EP3020968B1 - Machine hydraulique, en particulier un échangeur de pression hydraulique - Google Patents

Machine hydraulique, en particulier un échangeur de pression hydraulique Download PDF

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Publication number
EP3020968B1
EP3020968B1 EP14193210.3A EP14193210A EP3020968B1 EP 3020968 B1 EP3020968 B1 EP 3020968B1 EP 14193210 A EP14193210 A EP 14193210A EP 3020968 B1 EP3020968 B1 EP 3020968B1
Authority
EP
European Patent Office
Prior art keywords
piston
cylinder
opening
braking
throttled outlet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP14193210.3A
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German (de)
English (en)
Other versions
EP3020968A1 (fr
Inventor
Haraldur Sigurdsson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Danfoss AS
Original Assignee
Danfoss AS
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Filing date
Publication date
Application filed by Danfoss AS filed Critical Danfoss AS
Priority to EP14193210.3A priority Critical patent/EP3020968B1/fr
Priority to CN201510784206.2A priority patent/CN105605024A/zh
Publication of EP3020968A1 publication Critical patent/EP3020968A1/fr
Application granted granted Critical
Publication of EP3020968B1 publication Critical patent/EP3020968B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
    • F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
    • F04B9/10—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid
    • F04B9/109—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers
    • F04B9/117—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers the pumping members not being mechanically connected to each other
    • F04B9/1172—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers the pumping members not being mechanically connected to each other the movement of each pump piston in the two directions being obtained by a double-acting piston liquid motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/20—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis having rotary cylinder block
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
    • F04F13/00—Pressure exchangers

