 107816505 A CN107816505 A CN 107816505A CN 201710979775 A CN201710979775 A CN 201710979775A CN 107816505 A CN107816505 A CN 107816505A
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CN
China
Prior art keywords
hydraulic
valve
servo
oil
active control
Prior art date
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Granted
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CN201710979775.1A
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Chinese (zh)
Other versions
CN107816505B (en
Inventor
赵静
赵静一
李文雷
茹强
司少朋
冯轩
刘杰
孙浩
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Shijiazhuang Changjia Electromechanical Equipment Co ltd
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Yanshan University
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Publication of CN107816505A publication Critical patent/CN107816505A/en
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Publication of CN107816505B publication Critical patent/CN107816505B/en
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Classifications

    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3292—Sensor arrangements
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/34—Special valve constructions; Shape or construction of throttling passages
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
    • F16F9/5123—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity responsive to the static or steady-state load on the damper
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/54—Arrangements for attachment
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/58—Stroke limiting stops, e.g. arranged on the piston rod outside the cylinder
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/06—Fluid filling or discharging
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/08—Sensor arrangement
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/14—Ball joints; Spherical support elements
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00—Nature of movement

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

Abstract

A kind of active control hydraulic servo buffer, it is characterised in that：Low pressure accumulator with switch valve is connected with the hydraulic pressure constant displacement pump equipped with motor, the hydraulic pressure constant displacement pump is connected with check valve inlet, the outlet of the check valve is connected with the oil inlet of the hydraulic efficiency servo-valve provided with hydraulic servo amplifier, hydraulic efficiency servo-valve oil return opening is connected with low pressure accumulator oil-out, two interfaces of the hydraulic efficiency servo-valve oil-out are connected with two oil inlets of hydraulic lock respectively, the oil-out of hydraulic lock is connected with hydraulic cylinder rodless cavity and rod chamber respectively, the pipeline that wherein hydraulic lock is connected with rodless cavity is provided with pressure sensor, displacement transducer is provided with piston rod in hydraulic cylinder, the outer end of hydraulic cylinder piston rod is hinged by ball pivot and sliding block, sliding block is located on corresponding guide rail.The present invention can make that the response of buffer is fast, control accuracy is high, and specified load is applied in system, realize some requirements of high-grade, precision and advanced special occasions to load shedding.

