CN115126740B - Large-torque hydraulic rotary actuator with cross structure - Google Patents
Large-torque hydraulic rotary actuator with cross structure Download PDFInfo
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- CN115126740B CN115126740B CN202211062163.3A CN202211062163A CN115126740B CN 115126740 B CN115126740 B CN 115126740B CN 202211062163 A CN202211062163 A CN 202211062163A CN 115126740 B CN115126740 B CN 115126740B
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1404—Characterised by the construction of the motor unit of the straight-cylinder type in clusters, e.g. multiple cylinders in one block
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/26—Locking mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/08—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion
- F16H25/12—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion with reciprocation along the axis of rotation, e.g. gearings with helical grooves and automatic reversal or cams
- F16H25/125—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion with reciprocation along the axis of rotation, e.g. gearings with helical grooves and automatic reversal or cams having the cam on an end surface of the rotating element
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Actuator (AREA)
Abstract
The invention discloses a large-torque hydraulic rotary actuator with a cross structure, which comprises a cylinder body, a plunger hydraulic cylinder, a roller, a cylindrical cam and a cam shaft. The cylinder body is provided with four plunger cavities which are arranged in a cross manner, four plunger hydraulic cylinders are arranged in the four plunger hydraulic cylinders, and a roller arranged at the head parts of the plunger hydraulic cylinders is in contact with a cylindrical cam, and the two front plunger hydraulic cylinders and the two rear plunger hydraulic cylinders are symmetrical to each other to form a whole. The linear motion is converted into the rotary motion by adjusting the extension and retraction of the plunger hydraulic cylinder on the same side; when the cam shaft extends out, the cam shaft can be locked, and self-locking of the load can be realized. The plunger hydraulic cylinders on the left side and the right side can independently output torque or simultaneously output 2 times of torque outwards. Compared with the traditional rotary actuator scheme, the invention can realize zero internal leakage and has high motion transmission efficiency. The larger torque output is realized under the same envelope volume, and the self-locking at any position can be realized.
Description
Technical Field
The invention belongs to the field of servo hydraulic actuators, and particularly relates to a large-torque hydraulic rotary actuator with a cross structure.
Background
The global industrial automation level is continuously improved, and the hydraulic robot becomes an important branch in the robot field and plays an important role in various industries. Due to special reasons such as explosion-proof requirements, hydraulic robots and portable hydraulic tools are indispensable in the fields of coal mines, oil exploitation, construction machinery and the like. In particular to a hydraulic mechanical arm and a hydraulic foot type robot. At present, actuators of most hydraulic robots are two types, namely a hydraulic linear actuator and a hydraulic rotary actuator, wherein the linear actuator refers to a hydraulic cylinder, and the rotary actuator refers to a swing cylinder.
In the hydraulic robot, a linear actuator needs to convert linear motion into rotary motion by driving a triangular connecting rod, the structure is more complex, and the extra hinges influence the precision and the efficiency of tail end operation. The rotary actuator is limited by the structural principle, and the sealing of the rotary assembly and the housing cannot be guaranteed, resulting in a large amount of internal leakage. Although the structure is compact, the leakage amount and the rigidity of the shell are guaranteed, and the structure size is large. In conclusion, the hydraulic linear actuator can achieve zero internal leakage, but the transmission is complex, and the driving triangle is time-varying, so that trouble is caused to control; the hydraulic rotary actuator is limited by a large internal leakage amount, and the internal leakage is larger than 1 Lpm by taking a steering engine on an airplane as an example. The design needs compensation, but the output of the compensation directly corresponds to the load end and can be directly converted into required motion, and the transmission is simpler.
At present, products which have the advantages of simple transmission of a rotary actuator and no internal leakage and simultaneously have a linear actuator cannot be found in the market. The two actuators have the advantages of both the two actuators and can be improved in output torque, which is difficult to add.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, break through the technical barrier, and provide a large-torque hydraulic rotary actuator with a cross structure as an actuator for the joint rotation of a hydraulic robot in order to reduce the space complexity of the joint of the hydraulic robot, ensure the compactness and zero internal leakage and simultaneously improve the torque output of the hydraulic robot.
