CN113653687B - Energy conversion module and rotary hydraulic converter thereof - Google Patents
Energy conversion module and rotary hydraulic converter thereof Download PDFInfo
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- CN113653687B CN113653687B CN202110797113.9A CN202110797113A CN113653687B CN 113653687 B CN113653687 B CN 113653687B CN 202110797113 A CN202110797113 A CN 202110797113A CN 113653687 B CN113653687 B CN 113653687B
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- pressure oil
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
Abstract
The invention relates to the technical field of energy conservation of hydraulic systems, in particular to a rotary hydraulic converter which comprises an energy conversion module, a high-pressure oil port, a low-pressure oil port, a first one-way valve, a second one-way valve and an energy accumulator, wherein the high-pressure oil port is connected with a high-pressure oil channel in the energy conversion module, the low-pressure oil port is connected with a low-pressure oil channel in the energy conversion module, the energy conversion module is provided with an output pressure oil channel which leads to a hydraulic system load, the first one-way valve is arranged between the low-pressure oil port and the energy conversion module and is used for controlling the flow direction of low-pressure oil, the second one-way valve is arranged between the output pressure oil channel of the energy conversion module and the hydraulic system load so as to avoid the backflow of hydraulic oil, and the energy accumulator is connected between the second one-way valve and the hydraulic system load. By changing the controllable inlet angle, changing the energy storage time, changing the output pressure of the hydraulic converter, matching the load of the hydraulic system and improving the efficiency of the hydraulic system.
Description
Technical Field
The invention relates to the technical field of energy conservation of hydraulic systems, in particular to an energy conversion module and a rotary hydraulic converter thereof.
Background
Hydraulic drives have a higher power density and have been successfully used in a large number of mobile mechanical systems. However, due to the throttling losses of the conventional servo-valve control unit, when the load fluctuation of the hydraulic actuator is large, the conventional hydraulic system presents low efficiency and high energy consumption: the inefficiency causes the system to generate heat, and a complex cooling system is required to be equipped; the high energy consumption causes the energy demand to become large, and the phenomenon is unfavorable for the normal operation and the miniaturization and the upgrading of the hydraulic system.
Reducing throttling loss is a key problem for improving the efficiency of a hydraulic system, and most methods currently adopt a high-speed switching valve to replace a servo valve, combine inertial elements to form a hydraulic converter, and realize the matching control of output pressure and the load of the hydraulic system by using a pulse width modulation technology. The hydraulic converter is based on a linear inertial element and simulates an electronic transformer principle, and adopts an elongated oil pipe as the inertial element, so that the hydraulic converter is a very simple and economical method, but the long oil pipe can increase the along-path pressure loss and influence the output efficiency. In addition, the slender oil pipe needs a large installation space, and is difficult to apply to a high-integration small and medium-sized hydraulic system. The other type of hydraulic converters are based on rotating inertial elements, mainly comprise a hydraulic motor connected with an inertial flywheel, and adopt the hydraulic motor as the inertial element, the output pressure is regulated by the duty ratio of a control signal of a high-speed switch valve, and the dynamic performance of the hydraulic converters is insufficient due to the large size and the large weight of the hydraulic converters and the delay of the action of the high-speed switch valve.
The hydraulic transformer realizes hydraulic drive transformation to a certain extent, improves the efficiency of a hydraulic system, however, has the problems of large volume, large weight, high manufacturing cost, poor control performance and the like, and limits the practical development of the hydraulic transformer in the hydraulic system with large load fluctuation.
Disclosure of Invention
In order to effectively solve the problems in the background art, the invention provides an energy conversion module and a rotary hydraulic converter thereof.
The specific technical scheme is as follows:
an energy conversion module comprises a base, a shell, an inertial rotor, a driven blade, a cover plate and a control turntable; the inertial rotor is positioned in the middle of the shell, the inertial rotor and the cover plate are assembled to form an annular oil cavity, the inertial rotor rotates around the inertial rotor, an inner oil way is communicated in the inertial rotor up and down, the driven blade is arranged on one side of the shell, has translational freedom degree in the radial direction of the inertial rotor and is tightly attached to the inertial rotor under the action of a spring, a fixed blade is arranged at a cylindrical boss of the inertial rotor, the driven blade and the fixed blade isolate the annular oil cavity into two oil cavities, and an output pressure oil channel and a low pressure oil channel which are communicated with the annular oil cavity are respectively arranged on the shells on two sides of the driven blade; the upper side of base is equipped with annular groove, and the control carousel is installed at annular groove's middle part, and control carousel cooperatees with the base and forms controllable entry, be equipped with the high-pressure oil passageway with controllable entry intercommunication on the base, high-pressure oil passes through the controllable entry and gets into annular oil pocket through interior oil circuit. The control of the hydraulic system load supply pressure by the hydraulic converter is realized by controlling the energy conversion process of the inertia rotor and the hydraulic oil. The maximum load pressure that the rotary hydraulic transformer can be matched is only slightly lower than the pressure of input high-pressure oil, the output pressure is changed by controlling the controllable inlet angle, the efficiency of the hydraulic system is improved by reducing throttling loss, and compared with flywheel type hydraulic transformers, linear type hydraulic transformers and other devices, the structure is simpler, meanwhile, the high-speed switch valve control is removed, and the miniature rotary inertia rotor is utilized, so that the cost is saved, and the good dynamic performance of the hydraulic transformer can be ensured.
