CN110685970A - Miniature electro-hydraulic linear actuator - Google Patents
Miniature electro-hydraulic linear actuator Download PDFInfo
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- CN110685970A CN110685970A CN201911006603.1A CN201911006603A CN110685970A CN 110685970 A CN110685970 A CN 110685970A CN 201911006603 A CN201911006603 A CN 201911006603A CN 110685970 A CN110685970 A CN 110685970A
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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
- F15B15/18—Combined units comprising both motor and pump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Reciprocating Pumps (AREA)
- Actuator (AREA)
- Details Of Reciprocating Pumps (AREA)
Abstract
The patent discloses a miniature electro-hydraulic linear actuator, which comprises an actuator base body (3) encapsulated in a closed elastic leather bag (1), a spherical pump unit and a reciprocating piston mechanism, wherein a hydraulic cylinder (25) and a cylinder sleeve (26) are arranged on the actuator base body (3), the hydraulic cylinder (25) and the cylinder sleeve (26) are both cylindrical containing cavities with one ends opened, and the reciprocating piston mechanism is arranged in the hydraulic cylinder (25); a motor end cover (2) is arranged at the opening end of the cylinder sleeve (26), and the spherical pump and the motor are integrated in the cylinder sleeve (26) to form a spherical pump unit; the distributed hydraulic source is used as a driving force, a reversing valve is not needed, a complex oil way pipeline is not needed to be arranged in the system, the size is small, the power density is high, the flexibility is good, and the impact load can be borne; and the modular design is adopted, so that the use is convenient.
Description
Technical Field
The patent relates to the technical field of actuators, in particular to a miniature electro-hydraulic linear actuator.
Background
The existing robot power system mainly comprises a motor scheme and a hydraulic driving scheme, wherein the motor scheme is formed by a servo motor and a precision speed reducer, the motor scheme is mainly applied to an industrial robot arm at present, and the defects that the system is lack of flexibility, the power density of the motor is low, and the power is insufficient in some occasions are overcome; the core components of the hydraulic driving scheme are an oil pump, a servo valve and an oil cylinder which are connected through oil pipelines, the system is good in flexibility, impact-resistant and high in power density and is the research and development direction of power for the robot, but a centralized hydraulic source is adopted, the main power pump drives ten paths of hydraulic actuators to supply power in a centralized mode, the system is large in size, heavy in weight and complex in hardware pipeline, the robot is almost free of excessive load capacity after being loaded with hydraulic parts to perform effective scene application, particularly in the application aspects of a bionic robot, a quadruped robot, a robot joint, robot fingers and the like, dead weight resistance is overcome by driving force, so that the robot hand is large in size, heavy in weight, high in power loss and limited in application, and the robot fingers are very small in effective grabbing force on fingertips and even incapable of being applied due to the fact that the system is complex and large.
The ball pump is a power machine newly invented in recent years, can realize ultramicro and high pressure after being integrated with a motor, can realize series connection type direct drive in the field of robots, and has the characteristics of large torque, impact resistance, ultramicro and the like compared with the traditional linear drive and push rod motor drive modes, so that the micro electro-hydraulic linear actuator by utilizing the ball pump technology has wide application prospect.
Disclosure of Invention
The purpose of this patent is to design a miniature electric liquid linear actuator, collects pump, motor and hydraulic piston integrative, adopts the modularized design, provides power for the robot as the distributed hydraulic pressure source.
