CN114109939A - An energy-saving hydraulic system for high-speed motion servo control of oil cylinder - Google Patents
An energy-saving hydraulic system for high-speed motion servo control of oil cylinder Download PDFInfo
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- CN114109939A CN114109939A CN202111337510.4A CN202111337510A CN114109939A CN 114109939 A CN114109939 A CN 114109939A CN 202111337510 A CN202111337510 A CN 202111337510A CN 114109939 A CN114109939 A CN 114109939A
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- 230000004044 response Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 239000002828 fuel tank Substances 0.000 claims abstract 6
- 239000003921 oil Substances 0.000 claims description 230
- 239000010720 hydraulic oil Substances 0.000 claims description 26
- 101100031730 Arabidopsis thaliana PUMP1 gene Proteins 0.000 claims description 15
- 101100130645 Homo sapiens MMP7 gene Proteins 0.000 claims description 15
- 102100030417 Matrilysin Human genes 0.000 claims description 15
- 239000010705 motor oil Substances 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 101100410399 Arabidopsis thaliana PUMP2 gene Proteins 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
本发明公开了一种油缸高速运动伺服控制节能液压系统，包括油箱，其特征在于，所述油箱的侧面安装有伺服电机油泵组构成的动力源和独立的控制油路油泵电机组，油箱通过螺钉固定控制阀块，控制阀块通过油管分别与内啮合齿轮泵、插装阀块和油箱连接，控制阀块中安装有高频响高精度大流量闭环控制伺服阀，插装阀块通过油管分别与高速移动油缸、控制阀块、压力检测组件和油箱连接，高速移动油缸安装在机架中，多组蓄能器及压力、温度检测反馈元件安装在油箱上，油箱安装在机架靠近中心的位置，通过本发明的设计使油缸迅速达到高速移动，加速平稳，速度控制准确，减速制动快速可靠，以较小的功率满足油缸高速运行的需要，达到节能的效果。
The invention discloses a high-speed motion servo-controlled energy-saving hydraulic system of an oil cylinder, comprising an oil tank. The control valve block is fixed, and the control valve block is connected with the internal gear pump, the cartridge valve block and the fuel tank respectively through the oil pipe. The control valve block is installed with a high-frequency response, high-precision, large-flow closed-loop control servo valve, and the cartridge valve block is separately connected through the oil pipe. It is connected with high-speed mobile oil cylinder, control valve block, pressure detection component and oil tank. Position, through the design of the present invention, the oil cylinder can quickly reach high-speed movement, the acceleration is stable, the speed control is accurate, the deceleration and braking are fast and reliable, and the small power can meet the needs of the high-speed operation of the oil cylinder to achieve the effect of energy saving.
Description
Technical Field
The invention relates to the technical field of hydraulic oil cylinder driving, in particular to a high-speed movement servo control energy-saving hydraulic system for an oil cylinder.
Background
Generally, the speed of a hydraulic oil cylinder is below 1m/s when the hydraulic oil cylinder runs at a high speed, and the moving speed and the moving position of the oil cylinder are difficult to be effectively controlled due to the mechanical structure, the system response and other reasons when the hydraulic oil cylinder runs at the high speed, so that the motion stability, the speed control and the brake reliability of the oil cylinder are poor, the oil cylinder is difficult to accelerate, and meanwhile, the requirement of the high-speed running of the oil cylinder is met by great driving power. Therefore, it is necessary to design an energy-saving hydraulic system for servo control of high-speed movement of the oil cylinder to solve the problems in the background art.
Disclosure of Invention
In order to solve the technical problems, the oil cylinder rapidly achieves high-speed movement, the acceleration is stable, the speed control is accurate, the deceleration braking is rapid and reliable, the requirement of high-speed operation of the oil cylinder is met with small power, and the energy-saving effect is achieved The temperature detection feedback element is arranged on an oil tank, and the oil tank is arranged at the position of the frame close to the center.
Preferably: the power source formed by the servo motor oil pump set comprises a synchronous permanent magnet servo motor, a flexible coupling, a bracket, an internal gear pump and a servo driver, wherein the servo motor and the internal gear pump are fixed at two ends of the bracket by screws; the servo driver is arranged in the servo drive control box and is arranged on the other side surface of the oil tank.
Preferably: the independent control oil path oil pump motor set comprises an asynchronous motor, a flexible coupler, a bracket and a vane pump, and the installation mode of the independent control oil path oil pump motor set is the same as that of a servo motor oil pump set.
Preferably: the high-frequency-response high-precision large-flow closed-loop control servo valve, an overflow valve (a safety valve), a reversing valve and a pressure detection assembly (a pressure gauge and a pressure sensor) are integrally installed in a control valve block and fixed on an oil tank through screws.
