CN105782159B - A kind of hydraulic rotating actuator - Google Patents
A kind of hydraulic rotating actuator Download PDFInfo
- Publication number
- CN105782159B CN105782159B CN201610270956.2A CN201610270956A CN105782159B CN 105782159 B CN105782159 B CN 105782159B CN 201610270956 A CN201610270956 A CN 201610270956A CN 105782159 B CN105782159 B CN 105782159B
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- CN
- China
- Prior art keywords
- outer barrel
- rotating
- support arm
- hydraulic
- end cover
- 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.)
- Expired - Fee Related
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Classifications
-
- 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
Abstract
The embodiment of the invention discloses a kind of hydraulic rotating actuator, it is related to technical field of mechanical design, can solve the problem that the problem of needing to take larger physical space.The present invention includes：Outer barrel 3 is to be fixed on cylinder in fold mechanism rotating shaft, and the hypomere of outer barrel 3 is conventional hydraulic pressurized strut, and the lower end of outer barrel 3 is provided with inlet valve and delivery valve on the hypomere barrel of outer barrel 3 as the oil pocket of hydraulic actuator.Rotating support arm 4 is arranged on piston rod 2, and the position of correspondence rotating support arm 4 is provided with fan-shaped mouth on outer barrel 3, is used as the activity space of rotating support arm 4.Vertical chute is set on the inner ring surface of rotating device 7, is slidably matched with rotating support arm 4.Internal thread is carved with the side of upper end cover 5, is connected with symmetrical two of the upper end of outer barrel 3 external screw thread for opening remaining sector region after fan-shaped mouth, the upper surface of rotating device 7 is pushed down in the side lower surface of upper end cover 5, and sets ball between two end faces.
Description
Technical field
The present invention relates to technical field of mechanical design, more particularly to a kind of hydraulic rotating actuator.
Background technology
Fold mechanism would generally be used in actuator at present, wherein fold mechanism is that one kind can carry out exhibition according to demand
The device with closure is opened, is had a wide range of applications in mechanical engineering.
Conventional fold mechanism mainly includes：Drive device, rocking arm and connection system etc. are completed by linear driving force
The opening and closing of fold mechanism, but to there is part more, it is necessary to take asking for larger physical space for the design of this fold mechanism
Topic, it is difficult to apply in the actuator design higher to lightweight and small form factor requirements.
The content of the invention
Embodiments of the invention provide a kind of hydraulic rotating actuator, and can solve the problem that needs to take larger physical space
Problem.
To reach above-mentioned purpose, embodiments of the invention are adopted the following technical scheme that：
Outer barrel 3 is the cylinder being fixed in fold mechanism rotating shaft, and the hypomere of outer barrel 3 is conventional hydraulic pressurized strut, outer barrel 3
Separated between upper-lower section by sealing dividing plate 8, the lower end of outer barrel 3 as hydraulic actuator oil pocket, on the hypomere barrel of outer barrel 3
It is provided with inlet valve and delivery valve.
The upper end of outer barrel 3 is equipped with upper end cover 5, and outer barrel 3 is connected to turning for the fold mechanism by bottom end cover 9 and upper end cover 5
Axle, the centre bore of upper end cover 5 coordinates with the formation of piston rod 2, and support and guide effect are played to piston rod 2, and the epimere of outer barrel 3 is carved
There is internal thread, and coordinate with the formation screw thread of piston rod 2, coordinate piston rod 2 to be revolved under straight line force promotion along screw thread by screw thread
Turn.
Rotating support arm 4 is arranged on piston rod 2, and the position of correspondence rotating support arm 4 is provided with fan-shaped mouth on outer barrel 3, as
The activity space of rotating support arm 4.
Annular boss is set close to the fan-shaped mouth lower edge vicinity on outer barrel 3, rotating device 7 is enclosed on the fan of outer barrel 3
Shape mouthful correspondence position, ball is set between the lower surface of rotating device 7 and annular boss.
