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CN102553754A - Piezoelectric-gas mixture control type fluid jet device - Google Patents

Piezoelectric-gas mixture control type fluid jet device Download PDF

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Publication number
CN102553754A
CN102553754A CN2012100230235A CN201210023023A CN102553754A CN 102553754 A CN102553754 A CN 102553754A CN 2012100230235 A CN2012100230235 A CN 2012100230235A CN 201210023023 A CN201210023023 A CN 201210023023A CN 102553754 A CN102553754 A CN 102553754A
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piezoelectric
gas
type fluid
control type
valve
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刘建芳
丁宁宁
焦晓阳
江海
沈超
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Jilin University
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Jilin University
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Abstract

The invention provides a novel piezoelectric-gas mixture control type fluid jet device, which is simple in structure and convenient in maintenance. The technical scheme includes that the piezoelectric-gas mixture control type fluid jet device comprises a jet unit, a gas control unit and a piezoelectric driving control unit, the jet unit comprises a nozzle, a needle valve, a connecting column, a rubber gasket, a diaphragm spring and a liquid cavity, the gas control unit comprises a gas pressure cavity, a return spring, a gas valve and a gas valve seat, and the piezoelectric driving control unit comprises a piezoelectric stack, an adjusting spring sheet and a pre-tightening device. The novel piezoelectric-gas mixture control type fluid jet device can be applied to the fields of precision chemistry, quantitative drug distribution, biomedicine and the like, is particularly applicable to the technical field of high-viscosity fluid dispensing in semiconductor package, and is used for chip fixation in electronic package, surface mount, underfilling, fluorescent powder coating in liquid crystal display panel and the like.

Description

一种压电-气体混合控制型流体喷射装置A Piezoelectric-Gas Mixed Control Type Fluid Injection Device

技术领域 technical field

本发明涉及一种压电-气体混合控制型流体喷射装置,属于微电子机械领域。The invention relates to a piezoelectric-gas mixing control type fluid injection device, which belongs to the field of microelectronic machinery.

背景技术 Background technique

随着微电子工业、材料及控制等技术的发展成熟,近年来微机电系统有了飞速的发展。作为微机电系统的一个重要分支,微流动系统由于能精确检测和控制流量,在药物微量输送、燃料微量喷射、集成电子元件封装、冷却以及微量化学分析等方面有着重要的应用前景。With the development and maturity of microelectronics industry, materials and control technologies, microelectromechanical systems have developed rapidly in recent years. As an important branch of microelectromechanical systems, microfluidic systems have important application prospects in micro-delivery of drugs, micro-injection of fuel, packaging of integrated electronic components, cooling, and microchemical analysis due to their ability to accurately detect and control flow.

发明专利“压电叠堆泵”(申请公布号CN 101216027A)提出了一种大流量、高输出压力的新型压电叠堆泵,其特征在于压电叠堆在外加激励的作用下推动活塞,活塞带动金属密封膜片上下运动从而实现泵腔容积变化,工作腔底部装有两个单向阀,为进水口单向阀和出水口单向阀,分别连通进、出水口,通过泵腔容积的变化实现液体的单向流入与流出。这种压电叠堆泵对于有粘性的流体自吸性差,甚至泵不能正常工作,且阀门密封性差,流体容易倒流等弊端。The invention patent "piezoelectric stack pump" (application publication number CN 101216027A) proposes a new piezoelectric stack pump with large flow rate and high output pressure, which is characterized in that the piezoelectric stack pushes the piston under the action of external excitation, The piston drives the metal sealing diaphragm to move up and down to realize the volume change of the pump chamber. Two one-way valves are installed at the bottom of the working chamber, which are the water inlet one-way valve and the water outlet one-way valve, which are respectively connected to the water inlet and the water outlet. The change realizes the one-way inflow and outflow of liquid. This piezoelectric stack pump has poor self-priming properties for viscous fluids, and even the pump cannot work normally, and the valves are poorly sealed, and the fluid is easy to flow back and other disadvantages.

在微电子技术的发展中,集成电路越来越呈现出复杂化和微型化,半导体封装要求具有更小的尺寸、更多的引线、更密的内连线等,促使集成电路及封装技术的要求越来越高。在微电子封装中,流体点胶技术被越来越广泛地应用。In the development of microelectronics technology, integrated circuits are becoming more and more complicated and miniaturized, and semiconductor packaging requires smaller sizes, more leads, and denser interconnections, etc., which promotes the development of integrated circuits and packaging technologies. Increasingly demanding. In microelectronic packaging, fluid dispensing technology is more and more widely used.