Preferably: the cartridge valve block is provided with a plurality of paths of cartridge valves and a proportional back pressure valve.
Preferably: the high-speed moving oil cylinder is a double-outlet (piston) rod bidirectional moving oil cylinder and is arranged in the rack, and piston rods at two ends are respectively connected with the workpiece.
The invention has the technical effects and advantages that:
1. the power source formed by the servo motor oil pump, the independent control oil way oil pump motor set, the high-frequency-response high-precision large-flow closed-loop control servo valve, the multi-path cartridge valve, the proportional back pressure valve, the multiple groups of energy accumulators, various pressure, temperature and other detection feedback elements, hydraulic accessories, various hydraulic valve blocks and the like are all tightly installed on the periphery of the oil tank or on the oil tank, and the hydraulic control system is compact in structure, accurate in control, energy-saving and efficient. The mechanism can be used for a linear track high-speed mobile communication test system and can also be suitable for similar mechanical devices needing accurate and quick acceleration, deceleration and position control on high-speed linear movement.
2. The power supply that the servo motor oil pump is constituteed, the accessible is installed the sensor on servo motor and is detected and pass through the rotational speed of servo driver control motor, and accessible pressure sensor detects oil pump output pressure simultaneously, makes output consistent with the required power of mechanical motion, and is energy-conserving high-efficient.
3. The independent control oil circuit oil pump motor set can independently provide pressure and flow required by the hydraulic valve control oil circuit, so that the opening, closing and other controls of the hydraulic valve are not influenced by pressure and flow fluctuation of the main oil circuit, and the action is more reliable and accurate.
4. The high-frequency-response high-precision large-flow closed-loop control servo valve installed in the control valve block has large flow and high response speed, and can meet the requirements of high acceleration and deceleration, large flow and high precision requirement required by the movement of a high-speed moving oil cylinder.
5. The multi-path cartridge valve and the proportional backpressure valve are installed in the cartridge valve block, the cartridge valve has the advantages of being high in response speed and flow rate, the requirement that the flow rate is high due to the fact that the high-speed moving oil cylinder is fast in acceleration can be met, different pressures can be set through electric signals through the proportional backpressure valve, different backpressure resistances can be provided when the oil cylinder moving at high speed decelerates, the oil cylinder can stably and rapidly decelerate, the pressure of the backpressure resistances can be detected through the pressure sensor, and the adjustment and control can be conducted through the proportional controller.
6. The hydraulic system is characterized in that a plurality of groups of energy accumulators, a plurality of pressure, temperature and other detection feedback elements, oil tanks and other hydraulic accessories provide guarantee for high-speed reliable operation of the hydraulic system, the plurality of groups of energy accumulators can provide high pressure and ultra-large flow for a high-speed moving oil cylinder through a high-frequency-response high-precision large-flow closed-loop control servo valve, the high pressure and the ultra-large flow instantaneously exceed more than 2000L/min, and the pressure, temperature, filter blockage alarm and other detection feedback elements guarantee that the hydraulic system works in a proper working environment, and guarantee the cleanness of hydraulic oil.
7. The system is used for driving and controlling the super-high speed movement of the hydraulic oil cylinder so as to meet the requirements of stable starting, acceleration, deceleration, stopping and position control of the oil cylinder under the super-high speed movement.
Drawings
FIG. 1 is a hydraulic schematic of the present application;
FIG. 2 is a front structural schematic view of a hydraulic system assembly drawing of the present application;
FIG. 3 is a side structural schematic view of an assembly view of the hydraulic system of the present application;
FIG. 4 is a schematic top structural view of an assembly view of the hydraulic system of the present application;
in the figure: 1. a servo motor oil pump set; 2. controlling an oil pump motor set of an oil way; 3. a control valve block; 5. a plurality of groups of accumulators; 8. a servo drive control box; 9. inserting a valve block; 10. a pressure detection assembly; 12. a frame; 13. the oil cylinder is moved at high speed.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Referring to fig. 2-4, in the present embodiment, an energy-saving hydraulic system for servo control of high-speed movement of an oil cylinder is provided, which includes a power source formed by a servo motor oil pump set 1 installed on a side surface of an oil tank and an independent control oil path oil pump motor set 2; a high-frequency-response high-precision large-flow closed-loop control servo valve arranged in the control valve block 3; a multi-path cartridge valve and a proportional back pressure valve which are arranged in the cartridge valve block 9; a high-speed moving oil cylinder 13, a plurality of groups of energy accumulators 5, a plurality of detection feedback elements of pressure, temperature and the like, hydraulic accessories such as an oil tank and the like and all hydraulic valve blocks which are arranged on a frame 12 are integrated and combined;
the power source formed by the servo motor oil pump set 1 comprises a synchronous permanent magnet servo motor, a flexible coupling, a bracket, an internal gear pump and a servo driver, wherein the servo motor and the internal gear pump are fixed at two ends of the bracket through screws; the servo driver is arranged in the servo drive control box 8 and arranged on the other side surface of the oil tank.
