巴西专利BR112012007748B1 intelligent valve using a force sensor

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专利摘要:
INTELLIGENT VALVE USING A FORCE SENSOR. The present invention relates to a valve (10), in certain embodiments, includes a body (12) having a flow path (46), a stem (30), a flow element (32) coupled to the stem, in that the flow element connects to the flow path to regulate the flow of a fluid through the flow path, and a force sensor (34) coupled to the rod and configured to indicate an amount of force exerted on the rod.
公开号:BR112012007748B1
申请号:R112012007748-1
申请日:2010-09-20
公开日:2020-12-01
发明作者:Loc Gia Hoang
申请人:Cameron Technologies Limited；
IPC主号:

专利说明:

Cross-Reference to Related Order
This application claims priority for U.S. Non-Provisional Patent Application No. 12 / 577,142, entitled "Smart Valve Utilizing a Force Sensor", filed on October 9, 2009, which is incorporated herein in its entirety by reference. Field of the Invention
The present invention relates to the regulation and monitoring of fluid flow. More particularly, the present invention relates to an intelligent valve for monitoring valve performance and for measuring the pressure of a process fluid flowing through the intelligent valve. Background
This section is intended to introduce the reader to various aspects of the technique that may be related to various aspects of the present invention, which are described and / or claimed below. This discussion is believed to be useful in providing the reader with prior information for facilitate a better understanding of the various aspects of the present invention. Thus, it must be understood that these statements are to be read with this understanding, and not as admissions of prior art.
The use of valves to manage and transmit materials is ubiquitous. Valves in general include an open position that enables fluid flow and a closed position that reduces or stops fluid flow completely. Monitoring of conditions (eg flow and pressure) of the fluid flowing through the valve in general is desirable. Furthermore, monitoring of valve performance in general is also desirable. In particular, during the life of the valve, its condition and performance can typically degrade. In addition, the valve may fail due to adverse process conditions, for example. Consequently, the valve can be repaired or replaced. Brief Description of Drawings
Various features, aspects and advantages of the present invention will become better understood when the following detailed description is read with reference to the attached figures in which equal numbers represent equal parts throughout the figures, in which:
Figure 1 is a front view of an intelligent valve that can incorporate a force sensor according to an embodiment of the present invention;
Figure 2 is a cross section of the smart valve taken along line 1-1 of figure 1 that represents the smart valve in a closed position according to an embodiment of the present invention;
Figure 3 is a cross section of the smart valve taken along line 1-1 of figure 1 that represents the smart valve in an open position according to an embodiment of the present invention;
Figure 4 is a cross section of the smart valve taken along line 1-1 of figure 1 which represents the smart valve changing from a closed position to an open position according to an embodiment of the present invention;
Figure 5 is a flow chart of a method for determining a pressure of a process fluid using the smart valve according to an embodiment of the present invention; and
Figure 6 is a flow chart of a method for determining the performance or other condition of the smart valve according to an embodiment of the present invention. Detailed Description of Specific Modalities
One or more specific embodiments of the present invention will be described below. These described embodiments are only examples of the present invention. Additionally, in an effort to provide a concise description of these exemplary modalities, all features of an actual implementation may not be described in the report. descriptive. It must be realized that in the development of any such real implementation, as in any engineering or project plan, numerous specific implementation decisions must be made to achieve the specific objectives of the developers, such as compliance with system-related and related restrictions to business, which may vary from one implementation to another. In addition, it must be realized that a development effort like this can be complex and time-consuming, but nonetheless it would be a routine undertaking of design, manufacture and construction for people of ordinary knowledge having the benefit of this revelation.
The revealed modalities include an intelligent valve, which includes a force sensor (for example, load sensor, load cell, strain gauge, and so on) to monitor the force (or pressure) exerted on the rod of an element valve. Incorporation of the force sensor facilitates monitoring of valve performance throughout the life of the valve, as well as monitoring of the flow line pressure (eg process). Furthermore, the flow line pressure (ie, the pressure of the process fluid being regulated by the valve) can be monitored both when the valve is in a closed condition (for example, no fluid flow through the flow path valve) and when the valve is in an open position. In other embodiments, the flow line pressure can be monitored in another way using a pressure gauge, pressure transducer, or other pressure element installed directly in the flow path of the valve. A benefit of using the force sensor to monitor flow pressure is the elimination of a possible leak path associated with an instrument bypass (ie, with a pressure gauge) installed directly on the flow line, for example.