Description

A kind of active control hydraulic servo buffer
Technical field
The present invention relates to a kind of hydraulic bjuffer, particularly servo-controlled hydraulic bjuffer.
Background technology
A present hydraulic bjuffer part is to be combined together hydraulic jack and mechanical spring, what buffer was compressed Process is the process done work by piston press fluid.This process consumes a large amount of kinetic energy, plays cushioning effect.When having worked Finish, the piston spring that is reset is pushed into home position, completes a working cycle process.The response time of this hydraulic bjuffer Long, control accuracy is low, recovery time length, and can not control the hydraulic oil liquid pressure after buffering, it is impossible to meets high-precision, fast ring Answer the requirement of vibration damping occasion.Another buffer is that servo spool is integrated into hydraulic cylinder, and the molar behavior of hydraulic cylinder passes through machine Tool structure realizes that the response of the buffering of this phase buffer is fast, and precision is high, but still can not realize the alone cycle of fluid, it is necessary to Artificial and mechanical assistance, while the linear motion of hydraulic cylinder is converted into the complicated mechanical structure of curvilinear motion needs.
The present high occasion of some control accuracy requirements requires when load shedding：No more than 0.2s's during system overload By load reduction in time, but acceleration is converted into order to which the requirement of some functions of system also needs to fractional load, dropped simultaneously The position of the load shedding bearing piece of loading system is curvilinear motion, is to be in diverse location in overload and normal condition, existing buffering Device is difficult the action request for meeting system.
The content of the invention
It can meet that response is fast it is an object of the invention to provide one kind, realize automatic cycle with pure hydraulic way, automatically control Precision is high, the linear motion of hydraulic cylinder independently can be converted into curvilinear motion, active control hydraulic servo simple in construction buffering Device.
The invention mainly comprises：Low pressure accumulator, motor, hydraulic pressure constant displacement pump, check valve, hydraulic efficiency servo-valve, hydraulic cylinder, Displacement transducer, pressure sensor, servo amplifier and safety valve.Wherein, the low pressure accumulator and switch valve phase as fuel tank Even, carry out oil-filled by the switch valve and drain the oil.The low pressure accumulator is connected with the hydraulic pressure constant displacement pump equipped with motor, the liquid Pressure constant displacement pump is connected with check valve inlet, and the outlet of the check valve is connected with the oil inlet of hydraulic efficiency servo-valve, and hydraulic efficiency servo-valve returns Hydraulic fluid port is connected with low pressure accumulator outlet.The outlet of check valve is connected with safe valve inlet, and safety valve is direct acting type overflow valve, peace Full valve exports to be connected with low pressure accumulator outlet, system can be made safely to run.The hydraulic efficiency servo-valve is to respond fast, precision High three-position four-way hydraulic servo valve, which is provided with hydraulic servo amplifier be used for buffer after holding pressure control, and watched by hydraulic pressure Take reciprocating motion and hydraulic control that hydraulic cylinder is realized in valve commutation.Two interfaces of the hydraulic efficiency servo-valve oil-out respectively with by two Two oil inlets of the hydraulic lock of individual hydraulic control one-way valve composition are connected, and the oil-out of hydraulic lock is respectively with hydraulic cylinder rodless cavity and having Rod cavity is connected, and the pipeline that wherein hydraulic lock is connected with rodless cavity is provided with pressure sensor.Hydraulic lock can make hydraulic efficiency servo-valve Avoid, by how unnecessary compression shock, effectively protecting hydraulic efficiency servo-valve.Position is provided with piston rod in hydraulic cylinder Displacement sensor, after the piston of hydraulic cylinder reaches specified location, the signal detected is then delivered to servo and put by displacement transducer Big device, and then control the switch of servo valve.The outer end of hydraulic cylinder piston rod is hinged by ball pivot and sliding block, and sliding block is located at right with it On the guide rail answered, so as to which the linear motion of hydraulic cylinder is converted into required curvilinear motion, buffering and the basic fortune of pressurize are realized It is dynamic.The length of guide rail is determined according to the stroke of hydraulic cylinder and the corner of circular motion, and the position-limit mechanism of sliding block is set at guide rail both ends.
The present invention has the following advantages that compared with prior art：
(1) present invention realizes the straight line of hydraulic cylinder with other hydraulic bjuffer structure compareds simply by the form of pure hydraulic pressure Motion is converted into the curvilinear motion of load shedding bearing piece, and can realize the reciprocating motion automatically controlled so that load shedding system Load shedding bearing piece position can automatically control, and not interfere with state of system when overload is not subject to.
(2) response time of Normal hydraulic buffer is 3s or so, and pressure controling precision is 4% or so, the hydraulic cushion The response time of device is 0.16s or so, and pressure controling precision is 2% or so.The present invention responds compared with Normal hydraulic buffer It hurry up, precision is high, automatically controls precision height, simple in construction,.
(3) present invention is easy to control compared with other hydraulic bjuffers, can be by specified portions load transfer into system Acceleration or some specified functions, while this specified portions can control at any time as needed, realize some specific conditions It is required that.
(4) pressure sensor of the invention is arranged on hydraulic cylinder rodless cavity, and displacement transducer is installed on the piston rod, safety Valve and auxiliary check valve and pump and motor all integrate, and final cylinder and fuel tank all integrate so that compact-sized.
Brief description of the drawings
Fig. 1 is the hydraulic schematic diagram of the present invention；
Fig. 2 is that hydraulic part of the present invention and mechanical part are hinged schematic diagram.
In figure：1st, normally closed switch valve, 2, low pressure accumulator, 3, safety valve, 4, motor, 5, hydraulic pressure constant displacement pump, 6, hydraulic pressure Servo amplifier, 7, check valve, 8, hydraulic efficiency servo-valve, 9, hydraulic lock, 10, pressure sensor, 11, hydraulic cylinder, 12, displacement sensing Device, 13, guide rail, 14, sliding block, 15, hydraulic cylinder piston rod, 16, ball pivot.
Embodiment
In the active control hydraulic servo buffer shown in Fig. 1 and Fig. 2, low pressure accumulator 2 and the phase of normally closed switch valve 1 Even, the low pressure accumulator is connected with the hydraulic pressure constant displacement pump 5 equipped with motor 4, the hydraulic pressure constant displacement pump and the import phase of check valve 7 Even, the outlet of the check valve 7 is connected with the oil inlet of hydraulic efficiency servo-valve 8, and hydraulic efficiency servo-valve oil return opening exports phase with low pressure accumulator Even.The outlet of check valve 7 is connected with the entrance of safety valve 3, and safety valve 3 is direct acting type overflow valve, the outlet of safety valve 3 and low pressure accumulation of energy Device outlet is connected.The hydraulic efficiency servo-valve is three-position four-way hydraulic servo valve, which is provided with servo amplifier 6, electromagnet sv1, Two interfaces of the hydraulic efficiency servo-valve oil-out respectively with two oil inlet phases of the hydraulic lock 9 being made up of two hydraulic control one-way valves Even, the oil-out of hydraulic lock 9 is connected with the rodless cavity of hydraulic cylinder 11 and rod chamber respectively, and wherein hydraulic lock 9 is connected with rodless cavity Pipeline is provided with pressure sensor 10.Displacement transducer 12 is provided with piston rod in hydraulic cylinder, hydraulic cylinder piston rod 15 Outer end is be hinged by ball pivot 16 and sliding block 14, and sliding block is located on the corresponding sliding pair of guide rail 13.
The present invention the course of work approximately as：When device is impacted by external applied load, pushed away by mechanical connection part Hydrodynamic pressure cylinder piston rod 16 and hydraulic piston are acted, and the hydraulic oil in closed containing cavity is equivalent to a kind of spring of big rigidity (being referred to as hydraulic spring grease cup), after being acted on by hydraulic piston, hydraulic spring grease cup compresses, the hydraulic fluid pressure liter of rodless cavity in hydraulic cylinder Height, after pressure oil pressure value is increased to certain limit, pressure sensor 10 passes measured signal, three-position four-way hydraulic The valve element of servo valve 8 is acted so that 8 left access systems of servo valve, by controlling 8 left opening degrees of servo valve, in 0.2s Cause system is hit to drop in specified range in time, and hydraulic oil discharge is partly into low pressure accumulator 2 Stored.
After load impacting terminates, mechanical connection part needs to reset to the position specified, now in pressure sensor In the case that 10 monitor transmission signal jointly with displacement transducer 12, the valve element of three-position four-way hydraulic servo valve 8 is acted so that Valve element is located at right working position, changes the flow direction of hydraulic pressure oil medium, and hydraulic oil enters the rodless cavity of hydraulic cylinder 11, and then The action of liquid presses piston pole 16 is promoted, in the presence of displacement transducer 12 and pressure sensor 10, realizes closing for position and power Ring controls, and then fast accurate completes action, and hydraulic efficiency servo-valve 8 receives the signal of sensor outflow after the completion of action, So that valve element is located at middle position, the technical requirements of pressurize are carried out.The pressure of system can control certain model in set-point after pressurize Enclose, the power to load shedding object is then converted into by hydraulic cylinder, realize some specific functions of load shedding object, such as system Acceleration etc., and then realize some functions of load shedding object.