The technical scheme of this patent is: miniature electric liquid linear actuator, characterized by: the hydraulic cylinder and the cylinder sleeve are both cylindrical containing cavities with one ends opened, the reciprocating piston mechanism is arranged in the hydraulic cylinder, a hydraulic cylinder end cover is arranged at the opening end of the hydraulic cylinder, a piston rod hinge hole is arranged at the end part of a piston rod extending out of the bottom of the hydraulic cylinder, and an actuator hinge hole is arranged on the hydraulic cylinder end cover; the opening end of the cylinder sleeve is provided with a motor end cover, and the spherical pump and the motor are integrated in the cylinder sleeve to form a spherical pump unit; two liquid inlet and outlet holes of the spherical pump are respectively communicated with two liquid outlet and inlet holes of the reciprocating piston mechanism; the electro-hydraulic linear actuator is packaged in a closed elastic leather bag, and the end part of the piston rod extends out of the elastic leather bag;
the reciprocating piston mechanism is a double-piston-rod mechanism, a piston rod on one side of the piston extends out of a piston rod through hole at the bottom of a cylindrical inner cavity of the hydraulic cylinder, and a piston rod on the other side of the piston slides in an end cover of the hydraulic cylinder;
the spherical pump unit comprises a spherical pump and a motor, the spherical pump comprises a cylinder body, a cylinder cover, a spherical pump piston, a turntable and a main shaft, the cylinder cover and the cylinder body are fixedly connected through a sleeve, a motor stator and the sleeve are fixed on the inner wall of the cylinder sleeve, a motor rotor surrounds the outer circumference of the spherical pump main shaft, a motor end cover is fixedly connected to the opening end of the cylinder sleeve, a rotary support is formed between the upper end of the main shaft and the spherical pump sleeve, and a rotary support is formed between the lower end of the spherical pump main shaft and the motor end cover;
the cylinder cover is connected with the cylinder body to form a spherical inner cavity, a piston shaft hole and two liquid inlet and outlet holes are formed in the cylinder cover, a piston shaft of a spherical pump piston is inserted into the piston shaft hole in the cylinder cover, the spherical pump piston is hinged with the rotary table through a cylindrical hinge to form a spherical rotor which is arranged in the spherical inner cavity, the spherical surfaces of the spherical pump piston and the rotary table are in sealed movable fit with the spherical inner cavity, a rotary table shaft of the rotary table extends out from the lower end of the cylinder body, a sliding groove is formed in the upper end face of the main shaft, a sliding shoe is arranged at the end part of the rotary table shaft of the rotary table, the sliding shoe on the rotary table shaft is matched with the sliding groove in the main shaft of the spherical pump, the sliding shoe on the rotary table shaft is inserted.
The advantage of this patent is: the distributed hydraulic source is used as a driving force, a reversing valve is not needed, the integrated design of a pump motor and a cylinder can be realized, a complex oil way pipeline is not needed to be arranged in the system, the size is small, the power density is high, the effective hydraulic kinetic energy output and the flexibility of system motion are increased, and the impact load can be borne; and the modularized design is adopted, so that the device is convenient to produce, maintain and maintain in batches and is convenient to use.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of a micro electro-hydraulic linear actuator;
FIG. 2 is a schematic structural diagram of a second embodiment of the micro electro-hydraulic linear actuator;
FIG. 3 is a cross-sectional view E-E of FIG. 1;
FIG. 4 is a cross-sectional view taken along line D-D of FIG. 2;
FIG. 5 is a schematic view of an actuator substrate construction;
FIG. 6 is a schematic diagram of a hydraulic cylinder end cover configuration;
FIG. 7 is a front view of the spindle arrangement;
FIG. 8 is a top view of the spindle arrangement;
FIG. 9 is a schematic view of a spherical pump piston configuration;
FIG. 10 is a schematic view of a turntable configuration;
in the figure, 1-elastic leather bag; 2-motor end cover; 3-an actuator substrate; 4-a motor stator; 5-a motor rotor; 6-a main shaft; 7-a turntable; 8-cylinder body; 9-spherical pump piston; 10-cylinder cover; 11-a sleeve; 12-piston rod hinge hole; 13-a sealing ring; 14-sealing ring I; 15-a piston rod; 16-a piston; 17-sealing ring V; 18-sealing ring II; 19-hydraulic cylinder end cover; 20-sealing ring III; 21-a seal ring IV; 22-a first liquid inlet and outlet channel; 23-a second liquid inlet and outlet channel; 24-actuator hinge hole; 25-a hydraulic cylinder; 26-spherical pump cylinder liner; 61-a chute; 71-a turntable shaft; 72-turntable pin boss; 73-a slipper; 91-a piston shaft; 92-piston pin boss; 101-a first liquid inlet and outlet hole; 102-a second liquid inlet and outlet hole;
3A-actuator substrate I; 4A, a motor stator I; 5A-a motor rotor I; 6A-main shaft I.