发明专利“喷射式点胶阀”(申请公布号:CN 201008812Y)提出了一种电磁阀喷射式点胶装置,其特征是具有一定压力的胶液通入设有撞针的喷嘴容腔里,一定压力的气压通入设有活塞和活塞回位弹簧的气压容腔,由电磁阀开关控制气体的通断,由气压控制活塞的上下运动带动撞针的上下运动,该结构能够喷射一定黏度的胶体,解决了接触式点胶的一些问题,但由于采用气压控制活塞的上下运动,若气压有所波动将导致活塞位移有所变化,导致撞针位移的变化使得胶点大小不一致,且采用活塞装置使得撞针上下运动的速度不高,胶体粘度较高时,不易迅速喷射出来,且结构较为复杂。The invention patent "jet dispensing valve" (application publication number: CN 201008812Y) proposes a solenoid valve jet dispensing device, which is characterized in that the glue with a certain pressure is passed into the nozzle cavity with a firing pin, and must The air pressure of the pressure is passed into the air pressure chamber equipped with the piston and the piston return spring, the on and off of the gas is controlled by the solenoid valve switch, and the up and down movement of the piston is controlled by the air pressure to drive the up and down movement of the striker. This structure can spray colloid with a certain viscosity. It solves some problems of contact dispensing, but because the air pressure is used to control the up and down movement of the piston, if the air pressure fluctuates, the displacement of the piston will change, resulting in the change of the displacement of the firing pin, which makes the size of the glue point inconsistent, and the use of the piston device makes the firing pin The speed of the up and down movement is not high, and when the viscosity of the colloid is high, it is not easy to spray out quickly, and the structure is more complicated.

综上所述,压电泵能够实现流体的微量输出,但是在定量输送流体时易受负载影响,输出力小、精度低、承载能力较弱,以及目前点胶技术中点胶装置在胶点一致性差和结构控制复杂等问题上,都有待于进一步提高。To sum up, the piezoelectric pump can achieve a small amount of fluid output, but it is easily affected by the load when the fluid is delivered quantitatively, the output force is small, the precision is low, and the carrying capacity is weak. Issues such as poor consistency and complex structure control need to be further improved.

发明内容 Contents of the invention

本发明提供一种压电-气体混合控制型流体喷射装置,以解决压电泵在定量输送流体时易受负载影响,输出力小、精度低、承载能力较弱的问题,以及目前点胶技术中存在的胶点一致性差和结构控制复杂问题。The invention provides a piezoelectric-gas mixing control type fluid injection device to solve the problems that the piezoelectric pump is easily affected by the load when the fluid is quantitatively delivered, the output force is small, the precision is low, and the carrying capacity is weak, and the current dispensing technology There are problems of poor glue point consistency and complex structure control in the system.

为达到以上的目的,本发明采用以下技术方案:To achieve the above object, the present invention adopts the following technical solutions:

一种压电-气体混合控制型流体喷射装置,包括三个单元喷射单元、气体控制单元和压电驱动控制单元,其特征在于:所述喷射单元包括喷嘴、针阀、连接柱、橡胶垫片、膜片弹簧、液体腔体,气体控制单元包括气压腔体、回位弹簧、气阀、气阀座,压电驱动控制单元包括压电叠堆、调整弹簧片、预紧装置。A piezoelectric-gas mixing control type fluid injection device, comprising three unit injection units, a gas control unit and a piezoelectric drive control unit, characterized in that the injection unit includes a nozzle, a needle valve, a connecting column, and a rubber gasket , Diaphragm spring, liquid cavity, gas control unit includes air pressure cavity, return spring, gas valve, gas valve seat, piezoelectric drive control unit includes piezoelectric stack, adjustment spring piece, pretensioning device.

本发明所述喷嘴内设有针阀,针阀上端与铍青铜膜片弹簧通过螺栓连接在一起,铍青铜膜片弹簧上端有压缩弹簧,所述压电叠堆下方设有调整弹簧膜片并与气阀相连接,压电叠堆上端与预紧装置相连接。The nozzle of the present invention is provided with a needle valve, the upper end of the needle valve and the beryllium bronze diaphragm spring are connected together by bolts, the upper end of the beryllium bronze diaphragm spring is provided with a compression spring, and the lower part of the piezoelectric stack is provided with an adjustment spring diaphragm and It is connected with the air valve, and the upper end of the piezoelectric stack is connected with the pretensioning device.