Vertical chute is set on the inner ring surface of rotating device 7, is slidably matched with rotating support arm 4.
Internal thread is carved with the side of upper end cover 5, remaining fan section after fan-shaped mouth is opened for symmetrical two with the upper end of outer barrel 3
The external screw thread in domain is connected, and the upper surface of rotating device 7 is pushed down in the side lower surface of upper end cover 5, and between two end faces
Ball is set.
Have on the end face of upper end cover 5 and circular hole be provided with the middle of inside boss, the boss, piston rod 2 passes through the circular hole,
The external diameter of the boss is less than the internal diameter of the upper end of outer barrel 3, and boss and inner threaded surface one circumference of formation of the side of upper end cover 5 are slided
Groove.
Hydraulic rotating actuator provided in an embodiment of the present invention, using the hydraulic actuator being installed in rotating shaft, by straight line
Driving force is converted to torsion driving force to complete fold mechanism opening and closing, when the hydraulic rotating actuator is directly mounted at fold mechanism
Rotating shaft on when, the connection member between actuator and fold mechanism can be simplified, the volume of occupancy can be significantly reduced, mitigate
The quality of structure, makes structure more compact, solves the problem of needing to take larger physical space, can be widely used in pair
In lightweight and the higher actuator design of small form factor requirements.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below by using required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
The general structure schematic diagram of Fig. 1 hydraulic rotating actuator；
The structural representation of Fig. 2 outer barrel fan-shaped mouths；
The schematic diagram of Fig. 3 rotating support arms and piston rod attachment structure；
The structural representation of Fig. 4 rotating devices；
The structural representation of Fig. 5 upper end covers；
Wherein, each label in accompanying drawing is represented respectively：Piston -1, piston rod -2, outer barrel -3, rotating support arm -4, upper end
Lid -5, hydraulic valve -6, rotating device -7, sealing dividing plate -8, bottom end cover -9.
Embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific embodiment party
Formula is described in further detail to the present invention.It is described in more detail below embodiments of the present invention, the embodiment is shown
Example is shown in the drawings, wherein same or similar label represents same or similar element or with identical or class from beginning to end
Like the element of function.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining the present invention, and can not
It is construed to limitation of the present invention.Those skilled in the art of the present technique are appreciated that unless expressly stated, odd number shape used herein
Formula " one ", " one ", " described " and "the" may also comprise plural form.It is to be further understood that the specification of the present invention
The middle wording " comprising " used refers to there is the feature, integer, step, operation, element and/or component, but it is not excluded that
In the presence of or add one or more other features, integer, step, operation, element, component and/or their group.It should be understood that
When we claim element to be " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements, or
There can also be intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or coupling.Here make
Wording "and/or" includes one or more associated any cells for listing item and all combined.The art
Technical staff is appreciated that unless otherwise defined all terms (including technical term and scientific terminology) used herein have
With the general understanding identical meaning of the those of ordinary skill in art of the present invention.It should also be understood that such as general
Those terms defined in dictionary, which should be understood that, has the meaning consistent with the meaning in the context of prior art, and
Unless defined as here, it will not be explained with idealization or excessively formal implication.
The embodiment of the present invention provides a kind of hydraulic rotating actuator, as shown in figure 1, including：Piston 1, piston rod 2, outer barrel
3rd, rotating support arm 4, upper end cover 5, hydraulic valve 6, rotating device 7, sealing dividing plate 8, bottom end cover 9.
Wherein, outer barrel 3 is the cylinder being fixed in fold mechanism rotating shaft, and the hypomere of outer barrel 3 is conventional hydraulic pressurized strut, outside
Separated between the upper-lower section of cylinder 3 by sealing dividing plate 8, the lower end of outer barrel 3 is used as the oil pocket of hydraulic actuator, the hypomere of outer barrel 3
Inlet valve and delivery valve are provided with barrel.