Detailed Description
First, first embodiment:
as shown in fig. 1, 3, 5 and 6, the micro electro-hydraulic linear actuator is an ultra-micro structure, and comprises an actuator substrate 3, a spherical pump unit and a reciprocating piston mechanism, wherein a hydraulic cylinder 25 and a cylinder sleeve 26 are arranged on the actuator substrate 3, and the hydraulic cylinder 25 and the cylinder sleeve 26 are both cylindrical cavities with one open end; a hydraulic cylinder end cover 19 is arranged at the opening end of the hydraulic cylinder 25, and a sealing ring III 20 is arranged at the matching part of the hydraulic cylinder end cover 19 and the hydraulic cylinder 25; the reciprocating piston mechanism is a double-piston-rod mechanism, the reciprocating piston mechanism is arranged in the hydraulic cylinder 25, the diameter of the piston 16 is matched with the diameter of a cylindrical inner cavity of the hydraulic cylinder 25, a piston sealing ring V17 is arranged at the matching position of the piston 16 and the hydraulic cylinder 25, the piston rod 15 on one side of the piston 16 extends out of a piston rod through hole at the bottom of the cylindrical inner cavity of the hydraulic cylinder 25, a sealing ring I14 is arranged at the matching position of the piston rod 15 and the through hole on the actuator substrate 3, the piston rod 15 on the other side slides in a hole in the center of the hydraulic cylinder end cover 19, a sealing ring II 18 is arranged at the matching position of the piston rod 15 and the hydraulic cylinder end cover 19, a balance hole is arranged at the bottom of the; a piston rod hinge hole 12 is formed in the end of the piston rod 15 extending out of the bottom of the hydraulic cylinder 25 and used for enabling the end of the piston rod 15 to be hinged with other parts to transmit power; an actuator hinge hole 24 is formed in the hydraulic cylinder end cover 19 and used for enabling the miniature electro-hydraulic linear actuator to be hinged with other parts.
The spherical pump and the motor are integrated in a cylinder sleeve of the spherical pump to form a spherical pump unit, and a motor end cover 2 is arranged at the opening end of the cylinder sleeve 26; the spherical pump comprises a cylinder body 8, a cylinder cover 10, a spherical pump piston 9, a rotary table 7 and a spherical pump main shaft 6, wherein the cylinder cover 10 and the cylinder body 8 are both provided with hemispherical inner cavities which are connected to form a spherical inner cavity, after the cylinder cover 10 and the cylinder body 8 are combined, a sleeve 11 is fastened on the outer circumferences of the cylinder cover 10 and the cylinder body 8 in a hot-assembly interference fit mode, and the sleeve 11 is fastened on the inner circumference of the bottom of a cylindrical cavity of a cylinder sleeve 26 in a hot-assembly interference fit mode; the cylinder cover 10 is provided with a piston shaft hole and two liquid inlet and outlet holes, and the spherical pump can run in a forward and reverse rotation mode, when the motor rotates forwards, the first liquid inlet and outlet hole 101 is a liquid inlet hole, the second liquid inlet and outlet hole 102 is a liquid outlet hole, when the motor rotates backwards, the first liquid inlet and outlet hole 101 is a liquid outlet hole, and the second liquid inlet and outlet hole 102 is a liquid inlet hole.
A spherical pump piston 9 is hinged with a rotary table 7 through a cylindrical hinge to form a spherical rotor which is arranged in a spherical inner cavity, a coil winding of a motor stator 4 is fixed on the inner wall of the opening end of the cylindrical cavity of the cylinder sleeve of the spherical pump cylinder, a silicon steel sheet of a motor rotor 5 is wound on the outer circumference of a main shaft 6, a motor end cover 2 is fixedly connected with the opening end of the cylindrical cavity of the cylinder sleeve of the spherical pump cylinder through hot-fitting interference fit, a rotary support is formed between the upper end of the main shaft 6 of the spherical pump and a spherical pump sleeve 11, and a rotary support is formed between the lower; specifically, a sliding fit is arranged at the matching position of the upper end of the main shaft 6 and the sleeve 11 to form an upper end rotary support of the main shaft 6; the lower end of the main shaft 6 is provided with a central shaft hole, and the motor end cover 2 is provided with a support shaft matched with the central shaft hole at the lower end of the main shaft 6, wherein the support shaft can rotate in the central shaft hole so as to form a lower end rotary support of the spherical pump main shaft 6.