本发明所述膜片弹簧采用周边向上凸起的圆形铍青铜膜片,具有更好的弹性。The diaphragm spring of the present invention adopts a circular beryllium bronze diaphragm whose periphery protrudes upwards, and has better elasticity.

本发明所述压电叠堆与楔形预紧装置通过螺钉相连接,所述楔形预紧装置有上下两个楔形块、预紧螺栓、调整螺栓和上盖组成,旋入预紧螺栓可以预紧压电叠堆,旋入调整螺栓可以减小预紧力。The piezoelectric stack of the present invention is connected with the wedge-shaped pre-tensioning device through screws. The wedge-shaped pre-tensioning device consists of two wedge-shaped blocks, a pre-tightening bolt, an adjusting bolt and an upper cover. Screwing in the pre-tightening bolt can pre-tighten Piezo stack, preload can be reduced by screwing in the adjusting bolt.

本发明所述压电叠堆下端设有调整弹簧膜片,保证压电叠堆与气阀的对中性,压电叠堆控制气阀的开启与关闭。The lower end of the piezoelectric stack in the present invention is provided with an adjustment spring diaphragm to ensure the alignment between the piezoelectric stack and the gas valve, and the piezoelectric stack controls the opening and closing of the gas valve.

本发明的优点在于提出了一种压电-气体混合控制型流体喷射装置,可实现液体的定量输送、定量分配、以及微电子封装中高粘度流体点胶等多种用途,能广泛应用于工业自动化中的输液、供油、加工设备中的清洗、化工制剂等方面的精密计量,特别是在微电子封装中高粘度流体点胶技术中与现有点胶技术相比,采用喷射式点胶技术,从而为点胶工艺提供了高速度、高质量和易维护的点胶装置。The advantage of the present invention is that it proposes a piezoelectric-gas mixing control type fluid injection device, which can realize quantitative delivery, quantitative distribution of liquid, and high-viscosity fluid dispensing in microelectronic packaging, etc., and can be widely used in industrial automation Precise measurement of infusion, oil supply, cleaning in processing equipment, chemical preparations, etc., especially in high-viscosity fluid dispensing technology in microelectronic packaging. Compared with existing dispensing technology, jet dispensing technology is used. Thus, a high-speed, high-quality and easy-to-maintain dispensing device is provided for the dispensing process.

附图说明 Description of drawings

图1是压电驱动喷射式点胶装置结构图Figure 1 is a structural diagram of a piezoelectric-driven jet dispensing device

图2是调整弹簧片(10)结构图Fig. 2 is the structural diagram of adjusting the spring leaf (10)

图3是膜片弹簧(5)结构图Fig. 3 is a structural diagram of diaphragm spring (5)

图4是楔形下端预紧块主视图与剖视图Figure 4 is the front view and cross-sectional view of the wedge-shaped lower end pretensioning block

图5是楔形上端预紧块主视图与剖视图Figure 5 is the front view and cross-sectional view of the wedge-shaped upper end pretensioning block

具体实施方式 Detailed ways

参见图1所示,本发明一种压电-气体混合控制型流体喷射装置,包括三个单元喷射单元、气体控制单元和压电驱动控制单元。喷射单元包括喷嘴(1)、针阀(2)、连接柱(3)、橡胶垫片(4)、膜片弹簧(5)、液体腔体(21),气体控制单元包括气压腔体(20)、回位弹簧(8)、气阀(9)、气阀座(19),压电驱动控制单元包括压电叠堆(11)、调整弹簧片(10)、预紧装置。喷嘴(1)与液体腔体(21)过盈配合且装有密封圈(22),针阀(2)与连接柱(3)螺纹连接,连接柱(3)与膜片弹簧(5)用螺母(6)和橡胶垫片(4)连接,压电叠堆(11)与预紧装置用连接螺钉(12)连接,压电叠堆腔体(18)、气阀座(19)、气压腔体(20)与胶液腔体(21)之间通过固定螺栓(23)连接。Referring to FIG. 1 , a piezoelectric-gas mixing control type fluid injection device of the present invention includes three unit injection units, a gas control unit and a piezoelectric drive control unit. The injection unit includes a nozzle (1), a needle valve (2), a connecting column (3), a rubber gasket (4), a diaphragm spring (5), a liquid cavity (21), and the gas control unit includes a pneumatic cavity (20 ), a return spring (8), an air valve (9), an air valve seat (19), and the piezoelectric drive control unit includes a piezoelectric stack (11), an adjustment spring (10), and a pretensioning device. The nozzle (1) is in interference fit with the liquid chamber (21) and is equipped with a sealing ring (22), the needle valve (2) is threadedly connected with the connecting post (3), and the connecting post (3) and the diaphragm spring (5) are used The nut (6) is connected with the rubber gasket (4), the piezoelectric stack (11) is connected with the pretensioner with the connecting screw (12), the piezoelectric stack cavity (18), the air valve seat (19), the air pressure The cavity (20) and the glue cavity (21) are connected by fixing bolts (23).