Valve performance can be assessed by the amount of pressure supplied necessary to operate the valve, or by disassembling the valve to inspect internal parts, for example. In contrast, incorporating the force sensor into the valve in general will allow for improved monitoring of valve performance without disassembling the valve. The detected force information can be used to change the valve maintenance program, for example. In addition, the force sensor can be used to monitor the flow line pressure (that is, the pressure exerted by the process fluid in the valve flow path) through the pressure acting on the cross sectional area of the valve. valve stem. In addition, as discussed below, incorporating a displacement transducer into the valve to measure stem movement can provide additional information with reference to valve performance. The revealed modalities can be applied to existing designs with relatively little modification in certain applications. Examples of the smart valves disclosed in this document may include flow valves, gate valves, butterfly valves, plug valves, ball valves, needle valves and so on. onwards. Whatever the type of valve, it is generally beneficial to monitor the performance of the smart valve, as well as to obtain information about the fluid that the smart valve is regulating.
Figure 1 is a front view of an intelligent valve 10 that can incorporate a force sensor according to an embodiment of the present invention. The smart valve 10 can include a valve body 12 coupled to a valve cover 14 by means of one or more screws 16. The smart valve 10 can also include an actuator assembly 18 which, as described below, can be used to move a smart valve valve stem 10 axially along a central geometry axis 20 of smart valve 10 to drive smart valve 10 between open and closed positions. The actuator assembly 18 can be operated by a human operator (for example, using an overlay tool) or it can be operated automatically by means of a hydraulic or electrical drive system.
The smart valve 10 also includes an inlet passage 22 and an outlet passage 24 to provide connection for piping or other components. For example, the smart valve 10 can be placed between an upstream pipe 26 carrying a process fluid from a source and a downstream pipe 28 carrying the process fluid to downstream equipment. In such an embodiment, the smart valve 10 can be used in an open / closed mode to allow or block flow from the upstream pipe 26 through the smart valve 10 and to the downstream pipe 28. In other embodiments, the smart valve 10 it can be used to regulate (for example, reduce) flow from the upstream pipe 26 to the downstream pipe 28.
The materials of the smart valve 10 can vary considerably, depending on the specific applications, for example. Valve materials can include carbon steel, stainless steel, low alloy steel, nickel plated materials, nickel alloys (for example, iconel, monel and more), Teflon inserts and so on. Sealing and gasket materials can include Teflon, PTFE, elastomers, metals and so on. The pressure and temperature ratings of the smart valve 10 can also vary considerably, depending on the particular application. In addition, such classifications are not intended to limit the present techniques, which can be used for any flow line pressure. Temperature ratings can be for very low temperatures, ambient temperatures, very high temperatures, and so on.
Figure 2 is a cross section of the smart valve 10 taken along line 1-1 of figure 1 representing the smart valve 10 in a closed position according to an embodiment of the present invention. The smart valve 10 includes a valve stem 30 with a valve port 32 attached to a lower end 34 of valve stem 30. In certain embodiments, valve port 32 can be attached to the lower end 34 of valve stem 30 by threading medium. However, in other embodiments, valve port 32 can be attached to the lower end 34 of valve stem 30 using other connection methods, such as T-slots, pins, lifting nuts and so on.
Valve port 32 may include a port 36 that allows flow of process fluid through valve body 12 when valve port 32 is moved to an open position. In particular, port 36 is an opening through valve port 32 such that, when valve port 32 is in an open position, port 36 generally aligns with openings 38, 40 within a inlet seat 42 and outlet seat 44, respectively, of valve body 12. By moving valve port 32 axially along the central geometric axis 20 of smart valve 10 in such a way that port 36 is aligned with the openings 38, 40 in the inlet seat 42 and in the outlet seat 44, the smart valve 10 can be opened and the process fluid can be allowed to flow through the valve body 12 of the smart valve 10. Similarly, when move the valve port 32 axially along the central geometric axis 20 of the smart valve 10 in such a way that the port 34 is not aligned with the openings 38, 40 in the inlet seat 42 and in the outlet seat 44 the smart valve 10 can be closed. It should be noted that the smart valve 10 can be bidirectional, and the terms "inlet" and "outlet" are used for ease of reference and do not describe any specific directional limitations of the smart valve 10. For example, seats 42, 44 can be entry or exit seats, respectively. It should also be noted that the location of port 36 on valve port 32 is relative. In general, port 36 shown in figures 2 to 4 is for a closed valve due to failure. However, in other embodiments, port 36 can be aligned with openings 38, 40 to be an open valve due to failure.
The flow path of smart valve 10 is represented by arrow 46. Inlet and outlet valve connections 48, 50 can be used to connect valve body 12 of smart valve 10 to process ducts or process piping. In the illustrated embodiment, the inlet and outlet valve connections 48, 50 include flanges having the inlet and outlet screw holes 52, 54 to connect to the process ducts or process piping (for example, the upstream pipe and the downstream pipe 26, 28 shown in figure 1). However, in other embodiments, the inlet and outlet valve connections 48, 50 can be screw connections, welded connections and so on.
