CN117811287A - Two-stage electric cylinder integrated with two-dimensional force sensor - Google Patents

Two-stage electric cylinder integrated with two-dimensional force sensor Download PDF

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Publication number
CN117811287A
CN117811287A CN202311872385.6A CN202311872385A CN117811287A CN 117811287 A CN117811287 A CN 117811287A CN 202311872385 A CN202311872385 A CN 202311872385A CN 117811287 A CN117811287 A CN 117811287A
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CN
China
Prior art keywords
electric cylinder
sleeve
bearing
dimensional force
nut pair
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.)
Pending
Application number
CN202311872385.6A
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Chinese (zh)
Inventor
瞿亦峰
王勇智
胡长明
娄华威
杜浩博
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.)
CETC 14 Research Institute
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CETC 14 Research Institute
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by CETC 14 Research Institute filed Critical CETC 14 Research Institute
Priority to CN202311872385.6A priority Critical patent/CN117811287A/en
Publication of CN117811287A publication Critical patent/CN117811287A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/24—Devices for sensing torque, or actuated thereby
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/225—Measuring circuits therefor
    • G01L1/2262—Measuring circuits therefor involving simple electrical bridges
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention discloses a two-stage electric cylinder integrated with a two-dimensional force sensor, which comprises: the device comprises a bearing seat module, a servo motor, a planetary reducer, a screw-nut pair, a thrust tapered roller bearing, a lock nut, a hollow screw-nut pair, a lock nut, a thrust tapered roller bearing, an outer sleeve, a middle sleeve, a spherical hinge lug, an inner sleeve, a transition seat and a lower lug; the bearing frame module is sleeve flange structure, is the main load-carrying structure of electronic jar, installs planetary reducer on it, and the outer sleeve to link to each other through the bearing with the lead screw nut pair, its integrated two-dimensional force transducer that has simultaneously, its constitution includes: bearing frame, foil gage, sealing gram head of being qualified for next round of competitions. The invention integrates the two-dimensional force sensor on the internal component of the electric cylinder, and realizes the measurement of the axial force and the driving moment of the electric cylinder on the premise of not additionally increasing the size space and not influencing the stroke of the electric cylinder.