Claims (5)

  1. A kind of 1. active control hydraulic servo buffer, it is characterised in that：Low pressure accumulator with switch valve is electronic with being furnished with The hydraulic pressure constant displacement pump of machine is connected, and the hydraulic pressure constant displacement pump is connected with check valve inlet, and the outlet of the check valve is with being provided with hydraulic servo The oil inlet of the hydraulic efficiency servo-valve of amplifier is connected, and hydraulic efficiency servo-valve oil return opening is connected with low pressure accumulator oil-out, the hydraulic pressure Two oil inlets of two interfaces of servo valve oil-out respectively with the hydraulic lock being made up of two hydraulic control one-way valves are connected, hydraulic pressure The oil-out of lock is connected with hydraulic cylinder rodless cavity and rod chamber respectively, and the pipeline that wherein hydraulic lock is connected with rodless cavity is provided with pressure Force snesor, displacement transducer is provided with the piston rod in hydraulic cylinder, the outer end of hydraulic cylinder piston rod passes through ball pivot and sliding block Be hinged, sliding block is located on corresponding guide rail.
  2. 2. active control hydraulic servo buffer according to claim 1, it is characterised in that：The hydraulic efficiency servo-valve is three Position four-way hydraulic servo valve.
  3. 3. active control hydraulic servo buffer according to claim 1, it is characterised in that：The outlet of check valve and safety Valve inlet is connected, and safe valve outlet is connected with low pressure accumulator outlet.
  4. 4. active control hydraulic servo buffer according to claim 3, it is characterised in that：Safety valve is direct acting type overflow Valve.
  5. 5. active control hydraulic servo buffer according to claim 1, it is characterised in that：Sliding block is set at guide rail both ends Position-limit mechanism.
CN201710979775.1A 2017-10-19 2017-10-19 A kind of active control hydraulic servo buffer Active CN107816505B (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110360260A (en) * 2019-06-20 2019-10-22 中车青岛四方机车车辆股份有限公司 A kind of active control resists snakelike damper and vibration insulating system, vehicle
CN110966344A (en) * 2019-12-27 2020-04-07 博迈科海洋工程股份有限公司 Self-adjusting hydraulic vibration isolation system between HVAC machines
CN111664217A (en) * 2020-07-03 2020-09-15 山推工程机械股份有限公司 Vibration reduction and energy recovery control method for hot die forging press
CN111776157A (en) * 2020-05-29 2020-10-16 武汉船用机械有限责任公司 Small ship vibration damping system
CN113803310A (en) * 2021-09-10 2021-12-17 武汉船用机械有限责任公司 Double-hydraulic-cylinder synchronous control system and control method thereof
CN114313050A (en) * 2021-12-21 2022-04-12 北京理工大学重庆创新中心 Joint driving device and control method of wheel-leg robot and wheel-leg robot
CN114857206A (en) * 2022-07-06 2022-08-05 太原理工大学 Active control vibration reduction system and method based on electro-hydraulic compound cylinder
CN115401948A (en) * 2022-11-02 2022-11-29 合肥合锻智能制造股份有限公司 Stability design and control method for quick-falling motion curve of large hydraulic forming equipment
WO2023279633A1 (en) * 2021-07-08 2023-01-12 中车唐山机车车辆有限公司 Vehicle end turning angle hydraulic device and control method therefor