Definitions

  • the present invention relates to a machine, in particular a hydraulic pressure exchanger, comprising a drum having a first end face and a second end face and being rotatable about an axis, said drum comprising at least a cylinder, a piston being arranged in said cylinder, said piston being moveable in a first moving direction and in a second moving direction opposite to said first moving direction, said piston dividing said cylinder in a first section opening in said first end face and a second section opening in said second end face, wherein braking means are provided for at least one of said moving directions, said braking means braking said piston before reaching an end stop, wherein said braking means are hydraulic braking means.
  • Such a hydraulic pressure exchanger is known from EP 1 508 361 A1 .
  • a positive displacement pump which comprises a cylindrical barrel rotatebly mounted within a housing.
  • the barrel includes four uniformly peripherally spaced motor cylinders and four corresponding pump cylinders in respective coaxial alignment with the motor cylinders.
  • a first piston is disposed within the motor cylinders.
  • a second piston is disposed within the corresponding pump cylinder.
  • the first piston and the second piston are slideably mounted for reciprocation within their respective cylinders.
  • the first piston and the second piston are interconnected forming a double-action piston assembly.
  • Each piston includes a stepped cylindrical shoulder portion nestably engageable with a corresponding frusto-conical tapered end socket. This provides a degree of hydraulic piston damping.
  • a pressure exchanger of this kind can be used in a reverse osmosis system.
  • a liquid is pumped into a membrane unit. Part of the liquid passes the membrane. The remaining part of the liquid has to be wasted.
  • the pressure exchanger can be used to recover the high pressure of this part of the fluid.
  • the pressure exchanger comprises a first front plate arrangement at the first end face of the drum and a second front plate arrangement at the second end face of the drum.
  • the first front plate arrangement has a high pressure supply port and a low pressure return port.
  • the second front plate arrangement comprises a high pressure return port and a low pressure supply port.
  • a cylinder passing a first kidney-shaped opening in the first front plate arrangement connected to the high pressure supply port is filled with liquid under high pressure.
  • the piston arranged in this cylinder is moved by the incoming liquid in a direction from the first end face towards the second end face of the drum.
  • the second section of the cylinder has previously been filled with fresh liquid from the low pressure supply port.
  • This fresh liquid is outputted to the second front plate arrangement via the high pressure return port.
  • the cylinder passes another kidney-shaped opening in the second front plate arrangement connected to the low pressure supply port so that this cylinder is filled with fresh liquid. This fresh liquid pushes the piston in a direction towards the first end face of the drum and outputs the liquid to be wasted.
  • the amount of fresh liquid which can be pressurized by the hydraulic pressure exchanger depends among other factors on the rotational speed of the drum. The faster the drum rotates, the more liquid can be pressurized. However, increasing rotational speed causes a corresponding increase of noise.
  • the object underlying the invention is to keep noise low.
  • a braking chamber is provided for at least one of said moving directions, said braking chamber having an opening being open during a part of the movement of said piston and being closed a predetermined distance before said piston reaches said end stop, said closed braking chamber having at least a throttled outlet.
  • part of the noise is caused by the pistons in the cylinder at the end of a piston stroke.
  • the braking means reduce significantly such noise because the speed of the piston is reduced by said braking means before the piston reaches the end stop.
  • Said braking means are hydraulic braking means. Since the pressure exchanger operates with a liquid, this liquid can be used to brake the piston before it reaches the end stop in order to reduce noise.
  • the moving of the piston can be divided in a first part in which there is no hydraulic braking at all.
  • the braking chamber In this part of the movement the braking chamber is open to allow liquid in the braking chamber to escape without being throttled. In a second part of the movement the braking chamber is closed so that the liquid can escape from the braking chamber only via the throttled outlet.
  • the force which is necessary to drive the liquid through the throttled outlet is the force acting on the piston in a braking direction.
  • the kinetic energy of the piston is changed into heat. However, this is no problem, since the heat is transported away by the liquid.
  • said throttled outlet comprises an orifice.
  • This orifice can be dimensioned to achieve the desired braking effect.
  • said throttled outlet comprises a valve, in particular a check valve.
  • Such valve can be used to restrict the flow of fluid through the throttled outlet.
  • Such a restriction can be a directional restriction, in case a check valve is used.
  • said throttled outlet comprises a leakage path.
  • a leakage path can be formed between the piston and a part of the cylinder.
  • said piston gradually decreases said opening.
  • the braking means are self-controlled. The movement of the piston increases a throttling behavior of the flow resistance of the throttled outlet.
  • said braking chamber is arranged between said piston and a wall of said cylinder. No additional parts are necessary to form a limitation of said braking chamber.
  • a first braking chamber having a first opening and a first throttled outlet is provided for said first moving direction and a second braking chamber having a second opening and a second throttled outlet is provided for said second moving direction, said first throttled outlet and said second throttled outlet being separate from each other.
  • the two throttled outlets do not form a short circuit so that the two braking means can be operated independently from each other.
  • said first opening is arranged in said wall of said cylinder.
  • the liquid in the braking chamber is displaced to the interior of the drum or to the interior of a housing in which the drum is accommodated.
  • said first throttled outlet is arranged in said wall of said cylinder.
  • said bores having a predetermined distance and different diameters. The larger bore is the opening of the first braking chamber and the smaller bore is the throttled output.
  • a sleeve is arranged within said cylinder reducing an inner diameter of said cylinder in said first direction, said piston comprising a projection being inserted into said sleeve, said first braking chamber being delimited by said piston, said sleeve and said wall of said cylinder.
  • the two front faces of the piston have surface areas of different size. Due to the difference in size of the surface area the fluid in the second chamber can be pressurized to a pressure which is larger than the pressure in the first chamber. Furthermore, a simple construction of the machine is achieved.
  • said second opening is the opening of said cylinder in an end face. This makes the construction of the machine simple.
  • said second throttled outlet runs through said piston.
  • the braking chamber is connected to the opening of the cylinder in the second end face via a path running through the piston.
  • said second throttled outlet opens into a low pressure side of said cylinder. In this case there is no pressure acting against the outlet via the throttled opening.
  • said second outlet has a section area smaller than a section area of said cylinder, said piston having a protrusion penetrating into said second outlet in a predetermined distance before said piston reaches said end stop.
  • the second opening is closed by the piston itself when the protrusion enters the second outlet.
  • said protrusion comprises a tapered end at least on part of its circumference.
  • This tapered end has the effect that the second opening is not suddenly closed, but it is gradually closed during a movement of the protrusion of the piston into said second opening. This is an additionally element for reducing noise.