The electro-hydraulic linear actuator is packaged in a closed elastic leather bag 1 filled with hydraulic oil, and the end part of a piston rod 15 extends out of the elastic leather bag 1; the connecting part of the end part of the piston rod 15 extending out of the elastic leather bag 1 and the elastic leather bag 1 is provided with a telescopic sleeve and a sealing ring 13, the sealing ring 13 is fixedly clamped at the head part of the piston rod 15, and the telescopic sleeve is connected between the sealing ring 13 and the elastic leather bag 1. In order to facilitate installation, in practical application, an actuator hinge hole 24 on the hydraulic cylinder end cover 19 is exposed out of the elastic leather bag 1, and a sealing ring VI 21 is arranged between the matching part of the hydraulic cylinder end cover 19 and the elastic leather bag 1.
As shown in fig. 9 to 10, the spherical pump piston 9 has a spherical top surface with the same spherical center as the spherical cavity and forming a sealed, movable fit, two angled side surfaces and a semi-cylindrical piston pin boss 92 at the lower part of both side surfaces; a piston shaft 91 is projected from the center of the spherical top surface of the piston, and the axis of the piston shaft 91 passes through the spherical center of the spherical top surface of the piston; the spherical pump turntable 7 is provided with a turntable pin seat 72 the upper part of which corresponds to the piston pin seat 92, the peripheral surface between the upper part and the lower end surface of the spherical pump turntable 7 is a turntable spherical surface, and the turntable spherical surface and the spherical inner cavity have the same sphere center and are tightly attached to the spherical inner cavity to form sealing movable fit; the turntable pin seat 72 is a semi-cylindrical groove matched with the piston pin seat 92, a turntable shaft 71 protrudes out of the center of the lower end of the turntable 7, the turntable shaft 71 passes through the spherical center of the spherical surface of the turntable, and a sliding shoe 73 is arranged at the end part of the turntable shaft 71 of the turntable 7; the height of the semi-cylindrical groove of the turntable pin seat 72 is slightly higher than the center line of the semi-cylinder, namely the depth of the semi-cylindrical groove is slightly larger than the radius of the semi-cylinder, and the semi-cylinder of the piston pin seat 92 needs to be inserted into the semi-cylindrical groove of the turntable pin seat 72 from the cylindrical end to form a cylindrical hinge; the cylindrical hinge in this embodiment is a C-shaped sleeve structure, and the arc of the groove portion of the turntable pin seat 72 of the turntable 7 wraps the outer cylindrical surface of the piston pin seat 92 to form a structure capable of rotating around the center line of the cylinder. In practice, the cylindrical hinge may be a hinge formed in other cylindrical forms.
As shown in fig. 7 to 8, a rotary table shaft 71 of the rotary table 7 extends out from the lower end opening of the cylinder 8 and is movably connected to the upper end surface of the main shaft 6, a slide groove 61 is provided on the upper end surface of the main shaft 6 of the spherical pump, a slide shoe 73 is matched with the slide groove 61, and the slide shoe 73 on the rotary table shaft 71 is inserted into the slide groove 61 on the main shaft 6 to slide. The axial lines of the piston shaft hole and the turntable shaft 71 pass through the spherical center of the spherical inner cavity, and the included angle between the axial lines of the piston shaft hole and the turntable shaft 71 is alpha;
when a main shaft 6 of the spherical pump rotates, a rotary table 7 and a spherical pump piston 9 are driven to rotate in a spherical inner cavity of the spherical pump, a sliding shoe 71 of the rotary table 7 swings in a sliding groove 61 of the main shaft 6 in a reciprocating mode, the rotary table 7 and the spherical pump piston 9 swing relatively, and a V1 working chamber and a V2 working chamber with alternately changed volumes are formed among the upper end face of the rotary table 7, two side faces of the spherical pump piston 9 and the spherical inner cavity; two liquid inlet and outlet holes of the cylinder cover 10 are respectively communicated with the liquid inlet and outlet holes of two working chambers at two sides of the piston 16 of the reciprocating piston mechanism through a first liquid inlet and outlet channel 22 and a second liquid inlet and outlet channel 23 which are arranged in the actuator substrate 3 (the liquid inlet and outlet holes are arranged on the two working chambers at two sides of the piston of the reciprocating piston mechanism, one working chamber is the liquid inlet hole, the other working chamber is the liquid outlet hole, the liquid outlet hole of the spherical pump is communicated with the liquid inlet hole of the reciprocating piston mechanism, and the liquid inlet hole of the spherical pump is communicated with the liquid outlet hole of the reciprocating piston mechanism), namely the two liquid inlet and outlet holes on the cylinder cover 10 of the spherical pump are respectively communicated with the working chambers at two sides of the piston 16 of the.
