CN103670521B - A kind of blade gas motor - Google Patents

A kind of blade gas motor Download PDF

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Publication number
CN103670521B
CN103670521B CN201310688755.0A CN201310688755A CN103670521B CN 103670521 B CN103670521 B CN 103670521B CN 201310688755 A CN201310688755 A CN 201310688755A CN 103670521 B CN103670521 B CN 103670521B
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China
Prior art keywords
rotor
sphere
blade
housing
radius
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Expired - Fee Related
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CN201310688755.0A
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Chinese (zh)
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CN103670521A (en
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陈行
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201310688755.0A priority Critical patent/CN103670521B/en
Publication of CN103670521A publication Critical patent/CN103670521A/en
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  • Rotary Pumps (AREA)

Abstract

The invention discloses a kind of blade gas motor, it includes housing, rotor, blade, sealing strip, distribution cone and cushion block, rotor is positioned at center, housing is externally-located, distribution cone is positioned at two ends of rotor open circles table top, blade is placed in the hollow ring at housing diagonal angle, it also is located in the groove of rotor simultaneously, and with rotor at an angle, the frustum cone side that one plane and the distribution of blade are bored fits, sealing strip is between rotor and blade, its plane side is fitted with rotor, then fit with round table surface E1 of blade in round table surface side, cushion block is positioned at the hollow ring at housing diagonal angle, just fill up by housing, blade, the vacancy that rotor and sealing strip are formed.It is face seal at all sealings of the present invention;Discharge capacity is big, and pressure is high, and efficiency is high;Specific power is big;Compact conformation, processing is relatively easy;Cost is relatively low;The most easy to wear, the life-span is long.