Further, the upper end of outer barrel 3 is equipped with upper end cover 5, and outer barrel 3 is connected to the folding by bottom end cover 9 and upper end cover 5
The rotating shaft of mechanism, the centre bore of upper end cover 5 coordinates with the formation of piston rod 2, and support and guide effect, outer barrel 3 are played to piston rod 2
Epimere be carved with internal thread, and coordinate with the formation screw thread of piston rod 2, coordinate piston rod 2 to promote lower edge in straight line force by screw thread
Screw thread rotation.
Wherein, in order to ensure that in the presence of linear driving force F along screw thread rotation self-locking can not occur for piston rod 2,
Lead angle there are certain requirements.Lead angle there are certain requirements.It should ensure that the component in driving force F threadingly directions is more than
The frictional force in thread contact face.The internal thread that the epimere of outer barrel 3 is carved with, meets tan α>F, wherein α are lead angle, and f is screw thread
Contact plane friction factor.Specifically, assuming thread contact face friction factor f=0.2, lead angle can useTake pitch diameter of thread d2=22mm, then lead pitch s=π d2Spiral shell in tan α=21mm, guide rail outer barrel 3
Line lengthThe conventional hydraulic actuator of aviation provides 21MPa pressure, then the area for taking piston 1 isThe sectional area of piston rod 2 isNow hydraulic pressure
The straight line active force that device is provided is F=15.5kN, and the torsional moment of generation is M=92Nm.
As shown in Figure 3, rotating support arm 4 is arranged on piston rod 2, and as shown in Figure 2, correspondence rotates branch on outer barrel 3
The position of arm 4 is provided with fan-shaped mouth, is used as the activity space of rotating support arm 4.Close to the fan-shaped mouth lower edge vicinity on outer barrel 3
Annular boss is set, and rotating device 7 is enclosed on the fan-shaped mouth correspondence position of outer barrel 3, the lower surface and annular boss of rotating device 7 it
Between ball is set.Wherein, it is as shown in Figure 4, vertical chute is set on the inner ring surface of rotating device 7, slided with rotating support arm 4
Coordinate.
As shown in Figure 5, internal thread is carved with the side of upper end cover 5, is opened with the upper end of outer barrel 3 after fan-shaped mouth for symmetrical two
The external screw thread of remaining sector region is connected, and the upper surface of rotating device 7 is pushed down in the side lower surface of upper end cover 5, and
Ball is set between two end faces.
Have on the end face of upper end cover 5 and circular hole be provided with the middle of inside boss, the boss, piston rod 2 passes through the circular hole,
The external diameter of the boss is less than the internal diameter of the upper end of outer barrel 3, and boss and inner threaded surface one circumference of formation of the side of upper end cover 5 are slided
Groove.When piston rod 2 produces axial direction and screw displacement, rotating device 7 does not produce axial displacement, only occurs the rotation in plane.
The hydraulic rotating actuator of the present embodiment, by the way that the cylinder of conventional hydraulic pressurized strut is extended for into outer barrel 3 in Fig. 1
Form is simultaneously installed in the rotating shaft of fold mechanism, is expanded part and is thickeied, and is separated with sealing dividing plate 8 therebetween.Make the lower end of outer barrel 3
For the oil pocket of hydraulic actuator, inlet valve and delivery valve are provided with；Also, relative to the piston rod of conventional hydraulic pressurized strut, this reality
The piston rod for applying the hydraulic rotating actuator of example is lengthened, and is formed with the centre bore of the end cap 5 on outer barrel 3 and sealing dividing plate 8
Coordinate；And in order to which the linear driving force for producing hydraulic pressure is converted to torsion driving force, carved on piston rod 2 in external screw thread, outer barrel 3
Wall carves internal thread；It is empty as the activity of rotating support arm 4 and 120 ° of fan-shaped mouth is opened in the position of correspondence rotating support arm 4 on outer barrel 3
Between, and annular boss is set close to fan-shaped mouth lower edge vicinity on outer barrel 3.Rotating device 7 is enclosed on the fan-shaped mouth correspondence of outer barrel 3
Position, the lower surface of rotating device 7 in the following at least 5mm of fan-shaped mouth lower edge, the lower surface and annular boss of rotating device 7 it
Between ball is set.The inner ring surface of rotating device 7 sets vertical chute, is slidably matched with rotating support arm 4；And in upper end cover 5
Internal thread is carved with side, is coordinated with the external screw thread of the upper end of outer barrel 3 (symmetrical two are opened remaining sector region after fan-shaped mouth)
Connection, the side lower surface of upper end cover 5 is pushed down and sets ball between the upper surface of rotating device 7, two end faces.