Description

Two-stage electric cylinder integrated with two-dimensional force sensor
Technical Field
The invention relates to a radar frame removing mechanism, in particular to a two-stage electric cylinder integrated with a two-dimensional force sensor.
Background
Compared with a hydraulic cylinder, the electric cylinder driven by the servo motor has the advantages of high control precision, good servo characteristic and low noise, and is widely applied to radars.
The large-scale radar antenna generally has the characteristics of heavy load and weak rigidity, and in order to ensure the stability and the safety of the withdrawing movement of the antenna unfolding and folding frame, a force sensor and a moment sensor are arranged on an electric cylinder except for adopting the servo electric cylinder as a driving element. These sensors are used on the one hand for radar spread motion control and on the other hand for health monitoring during radar operation.
At present, a force sensor and a moment sensor are generally arranged in an electric cylinder in a mode of connecting independent functional components in series, and the problems that the axial size is too large, the effective stroke of the electric cylinder is influenced, the system is complex and the reliability is low exist. These drawbacks are often unacceptable on military equipment.
How to fully utilize the existing electric cylinder structure, integrate the two-dimensional force sensor, and not influence the stroke and the weight of the electric cylinder at the same time is a problem which needs to be solved by the technicians in the field.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the electric cylinder integrated with the two-dimensional force sensor, wherein the two-dimensional force sensor is integrated on an internal component of the electric cylinder, and the measurement of the axial force and the driving moment of the electric cylinder is realized on the premise of not additionally increasing the size space and not influencing the stroke of the electric cylinder.
The aim of the invention is achieved by the following technical scheme.
A two-stage electric cylinder integrating a two-dimensional force sensor, comprising: the device comprises a bearing seat module, a servo motor, a planetary reducer, a screw-nut pair, a thrust tapered roller bearing, a lock nut, a hollow screw-nut pair, a lock nut, a thrust tapered roller bearing, an outer sleeve, a middle sleeve, a spherical hinge lug, an inner sleeve, a transition seat and a lower lug; the bearing frame module is sleeve flange structure, is the main load-carrying structure of electronic jar, installs planetary reducer on it, and the outer sleeve to link to each other through the bearing with the lead screw nut pair, its integrated two-dimensional force transducer that has simultaneously, its constitution includes: bearing frame, foil gage, sealing gram head of being qualified for next round of competitions.
The bearing seat comprises an upper flange, a lower flange outer ring, a lower flange inner ring, a cross beam and a torsion beam, wherein the upper flange of the bearing seat is connected with the lower flange outer ring through the torsion beam, the lower flange outer ring is connected with the lower flange inner ring through the cross beam, the upper flange is connected with the planetary reducer, the lower flange outer ring is connected with the outer sleeve and the lower support lugs, and the strain gauge for measuring force is adhered to the cross beam; the strain gauge for measuring moment is stuck on the torsion beam.
The cross beam is characterized by being of a cross beam structure which is perpendicular to each other, 8 strain gauges are adhered near neutral layers on two side surfaces of each beam to form 2 paths of Wheatstone bridges, the 2 paths of Wheatstone bridges are used for measuring axial force of the electric cylinder, and 1 path of bridge is used for redundancy backup and used for improving reliability of the sensor. The torsion beam is characterized by comprising 4 rectangular plates uniformly distributed at the circumference of 90 degrees, a strain gauge pasting area is processed on the outer side surface of each rectangular plate, 8 strain gauges are pasted to form 2 paths of Wheatstone bridges for measuring the output torque of the planetary reducer, 1 path of the 2 paths of Wheatstone bridges is redundant and used for improving the reliability of the sensor, and each strain gauge adopts a double-inclined-plate structure.
Compared with the prior art, the invention has the advantages that: 1) The integrated structure is adopted, the force sensor and the torque sensor are integrated on the premise of ensuring the original functions of the electric cylinder bearing seat, the extra size is not increased, the stroke of the electric cylinder is not influenced, and the measurement of the axial force and the driving torque of the electric cylinder is realized.
2) High isolation: and a force transmission path of force and moment is reasonably designed, so that the force sensor and the moment sensor are physically guaranteed to have high isolation.
3) The environmental adaptability is good: the sensor is arranged inside the electric cylinder, is not influenced by external environment, and has good environmental adaptability and high reliability.
4) The reliability is high: the integrated structure simplifies the system, improves the reliability of the system, and the sensor adopts a redundant design, thereby further improving the reliability of the system.
5) The application is wide: besides the electric secondary cylinder introduced in the embodiment, the invention can be used for occasions such as an electric single-stage cylinder, an electric leveling leg and the like, and has good application prospect on military equipment.
Drawings
Fig. 1 is a diagram of a two-stage electric cylinder configuration.
Fig. 2 is a schematic structural view of the bearing block module 1.
Fig. 3 is a schematic view of the structure of the bearing seat 1-1.