Description

A kind of blade gas motor
Technical field
The present invention relates to a kind of gas motor, particularly relate to a kind of blade gas motor.
Background technology
Existing vane air motor structure is a rotor eccentricity and is placed in cylinder block, blade radial or and rotor radius Angled being placed in rotor, rotor high speed rotating during work, blade throws away under the influence of centrifugal force, is formed with cylinder block Annular seal space, during rotation, volume change produces pressure.Blade quantity is two panels or multi-disc.This form compressor and vacuum pump due to It is that therefore sealing property is poor, and output pressure is relatively low, blade when adding rotation by a contact linear sealing between blade cylinder block And producing the biggest friction between rotor and cylinder block, cause gas motor overall wear fast, the life-span is short, and efficiency is low.It addition, when rotating be Guarantee blade can safety turnover in rotor, rotor must have suitable diameter, and the discharge capacity that is so bound to is less, although have bilobate Chip air pressure motor, but due to only two panels blade, output torque ripple is relatively big, and output moment of torsion also owes big.
Summary of the invention
It is an object of the invention to provide one and can realize huge discharge, output moment of torsion is big, and output torque ripple is the least, all Face seal, and nonabradable blade gas motor it is again at sealing.
In order to achieve the above object, the technical solution used in the present invention is as follows: a kind of blade gas motor, it is characterised in that Including housing, rotor, blade, sealing strip, distribution cone and cushion block, rotor is positioned at center, and housing is externally-located, and distribution cone is positioned at and turns In the open circles table top of sub-two ends, blade is placed in the hollow ring at housing diagonal angle, also is located in the groove of rotor simultaneously, and with turn At an angle, the frustum cone side that a plane and the distribution of blade are bored fits son, sealing strip be positioned at rotor and blade it Between, its plane side and rotor are fitted, and round table surface side then round table surface E1 with blade is fitted, and cushion block is positioned at housing diagonal angle In hollow ring, just fill up the vacancy formed by housing, blade, rotor and sealing strip.
In above-mentioned a kind of blade gas motor, described blade is quadrant shape, has identical four, Qi Zhongyi Sheet blade is enclosed formed by two planes A1, B1 and cylinder C1, sphere D1 and two round table surface E1, J1;Wherein, C1 is that center is The cylinder that centre of sphere O1, radius are identical with the radius of the cylinder E4 of the hollow ring of housing, D1 be the centre of sphere be O1 radius and rotor ball The sphere that platform C2 radius is identical, E1 and J1 is round table surface, and the diameter of its upper bottom surface and bottom surface is straight line R1S1 and straight line respectively M1N1, M1R1 and N1S1 are then its side buses;Two planes A1 are parallel with B1;The distance of two parallel plane A1 and B1 is blade Thickness, vane thickness is equal with the hollow ring width of Fig. 8 housing;
Described sealing strip has identical eight, and wherein an E1 side is round table surface, its upper bottom surface and the diameter of bottom surface Be respectively straight line R1S1 and P1Q1, P1R1 and N1S1 be then its side bus, K1 side is plane, cross centre of sphere O 1 axis with should Plane is parallel, and its vertical dimension is the half of the orthogonal four-bladed vane thickness of slab of rotor, G1 be the centre of sphere be O1 radius and rotor center ball The sphere that platform C2 radius is equal, F1 be the centre of sphere be the sphere that O1 radius is equal with housing sphere F4 radius, two faces of H1 and I1 are Parallel plane, the width of sealing strip is equal with vane thickness;Blade and sealing strip are axial symmetry;
It is the parallel dolioform billiard table cutting out two spherical crowns in two in the middle of described rotor, in the middle of billiard table, inserts one such as symmetry Orthogonal four-bladed vane, A2 with B2 is parallel disk, C2 and D2 be the centre of sphere be the sphere of O2, I2 and J2 is orthogonal two In plane, a blade and two the sealing strip arranged orthogonal groove between I2 and J2, the most closely sealed, E2 and F2 is ball The heart is the sphere that O2 radius is identical with housing sphere F4 radius, G2 with H2 is two identical hollow round table surface, Qi Zhongyi Individual hollow round table upper and lower two ends are disk B2 and the disc with straight line K2L2 as diameter respectively, and the length of straigh line of K2M2 is for turning The width of son, whole rotor is not symmetrical only about billiard table center O2, is axial symmetry yet;
Described distribution cone is a round platform, has identical two, and the radius of upper and lower two end A3 and B3 of one of them round platform divides Other and rotor hollow round table side G2 and H2 upper and lower two ends radius is equal, the most also with rotor hollow round table side G2's and H2 The most equal, that one side is cut mutually by plane plane C3, the width of plane C3 the widest part is not more than the cross that rotor is orthogonal Plate thickness of slab, plane C3 and corresponding housing annulus parallel plane C4 and D4 fit;
Described housing is the parallel dolioform sphere cutting out two spherical crowns in two, and thickness is equal with the width K2M2 of rotor, A4 with B4 is the parallel disk that two radiuses are equal, sphere F4 with O4 as the centre of sphere, the big sphere in outside about radius and rotor The radius of E2 and F2 is equal, and the diagonal angle of housing sphere is a hollow ring, and annular width is equal with vane thickness, hollow ring Two side C4 with D4 are parallel circular planes, and E4 is the central shaft cylinder by O4, is positioned on the diagonal of housing, outside it Footpath is equal with the external diameter of blade cylinder C1, and the external diameter more than housing sphere F4, C4 and D4 two plane and a distribution cone side Plane C3 and the respective planes laminating of another distribution cone side, whole housing is symmetrical about billiard table center O4;