Second, second embodiment:
as shown in fig. 2 and 4, the second embodiment of the present invention is identical to the first embodiment except that the spindle i 6A, the actuator base i 3A, the motor stator i 4A and the motor rotor i 5A are slightly different from the first embodiment; in the second embodiment, the shaft diameter of the spindle I6A is smaller than that of the spindle 6 in the first embodiment, the axial sizes of the motor stator I4A and the motor rotor I5A are shorter than those of the motor stator 4 and the motor rotor 5 in the first embodiment, the motor rotor I5A is arranged on the outer circumference of the lower end shaft of the spindle I6A, and the motor stator I4A and the motor rotor 5 IA are arranged in a radial direction in an opposite mode; the motor stator I4A is matched with the actuator substrate I3A, and the motor stator I4A is fixedly arranged on the inner wall of the cylindrical inner cavity of the opening end of the spherical pump cylinder sleeve of the actuator substrate I3A; this configuration can compress the dimension of the spherical pump unit in the radial direction of the main shaft.
In the first embodiment, the radial size of the main shaft 6 is larger, the sleeve 11 of the spherical pump, together with the cylinder body 8 and the cylinder cover 10, is contained in the containing cavity formed at the upper end of the main shaft 6 more, the axial length of the electronic rotor 5 and the motor stator 4 is larger, electromagnetic force is formed on the full axial length of the main shaft 6, and under the same volume, the structural form of the first embodiment is beneficial to the spherical pump to obtain larger motor torque and driving force. Therefore, the first embodiment is the most preferred configuration of this patent.
Claims (4)
1. Miniature electric liquid linear actuator, characterized by: the hydraulic cylinder type spherical pump actuator comprises an actuator base body (3), a spherical pump unit and a reciprocating piston mechanism, wherein a hydraulic cylinder (25) and a cylinder sleeve (26) are arranged on the actuator base body (3), the hydraulic cylinder (25) and the cylinder sleeve (26) are cylindrical containing cavities with one open ends, the reciprocating piston mechanism is arranged in the hydraulic cylinder (25), a hydraulic cylinder end cover (19) is arranged at the open end of the hydraulic cylinder (25), a piston rod hinge hole (12) is arranged at the end part of a piston rod (15) extending out of the bottom of the hydraulic cylinder (25), and an actuator hinge hole (24) is arranged on the hydraulic cylinder end cover (19); a motor end cover (2) is arranged at the opening end of the cylinder sleeve (26), and the spherical pump and the motor are integrated in the cylinder sleeve (26) to form a spherical pump unit; two liquid inlet and outlet holes of the spherical pump are respectively communicated with two liquid outlet and inlet holes of the reciprocating piston mechanism; the electro-hydraulic linear actuator is packaged in a closed elastic leather bag (1), and the end part of the piston rod (15) extends out of the elastic leather bag (1).
2. The micro electro-hydraulic linear actuator of claim 1, wherein: the reciprocating piston mechanism is a double-piston-rod mechanism, a piston rod (15) on one side of a piston (16) extends out of a piston rod through hole in the bottom of a cylindrical inner cavity of the hydraulic cylinder (25), and a piston rod (15) on the other side of the piston (16) slides in a hydraulic cylinder end cover (19).