The technical scheme adopted by the invention for solving the problems is as follows: a large-torque hydraulic rotary actuator with a cross structure comprises a cylinder body, a piston rod, a roller, a cylindrical cam and a cam shaft;
the cylinder body is provided with four plunger cavities which are arranged in a cross manner, a piston rod is arranged in each plunger cavity, two piston rods are arranged at the left end and the right end of the cylinder body respectively to form four plunger hydraulic cylinders, idler wheels are arranged at the end parts of the piston rods of the plunger hydraulic cylinders, the idler wheels are in contact with a cylindrical cam, the cylindrical cam is fixedly connected with a cam shaft, and the cam shaft is an output shaft of a rotary actuator;
the collinear two plunger hydraulic cylinders form a group, and when piston rods of the two plunger hydraulic cylinders in the same group extend out and retract, the cylindrical cam is pushed to rotate through the roller, so that linear motion is converted into rotary motion, and torque is directly output outwards; two groups of plunger hydraulic cylinders arranged in a crisscross manner can respectively and independently output torque outwards or output double torque under the combined action.
Furthermore, two plunger cavities are respectively arranged at the left end and the right end of the cylinder body, the planes of the central lines of the two plunger cavities are mutually vertical, and the four plunger hydraulic cylinders are placed in the plunger cavities and are also arranged in a cross shape.
Further, the cylindrical cam provides an inclined ramp for the roller, and the roller is in contact with the inclined ramp of the cylindrical cam; the contour length of the inclined ramp is the motion stroke of the roller, and the pressure angle of the inclined ramp determines the angle range of rotation, and further determines the output torque and the swing range of the cam.
Furthermore, hydraulic oil is switched in the plunger hydraulic cylinder, and cannot be transmitted to the roller and the cylindrical cam, so that internal leakage is zero, and the efficiency of motion transmission is improved.
Further, the camshaft is mounted on an end cover of the cylinder block through an angular contact bearing, and the camshaft is used for being connected with an external load.
Furthermore, the cam of different structures can be changed according to different use working conditions, and the change of the output torque is realized.
Furthermore, when piston rods of two plunger hydraulic cylinders in the same group extend out simultaneously, the cylindrical cam is locked through the roller, and self-locking of any position of the actuator is achieved.
The invention has the beneficial effects that:
1. the large-torque hydraulic rotary actuator with the cross structure has the characteristics of compact structure and high power density. The four linear cylinders are integrated in a cross arrangement mode, so that the structural size and the weight of the actuator are greatly reduced. The cam structure is matched to convert linear drive into rotary drive, the effect of double-torque common output and single-torque respective output can be realized according to the control logic of the control valve, and the control mode is flexible and diverse.
2. The large-torque hydraulic rotary actuator with the cross structure has the characteristics of zero internal leakage and high efficiency. The traditional hydraulic rotary actuator realizes the isolation of high and low pressure cavities through a mechanical seal or combined seal mode, but two cylindrical parts cannot be matched strictly, and leakage inevitably exists. The scheme of the invention that the four linear cylinders are matched with the cam to realize rotation utilizes the linear cylinders to input linear force, the cam is used for converting the motion form, and the characteristic of zero internal leakage of the linear cylinders is utilized to realize high-efficiency and reliable motion transmission.
3. According to the large-torque hydraulic rotary actuator with the cross structure, the cam is locked by simultaneously extending the two hydraulic cylinders, so that self-locking at any position is realized, and the safety is high. The cam can be changed according to different use conditions, namely, the change of the output torque can be realized only by changing cams with different structures, the interchangeability is good, and the cost is low.
4. The large-torque hydraulic rotary actuator with the cross structure is widely applied to the fields of material handling, engineering machinery and the like, avoids the rotation through the connecting rod, and increases extra weight. The characteristic of high power density is in the occasions such as foot-type robots, heavy-duty mechanical arms of high outbreak, the moment of inertia of the oscillating piece can greatly reduce, help to improve the control performance of the robot system.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a front view of the present invention.
FIG. 3 isbase:Sub>A right sectional view of the present invention, wherein (base:Sub>A) isbase:Sub>A structural view corresponding tobase:Sub>A front view, and (b) isbase:Sub>A sectional view at A-A in (base:Sub>A).
Fig. 4 is a schematic diagram of the application of the present invention to a heavy duty robotic arm.
Fig. 5 is a schematic diagram of the application of the hydraulic quadruped robot hip joint with 8 degrees of freedom of the invention, wherein (a) is a front view, (b) is a left view, (c) is a top view, and (d) is a perspective view.