Described cushion block is one section of annulus, has identical four, and wherein an outside A5 is radius and housing diagonal angle annulus The cylinder that E4 external diameter is equal, inner side B5 is the sphere that radius is equal with housing sphere F4 radius, and two waist C5 and D5 are round table surface, The diameter of this round table surface upper bottom surface and bottom surface is straight line P1Q1 and straight line M1N1 respectively, and M1P1 is then its side bus, cushion block It is shaped as axial symmetry.
Present invention have the advantage that
1) it is face seal at all sealings;
2) discharge capacity is big, and pressure is high, and efficiency is high;
3) specific power is big;
4) compact conformation, processing is relatively easy;
5) cost is relatively low;
6) the most easy to wear, the life-span is long.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is blade and the sealing strip schematic shapes of the present invention;
Fig. 2 be Fig. 1 S to T to schematic diagram;
Fig. 3 is the rotor shapes schematic diagram of the present invention;
Fig. 4 is the W-W generalized section of Fig. 3;
Fig. 5 is the distribution cone-shaped schematic diagram of the present invention;
Fig. 6 is that the P of Fig. 5 is to schematic diagram
Fig. 7 is the top view of the housing of the present invention;
The front view of the housing of Fig. 8 present invention;
Fig. 9 is the M-M generalized section of Fig. 8;
Figure 10 is the overall structure schematic diagram of the present invention;
Figure 11 is that the K of Figure 10 is to schematic diagram;
Figure 12 is the N-N generalized section of Figure 10;
Figure 13 is the operation logic schematic diagram of the present invention;
Figure 14 is the U-U generalized section of Figure 10;
Figure 15 is the work process principle schematic of the present invention;
Figure 16 is the V-V generalized section of Figure 13;
Figure 17 is the work process principle schematic of the present invention.
In figure: 1. housing, 2. rotor, 3. blade, 4. sealing strip, 5. distribution cone, 6. cushion block.
Detailed description of the invention
As shown in figure 13, rotor 2 is positioned at center to the structure of the present invention, and housing 1 is externally-located, and distribution cone 5 is positioned at rotor 2 liang End open circles table top in, blade 3 be placed in housing 1 diagonal angle hollow ring (gathering sill) in, also be located at the groove of rotor 2 simultaneously In, and with rotor 2 at an angle, a plane of blade 3 fits with the frustum cone side of distribution cone 5, sealing strip 4 is positioned at and turns Between son 2 and blade 3, its plane side is fitted with rotor 3, round table surface side then with the laminating of round table surface E1 of blade 3, cushion block 6 Be positioned at housing 1 diagonal angle hollow ring, just fill up by housing 1, blade 3, the vacancy that rotor 2 and sealing strip 4 are formed.
Fig. 1 and Fig. 2 show blade 3 and the shape of sealing strip 4 of the present invention.Blade 3 is quadrant shape or approximation Quadrant shape, has identical four, the most a piece of by two planes A1, B1 and cylinder C1, sphere D1 and two round table surface E1, J1 enclose and form;Wherein, C1 be center be centre of sphere O1, radius identical with the radius of the cylinder E4 of the hollow ring of housing 1 Cylinder, D1 be the centre of sphere be the sphere that O1 radius is identical with Fig. 4 rotor 2 billiard table C2 radius, E1 and J1 is round table surface, its upper bottom surface It is straight line R1S1 respectively with the diameter of bottom surface and straight line M1N1, M1R1 and N1S1 are then its side buses;Two planes A1 and B1 is parallel;The hollow ring width of the thickness that distance is blade 3 of two parallel plane A1 and B1, blade 3 thickness and Fig. 8 housing 3 Equal.
Sealing strip 4 has identical eight, and wherein an E1 side is taper seat, and the diameter of its upper bottom surface and bottom surface is respectively Be straight line R1S1 and P1Q1, P1R1 and N1S1 be then its side bus, K1 side is plane, cross centre of sphere O 1 axis (such as Fig. 1 institute Show) parallel with this plane, its vertical dimension is the half of the orthogonal four-bladed vane thickness of slab of Fig. 4 rotor 2, G1 be the centre of sphere be O1 radius with The sphere that Fig. 4 rotor 2 center billiard table C2 radius is equal, F1 be the centre of sphere be the ball that O1 radius is equal with Fig. 8 housing 1 sphere F4 radius Face, two faces of H1 with I1 are parallel planes, and the width (i.e. plane H1 and the distance of I1) of sealing strip 4 is equal with blade 3 thickness; Blade 3 and sealing strip 4 are axial symmetry.
Fig. 3 and Fig. 4 show the shape of the rotor 2 of the present invention.It it is the parallel waist cutting out two spherical crowns in two in the middle of rotor 2 Cydariform billiard table, inserts an orthogonal four-bladed vane such as symmetry in the middle of billiard table, A2 with B2 is parallel disk, C2 and D2 is the centre of sphere For the sphere of O2, I2 and J2 is orthogonal two planes, by the whole figure of Fig. 1, and i.e. one blade 3 and two sealing strips 4 In arranged orthogonal groove between I2 and J2, the most closely sealed, E2 and F2 be the centre of sphere be O2 radius and housing 1 sphere F4 half The sphere that footpath is identical, G2 with H2 is two identical hollow round table surface, and one of them hollow round table upper and lower two ends are respectively Disk B2 and the disc with straight line K2L2 as diameter, whole rotor 2 is not symmetrical only about billiard table center O2, is axial symmetry yet.