  • Fig. 1 shows schematically a hydraulic machine in the form of a hydraulic pressure exchanger 1 in a longitudinal section.
  • the pressure exchanger comprises a drum 2 rotatable about an axis 3.
  • the term "drum” is used to facilitate the explanation. It is not necessary that this drum 2 is of cylindrical form.
  • the main purpose of the drum 2 is to form a basis for cylinders 4.
  • the drum 2 comprises a plurality of cylinders 4, two cylinders 4 being shown in Fig. 1 .
  • the drum 2 can also be termed as "cylinder carrier".
  • Each cylinder 4 is limited in circumferential direction by a wall 5.
  • the term “cylinder” is used to simplify the description. It is not necessary that the cylinder has a circular cross section.
  • a first front plate arrangement 6 is arranged at a first end face of the drum 2.
  • a second front plate arrangement 7 is arranged at a second end face of the drum 2, said second end face being on the opposite side of the first end face of the drum 2.
  • the first front plate arrangement 6 comprises a first front plate 8 and a pressure shoe 9.
  • the first front plate 8 comprises a high pressure supply port 10 and a low pressure return port 11.
  • the high pressure return port 10 is connected to a high pressure channel 12 of the pressure shoe 9 by means of a sleeve 13.
  • the drum 2 is rotatable supported within a housing 14. Means for driving the drum 2 are not shown in order to keep the illustration simple. However, a driving shaft can be passed through the second front plate arrangement 7.
  • Each cylinder 4 is provided with a piston 15.
  • the piston 15 divides the cylinder 4 in a first chamber 16 and a second chamber 17.
  • the piston 15 is moveable in a first direction from the first end face towards the second end face of the drum 2. Furthermore, the piston 15 is moveable in a second, opposite direction from the second end face towards the first end face of the drum 2.
  • the movement of the piston 15 is caused by pressure differences.
  • the upper piston is moved in the first direction under the influence of a hydraulic pressure present at the high pressure supply port 10.
  • liquid present in the second chamber 17 is displaced to a high pressure return port 18 in the second front plate arrangement 7.
  • the cylinder 4 comes in an overlap to a low pressure supply port 19.
  • Fresh liquid under a pressure which is higher than the pressure at the low pressure return port 11 is supplied to the second chamber 17 moving the piston 15 in the second direction towards the first front plate arrangement 6 and pushing liquid out of the first chamber 16 into the low pressure return port 11.
  • One way to increase the capacity of the hydraulic pressure exchanger 1 is to increase the rotational speed with which the drum 2 rotates.
  • the pistons 15 have to be moved rather fast since they should be moved from the first end face to the second end face or vice versa during less than a half rotation of the drum 2.
  • the high speed movement of the pistons 15 could cause trouble since the pistons 15 are suddenly stopped when they hit end stops (not shown). Such a stop causes noise which should be avoided.
  • braking means are provided for both moving directions of the piston 15, such braking means are described in connection with Fig. 2 to 7 .
  • Fig. 2 to 4 show the braking means for the first moving direction.
  • the cylinder wall 5 is arranged between a holder 20 at the first end face of the drum 2 and a holder 21 at the second end face of the drum 2. It is possible to use the holder 20 as end stop.
  • a sleeve 22 is arranged in the cylinder 4 surrounding the second chamber 17.
  • the piston 15 comprises a section 23 which is guided in the sleeve 22.
  • the inner diameter of sleeve 22 corresponds to the outer diameter of the section 23.
  • the piston 15 has an area difference between the front faces so that the fluid in the exchanger can be amplified and can, in a reverse osmosis system, for example avoid a booster pump.
  • the difference between the front faces of the piston can be realized in other ways and is not limited to the embodiment shown.
  • the piston 15 comprises a further section 24 having a larger diameter.
  • the diameter of the section 24 corresponds to the inner diameter of the cylinder 4.
  • the piston 15 comprises a protrusion 25 being directed towards the first holder 20.
  • a braking chamber 26 is limited by the cylinder wall 5, a circumferential face of the first section 23, a front face of the sleeve 22 and a front face of the second section 24 of the piston 15.
  • This braking chamber 26 is connected via a first opening 27 with the interior of the housing 14. During a first part of the movement of the piston 15, this first opening 24 allows an almost unrestricted flow of fluid out of the braking chamber 26 into the interior of the housing 14 which is filled with liquid under low pressure, said low pressure corresponding to a pressure between the pressure at the low pressure supply port 19 and the pressure at the low pressure return port 11.
  • the first opening 27, however, is open only during this first part of the movement of the piston 15 in the first direction. In other words, it is open only until the second section 24 of the piston 15 starts overlapping the first opening 27. During a further movement of the piston 15 in the first direction, the first opening 27 is gradually closed until the position shown in Fig. 2 to 4 is reached.
  • the braking chamber 26 When the first opening 27 is closed, as shown in Fig. 2-4 , the braking chamber 26 is connected to the interior of the housing 14 by means of a first throttled outlet 28 only.
  • the first throttled outlet 28 allows escape of liquid out of the braking chamber 26, however, the flow out of the braking chamber 26 is restricted. This restriction converts the kinetic energy of the piston 15 into heat.
  • the first opening 27 can be made as a bore having a first diameter and the first throttled outlet 28 can be made by a bore having a second diameter, the second diameter being much smaller than the first diameter.
  • the braking chamber 26 can be connected to the interior of the housing 14 by means of a check valve opening in a direction towards the braking chamber 26.
  • a check valve facilitates refilling of the braking chamber 26 when the piston 15 is moved in the second direction.
  • Fig. 3 shows a leakage path 29 between the sleeve 22 and the first section 23 of the piston 15. This leakage path 29 can be made just by a clearance between the sleeve 22 and the first section 23 of the piston 15. It can also be made by a groove running in longitudinal direction of the first section 23 of the piston 15.
  • Fig. 5 to 7 show the braking means at the other end of the cylinder 4.
  • the same elements are designated with the same reference numerals.
  • a second braking chamber 30 is formed between the wall 5 of the cylinder, the protrusion 25 of the piston 15, a front face of the second section 24 and a front face of the holder 20.
  • This second braking chamber 30 is open as long the protrusion 25 has not been inserted into a channel 31 in the holder 20 when the piston 15 moves in the second direction.
  • the channel 31 is connected to the low pressure return port 11. In this way the second braking chamber 30 can unrestrictedly output the liquid in the first chamber 16 of the cylinder 4 into the low pressure return port 11 as long as the second braking chamber is not closed.
  • the protrusion 25 comprises a tapered end 32.
  • the tapered end 32 is shown to cover the complete circumference of the protrusion 25. However, in some cases it is sufficient that the tapered end extends only over part of the circumference.
  • the channel 31 forms a second opening through which the liquid can escape out of the first chamber 16 when the piston moves in the second direction.
  • the size of this opening is decreased when the protrusion 25 enters the channel 31.
  • the size of the opening decreases gradually because of the tapered end 32.
  • the second throttled outlet 33 comprises an orifice 34 by means of which the throttling effect of the second throttled outlet 33 can be adjusted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Actuator (AREA)
  • Hydraulic Motors (AREA)
  • Reciprocating Pumps (AREA)