本发明针阀(2)通过连接柱(3)、螺母(6)、橡胶垫片(4)与膜片弹簧(5)连接,膜片弹簧(5)上下两端设有密封圈(22)与气压腔体(20)、液体腔体(21)紧密压紧,以防止漏气,同时保证了喷嘴(1)与针阀(2)的维护、拆卸、清洗方便。The needle valve (2) of the present invention is connected with the diaphragm spring (5) through the connecting column (3), nut (6) and rubber gasket (4), and the upper and lower ends of the diaphragm spring (5) are provided with sealing rings (22) It is tightly compressed with the air pressure cavity (20) and the liquid cavity (21) to prevent air leakage, and at the same time ensures the convenience of maintenance, disassembly and cleaning of the nozzle (1) and needle valve (2).

本发明通过压缩弹簧(7)压紧膜片弹簧(5),从而通过连接柱(3)带动针阀(2)压紧喷嘴(1)。In the present invention, the diaphragm spring (5) is compressed by the compression spring (7), thereby driving the needle valve (2) to compress the nozzle (1) through the connecting column (3).

本发明压电叠堆(11)下端通过调整弹簧片(10)与压电叠堆腔体(18)、气压阀座(19)、密封圈(22)连接,保证了压电叠堆(11)与气阀(9)的对中性,防止放气时压电叠堆(11)将气阀(9)压斜,不能使气压腔体(20)内的气体很好的排出。The lower end of the piezoelectric stack (11) of the present invention is connected with the piezoelectric stack cavity (18), the pneumatic valve seat (19) and the sealing ring (22) by adjusting the spring piece (10), ensuring that the piezoelectric stack (11) ) and the air valve (9) to prevent the piezoelectric stack (11) from depressing the air valve (9) during deflation, so that the gas in the air pressure cavity (20) cannot be discharged well.

本发明在应用于定量液体分配时可以通过控制喷射的次数来实现。When the present invention is applied to quantitative liquid distribution, it can be realized by controlling the number of injections.