Fig. 5 and Fig. 6 show the shape of the distribution cone 5 of the present invention.Distribution cone 5 is a round platform, has identical two, its In the radius phase at radius two ends upper and lower with rotor 2 hollow round table side G2 and H2 respectively of upper and lower two end A3 and B3 of round platform Deng, also the most equal with the height of rotor 2 hollow round table side G2 and H2, plane C3 that one side is cut mutually by a plane, should The bus that plane can bore 5 frustum cone sides with distribution is parallel, it is also possible to the bus not boring 5 frustum cone sides with distribution is parallel, plane The width of C3 the widest part is not more than the four-bladed vane thickness of slab that rotor 2 is orthogonal, and the locus of plane C3 is with depending on following: ensure assembling Good back plane C3 and corresponding housing 1 annulus parallel plane C4 and D4 fits, and the macaroni selecting D3 to E3 is air inlet face, puts D3 Macaroni to E3 is 135 degree, and the macaroni selecting F3 to G3 is deflation area, and the macaroni of F3 to G3 is less than 135 degree.
Fig. 7, Fig. 8 and Fig. 9 show the shape of the housing 1 of the present invention.Housing 1 is the parallel waist cutting out two spherical crowns in two Cydariform sphere, thickness is equal with the width K2M2 of rotor 2, A4 with B4 is the parallel disk that two radiuses are equal, sphere F4 With O4 as the centre of sphere, the radius of radius sphere E2 big with rotor about 2 outside and F2 sphere is equal, and the diagonal angle of housing 1 sphere is one Hollow ring, annular width is equal with blade 3 thickness, and two side C4 with D4 of hollow ring are parallel circular planes, E4 Being the central shaft cylinder by O4, be positioned on the diagonal of housing 1, its external diameter is equal with the external diameter of blade 3 cylinder C1, and is more than The external diameter of housing 1 sphere F4, the locus of C4 and D4 two plane that annulus is parallel is with depending on following: ensure to assemble rear C4 and Plane C3 and the respective planes laminating of another distribution cone side of 5 sides is bored in D4 two plane and a distribution.Whole housing 1 is about ball Platform center O4 is symmetrical.
Figure 12 show the shape of the cushion block 6 of the present invention.Cushion block 6 is one section of annulus, total identical four, wherein one Outside A5 is the cylinder that radius is equal with housing 1 diagonal angle annulus E4 external diameter, and interior survey B5 is that radius is equal with housing 1 sphere F4 radius Sphere, its upper and lower thickness four-bladed vane width K2M2 orthogonal with rotor 2 is equal, and two waist C5 and D5 are round table surface, this round platform The diameter of face upper bottom surface and bottom surface be respectively straight line P1Q1 and M1N1(as shown in Figure 1), M1P1 is then its side bus.Cushion block 6 are shaped as axial symmetry.
The operation operation principle of the present invention is as follows:
Such as Figure 15, in one end of gas motor, air cavity is divided into by rotor 2, blade 3, sealing strip 4, distribution cone 5 and housing 1 Five respective independent annular seal space Q1, Q2, Q3, Q4 and Q5.In one end of rotor 2, when rotor 2 be in air inlet starting position (as Time Figure 14), the air inlet face that high pressure gas is bored from distribution enters air cavity Q1, and such as Figure 15, at this moment air cavity Q4 and Q5 has been filled with high pressure Gas, air cavity Q2 and Q3 is then low pressure gas, the pressure reduction that five air cavitys are formed, and produces moment of torsion, make rotor 2 counterclockwise on rotor 2 Rotate, then promote blade to rotate counterclockwise.When rotor 2 rotates counterclockwise, the low pressure gas in air cavity Q2 and Q3 passes through distribution The deflation area of cone 5 is discharged.When high pressure gas continues to enter air cavity Q1, Q4 and Q5 from the air inlet face of distribution cone 5, rotor 2 continues inverse Hour hands rotate.
When rotor 2 forwards Figure 15 position to, and when continuing to rotate counterclockwise, air cavity Q4 becomes low pressure then from high pressure admission chamber Discharge chamber, it is still low pressure exhaust chamber that high pressure gas then goes successively to air cavity Q1 and Q5, air cavity Q2 and Q3.The moment of torsion that draught head produces Continuing to press on rotor 2 to rotate counterclockwise, when rotor 2 rotates counterclockwise Figure 16 position, the low pressure gas in discharge chamber Q2 drains, and Q1 and Q5 is still high pressure admission chamber, Q3 and Q4 is still low pressure exhaust chamber, and at this moment high pressure gas enters new from the air inlet face of distribution cone 5 again High pressure admission chamber, drive rotor 2 continues to rotate counterclockwise.When rotor 2 rotate to Figure 17 position and continue rotate time, chamber Q5 from High pressure admission chamber becomes low pressure exhaust chamber then, and at this moment Q1 is still high pressure admission chamber, Q3 and Q4 is still low pressure exhaust chamber, and high pressure Gas goes successively to new high pressure admission chamber, and drive rotor 2 continues to rotate counterclockwise.
When rotor 2 rotates counterclockwise Figure 14 position, the low pressure gas in discharge chamber Q3 drains, and Q1 is still high pressure admission Chamber, Q4 and Q5 is still low pressure exhaust chamber, and high pressure gas is also entering new high pressure admission chamber, and drive rotor 2 continues to rotate counterclockwise. When rotor 2 rotates to Figure 15 position and continues to rotate, chamber Q1 becomes low pressure exhaust chamber then from high pressure admission chamber.So week and Renewing, drive rotor rotates the most counterclockwise.At the other end of gas motor, situation is also identical with this one end.
Above-described embodiment be used for illustrate the present invention rather than present aspect limited, the present invention spirit and In scope of the claims, any modifications and changes that the present invention is made, both fall within protection scope of the present invention.