As previously described with reference to figure 1, the smart valve 10 can include an actuator assembly 18. An actuator pressure control input 56 can enable actuator pressure monitoring and control within a pressurized cavity 58 within the pressure assembly. actuator 18. In particular, in certain embodiments, a pressurized fluid (for example, air, oil, water, other hydraulic fluids and so on) may be allowed to flow in and out of the pressurized cavity 58 through the control inlet of actuator pressure 56. A cylinder head 60 of actuator assembly 18 can ensure that pressure in the pressurized cavity 58 is maintained. The pressurized fluid within the pressurized cavity 58 can exert pressure on the actuator, which can be used to adjust or maintain the position (for example, open or closed) of the valve stem 30 of the smart valve 10. In particular, the mounting of actuator 18 can operate very similar to a piston, in which the actuator pressure within the pressurized cavity 58 exerts a downward force on an upper surface 62 of a piston head 64 within the actuator assembly 18.
In general, this downward force can be resisted by the actuator springs 66, which in general can extend from a lower surface 68 of the piston head 64 to a lower inner wall 70 of the actuator assembly 18. In certain embodiments , the actuator springs 66 can be held in place in such a way that only the actuator springs 66 are allowed to move axially. In other words, radial and tangential movements of the actuator springs 66 can be restricted in these respective directions. For example, in certain embodiments, the actuator springs 66 can be retained within cylindrical tubes, which also extend from the lower surface 68 of the piston head 64 to the lower inner wall 70 of the actuator assembly 18.
As previously described, the actuator pressure inside the pressurized cavity 58 can exert a downward force on the upper surface 62 of the piston head 64, which can be resisted by the actuator springs 66, and the flow pressure can act on the valve stem 30 with other minor frictional forces. As such, the interaction between the downward force exerted by the actuator pressure inside the pressurized cavity 58 and the upward force created by the resistance of the actuator springs 66 can determine the axial position of the valve stem 30. In particular, an extreme upper end 72 of valve stem 30 can be attached to piston head 64. As the downward force created by the actuator pressure inside the pressurized cavity 58 overcomes the upward resistive force of the actuator springs 66, the bore pressure flow acting on the valve stem 30 and the frictional force between the surface of the valve port 32 and the seats 42, 44, the piston head 64 causes the valve stem 30 to move down axially, for example , for an open position (see figure 3). However, as the upward resistive force of the actuator springs 66 overcomes the downward force created by the actuator pressure within the pressurized cavity 58, the piston head 64 allows the valve stem 30 to move upward axially, by example, to a closed position. The relative up and down forces and movements represented in the illustrated modalities are merely illustrative and are not intended to be limiting. For example, in other modalities, the forces and movement can be in any direction where the resistive force of the actuator springs 66 in general acts against the actuator pressure inside the pressurized cavity 58.
As illustrated, the smart valve 10 can include a force sensor 74 (or load sensor) within the actuator assembly 18, which can be a load cell, strain gauge and so on. In general, the force sensor 74 can be attached to the valve stem 30 or it can be integral with the valve stem 30 and can generate data signals, which are indicative of the amount of force exerted on the valve stem 30. As as such, the force sensor 74 can be external to the flow path 46 of the smart valve 10 and isolated from it. In certain embodiments, a data cable 76 can be used to send the data signals indicative of the force exerted on the valve stem 30 of the force sensor 74 to a valve control system 78. The valve control system 78 can include a processor and memory configured to execute programmable logic. For example, valve control system 78 can be a programmable logic controller (PLC), a distributed control system (DCS) and so on. In particular, as described in more detail below, valve control system 78 can be configured to convert the data signals indicative of the force exerted on valve stem 30 into correlative pressures of the process fluid flowing through the body valve 12 of smart valve 10.
Also, in general, data signals from force sensor 74 can be used to determine how to adjust the actuator pressure within the pressurized cavity 58 of actuator assembly 18. In particular, valve control system 78 can be configured to adjust the amount of pressurized fluid in the pressurized cavity 58 of the actuator assembly 18 based at least in part on the data signals generated by the force sensor 74. For example, valve control system 78 may include logic to determine when to increase , decrease or maintain the amount of pressurized fluid within the pressurized cavity 58. For example, in certain embodiments, the valve control system 78 can be configured to adjust the amount of pressurized fluid that is in the pressurized cavity 58.