In the figure: the mechanism comprises a front cam shaft 1, a front end cover 2, a first cam shaft bearing 3, a front cylindrical cam 4, a first front roller shaft 5, a first roller shaft bearing 6, a first front roller 7, a second front roller shaft 8, a second roller shaft bearing 9, a second front roller 10, a first front plunger hydraulic cylinder 11, a second front plunger hydraulic cylinder 12, a cylinder body 13, a first rear plunger hydraulic cylinder 14, a second rear plunger hydraulic cylinder 15, a first rear roller shaft 16, a first rear roller 17, a third roller shaft bearing 18, a second rear roller 19, a fourth roller shaft bearing 20, a second rear roller shaft 21, a rear cylindrical cam 22, a second cam shaft bearing 23, a rear end cover 24, a rear cam shaft 25 and a mechanical arm 26.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
The present embodiment will be described with reference to fig. 1 and 2. The large-torque hydraulic rotary actuator with the crisscross structure in the present embodiment includes a cylinder body 13, a front cam shaft 1, a rear cam shaft 25, a front end cover 2, a rear end cover 24, a front cylindrical cam 4, a rear cylindrical cam 22, a first front roller shaft 5, a second front roller shaft 8, a first rear roller shaft 16, a second rear roller shaft 21, a first front roller 7, a second front roller 10, a first rear roller 17, a second rear roller 19, a first front plunger hydraulic cylinder 11, a second front plunger hydraulic cylinder 12, a first rear plunger hydraulic cylinder 14, and a second rear plunger hydraulic cylinder 15. Other accessories include a first camshaft bearing 3, a second camshaft bearing 23, a first roller shaft bearing 6, a second roller shaft bearing 9, a third roller shaft bearing 18, a fourth roller shaft bearing 20, and the like. The cylinder body 13 has four plunger hydraulic cylinders, and the first front plunger hydraulic cylinder 11, the second front plunger hydraulic cylinder 12, the first rear plunger hydraulic cylinder 14 and the second rear plunger hydraulic cylinder 15 are symmetrical to each other and integrated. Two front plunger hydraulic cylinders are arranged at the left end of the cylinder body 13 and are sequentially sleeved with a first front roller shaft 5, a second front roller shaft 8, a first roller shaft bearing 6, a second roller shaft bearing 9, a first front roller 7 and a second front roller 10. The first front roller 7 and the second front roller 10 are in contact with the inclined ramp of the front cylindrical cam 4. The front cylindrical cam 4 and the front cam shaft 1 are integrated, and the front cam shaft 1 and the front cylindrical cam 4 are sequentially sleeved with the front end cover 2 and the first cam shaft bearing 3. Two rear plunger hydraulic cylinders are arranged at the right end of the cylinder body 13, and a first rear roller shaft 16, a second rear roller shaft 21, a third roller shaft bearing 18, a fourth roller shaft bearing 20, a first rear roller 17 and a second rear roller 19 are sequentially sleeved on the first rear plunger hydraulic cylinder 14 and the second rear plunger hydraulic cylinder 15. The first rear roller 17 and the second rear roller 19 are in contact with the inclined ramps of the rear cylindrical cam 22. The rear cylindrical cam 22 and the rear cam shaft 25 are integrated, and the rear cam shaft 25 and the rear cylindrical cam 22 are sleeved with the rear end cover 24 and the second cam shaft bearing 23 in sequence. The two ends of the cylinder body 13 are symmetrical to each other. The first camshaft bearing 3 and the second camshaft bearing 23 are both angular contact bearings.
As shown in fig. 3, a cylinder 13 of the present embodiment includes four ram cylinders, two of which are a first front ram cylinder 11 and a second front ram cylinder 12 that are directed forward, and the other two of which are a first rear ram cylinder 14 and a second rear ram cylinder 15 that are directed backward. The plane of the first front plunger hydraulic cylinder 11 and the plane of the second front plunger hydraulic cylinder 12 are perpendicular to the plane of the first rear plunger hydraulic cylinder 14 and the plane of the second rear plunger hydraulic cylinder 15, so that the four plunger hydraulic cylinders, namely the first front plunger hydraulic cylinder 11, the second front plunger hydraulic cylinder 12, the first rear plunger hydraulic cylinder 14 and the second rear plunger hydraulic cylinder 15, are arranged in a cross shape in a crossing manner.
The present embodiment will be described with reference to fig. 3, 4, and 5. In the present embodiment, the cylinder 13 is applied to the joint of the robot arm 26, thereby controlling the robot arm joint rotation. The first front plunger hydraulic cylinder 11, the second front plunger hydraulic cylinder 12, the first rear plunger hydraulic cylinder 14 and the second rear plunger hydraulic cylinder 15 have the same directional action and can provide double torque for the mechanical arm, and when the hydraulic cylinders provide the same driving force, the torque output by the actuator is doubled compared with the torque output by a common actuator.