Fig. 4 is a schematic diagram of the attachment positions of the force sensor strain gauge and the torque sensor strain gauge.
Fig. 5 is a view of the strain gauge profile.
Detailed Description
The invention will now be described in detail with reference to the drawings and the accompanying specific examples.
A two-stage electric cylinder integrating a two-dimensional force sensor mainly comprises: bearing frame module 1, servo motor 2, planetary reducer 3, screw-nut pair 4, thrust tapered roller bearing 5, lock nut 6, cavity screw-nut pair 7, lock nut 8, thrust tapered roller bearing 9, outer sleeve 10, well sleeve 11, spherical hinge journal stirrup 12, inner sleeve 13, transition seat 14, lower journal stirrup 15 etc..
The bearing seat module 1 is of a sleeve flange structure and is a main bearing structure of an electric cylinder, a planetary reducer 3, an outer sleeve 10 and other parts are arranged on the bearing seat module, the bearing seat module is connected with the screw nut pair 4 through a bearing, and a two-dimensional force sensor is integrated in the bearing seat module. The composition of the composite material comprises: bearing frame 1-1, foil gage 1-2, foil gage 1-3, seal gram head 1-4 of being qualified for next round of competitions.
The bearing seat 1-1 is composed of an upper flange 1-1-1, a lower flange outer ring 1-1-2, a lower flange inner ring 1-1-4, a cross beam 1-1-5, a torsion beam 1-1-6 and the like, and is of an integral structure. The upper flange 1-1-1 of the bearing seat 1-1 is connected with the lower flange outer ring 1-1-2 through the torsion beam 1-1-6. The lower flange outer ring 1-1-2 is connected with the lower flange inner ring 1-1-4 through a cross beam 1-1-5, the upper flange 1-1 is connected with the planetary reducer 3, and the lower flange outer ring 1-1-2 is connected with the outer sleeve 10 and the lower support lugs 15. The strain gage 1-2 for measuring force is stuck on the cross beam 1-1-5; the strain gauge 1-3 for measuring moment is stuck on the torsion beam. The structure ensures that the transmission paths of force and moment are isolated from each other, and avoids mutual crosstalk between the force sensor and the moment sensor.
The cross beam 1-1-5 is characterized by a cross beam structure which is mutually perpendicular, and 8 strain gauges 1-2 are stuck near neutral layers on two side surfaces of each beam to form 2 paths of Wheatstone bridges for measuring axial force of the electric cylinder, wherein 1 path of bridge in the 2 paths of Wheatstone bridges is redundant backup for improving reliability of the sensor. The torsion beam 1-1-6 is characterized by 4 rectangular plates uniformly distributed at the circumference of 90 degrees, a strain gauge pasting area is processed on the outer side surface of the rectangular plate, 8 strain gauges 1-3 are pasted to form a 2-way Wheatstone bridge, the 2-way Wheatstone bridge is used for measuring the output torque of the planetary reducer 3, and 1 way of the 2-way Wheatstone bridge is used as a redundant backup for improving the reliability of the sensor. The strain gage adopts a double-inclined-plate structure.
Examples
The invention relates to a two-stage electric cylinder integrated with a two-dimensional force sensor, which has a maximum axial load of 500KN and rated output torque of a speed reducer of 3600N.m. The structural composition is shown in figure 1, and comprises: the device comprises a bearing seat module 1, a servo motor 2, a planetary reducer 3, a screw-nut pair 4, a thrust tapered roller bearing 5, a lock nut 6, a hollow screw-nut pair 7, a lock nut 8, a thrust tapered roller bearing 9, an outer sleeve 10, a middle sleeve 11, a spherical hinge lug 12, an inner sleeve 13, a transition seat 14, a lower lug 15 and the like.
The inside of the bearing seat module 1 is connected with a screw rod of the screw rod nut pair 4 through a thrust tapered roller bearing 5, and the screw rod and the thrust tapered roller bearing are locked by a locking nut 6; the bearing seat module 1 is in flange connection with the planetary reducer 3, and the bearing seat module 1 is in flange connection with the lower support lugs 15; the bearing seat module 1 is in flange connection with the outer sleeve 10; the input shaft end of the planetary reducer 3 is in flange connection with the servo motor 2, the output shaft is inserted into a screw rod end hole of the screw rod nut pair 4, and the input shaft end and the output shaft are connected by adopting keys. The transition seat 14 is fixedly connected with the nut of the screw-nut pair 4 and can slide in the outer sleeve 10 with a key; the middle sleeve 11 is fixedly connected with the transition seat 14; the screw rod of the hollow screw rod nut pair 7 is connected with the transition seat 14 through the thrust tapered roller bearing 9 and can rotate relatively; the thrust tapered roller bearing 9 is locked by a lock nut 8; the nut of the hollow screw-nut pair 7 is fixedly connected with the inner sleeve 13 through a transition piece and can slide in the middle sleeve 11 with a key; the inner sleeve 13 is fixedly connected with the spherical hinge support lugs 12; the screw rod of the hollow screw-nut pair 7 is of a hollow structure, the screw rod of the screw-nut pair 4 is positioned inside the screw rod of the hollow screw-nut pair 7, and the screw rod are connected through a spline and can synchronously rotate.
The working principle of the two-stage electric cylinder integrated with the two-dimensional force sensor is as follows: the servo motor 2 drives the planetary reducer 3 to drive the screw rod of the screw-nut pair 4 to rotate, the screw rod of the screw-nut pair 4 rotates to drive the nut of the screw-nut pair 4 and the middle sleeve 11 to lift in the outer sleeve 10 on one hand, and the hollow screw rod of the hollow screw-nut pair 7 is driven to rotate through the spline at the tail end of the screw rod of the screw-nut pair 4, and the hollow screw rod of the hollow screw-nut pair 7 rotates to drive the nut of the hollow screw-nut pair 7, the inner sleeve 13 and the spherical hinge support lug 12 to lift in the middle sleeve 11. Therefore, the lifting movement of the spherical hinge lug 12 (i.e., the inner sleeve 13) is formed by overlapping two movements: the lifting movement of the inner sleeve 13 relative to the middle sleeve 11 and the lifting movement of the middle sleeve 11 relative to the outer sleeve 10.