Claims (1)

1. a blade gas motor, it is characterised in that include housing (1), rotor (2), blade (3), sealing strip (4), distribution cone And cushion block (6) (5), rotor (2) is positioned at center, and housing (1) is externally-located, and distribution cone (5) is positioned at rotor (2) two ends hollow round table In face, blade (3) is placed in the hollow ring at housing (1) diagonal angle, also is located in the groove of rotor (2) simultaneously, and with rotor (2) At an angle, a plane of blade (3) fits with the frustum cone side of distribution cone (5), and sealing strip (4) is positioned at rotor (2) and between blade (3), its plane side is fitted with rotor (2), and round table surface side then round table surface E1 with blade (3) is pasted Closing, cushion block (6) is positioned at the hollow ring at housing (1) diagonal angle, just fills up by housing (1), blade (3), rotor (2) and seals The vacancy that bar (4) is formed;
Described blade (3) is quadrant shape, total identical four, the most a piece of blade (3) by two planes A1, B1 and Cylinder C1, sphere D1 and two round table surface E1, J1 enclose and form;Wherein, C1 be center be centre of sphere O1, the sky of radius and housing (1) The cylinder that the radius of the cylinder E4 of heart annulus is identical, D1 be the centre of sphere be the sphere that O1 radius is identical with rotor (2) billiard table C2 radius, E1 and J1 is round table surface, and the diameter of its upper bottom surface and bottom surface is straight line R1S1 respectively and straight line M1N1, M1R1 and N1S1 are then Its side bus;Two planes A1 are parallel with B1;The thickness that distance is blade (3) of two parallel plane A1 and B1, blade (3) is thick Spend equal with the hollow ring width of housing (1);
Described sealing strip (4) has identical eight, and wherein an E1 side is round table surface, and the diameter of its upper bottom surface and bottom surface divides Be not straight line R1S1 and P1Q1, P1R1 and N1S1 be then its side bus, K1 side is plane, cross centre of sphere O1 axis with this put down Face is parallel, and its vertical dimension is the half of the orthogonal four-bladed vane thickness of slab of rotor (2), G1 be the centre of sphere be O1 radius and rotor (2) ball The sphere that platform C2 radius is equal, F1 be the centre of sphere be the sphere that O1 radius is equal with housing (1) sphere F4 radius, two faces of H1 and I1 Being parallel plane, the width of sealing strip (4) is equal with blade (3) thickness;Blade (3) and sealing strip (4) are axial symmetry;
It is the parallel dolioform billiard table cutting out two spherical crowns in two in the middle of described rotor (2), in the middle of billiard table, inserts one such as symmetry Orthogonal four-bladed vane, A2 with B2 is parallel disk, C2 and D2 be the centre of sphere be the sphere of O2, I2 and J2 is orthogonal two In plane, a blade (3) and two sealing strip (4) arranged orthogonal groove between I2 and J2, the most closely sealed, E2 and F2 be the centre of sphere be the sphere that O2 radius is identical with housing (1) sphere F4 radius, G2 with H2 is two identical hollow round table part sides Face, one of them hollow round table upper and lower two ends are disk B2 and the disc with straight line K2L2 as diameter respectively, the straight line of K2M2 Segment length is the width of rotor (2), and whole rotor (2) is not symmetrical only about centre of sphere O2, is axial symmetry yet;
Described distribution cone (5) is a round platform, has identical two, and the radius of upper and lower two end A3 and B3 of one of them round platform is respectively Equal with the radius at G2 and H2 upper and lower two ends, rotor (2) hollow round table side, the most also with rotor (2) hollow round table side G2 and The height of H2 is equal, plane C3 that one side is cut mutually by a plane, and it is orthogonal that the width of plane C3 the widest part is not more than rotor (2) Four-bladed vane thickness of slab, plane C3 and corresponding housing (1) annulus parallel plane C4 and D4 fit;
Described housing (1) is the parallel dolioform sphere cutting out two spherical crowns in two, the width K2M2 phase of thickness and rotor (2) Deng, A4 with B4 is the parallel disk that two radiuses are equal, and sphere F4 is with O4 as the centre of sphere, outside radius and rotor (2) left and right The radius of big sphere E2 and F2 is equal, and the diagonal angle of housing (1) sphere is a hollow ring, annular width and blade (3) thickness phase Deng, two side C4 with D4 of hollow ring are parallel circular planes, and E4 is the central shaft cylinder by O4, are positioned at housing (1) on diagonal, its external diameter is equal with the external diameter of blade (3) cylinder C1, and more than the external diameter of housing (1) sphere F4, C4 and D4 two plane is fitted with plane C3 of distribution cone (5) side and the respective planes of another distribution cone (5) side, whole housing (1) symmetrical about billiard table center O4;
Described cushion block (6) is one section of annulus, has identical four, and wherein an outside A5 is radius and housing (1) diagonal angle circle The cylinder that ring E4 external diameter is equal, inner side B5 is the sphere that radius is equal with housing (1) sphere F4 radius, and two waist C5 and D5 are round Table top, the diameter of this round table surface upper bottom surface and bottom surface is straight line P1Q1 and straight line M1N1 respectively, and M1P1 is then its side bus, Cushion block (6) is shaped as axial symmetry.
CN201310688755.0A 2013-12-16 2013-12-16 A kind of blade gas motor Expired - Fee Related CN103670521B (en)