In particular, in certain embodiments, the valve control system 78 can be configured to determine whether to increase, decrease or maintain the amount of pressurized fluid within the pressurized cavity 58 when using the data signals from the force sensor 74 to calculate the pressure of the process fluid flowing through the valve body 12 of the smart valve 10. When using the force sensor 74 in this mode, the pressure of the process fluid can be determined without using disturbing direct measurement techniques, such as flow meters pressure, pressure transducers, or other pressure elements installed directly in the flow path 46 of the process fluid.
In general, the pressure of the process fluid within the valve body 12 of the smart valve 10 can be correlated to the stem force Fhaste (for example, the force supported from the flow line pressure acting on the valve stem 30 ). When the smart valve 10 is in the closed position, as shown in figure 2, the force sensor 74 in general may be supporting only the Fhaste stem force. One reason for this is that when the smart valve 10 is in the In the closed position, there may be a negligible amount of pressurized fluid within the pressurized cavity 58 of the actuator assembly 18, with the upper surface 62 of the piston head 64 touching the lower face 80 of an adjusting nut 82. The resistive force upwards of the actuator springs 66 can react against the lower surface 68 of the piston head 64 and thus against the lower face 80 of the adjusting nut 82. However, in other embodiments, the actuator springs 66 can still exert a certain amount of resistive upward force and valve control system 78 can be configured to adjust in this way. As such, when the smart valve 10 is in the closed position, the closing pressure Pclosing can be estimated based at least in part on the force Fsensor supported by the force sensor 74. In particular, the closing pressure P closing can be estimated by dividing the force Fsensor supported by the force sensor 74 through the Ahaste cross sectional area of the valve stem 30 using the equation: P closure = F sensor / Ahaste
As previously described, since the actuator pressure is applied by adding pressurized fluid into the pressurized cavity 58 of the actuator assembly 18, the resulting forces on the piston head 64 will cause the valve stem 30 to move down axially , in such a way that the smart valve 10 is moved towards its open position. Figure 3 is a cross section of the smart valve 10 taken along line 1-1 of figure 1 representing the smart valve 10 in an open position according to an embodiment of the present invention. As illustrated, the actuator pressure caused by the pressurized fluid within the pressurized cavity 58 may exert a piston force axially downward Fpiston distributed along the upper surface 62 of the piston head 64. The piston force FPiStão will generally be evenly distributed across the upper surface 62 of the piston head 64. In general, the resulting sum of the piston force Fpistan will be exerted on the piston head 64 and, in turn, on the valve stem 30, causing the stem valve 30 moves axially downward towards the open position of smart valve 10.
As previously described, moving the valve stem 30 axially downward causes the valve port 32 to move axially downward also. As such, port 36 on valve port 32 will begin alignment with openings 38, 40 within inlet seat 42 and outlet seat 44, respectively. When this happens, the process fluid will start to flow through the valve body 12 of the smart valve 10 along the flow path 46. At some point, axial movement of the valve stem 30 downwards will be prevented by an upper end 84 of a cylindrical stop 86, within which the valve stem 30 moves axially. At this point, the smart valve 10 is in the fully open position and, since the piston force FPjStâo is fully transferred to the cylindrical stop 86, the pressure of the process fluid Pfluid flowing through the smart valve 10 can be estimated based on the less in part in the force Fsensor supported by the force sensor 74. In particular, the pressure of the process fluid Pfluid flowing through the smart valve 10 can again be estimated by dividing the force Fsensor supported by the force sensor 74 by the cross sectional area Ahaste valve stem 30 using the equation: Pfluido = Fsensor / Ahaste
Furthermore, in certain embodiments, performance characteristics of the smart valve 10 can be estimated using the force Fsensor supported by the force sensor 74. In particular, the valve characteristics of the smart valve 10 can be estimated while the smart valve is displaced from a closed position (for example, figure 2) to an open position (for example, figure 3). Figure 4 is a cross section of the smart valve taken along line 1-1 of figure 1 representing the smart valve changing from a closed to an open position according to an embodiment of the present invention. Assuming that the smart valve 10 is initially in a closed position, the actuator pressure can be applied gradually by adding pressurized fluid to the pressurized cavity 58 of the actuator assembly 18. As previously described, piston head 64 can initiate stem displacement valve 30 axially downwards, causing valve port 32 to move from a closed to an open position.
When the smart valve 10 is between the closed and open positions, the force FsenS0r supported by the force sensor 74 can actually be a sum of multiple forces. More specifically, similar to the closed and open position scenarios, the force sensor 74 will support the Fhaste shank force. However, in addition, the force sensor 74 will also support an FpOrta door drag force (for example, the friction of the closed valve port 32 acting against the valve seats 42, 44) and a spring force Fmoia of the actuator springs 66 resisting the piston force axially downwards FPiStão- When the flow hole upstream (for example, the upstream valve port 32) starts to connect to the downstream flow hole (for example, downstream of valve port 32), the drag force of port Fporta will decrease. Therefore, at this point, the force sensor 74 will only support the Fhaste stem force and minor frictional forces supported on the valve port 32 and the upper end 72 of the valve stem 30. When monitoring the transition of these forces over time, the amount of port drag force Fporta can be used as an indicator of the condition of the smart valve 10. In other words, monitoring these forces over time can help determine valve signatures (for example, performance indications or other operating conditions) of the smart valve 10.