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CN103624781A (en) * 2013-12-08 2014-03-12 中国科学院合肥物质科学研究院 Electro-hydraulic servo driven heavy-load six-freedom-degree parallel platform
CN107052283A (en) * 2017-02-10 2017-08-18 中冶赛迪工程技术股份有限公司 A kind of crystallizer vibration control device
CN206478155U (en) * 2017-01-19 2017-09-08 大连浦州航空科技有限公司 The all-hydraulic folding and unfolding shock mitigation system of amphibious vehicle wheel

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JP2005140142A (en) * 2003-11-04 2005-06-02 Kayaba Ind Co Ltd Damping device
CN1971080A (en) * 2005-11-25 2007-05-30 吕崇耀 Electromagnetic-rheological fluid hydro-pneumatic hanging system
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CN102720795A (en) * 2012-06-12 2012-10-10 江苏科技大学 Hydro-pneumatic spring for amphibious vehicles and hydraulic regulating device for hydro-pneumatic spring for amphibious vehicle
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11859689B2 (en) 2019-06-20 2024-01-02 Crrc Qingdao Sifang Co., Ltd. Active control type anti-yaw damper, damping system and vehicle
CN110360260A (en) * 2019-06-20 2019-10-22 中车青岛四方机车车辆股份有限公司 A kind of active control resists snakelike damper and vibration insulating system, vehicle
CN110966344B (en) * 2019-12-27 2021-07-20 博迈科海洋工程股份有限公司 Self-adjusting hydraulic vibration isolation system between HVAC machines
CN110966344A (en) * 2019-12-27 2020-04-07 博迈科海洋工程股份有限公司 Self-adjusting hydraulic vibration isolation system between HVAC machines
CN111776157B (en) * 2020-05-29 2021-12-28 武汉船用机械有限责任公司 Small ship vibration damping system
CN111776157A (en) * 2020-05-29 2020-10-16 武汉船用机械有限责任公司 Small ship vibration damping system
CN111664217A (en) * 2020-07-03 2020-09-15 山推工程机械股份有限公司 Vibration reduction and energy recovery control method for hot die forging press
WO2023279633A1 (en) * 2021-07-08 2023-01-12 中车唐山机车车辆有限公司 Vehicle end turning angle hydraulic device and control method therefor
CN113803310A (en) * 2021-09-10 2021-12-17 武汉船用机械有限责任公司 Double-hydraulic-cylinder synchronous control system and control method thereof
CN113803310B (en) * 2021-09-10 2023-07-21 武汉船用机械有限责任公司 Synchronous control system and control method for double hydraulic cylinders
CN114313050A (en) * 2021-12-21 2022-04-12 北京理工大学重庆创新中心 Joint driving device and control method of wheel-leg robot and wheel-leg robot
CN114857206A (en) * 2022-07-06 2022-08-05 太原理工大学 Active control vibration reduction system and method based on electro-hydraulic compound cylinder
CN114857206B (en) * 2022-07-06 2022-09-23 太原理工大学 Active control vibration reduction system and method based on electro-hydraulic compound cylinder
CN115401948A (en) * 2022-11-02 2022-11-29 合肥合锻智能制造股份有限公司 Stability design and control method for quick-falling motion curve of large hydraulic forming equipment

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