Principle of operation
The working principle of the invention is explained by combining fig. 1 to 5 as follows:
the cylinder body has four plunger hydraulic cylinders, and a first front plunger hydraulic cylinder 11, a second front plunger hydraulic cylinder 12, a first rear plunger hydraulic cylinder 14 and a second rear plunger hydraulic cylinder 15 are symmetrical to each other and integrated. The plane of the first front plunger hydraulic cylinder 11 and the plane of the second front plunger hydraulic cylinder 12 are perpendicular to the plane of the first rear plunger hydraulic cylinder 14 and the plane of the second rear plunger hydraulic cylinder 15, so that the four plunger hydraulic cylinders are symmetrically arranged in a cross shape. Hydraulic oil switches in the plunger hydraulic cylinder, can not transmit for gyro wheel, cylindrical cam, realizes that the internal leakage is zero, improves the efficiency of motion transmission. The left end of the cylinder body is provided with two front plunger hydraulic cylinders which are sequentially sleeved with a first front roller shaft 5, a second front roller shaft 8, a first roller shaft bearing 6, a second roller shaft bearing 9, a first front roller 7 and a second front roller 10. The first front roller 7 and the second front roller 10 are in contact with the inclined ramps of the front cylindrical cam 4. The front cylindrical cam 4 and the front cam shaft 1 are integrated, and the front cam shaft 1 and the front cylindrical cam 4 are sequentially sleeved with the front end cover 2 and the first cam shaft bearing 3. A first rear plunger hydraulic cylinder 14 and a second rear plunger hydraulic cylinder 15 are arranged at the right end of the cylinder body and are sleeved with a first rear roller shaft 16, a second rear roller shaft 21, a third roller shaft bearing 18, a fourth roller shaft bearing 20, a first rear roller 17 and a second rear roller 19 in sequence. The first rear roller 17 and the second rear roller 19 are in contact with the inclined ramps of the rear cylindrical cam 22. The rear cylindrical cam 22 and the rear cam shaft 25 are integrated, and the rear cam shaft 25 and the rear cylindrical cam 22 are sleeved with the rear end cover 24 and the second cam shaft bearing 23 in sequence. The front cam shaft 1 and the rear cam shaft 25 are output shafts and are connected with external loads, and the front cylindrical cam 4 and the rear cylindrical cam 22 can be used for replacing cams with different structures according to different use working conditions, so that the output torque is changed. When the first front plunger hydraulic cylinder 11 and the second front plunger hydraulic cylinder 12 work, the first front roller 7 and the second front roller 10 are respectively driven to move, when the first front plunger hydraulic cylinder 11 drives the second front roller 10 to push downwards, the second front roller 10 moves along the inclined ramp of the front cylindrical cam 4, and then the front cylindrical cam 4 is driven to rotate, and the first front roller 7 is driven to be pushed back. When the first front roller 7 is pushed down, the front cylindrical cam 1 rotates in the reverse direction and causes the second front roller 10 to be pushed back. The two front plunger hydraulic cylinders repeat the action, so that the linear motion is converted into the rotary motion, and a huge torque is provided for the mechanical arm. At the same time, the reversed rear ram cylinder can perform the above process while also providing the same torque to the robot arm, thereby providing double the torque to the robot arm. The contour length of the inclined ramp is the motion stroke of the roller, and the pressure angle of the inclined ramp determines the angle range of rotation, and further determines the output torque and the swing range of the cam. When piston rods of two plunger hydraulic cylinders in the same group extend out simultaneously, the cylindrical cam is locked through the idler wheel, and self-locking of any position of the actuator is achieved.
As shown in fig. 5, the large-torque hydraulic rotary actuator with a crisscross structure according to the present invention can be used as a joint driver of a hydraulic quadruped robot which resembles a quadruped mammal in nature, moves rhythmically in four legs, and can control the body at any height. The bidirectional output and arbitrary position self-locking characteristics of the invention are very suitable for hip joints of a hydraulic quadruped robot with 8 degrees of freedom or side swing joints of a hydraulic quadruped robot with 12 degrees of freedom, the number of the robot actuators is reduced, and the power grade and size of an airborne power system can be reduced by using the characteristics of large torque output and no internal leakage.