Claims (15)

  1. Machine hydraulique, en particulier échangeur de pression hydraulique (1), comprenant un tambour (2) ayant une première face d'extrémité et une deuxième face d'extrémité et pouvant tourner autour d'un axe, ledit tambour (2) comprenant au moins un cylindre (4), un piston (15) disposé dans ledit cylindre (4), ledit piston (15) pouvant être déplacé dans une première direction de déplacement et dans une deuxième direction de déplacement opposée à ladite première direction de déplacement, ledit piston (15) divisant ledit cylindre en une première section (16) ouvrant dans ladite première face d'extrémité et en une deuxième section (17) ouvrant dans ladite deuxième face d'extrémité, des moyens de freinage étant prévus pour au moins l'une desdites directions de déplacement, lesdits moyens de freinage freinant ledit piston (15) avant qu'il n'atteigne une butée de fin de course, lesdits moyens de freinage étant des moyens de freinage hydrauliques, caractérisée en ce qu'une chambre de freinage (26, 30) est prévu pour au moins l'une desdites directions de déplacement, ladite chambre de freinage (26, 30) ayant une ouverture (27, 31) ouverte au cours d'une partie du déplacement du piston (15) et étant fermée à une distance prédéterminée avant que ledit piston n'atteigne ladite butée de fin de course, ladite chambre de freinage fermée (26, 30) ayant au moins une sortie étranglée (28, 29 ; 33, 34 ; 5, 24).
  2. Machine hydraulique selon la revendication 1, caractérisée en ce que disposée dans ladite sortie étranglée (33) comprend un orifice (34).
  3. Machine hydraulique selon la revendication 1 ou 2, caractérisée en ce que ladite sortie étranglée (28) comprend une soupape, en particulier un clapet antiretour.
  4. Machine hydraulique selon l'une quelconque des revendications 1 à 3, caractérisée en ce que ladite sortie étranglée comprend un chemin de fuite (29 ; 5, 24).
  5. Machine hydraulique selon l'une quelconque des revendications 1 à 4, caractérisée en ce qu'au cours de la fermeture de ladite chambre de freinage, ledit piston (15) réduit progressivement ladite ouverture (27, 31).
  6. Machine hydraulique selon l'une quelconque des revendications 1 à 5, caractérisée en ce que ladite chambre de freinage (26, 30) est disposée entre ledit piston (15) et une paroi (5) dudit cylindre (4).
  7. Machine hydraulique selon l'une quelconque des revendications 1 à 6, caractérisée en ce qu'une première chambre de freinage (26) ayant une première ouverture (27) et une première sortie étranglée (28, 29) est prévue pour ladite première direction de déplacement et une deuxième chambre de freinage (30) ayant une deuxième ouverture (31) et une deuxième sortie étranglée (33, 34) est prévue pour ladite deuxième direction de déplacement, ladite première sortie étranglée (28, 29) et ladite deuxième sortie étranglée (33, 34) étant séparées l'une de l'autre.
  8. Machine hydraulique selon la revendication 7, caractérisée en ce que ladite première ouverture (27) est disposée dans ladite paroi (5) dudit cylindre (4).
  9. Machine hydraulique selon la revendication 8, caractérisée en ce que ladite première sortie étranglée (28) est disposée dans ladite paroi (5) dudit cylindre (4).
  10. Échangeur de pression selon la revendication 8 ou 9, caractérisé en ce qu'un manchon (22) est disposé à l'intérieur dudit cylindre (4) réduisant un diamètre intérieur dudit cylindre (4) dans ladite deuxième section (17), ledit piston (15) comprenant une section (23) insérée dans ledit manchon (22), ladite première chambre de freinage (26) étant délimitée par ledit piston (15), ledit manchon (22) et ladite paroi (5) dudit cylindre.
  11. Échangeur de pression selon l'une quelconque des revendications 7 à 10, caractérisé en ce que ladite deuxième ouverture (31) est l'ouverture dudit cylindre (4) dans une face d'extrémité.
  12. Échangeur de pression selon la revendication 11, caractérisé en ce que ladite deuxième sortie étranglée (33, 34) s'étend à travers ledit piston (15).
  13. Échangeur de pression selon la revendication 12, caractérisé en ce que ladite sortie étranglée (33, 34) s'ouvre dans un côté basse pression dudit cylindre (4).
  14. Échangeur de pression selon l'une quelconque des revendications 11 à 13, caractérisé en ce que ladite deuxième ouverture (31) présente une surface en section transversale inférieure à une surface en section transversale dudit cylindre (4), ledit piston ayant une saillie (25) pénétrant dans ladite deuxième ouverture (31) à ladite distance prédéterminée avant que ledit piston (15) n'atteigne ladite butée de fin de course.
  15. Échangeur de pression selon la revendication 14, caractérisé en ce que ladite saillie (25) comprend une extrémité (32) effilée au moins sur une partie de sa circonférence.
EP14193210.3A 2014-11-14 2014-11-14 Machine hydraulique, en particulier un échangeur de pression hydraulique Not-in-force EP3020968B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP14193210.3A EP3020968B1 (fr) 2014-11-14 2014-11-14 Machine hydraulique, en particulier un échangeur de pression hydraulique
CN201510784206.2A CN105605024A (zh) 2014-11-14 2015-11-16 液压机器，尤其是液压交换器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14193210.3A EP3020968B1 (fr) 2014-11-14 2014-11-14 Machine hydraulique, en particulier un échangeur de pression hydraulique