The independent control oil path oil pump motor set 2 comprises an asynchronous motor, a flexible coupler, a bracket and a vane pump, and the installation mode of the independent control oil path oil pump motor set is the same as that of the servo motor oil pump set 1.
The high-frequency-response high-precision large-flow closed-loop control servo valve, an overflow valve (safety valve), a reversing valve and a pressure detection assembly 10 (a pressure gauge and a pressure sensor) are integrally installed in a control valve block 3 and fixed on an oil tank through screws, and the valve block is respectively connected with an internal gear pump, a cartridge valve block 9 and the oil tank through oil pipes.
The multi-path cartridge valve and the proportional back pressure valve are integrally installed in a cartridge valve block 9 and fixed on an oil tank through screws, and the valve block is respectively connected with the high-speed moving oil cylinder 13, the control valve block 3, the pressure detection assembly 10 and the oil tank through oil pipes.
The high-speed moving oil cylinder 13 is a double-outlet (piston) rod bidirectional moving oil cylinder and is arranged in the rack 12, and piston rods at two ends are respectively connected with a workpiece.
The multiple groups of energy accumulators 5 and various detection feedback elements of pressure, temperature and the like are arranged on an oil tank, and the oil tank is arranged at a position, close to the center, of the rack (12).
The working principle of the invention is as follows:
referring to the hydraulic schematic diagram of fig. 1, the hydraulic schematic diagram includes a power source composed of a servo motor EM and an internal gear PUMP1, and hydraulic accessories such as an oil PUMP motor set, an accumulator ACC, various hydraulic valves, a pressure sensor, an oil tank, and a filter, which are composed of an asynchronous motor M and an oil PUMP 2.
(1) When the high-speed oil cylinder only needs to move at a slow speed, the oil PUMP motor set 2 of the control oil path works, the oil PUMP supplies oil to the control oil path (dotted lines in the figure), the opening and closing of the cartridge valve set are controlled, the servo motor EM directly drives the oil PUMP PUMP1 to supply oil to the system, when the oil cylinder moves rightwards, hydraulic oil output by the oil PUMP PUMP1 enters the left end of the oil cylinder through the high-pressure filter V12, the one-way valve V3 and the cartridge valve V5.1, the control oil presses the cartridge valve V6.1 through the electromagnetic valve V6.3, the hydraulic oil output by the oil PUMP PUMP1 cannot enter the right end of the oil cylinder through the cartridge valve V6.1, return oil at the right end of the oil cylinder returns to the oil tank through the V8.1, and at the moment, the electromagnets S2 and R2 are electrified to work; on the contrary, when the oil cylinder moves leftwards, hydraulic oil enters the right end of the oil cylinder through the high-pressure filter V12, the one-way valve V3 and the cartridge valve V6.1, control oil presses the cartridge valve V5.1 through the electromagnetic valve V5.3, the hydraulic oil output by the oil PUMP PUMP1 cannot enter the left end of the oil cylinder through the cartridge valve V5.1, return oil at the left end of the oil cylinder returns to the oil tank through V7.1, and at the moment, the electromagnets S3 and R3 are powered on. The moving speed of the oil cylinder can control the rotating speed of the servo motor EM through a computer to enable the flow output by the oil PUMP PUMP1 to be consistent with the flow required by the movement of the oil cylinder, and overflow loss existing in a common hydraulic system is avoided.