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CN103670521B true CN103670521B (en) 2016-08-17

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101338752A (en) * 2008-07-26 2009-01-07 郑良才 Compressor or vacuum pump
CN101344085A (en) * 2008-07-30 2009-01-14 郑良才 Vane compressor or vacuum pump
CN101418792A (en) * 2008-12-11 2009-04-29 宁波华液机器制造有限公司 High performance spherical hydraulic pump
CN101418794A (en) * 2008-12-11 2009-04-29 宁波华液机器制造有限公司 Spherical hydraulic pump
CN103883356A (en) * 2013-12-16 2014-06-25 浙江大学 Blade pneumatic motor

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050186100A1 (en) * 2004-02-23 2005-08-25 Paul Weatherbee Spherical fluid machines

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101338752A (en) * 2008-07-26 2009-01-07 郑良才 Compressor or vacuum pump
CN101344085A (en) * 2008-07-30 2009-01-14 郑良才 Vane compressor or vacuum pump
CN101418792A (en) * 2008-12-11 2009-04-29 宁波华液机器制造有限公司 High performance spherical hydraulic pump
CN101418794A (en) * 2008-12-11 2009-04-29 宁波华液机器制造有限公司 Spherical hydraulic pump
CN103883356A (en) * 2013-12-16 2014-06-25 浙江大学 Blade pneumatic motor

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