In the present embodiment, the position of correspondence rotating support arm 4 is provided with 120 ° of fan-shaped mouth on outer barrel 3.
In the present embodiment, the connector that outer barrel 3 is more than or equal to setting at threshold value by thickness on outer barrel 3 is connected to described
The rotating shaft of fold mechanism.Or, the connector that outer barrel 3 is set by thickness maximum on outer barrel 3 is connected to the fold mechanism
Rotating shaft.
In the present embodiment, rotating support arm 4 is interference fitted with piston rod 2.
Or, rotating support arm 4 is fastened after being heated by shape memory alloy material with piston rod 2.
Or, rotating support arm 4 is fastened by steady pin with piston rod 2.
In the preferred scheme of the present embodiment, rotating device 7 is enclosed on the fan-shaped mouth correspondence position of outer barrel 3, rotating dress
7 lower surface is put in the following at least 5mm of the fan-shaped mouth lower edge, is set between the lower surface of rotating device 7 and annular boss
Ball.
In the preferred scheme of the present embodiment, the external diameter of outer barrel 3 is 50mm.The external diameter of end cap 5 is 60mm.Outer barrel length is
200mm, wherein, hydraulic actuator segment length is 80mm, and wall thickness is 5mm, and screw thread segment length is 70mm, and wall thickness is 10mm, rotation
The segment length of device 7 is 50mm, and wall thickness is 4mm.Specifically, assuming that fold mechanism rotating shaft internal diameter is 30mm, can accommodate length is
220mm, the torsional moment M that driving fold mechanism opening and closing needsNeedFor 90Nm, then the outer barrel chi of hydraulic rotating actuator can be designed
It is very little as follows：The external diameter of outer barrel 3 is 50mm.The external diameter of end cap 5 is 60mm.Outer barrel length is 200mm, and wherein hydraulic actuator segment length is
80mm, wall thickness is 5mm, and screw thread segment length is 70mm, and wall thickness is 10mm, and the length of the correspondence section of rotating device 7 is 50mm, and wall thickness is
4mm。
In the preferred scheme of the present embodiment, the arm diameter in rotating support arm 4 takes 15mm, and the height of rotating support arm 4 takes
15+25=40mm, internal diameter 20mm, external diameter 36mm.The height of rotating device 7 takes 45+5=50mm, internal diameter 50mm, external diameter 60mm, rotation
Arm diameter on rotary device 7 is 15mm.
The specific works mode of the rotary actuator provided in the present embodiment, including：
During positive stroke, lower half chamber drives fuel tap into, and upper half chamber outputs fuel tap so that P1>P2, so as to produce axially upward
Linear driving force.In the presence of the driving force, screw thread of the piston rod 2 along guide rail outer barrel 3 starts rotation, drives rotating support arm 4
Rotate, drive rotating device 7, complete the unlatching of fold mechanism.Wherein, half chamber hydraulic pressure is set for P1, upper half chamber hydraulic pressure is P2。
During revesal, lower half chamber outputs fuel tap, and upper half chamber drives fuel tap into so that P1<P2, so as to produce axially downward
Linear driving force.In the presence of the driving force, screw thread of the piston rod 2 along guide rail outer barrel 3 starts to reversely rotate, and drives and rotates branch
Arm 4 is rotated backward, and drives rotating device 7, completes the closure of fold mechanism.