In certain embodiments, the FPorta valve port drag force can be calculated, for example, by subtracting the Fporta valve port drag force from the Fsensor force supported by the force sensor 74. However, in other embodiments, the Fporta valve port dragging can be assumed to be negligible. For example, as previously described, when the upstream flow hole (for example, upstream of valve port 32) begins to connect to the downstream flow hole (for example, downstream of valve port 32), the drag force of the Fporta valve port decreases to a negligible amount. Valve control system 78 can be configured to account for the drag force of valve port Fporta when calculating the pressure Pfluid of the process fluid over time.
Optionally, in certain embodiments, a displacement transducer 88 can be installed to measure the axial displacement of the valve stem 30. The axial displacement data generated by the displacement transducer can provide additional information, in addition to the force data generated by the sensor 74, to provide additional indications of valve performance. As illustrated, in certain embodiments, displacement transducer 88 can be placed on an inner wall 90 of actuator assembly 18 near piston head 64 in such a way that the axial movement of piston head 64 can be measured as a substitute for axial displacement of valve stem 30. However, displacement transducer 88 can also be placed in other positions within smart valve 10. For example, displacement transducer 88 can be placed in actuator assembly 18 to measure displacement piston head 64, valve stem 30, or even valve port 32.
Figure 5 is a flow chart of a method 92 for determining a process fluid pressure using the smart valve 10 according to an embodiment of the present invention. In block 94, a position of the smart valve 10 can be determined. For example, the smart valve 10 can be placed in an open position (for example, where port 36 on valve port 32 is generally aligned with openings 38, 40 within the inlet seat 42 and the outlet seat 44). In block 96, a force exerted on the valve stem 30 of the smart valve 10 can be measured. For example, as previously described, the Fhaste force exerted on valve stem 30 can be measured by force sensor 74. In block 98, a pressure of the process fluid flowing along flow path 46 within the valve body 12 of the smart valve 10 can be calculated. The process pressure can be correlated with the Fhaste force exerted on the valve stem 30 and, in certain embodiments, can be calculated at least in part by dividing the Fhaste force exerted on the valve stem 30 by the Ahaste cross sectional area of the stem valve 30. Thus, without entering process flow path 46, and thus preventing potential leakage, the process pressure can be determined using method 92 of figure 5.
Figure 6 is a flow chart of a method 100 for determining the performance or other condition of the smart valve 10 according to an embodiment of the present invention. In block 102, a position of the smart valve 10 can be adjusted. For example, again, the smart valve 10 can be adjusted to an open position (for example, where port 36 on valve port 32 is generally aligned with openings 38, 40 within inlet seat 42 and exit seat 44). When adjusting the valve position in block 104, the forces exerted on valve stem 30 can be monitored, for example, by means of force sensor 74. Optionally, in block 106, a displacement of valve stem 30 in The flow path 46 can be measured by the displacement transducer 84 positioned within or adjacent to the smart valve 10.
With the data generated through blocks 102, 104 and 106, in block 108, a valve signature (for example, an indication of operational performance or other condition) can be determined based on the monitored forces. Then, at block 110, this valve signature can be compared with previous valve signatures to determine a change in the condition or performance of the smart valve 10 over time. Thus, the valve condition can be determined using the force sensor and the optional displacement transducer.
Although discussed in this document as applying to the particular type of gate valve illustrated in figures 2 to 4, other types of gate valves, such as those with non-linear flow paths, can also take advantage of the disclosed modalities. Additionally, valve types, other than gate valves, can also benefit from the revealed modalities. For example, ball valves can use a force sensor and also optionally a displacement transducer. The movement of the stem on the ball valve as well as the movement of the ball can be monitored, and the pressure exerted on such elements can be measured. Such data may provide a valve signature indicating the valve's operational performance and condition. Such data may also allow measurement of process fluid pressure.
Although the invention may be susceptible to various modifications and alternative forms, specific modalities have been shown by way of example in the drawings and have been described in detail in this document.
However, it should be understood that the invention is not intended to be limited to the particular forms disclosed. Instead, the invention is to cover all modifications, equivalences and alternatives being included in the spirit and scope of the invention as defined by the following appended claims 15.