The invention relates to a two-stage electric cylinder integrated with a two-dimensional force sensor, which comprises the following torque transmission paths: the servo motor 2- & gt the planetary reducer 3- & gt the screw rod of the screw-nut pair 4 are then divided into two paths: one path is transmitted to the screw rod of the hollow screw-nut pair 7 through the end spline, the nut of the hollow screw-nut pair 7, the inner sleeve 13, the middle sleeve 11 and the outer sleeve 10; the other path is transmitted to the nut of the screw-nut pair 4, the transition seat 14, the middle sleeve 11 and the outer sleeve 10. The final torque is transmitted to the chock module 1 through the outer sleeve 10.
The invention relates to a two-stage electric cylinder integrated with a two-dimensional force sensor, wherein the force transmission path of axial load is as follows: ball pivot lug 12-inner sleeve 13-nut of hollow screw-nut pair 7-screw of hollow screw-nut pair 7-transition seat 14-nut of screw-nut pair 4-screw of screw-nut pair 4-bearing seat module 1-lower lug 15.
The bearing seat module 1 is an important stressed part of the electric cylinder and bears axial force and driving torque. The structure is characterized by a sleeve flange structure, and a stress and strain sensor is integrated in the sleeve flange structure. The bearing seat module 1 consists of a bearing seat 1-1, a strain gauge 1-2, a strain gauge 1-3, an outgoing line sealing gram head 1-4 and the like, as shown in figure 2.
As shown in fig. 2 and 3, the bearing seat 1-1 is composed of an upper flange 1-1-1, a lower flange outer ring 1-1-2, a reinforcing column 1-1-3, a lower flange inner ring 1-1-4, a cross beam 1-1-5, a torsion beam 1-1-6 and the like, and is of an integral structure. The upper flange 1-1-1 is connected with the lower flange outer ring 1-1-2 through the torsion beam 1-1-6 and the reinforcing column 1-1-3. The lower flange outer ring 1-1-2 is connected with the lower flange inner ring 1-1-4 through a cross beam 1-1-5, the upper flange 1-1 is connected with the planetary reducer 3, and the lower flange outer ring 1-1-2 is connected with the outer sleeve 10 and the lower support lugs 15. The reinforcing column 1-1-3 can strengthen the local rigidity of the upper flange 1-1 and improve the stress of the planetary reducer 3 on the premise of not influencing the torque measurement as much as possible.
The cross beam 1-1-5 is characterized by a cross beam structure which is perpendicular to each other, wherein 1-2 and 8 strain gauges are adhered near neutral layers on two side surfaces of each beam, 8 strain gauges are adhered together, 1 way of Wheatstone bridge is formed by 4 strain gauges on the same side and is used for measuring axial force of an electric cylinder, and 1 way of Wheatstone bridge is used as redundant backup in 2 ways of Wheatstone bridge and is used for improving reliability of a sensor.
The torsion beam 1-1-6 is characterized by 4 rectangular plates uniformly distributed at the circumference of 90 degrees, strain gauge pasting areas are processed on the outer side surfaces of the rectangular plates, 1-3,4 surfaces of the strain gauges are pasted, 2 strain gauges are pasted on each surface along a neutral layer, 1 way of Wheatstone bridge is formed by 4 strain gauges on the same position and used for torque measurement, and 1 way of Wheatstone bridge is used as redundancy backup and used for improving the reliability of the sensor. The strain gage attachment position is shown in fig. 4. The strain gage 1-2 and the strain gage 1-3 are all in shear stress measurement, so that a double-inclined-plate structure is adopted, the resistance is 350 omega, the temperature compensation and the creep compensation are carried out, and the appearance is shown in figure 5.
The moment transmission path on the bearing seat module 1 is as follows: an upper flange 1-1-1 of a bearing seat 1-1, a torsion beam 1-1-6 and a lower flange outer ring 1-1-2; the axial force transmission path on the bearing seat module 1 is as follows: the flange comprises a lower flange outer ring 1-1-2, a cross beam 1-1-5 and a lower flange inner ring 1-1-4; the strain gauges are respectively stuck on the cross beams 1-1-5 and the torsion beams 1-1-6, so that the transmission paths of force and moment are mutually isolated, and the mutual crosstalk between the force measurement and the moment measurement is avoided to the greatest extent. According to finite element analysis, when the bearing seat 1-1 singly applies 3600N.m moment, the strain at the strain gauge 1-3 is 901 mu epsilon, and the strain at the strain gauge 1-2 is 2 mu epsilon, which shows that the influence of torque on axial force measurement is limited; when the bearing seat 1-1 applies 500KN axial force alone, the strain at the strain gauge 1-2 is 1067 mu epsilon, and the strain at the strain gauge 1-3 is 7 mu epsilon, which indicates that the axial force has limited influence on torque measurement.
By adopting the invention, the accuracy of measuring force and torque is not lower than 1.5% F.S.
The circuit board is arranged in annular grooves among the lower flange outer ring 1-1-2, the cross beam 1-1-5 and the lower flange inner ring 1-1-4, wire passing holes are reserved at the positions of the bearing seat 1-1, internal threading and bridging are facilitated, and a wire outlet is arranged on the side face of the bearing seat module 1.
The surfaces of the strain gauge and the circuit board are isolated from air by adopting thin-layer silicon rubber 3140, the peripheral cavity is encapsulated by adopting pouring sealant, the outside is sealed by adopting a cover plate, and the outlet is sealed by adopting gram heads 1-4.