3. The micro electro-hydraulic linear actuator of claim 1, wherein: the spherical pump unit includes spherical pump and motor, the spherical pump includes cylinder body (8), cylinder cap (10), spherical pump piston (9), carousel (7) and main shaft (6), cylinder cap (10) and cylinder body (8) are through sleeve (11) fastening connection, motor stator (4), sleeve (11) are fixed on the inner wall of cylinder liner (26), motor rotor (5) encircle on the outer circumference of main shaft (6), motor end cover (2) fixed connection is at the open end of cylinder liner (26), form rotation support between the upper end of main shaft (6) and sleeve (11), form rotation support between the lower extreme of main shaft (6) and motor end cover (2).
4. The micro electro-hydraulic linear actuator of claim 1, wherein: the cylinder cover (10) is connected with the cylinder body (8) to form a spherical inner cavity, a piston shaft hole and two liquid inlet and outlet holes are arranged on the cylinder cover (10), a piston shaft (91) of a spherical pump piston (9) is inserted into the piston shaft hole in the cylinder cover (10), the spherical pump piston (9) is hinged with the rotary table (7) through a cylindrical hinge to form a spherical rotor which is arranged in the spherical inner cavity, the spherical surfaces of the spherical pump piston (9) and the rotary table (7) are in sealing movable fit with the spherical inner cavity, the rotary table shaft (71) of the rotary table (7) extends out from the lower end of the cylinder body (10), a sliding groove (61) is arranged on the upper end face of the main shaft (6), a sliding shoe (73) is arranged at the end part of the rotary table shaft (71) of the rotary table (7), the sliding shoe (73) on the rotary table shaft (71) is matched with the sliding groove (61) on the main shaft (6), the sliding shoe (73) on the rotary table shaft (71), when the main shaft (6) rotates, the sliding shoes (73) slide in the sliding grooves (61) in a reciprocating manner.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006603.1A CN110685970A (en) | 2019-10-22 | 2019-10-22 | Miniature electro-hydraulic linear actuator |
| PCT/CN2020/122674 WO2021078183A1 (en) | 2019-10-22 | 2020-10-22 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| JP2022600053U JP3239174U (en) | 2019-10-22 | 2020-10-22 | Robot hands for micro electrohydraulic linear actuators and electrohydraulic drivers |
| KR2020227000021U KR20220001460U (en) | 2019-10-22 | 2020-10-22 | Small electro-hydraulic linear actuator and electro-hydraulic driven daxrus robot hand |
| EP20879973.4A EP4039987B1 (en) | 2019-10-22 | 2020-10-22 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| US17/725,753 US20220241986A1 (en) | 2019-10-22 | 2022-04-21 | Micro electro-hydraulic linear actuator and hand of electro-hydraulic driven robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006603.1A CN110685970A (en) | 2019-10-22 | 2019-10-22 | Miniature electro-hydraulic linear actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110685970A true CN110685970A (en) | 2020-01-14 |
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ID=69113642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911006603.1A Pending CN110685970A (en) | 2019-10-22 | 2019-10-22 | Miniature electro-hydraulic linear actuator |
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| Country | Link |
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| CN (1) | CN110685970A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021078183A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市中安动力科技有限公司 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| CN113864280A (en) * | 2021-10-14 | 2021-12-31 | 江苏钧微动力科技有限公司 | Miniature electro-hydraulic actuator |
| WO2024088034A1 (en) * | 2022-10-28 | 2024-05-02 | 深圳市球形动力科技有限公司 | Spherical pump and motor assembly |
-
2019
- 2019-10-22 CN CN201911006603.1A patent/CN110685970A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021078183A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市中安动力科技有限公司 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| CN113864280A (en) * | 2021-10-14 | 2021-12-31 | 江苏钧微动力科技有限公司 | Miniature electro-hydraulic actuator |
| WO2024088034A1 (en) * | 2022-10-28 | 2024-05-02 | 深圳市球形动力科技有限公司 | Spherical pump and motor assembly |
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Effective date of registration: 20230809 Address after: A706, Block A, TCL Building, No. 6 Gaoxinyuan 1st Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Applicant after: Shenzhen Spherical Power Technology Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant before: Shenzhen Zhong'an Power Technology Co.,Ltd. |