The maximum opening angle of hydraulic rotating actuator is 90 °, and actual opening angle can be controlled by displacement transducer
Degree.The driving moment provided as needed, designs the parameter of hydraulic rotating actuator, should be according to the big of driving moment during design
The strength and stiffness of small, piston rod and rotating support arm, while to consider the influence of interior friction.Therefore the hydraulic pressure that the present embodiment is provided
Rotary actuator can be completed under certain hydraulic pressure difference, just from linear driving force to the conversion of driving force is reversed, so as to complete folding
The unlatching of folded mechanism and closure.The space very little of hydraulic rotating actuator occupancy is can be seen that from above-mentioned design process.This hair
The hydraulic rotating actuator that bright embodiment is provided, using the hydraulic actuator being installed in rotating shaft, linear driving force is converted to
Driving force is reversed to complete fold mechanism opening and closing, when the hydraulic rotating actuator is directly mounted in the rotating shaft of fold mechanism,
The connection member between actuator and fold mechanism can be simplified, the volume of occupancy can be significantly reduced, mitigates the quality of structure,
Make structure more compact, solve the problem of needing to take larger physical space, can be widely used in lightweight and small
Typeization is required in higher actuator design.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for equipment
Apply for example, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to embodiment of the method
Part explanation.The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited to
This, any one skilled in the art the invention discloses technical scope in, the change that can readily occur in or replace
Change, should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Enclose and be defined.
Claims (7)
1. a kind of hydraulic rotating actuator, it is characterised in that including：Piston (1), piston rod (2), outer barrel (3), rotating support arm
(4), upper end cover (5), hydraulic valve (6), rotating device (7), sealing dividing plate (8), bottom end cover (9)；
Outer barrel (3) is the cylinder being fixed in fold mechanism rotating shaft, and the hypomere of outer barrel (3) is conventional hydraulic pressurized strut, outer barrel (3)
Upper-lower section between separated by sealing dividing plate (8), the lower end of outer barrel (3) as hydraulic actuator oil pocket, under outer barrel (3)
Inlet valve and delivery valve are provided with section barrel；
Outer barrel (3) upper end is equipped with upper end cover (5), and outer barrel (3) is connected to the folding machine by bottom end cover (9) and upper end cover (5)
The rotating shaft of structure, upper end cover (5) centre bore and piston rod (2) formation coordinates, and plays support and guide effect to piston rod (2),
The epimere of outer barrel (3) is carved with internal thread, and coordinates with piston rod (2) formation screw thread, coordinates piston rod (2) in straight line by screw thread
Push under moving along screw thread rotation；
Rotating support arm (4) is arranged on piston rod (2), and the position of correspondence rotating support arm (4) is provided with fan-shaped mouth on outer barrel (3),
It is used as the activity space of rotating support arm (4)；
Annular boss is set close to the fan-shaped mouth lower edge vicinity on outer barrel (3), rotating device (7) is enclosed on outer barrel (3)
Fan-shaped mouth correspondence position, ball is set between the lower surface of rotating device (7) and annular boss；
Vertical chute is set on the inner ring surface of rotating device (7), is slidably matched with rotating support arm (4)；
Internal thread is carved with the side of upper end cover (5), is connected with the external screw thread of outer barrel (3) upper end, the side of upper end cover (5)
The upper surface of rotating device (7) is pushed down in lower surface, and sets ball between two end faces；
Have on the end face of upper end cover (5) and circular hole be provided with the middle of inside boss, the boss, piston rod (2) passes through the circular hole,
The external diameter of the boss is less than the internal diameter of outer barrel (3) upper end, boss and inner threaded surface one circumference of formation of upper end cover (5) side
Chute.
2. hydraulic rotating actuator according to claim 1, it is characterised in that correspondence rotating support arm (4) on outer barrel (3)
Position is provided with 120 ° of fan-shaped mouth.