其工作原理是:气压腔体(20)通入一定压力的高压气体,液体腔体(21)通入一定压力的高压液体,在装置未工作时,由于膜片弹簧(5)受到液体腔体(21)内向上的压力F1,气压腔体(20)内向下的压力F2和压缩弹簧(7)向下的压力F3,且F2+F3>F1,所以膜片弹簧(5)向下鼓起,带动连接柱(3)与针阀(2)压紧喷嘴(1),针阀(2)关闭喷嘴(1),压电叠堆(11)没有获得驱动信号,气阀(9)受到气压腔体(20)内向上的气体压力F4和回位弹簧(8)向上的压力F5用的共同作用下气阀(9)关闭,当压电叠堆(11)获得驱动信号时压电叠堆(11)输出一定的力F与位移,且F>F4+F5,所以气阀(9)开启,气压腔体(20)内的气体从气阀(9)处排出,由于进气管进入气压腔体(20)内的进气口面积S1小于气阀开启时周围的出气口面积S2,故而气压腔体(20)内的气压减小,此时膜片弹簧(5)下部的液体腔体(21)内向上的压力F1大于气压腔体(20)内气压F6与压缩弹簧(7)向下的力F7,即F1>F6+F7,故而膜片弹簧(5)向上鼓起,带动连接柱(3)、针阀(2)一起向上抬起,针阀(2)离开喷嘴(1)一定的位移形成一定的空隙,此时液体通过针阀(2)与喷嘴(1)之间的间隙流入到喷嘴(1)的喷孔里。压电叠堆(11)驱动信号消失,压电叠堆(11)在气压腔体(20)内气体压力与回位弹簧(8)共同作用下气阀(9)关闭,气压腔体(20)内气体压力迅速恢复使得膜片弹簧(5)又受到气压腔体(20)内气体压力F2与压缩弹簧(7)压力F3共同向下的压力且大于液体腔体(21)内对膜片弹簧(5)向上的压力F1,即F2+F3>F1,所以膜片弹簧(5)向下鼓起,带动针阀(2)以一定的速度迅速与喷嘴(1)接触闭合,在闭合的过程中针阀(2)产生一定的加速冲击力,从而促使液体从喷嘴(1)的喷孔中喷射出来。Its working principle is: the air pressure cavity (20) is passed into a certain pressure of high-pressure gas, and the liquid cavity (21) is passed into a certain pressure of high-pressure liquid. The upward pressure F 1 in (21), the downward pressure F 2 in the air chamber (20) and the downward pressure F 3 in the compression spring (7), and F 2 +F 3 >F 1 , so the diaphragm spring ( 5) Bulge downwards, driving the connecting column (3) and the needle valve (2) to press the nozzle (1), the needle valve (2) closes the nozzle (1), the piezoelectric stack (11) does not receive the drive signal, and the gas The valve (9) is closed under the combined action of the upward gas pressure F4 in the air pressure chamber (20) and the upward pressure F5 of the return spring (8), when the piezoelectric stack (11) When the driving signal is obtained, the piezoelectric stack (11) outputs a certain force F and displacement, and F>F 4 +F 5 , so the air valve (9) is opened, and the gas in the air pressure cavity (20) is released from the air valve (9 ), the air pressure in the air pressure chamber (20) decreases because the air inlet area S 1 of the air inlet pipe entering the air pressure chamber (20) is smaller than the surrounding air outlet area S 2 when the air valve is opened. The upward pressure F 1 in the liquid cavity (21) at the lower part of the diaphragm spring (5) is greater than the air pressure F 6 in the air pressure cavity (20) and the downward force F 7 of the compression spring (7), that is, F 1 > F 6 +F 7 , so the diaphragm spring (5) bulges upwards, driving the connecting column (3) and the needle valve (2) to lift up together, and the needle valve (2) moves away from the nozzle (1) to form a certain gap. At this time, the liquid flows into the spray hole of the nozzle (1) through the gap between the needle valve (2) and the nozzle (1). The driving signal of the piezoelectric stack (11) disappears, and the gas valve (9) of the piezoelectric stack (11) is closed under the joint action of the gas pressure in the air pressure chamber (20) and the return spring (8), and the air pressure chamber (20) The gas pressure in ) recovers quickly so that the diaphragm spring (5) is subjected to the downward pressure of the gas pressure F 2 in the air cavity (20) and the pressure F 3 of the compression spring (7) and is greater than the pressure in the liquid cavity (21). The upward pressure F 1 of the diaphragm spring (5), that is, F 2 + F 3 > F 1 , so the diaphragm spring (5) bulges downward, driving the needle valve (2) to quickly contact the nozzle (1) at a certain speed. The contact is closed, and the needle valve (2) generates a certain acceleration impact force during the closing process, thereby prompting the liquid to be ejected from the spray hole of the nozzle (1).

本发明采用常规的气压系统控制方式,所使用的压缩空气经过微雾分离器把其中的水份、杂质过滤和分离,以确保压缩空气的质量,保证点胶装置的正常使用。The present invention adopts the conventional air pressure system control method, and the compressed air used passes through the micro-mist separator to filter and separate the water and impurities in it, so as to ensure the quality of the compressed air and ensure the normal use of the dispensing device.

Claims (5)