Publications (2)

Publication Number Publication Date
EP3020968A1 EP3020968A1 (fr) 2016-05-18
EP3020968B1 true EP3020968B1 (fr) 2016-08-24

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EP14193210.3A Not-in-force EP3020968B1 (fr) 2014-11-14 2014-11-14 Machine hydraulique, en particulier un échangeur de pression hydraulique

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EP (1) EP3020968B1 (fr)
CN (1) CN105605024A (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4036421B1 (fr) * 2021-01-28 2023-04-12 Danfoss Power Solutions ApS Échangeur de pression
US20230020630A1 (en) * 2021-07-08 2023-01-19 Energy Recovery, Inc. Reduced mixing pressure exchanger
ES3019915T3 (en) * 2021-08-04 2025-05-21 Danfoss As Pressure exchanger

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ZA914236B (en) * 1990-06-05 1992-05-27 Abb Mineral Slurry Transport Porting for rotary ram pump
ATE422958T1 (de) 2003-08-22 2009-03-15 Danfoss As Umkehrosmose entsalzungssystem mit einem druckumwandler
CN201099279Y (zh) * 2007-08-28 2008-08-13 张保兴 一种控制备用助力泵的液压交换器
US8065930B2 (en) * 2008-03-26 2011-11-29 GM Global Technology Operations LLC Hydraulic actuator for transmissions having reduced noise
JP5360564B2 (ja) * 2009-06-03 2013-12-04 Ｓｍｃ株式会社 空気圧シリンダのエアクッション機構
DE102011117081A1 (de) * 2011-10-27 2013-05-02 Robert Bosch Gmbh Hydrostatische Kolbenmaschine

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EP3020968A1 (fr) 2016-05-18
CN105605024A (zh) 2016-05-25

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