3. hydraulic rotating actuator according to claim 1, it is characterised in that outer barrel (3) is big by thickness on outer barrel (3)
In the rotating shaft that the fold mechanism is connected to equal to the connector set at threshold value；
Or outer barrel (3) is connected to the rotating shaft of the fold mechanism by the connector of thickness maximum setting on outer barrel (3).
4. hydraulic rotating actuator according to claim 1, it is characterised in that the internal thread that the epimere of outer barrel (3) is carved with,
Meet tan α>F, wherein α are lead angle, and f is thread contact planar friction factor.
5. hydraulic rotating actuator according to claim 1, it is characterised in that rotating support arm (4) and piston rod (2) interference
Coordinate；
Or, rotating support arm (4) is fastened after being heated by shape memory alloy material with piston rod (2)；
Or, rotating support arm (4) is fastened by steady pin and piston rod (2).
6. hydraulic rotating actuator according to claim 1, it is characterised in that outer barrel (3) external diameter is 50mm；
Upper end cover (5) external diameter is 60mm；
Outer barrel length is 200mm, wherein, hydraulic actuator segment length is 80mm, and wall thickness is 5mm, and screw thread segment length is 70mm, wall
Thickness is 10mm, and rotating device (7) segment length is 50mm, and wall thickness is 4mm.
7. hydraulic rotating actuator according to claim 1, it is characterised in that the arm diameter in rotating support arm (4) takes
15mm, the height of rotating support arm (4) takes 15+25=40mm, internal diameter 20mm, external diameter 36mm；Rotating device (7) highly takes 45+5=
Arm diameter on 50mm, internal diameter 50mm, external diameter 60mm, rotating device (7) is 15mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610270956.2A CN105782159B (en) | 2016-04-27 | 2016-04-27 | A kind of hydraulic rotating actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610270956.2A CN105782159B (en) | 2016-04-27 | 2016-04-27 | A kind of hydraulic rotating actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105782159A CN105782159A (en) | 2016-07-20 |
| CN105782159B true CN105782159B (en) | 2017-10-10 |
Family
ID=56399516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610270956.2A Expired - Fee Related CN105782159B (en) | 2016-04-27 | 2016-04-27 | A kind of hydraulic rotating actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105782159B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110067784B (en) * | 2019-05-23 | 2020-10-16 | 浙江大学城市学院 | Two-dimensional hydraulic cylinder and variable damping control type two-dimensional hydraulic cylinder |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1406987A (en) * | 1971-08-04 | 1975-09-24 | Priestley T P | Hydraulic actuator |
| GB1349221A (en) * | 1971-09-14 | 1974-04-03 | Daiei Kogyosha Kk | Fluid actuator |
| CN100393578C (en) * | 2004-03-23 | 2008-06-11 | 重庆大学 | Actuator for rotating or folding aerofoil of airplane |
| CN102162509B (en) * | 2011-03-25 | 2013-06-05 | 成都飞机工业（集团）有限责任公司 | Locking device of electric actuating cylinder |
| CN102162477A (en) * | 2011-03-25 | 2011-08-24 | 成都飞机工业（集团）有限责任公司 | Actuator cylinder |
| CN104696468B (en) * | 2013-12-09 | 2017-05-10 | 四川凌峰航空液压机械有限公司 | Hydraulic drive limited-rotating-angle straight rotating actuator |
| CN103708026B (en) * | 2013-12-30 | 2016-04-20 | 成都飞机工业（集团）有限责任公司 | Two remaining electric actuating cylinder |
| CN204461240U (en) * | 2015-01-21 | 2015-07-08 | 浙江理工大学 | Twice-folded aerofoil horizontal spreading mechanism |
| CN105003494B (en) * | 2015-05-22 | 2017-06-13 | 南京航空航天大学 | A kind of actuator |
| CN105179388B (en) * | 2015-09-09 | 2017-10-10 | 西安正安环境技术有限公司 | The robot electro-hydraulic actuator of ball pump |
-
2016
- 2016-04-27 CN CN201610270956.2A patent/CN105782159B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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Granted publication date: 20171010 Termination date: 20190427 |