Claims (3)

1. A two-stage electric cylinder integrated with a two-dimensional force sensor, comprising: the device comprises a bearing seat module, a servo motor, a planetary reducer, a screw-nut pair, a thrust tapered roller bearing, a lock nut, a hollow screw-nut pair, a lock nut, a thrust tapered roller bearing, an outer sleeve, a middle sleeve, a spherical hinge lug, an inner sleeve, a transition seat and a lower lug; the bearing frame module is sleeve flange structure, is the main load-carrying structure of electronic jar, installs planetary reducer on it, and the outer sleeve to link to each other through the bearing with the lead screw nut pair, its integrated two-dimensional force transducer that has simultaneously, its constitution includes: bearing frame, foil gage, sealing gram head of being qualified for next round of competitions.
2. The two-stage electric cylinder integrated with the two-dimensional force sensor according to claim 2, wherein the bearing seat comprises an upper flange, a lower flange outer ring, a lower flange inner ring, a cross beam and a torsion beam, the upper flange of the bearing seat is connected with the lower flange outer ring through the torsion beam, the lower flange outer ring is connected with the lower flange inner ring through the cross beam, the upper flange is connected with the planetary reducer, the lower flange outer ring is connected with the outer sleeve and the lower support lugs, and the strain gauge for measuring force is adhered on the cross beam; the strain gauge for measuring moment is stuck on the torsion beam.
3. The two-stage electric cylinder integrated with the two-dimensional force sensor according to claim 2, wherein the cross beams are characterized by a cross beam structure which is perpendicular to each other, and strain gauges are adhered near neutral layers on two sides of each beam to form 2 paths of wheatstone bridges, wherein the 2 paths of wheatstone bridges are used for measuring axial force of the electric cylinder, and 1 path of bridge is redundant backup, so that the reliability of the sensor is improved. The torsion beam is characterized by comprising 4 rectangular plates uniformly distributed at the circumference of 90 degrees, a strain gauge pasting area is processed on the outer side surface of each rectangular plate, 8 strain gauges are pasted to form 2 paths of Wheatstone bridges for measuring the output torque of the planetary reducer, 1 path of the 2 paths of Wheatstone bridges is redundant and used for improving the reliability of the sensor, and each strain gauge adopts a double-inclined-plate structure.
CN202311872385.6A 2023-12-31 2023-12-31 Two-stage electric cylinder integrated with two-dimensional force sensor Pending CN117811287A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311872385.6A CN117811287A (en) 2023-12-31 2023-12-31 Two-stage electric cylinder integrated with two-dimensional force sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311872385.6A CN117811287A (en) 2023-12-31 2023-12-31 Two-stage electric cylinder integrated with two-dimensional force sensor

Publications (1)

Publication Number Publication Date
CN117811287A true CN117811287A (en) 2024-04-02

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ID=90429948

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311872385.6A Pending CN117811287A (en) 2023-12-31 2023-12-31 Two-stage electric cylinder integrated with two-dimensional force sensor

Country Status (1)

Country Link
CN (1) CN117811287A (en)

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