权利要求:
Claims (10)
[0001]
1. Valve (10) comprising: a body (10) having a flow path (22, 24); a rod (30); characterized by a flow element (32) coupled to the rod (30), where the flow element (32) interfaces with the flow path (22, 24) to regulate the flow of a fluid through the flow path ( 22, 24); and a force sensor (74) coupled to the rod (30) and configured to indicate an amount of force exerted on the rod (30).
[0002]
2. Valve (10) according to claim 1, characterized in that the amount of force indicated by the force sensor (74) is correlated with a fluid pressure.
[0003]
Valve according to claim 1, characterized by the fact that the amount of force indicated by the force sensor (74) provides a signature of the valve (10).
[0004]
4. Valve according to claim 1, characterized in that the force sensor (74) comprises a load cell.
[0005]
5. Valve according to claim 1, characterized by the fact that it comprises an actuator (18) configured to move the stem (30) to adjust a position of the valve (10).
[0006]
6. Valve according to claim 5, characterized in that the actuator (18) comprises a piston (64) configured to act against springs (66) of the actuator (18) to displace the stem (30).
[0007]
7. Valve according to claim 1, characterized by the fact that it comprises a displacement transducer (88) configured to indicate displacement of the stem (30).
[0008]
8. Valve according to claim 7, characterized by the fact that the displacement is relative to the flow path (22, 24).
[0009]
9. Valve according to claim 7, characterized by the fact that the displacement triggers adjustment of the flow element (32) in relation to the flow path (22, 24).
[0010]
Valve according to claim 7, characterized in that the displacement is substantially perpendicular to a direction of fluid flow through the flow path (22, 24).

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法律状态:
2018-10-23| B25A| Requested transfer of rights approved|Owner name: CAMERON TECHNOLOGIES LIMITED (NL) |

2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

2019-08-06| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|

2020-08-11| B09A| Decision: intention to grant|

2020-12-01| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 01/12/2020, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

申请号 | 申请日 | 专利标题

US12/577,142|2009-10-09|

US12/577,142|US20110083746A1|2009-10-09|2009-10-09|Smart valve utilizing a force sensor|

PCT/US2010/049487|WO2011043917A1|2009-10-09|2010-09-20|Smart valve utilizing a force sensor|

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