(2) When the oil cylinder needs to operate at a high speed, the oil PUMP motor set 2 of the control oil way works, the oil PUMP PUMP2 supplies oil to the control oil way (a dotted line in the figure), the opening and closing of the cartridge valve set are controlled, the servo motor EM drives the oil PUMP PUMP1 to supply oil and fill liquid to the energy accumulator ACC through the one-way valve V2 and the electromagnetic directional valve V4, when the energy accumulator fills liquid to a required pressure, the pressure sensor sends a signal (the liquid filling pressure is set through a computer), the oil PUMP PUMP1 stops supplying oil to the energy accumulator, and at the moment, the servo motor EM only rotates at an extremely low speed to ensure the lubrication of the oil PUMP PUMP1, does not participate in the high-speed operation action of the oil cylinder, and reduces the energy consumption; when the accumulator is charged, the electromagnet S1 is energized to operate. After the accumulator is filled with liquid, the oil cylinder can run at high speed, the oil cylinder runs at high speed in an automatic mode, the oil is supplied to the oil cylinder by the accumulator, and the acceleration position, the speed position, the pressure position and the stop position of all the sections are set by a computer. When the oil cylinder moves rightwards, hydraulic oil output by the energy accumulator enters the left end of the oil cylinder through a high-frequency-response high-precision large-flow closed-loop control servo valve VF1 and a cartridge valve V5.1, control oil presses the cartridge valve V6.1 through an electromagnetic valve V6.3, the hydraulic oil output by the energy accumulator cannot enter the right end of the oil cylinder through the cartridge valve V6.1, return oil at the right end of the oil cylinder returns to an oil tank through V8.1, at the moment, electromagnets S2 and R2 are electrified to work, when the oil cylinder runs to a deceleration section, in order to enable the oil cylinder to decelerate quickly, the electromagnet R3 can be electrified to increase back pressure in an oil return cavity of the oil cylinder, the return oil at the right end of the oil cylinder is increased through the resistance of V8.1, the oil cylinder decelerates and stops more quickly, and the magnitude of the return oil back pressure can be set through a computer according to needs; on the contrary, when the oil cylinder moves leftwards, hydraulic oil output by the energy accumulator enters the right end of the oil cylinder through the high-frequency-response high-precision large-flow closed-loop control servo valve and the cartridge valve V6.1, control oil presses the cartridge valve V5.1 through the electromagnetic valve V5.3, so that the hydraulic oil output by the energy accumulator cannot enter the left end of the oil cylinder through the cartridge valve V5.1, return oil at the left end of the oil cylinder returns to an oil tank through V7.1, at the moment, the electromagnets S3 and R3 are electrified to work, when the oil cylinder runs to a deceleration section, in order to enable the oil cylinder to decelerate quickly, the electromagnet R2 is electrified to increase back pressure in an oil return cavity of the oil cylinder, the resistance of the return oil at the right end of the oil cylinder is increased, the oil cylinder is decelerated and stopped more quickly, and the magnitude of the return oil of the back pressure can be set through a computer according to needs. The pressure sensors at the two ends of the oil cylinder can detect the oil inlet pressure and the oil return back pressure of the oil cylinder in real time.
(3) Because the stroke of the oil cylinder is short, in order to increase the running acceleration of the oil cylinder and shorten the acceleration time of the oil cylinder, a high-frequency high-precision large-flow closed-loop control servo valve with high response speed is selected, and a first gear is selected at the same time, the through-flow capacity of the closed-loop control servo valve exceeds the flow required by the system to work by one time, and the time for achieving the opening of the hydraulic valve with the working flow is shortened; the energy accumulator adopted by the invention is increased by 50% on the basis of theoretical calculation, so that the pressure drop output by the energy accumulator is reduced when the oil cylinder accelerates and runs at a high speed, higher system oil supply pressure is ensured, and the oil cylinder can accelerate and keep running at a high speed more quickly. During deceleration, the high-frequency-response high-precision large-flow closed-loop control servo valve can be closed more quickly and stably due to the short closing stroke, the flow entering the oil cylinder is reduced quickly, meanwhile, the proportional backpressure valve provides backpressure timely, the oil return resistance of the oil cylinder is increased proportionally, and the oil cylinder is decelerated more quickly and stably until the oil cylinder stops.
(4) The invention is provided with the overflow valve (safety valve) V1, which limits the highest pressure of the system and ensures that the pressure exceeding the allowable pressure of the system can not occur when the hydraulic system fails or operates by mistake; the hydraulic oil accumulator is also provided with an electromagnetic directional valve V4, when the system does not work, the electromagnet S1 is not electrified, hydraulic oil stored in the accumulator ACC is discharged into an oil tank through the electromagnetic directional valve V4, the pressure and the hydraulic oil in the accumulator ACC are zero, and equipment and personal injury caused by high-pressure oil in the accumulator ACC are prevented.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art and related arts based on the embodiments of the present invention without any creative effort, shall fall within the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (9)
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| CN202111337510.4A CN114109939B (en) | 2021-11-10 | 2021-11-10 | Servo control energy-saving hydraulic system for high-speed movement of oil cylinder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116241532A (en) * | 2023-03-03 | 2023-06-09 | 湖南南方机床有限公司 | Servo hydraulic control system and broaching machine |
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| 夏卫明;骆桂林;嵇宽斌;: "一种新型无级可调高速伺服液压机液压系统", 锻压装备与制造技术, no. 05, 31 October 2012 (2012-10-31), pages 32 - 34 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116241532A (en) * | 2023-03-03 | 2023-06-09 | 湖南南方机床有限公司 | Servo hydraulic control system and broaching machine |
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| CN114109939B (en) | 2024-10-29 |
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