Although the present invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (1)
1. The utility model provides a big moment of torsion hydraulic pressure rotary actuator of cross structure which characterized in that: the actuator serves as a joint driver of the hydraulic quadruped robot and comprises a cylinder body, a piston rod, a roller, a cylindrical cam and a cam shaft; the joint is a hip joint or a side-sway joint of the hydraulic quadruped robot;
the left end and the right end of the cylinder body are respectively provided with two plunger cavities, the plane of the central lines of the two plunger cavities at the left end and the plane of the central lines of the two plunger cavities at the right end are mutually vertical and arranged in a cross shape, four plunger hydraulic cylinders are placed in the plunger cavities and also arranged in the cross shape, a piston rod is arranged in each plunger cavity, the left end and the right end of the cylinder body are respectively provided with two plunger hydraulic cylinders to form four plunger hydraulic cylinders, the end parts of the piston rods of the plunger hydraulic cylinders are provided with idler wheels, the cylindrical cams provide inclined ramps for the idler wheels, and the idler wheels are contacted with the inclined ramps of the cylindrical cams; the contour length of the inclined ramp is the movement stroke of the roller, the pressure angle of the inclined ramp determines the rotation angle range, and further determines the output torque and the swing range of the cam, the cylindrical cam is fixedly connected with a cam shaft, and the cam shaft is an output shaft of a rotary actuator; the camshaft is mounted on an end cover of the cylinder body through an angular contact bearing and is used for being connected with an external load;
the cam can be replaced by cams with different structures according to different use working conditions, so that the output torque is changed;
the two plunger hydraulic cylinders at the left end form one group, the two plunger hydraulic cylinders at the right end form the other group, and when piston rods of the two plunger hydraulic cylinders in the same group extend out and retract, the cylindrical cam is pushed to rotate through the roller, linear motion is converted into rotary motion, and torque is directly output outwards; when piston rods of two plunger hydraulic cylinders in the same group extend out simultaneously, the cylindrical cam is locked by the roller, so that the self-locking of any position of the actuator is realized; the two groups of plunger hydraulic cylinders arranged in a crisscross manner can respectively and independently output torque outwards or output double torque under the combined action, so that the hip joint or the sidesway joint of the hydraulic quadruped robot is helped to reduce the power grade and size of an airborne power system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211062163.3A CN115126740B (en) | 2022-09-01 | 2022-09-01 | Large-torque hydraulic rotary actuator with cross structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211062163.3A CN115126740B (en) | 2022-09-01 | 2022-09-01 | Large-torque hydraulic rotary actuator with cross structure |
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| Publication Number | Publication Date |
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| CN115126740A CN115126740A (en) | 2022-09-30 |
| CN115126740B true CN115126740B (en) | 2023-01-03 |
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| CN202211062163.3A Active CN115126740B (en) | 2022-09-01 | 2022-09-01 | Large-torque hydraulic rotary actuator with cross structure |
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Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2847952A1 (en) * | 1978-11-04 | 1980-05-08 | Rexroth Gmbh G L | HYDRAULIC AXIAL PISTON ENGINE |
| US5566578A (en) * | 1995-05-19 | 1996-10-22 | Robert Sternoff | Power recieving torque translating output device |
| JPH09144707A (en) * | 1995-11-24 | 1997-06-03 | Sekisui Chem Co Ltd | Torque actuator |
| JP2004060769A (en) * | 2002-07-29 | 2004-02-26 | Toyota Motor Corp | Power mechanism |
| JP5393908B1 (en) * | 2013-03-12 | 2014-01-22 | 加茂精工株式会社 | Axial drive indexing device |
| EP2944800B1 (en) * | 2014-05-13 | 2022-08-24 | Aktiebolaget SKF | Method for manufacturing a roller, adapted to equip a mechanical system forming a cam follower. |
| US9561595B1 (en) * | 2014-08-25 | 2017-02-07 | Google Inc. | Concentric opposed cam actuator |
| US9651133B2 (en) * | 2015-02-04 | 2017-05-16 | Google Inc. | Phased joint cam |
| CN107061135A (en) * | 2017-06-21 | 2017-08-18 | 张多艳 | A kind of novel axial piston motor |
| CN207212822U (en) * | 2017-09-27 | 2018-04-10 | 泸州市长江液压件装备有限公司 | A kind of pulverizer hydraulic cylinder |
| CN109505941B (en) * | 2018-12-03 | 2020-08-14 | 浙江大学 | Low-speed large-torque stepping execution system |
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2022
- 2022-09-01 CN CN202211062163.3A patent/CN115126740B/en active Active
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