1.一种压电-气体混合控制型流体喷射装置,包括三个单元喷射单元、气体控制单元和压电驱动控制单元,其特征在于:所述喷射单元包括喷嘴(1)、针阀(2)、连接柱(3)、橡胶垫片(4)、膜片弹簧(5)、液体腔体(21),气体控制单元包括气压腔体(20)、回位弹簧(8)、气阀(9)、气阀座(19),压电驱动控制单元包括压电叠堆(11)、调整弹簧片(10)、预紧装置。1. A piezoelectric-gas mixing control type fluid injection device, comprising three unit injection units, a gas control unit and a piezoelectric drive control unit, is characterized in that: the injection unit includes a nozzle (1), a needle valve (2 ), connecting column (3), rubber gasket (4), diaphragm spring (5), liquid chamber (21), the gas control unit includes air pressure chamber (20), return spring (8), air valve ( 9), the valve seat (19), the piezoelectric drive control unit includes a piezoelectric stack (11), an adjustment spring (10), and a pretensioning device. 2.根据权利要求1所述的一种压电-气体混合控制型流体喷射装置,其特征在于:所述喷嘴(1)内设有针阀(2),针阀(2)上端与铍青铜膜片弹簧(5)通过螺栓(6)连接在一起,铍青铜膜片弹簧(5)上端连接有压缩弹簧(7),所述压电叠堆(11)下方设有调整弹簧膜片(10)并与气阀(9)相连接,压电叠堆(11)上端与预紧装置相连接。2. A piezoelectric-gas mixing control type fluid injection device according to claim 1, characterized in that: a needle valve (2) is arranged in the nozzle (1), and the upper end of the needle valve (2) is connected with beryllium bronze The diaphragm springs (5) are connected together by bolts (6), the upper end of the beryllium bronze diaphragm spring (5) is connected with a compression spring (7), and the piezoelectric stack (11) is provided with an adjustment spring diaphragm (10 ) and is connected with the air valve (9), and the upper end of the piezoelectric stack (11) is connected with the pretensioning device. 3.根据权利要求1所述的一种压电-气体混合控制型流体喷射装置,其特征在于:所述膜片弹簧(5)采用周边向上凸起的圆形铍青铜膜片,具有更好的弹性。3. A piezoelectric-gas mixing control type fluid injection device according to claim 1, characterized in that: the diaphragm spring (5) adopts a circular beryllium bronze diaphragm whose periphery protrudes upwards, which has better flexibility. 4.根据权利要求1所述的一种压电-气体混合控制型流体喷射装置,其特征在于:所述压电叠堆(11)与楔形预紧装置通过螺钉(12)相连接,所述楔形预紧装置有上下两个楔形块(13)(14)、预紧螺栓(15)、调整螺栓(16)和上盖(17)组成,旋入预紧螺栓(15)可以预紧压电叠堆(11),旋入调整螺栓(16)可以减小预紧力。4. A piezoelectric-gas mixing control type fluid injection device according to claim 1, characterized in that: the piezoelectric stack (11) is connected to the wedge-shaped pretensioning device through a screw (12), and the The wedge-shaped pre-tightening device consists of upper and lower wedge-shaped blocks (13) (14), pre-tightening bolts (15), adjusting bolts (16) and upper cover (17). Screwing in the pre-tightening bolts (15) can pre-tighten the piezoelectric Stacking (11), screwing in the adjusting bolt (16) can reduce the preload. 5.根据权利要求1所述的一种压电-气体混合控制型流体喷射装置,其特征在于:所述压电叠堆(11)下端设有调整弹簧膜片(10),保证压电叠堆(11)与气阀(9)的对中性,压电叠堆(11)控制气阀(9)的开启与关闭。5. A piezoelectric-gas mixing control type fluid injection device according to claim 1, characterized in that: the lower end of the piezoelectric stack (11) is provided with an adjustment spring diaphragm (10) to ensure that the piezoelectric stack (11) The alignment between the stack (11) and the gas valve (9) is neutral, and the piezoelectric stack (11) controls the opening and closing of the gas valve (9).
CN2012100230235A 2012-01-13 2012-01-13 Piezoelectric-gas mixture control type fluid jet device Pending CN102553754A (en)

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CN104500813A (en) * 2014-12-12 2015-04-08 刘建芳 Sliding type piezoelectric valve used for discharging particle-contained liquid
CN104808552A (en) * 2015-04-20 2015-07-29 吉林大学 Drive control apparatus of piezoelectric injection dispensing device
CN106140573A (en) * 2016-07-06 2016-11-23 深圳市泰达机器人有限公司 A kind of coating filters pressure regulation set composite
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CN112603812A (en) * 2021-02-07 2021-04-06 浙江肯特科技股份有限公司 Piezoelectric type acupuncture point nursing bedding
CN116235841A (en) * 2023-05-08 2023-06-09 云南省烟草公司昆明市公司 Handheld soil fixed-point killing device for crop growing period

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CN111036427A (en) * 2020-01-04 2020-04-21 林景茂 Piezoelectric adjusting mechanism of injection valve and piezoelectric injection valve
CN112603812A (en) * 2021-02-07 2021-04-06 浙江肯特科技股份有限公司 Piezoelectric type acupuncture point nursing bedding
CN112603812B (en) * 2021-02-07 2022-11-29 浙江肯特科技股份有限公司 Piezoelectric type acupuncture point nursing bedding
CN116235841A (en) * 2023-05-08 2023-06-09 云南省烟草公司昆明市公司 Handheld soil fixed-point killing device for crop growing period
CN116235841B (en) * 2023-05-08 2023-08-08 云南省烟草公司昆明市公司 Handheld soil fixed-point killing device for crop growing period

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Application publication date: 20120711