Preferably, the inertial rotor comprises bottom post, cylinder boss, fixed blade and deflector, cylinder boss and bottom post integrated into one piece and diameter are less than the diameter of bottom post, fixed blade and cylinder boss lateral part integrated into one piece, and the outside and the bottom post lateral wall integrated into one piece of fixed blade, two deflector are connected between cylinder boss and fixed blade, deflector surface and cylinder boss and fixed blade lateral wall smooth connection are in the same place. The unique inertial rotor structure has the characteristics of small volume, light inertia and the like, and improves the dynamic performance of the hydraulic converter.
Preferably, the shape of the driven blade is T-shaped, the driven blade is in sliding fit with the guide groove at the side part of the shell, the spring is arranged between the guide groove and the driven blade, the middle part of the driven blade is provided with a pressure balance channel, the outer side of the driven blade is arc-shaped, and the driven blade is matched with the outer sides of the fixed blade, the guide plate and the cylindrical boss.
Preferably, the inner oil path extends upward from the bottom of the bottom column to the junction of the cylindrical boss, the fixed vane and the guide plate.
Preferably, a sealing rubber strip is fixed on the outer side of the fixed blade and is tightly matched with the side wall of the annular oil cavity.
Preferably, a sealing ring is arranged between the cover plate and the shell.
Preferably, the rotation angle of the turntable is directly driven and controlled by a stepping motor.
The utility model provides a rotatory hydraulic pressure converter, including energy conversion module, high pressure oil port, low pressure oil port, first check valve, second check valve and energy storage ware, high pressure oil port connects the high pressure oil channel in the energy conversion module, low pressure oil channel in the low pressure oil port connects the energy conversion module, the energy conversion module is equipped with the export pressure oil channel and leads to the hydraulic system load, first check valve is placed between low pressure oil port and energy conversion module for the flow direction of control low pressure oil, the second check valve is placed between the export channel of energy conversion module and hydraulic system load, in order to avoid hydraulic oil backward flow, the energy storage ware connects between second check valve and hydraulic system load. The rotary hydraulic converter can be applied to hydraulic drive systems of various equipment and platforms, has obvious advantages especially in a microminiature hydraulic system with a single pump source and multiple actuators, and has good economic and social benefits by controlling the effective matching of the hydraulic drive output pressure and the load, greatly improving the energy utilization efficiency of the hydraulic system, saving energy sources and reducing pollution discharge.
Compared with the prior art, the invention has the beneficial effects that: 1. by changing the controllable inlet angle, changing the energy storage time of the hydraulic converter, changing the output pressure of the hydraulic converter, matching the load of the hydraulic system and improving the efficiency of the hydraulic system; 2. the dynamic characteristics are good. The opening angle of the controllable inlet is directly controlled through the motor, and the small inertia rotor is driven, so that the hydraulic transformer has the characteristics of small volume, light inertia and the like, and the dynamic response of the hydraulic transformer is improved; 3. simple structure and low cost. The expensive high-speed switch valve is removed, the installation cost is reduced, meanwhile, the rotation is adopted to directly transform the pressure, and the structural arrangement is simpler; 4. and the expandability is strong. A single hydraulic transformer can adapt to the load requirement of a miniature hydraulic system, and if the flow and the pressure of the system are increased, the number of the hydraulic transformers can be increased to meet the requirement.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an interior view of the invention with the cover plate removed;
FIG. 3 is a schematic view of the structure of the medium control turntable of the present invention;
FIG. 4 is a mounting position diagram of the control dial of the present invention;
FIG. 5 is a perspective view of an inertial rotor of the present invention;
FIG. 6 is a diagram showing the combination of an inertial rotor and a rotor blade according to the present invention;
FIG. 7 is a top perspective view of an inertial rotor of the present invention;
FIG. 8 is a view of the interior of the housing with the inertial rotor removed in the present invention;
FIG. 9 is a schematic diagram of a rotary hydraulic transformer of the present invention;
FIGS. 10a-10e are diagrams showing the operation of the rotor blade;
FIG. 11 is a schematic diagram of the energy storage phase in the rotary hydraulic transformer;
FIG. 12 is a schematic diagram of an energy release phase in a rotary hydraulic transformer;
FIG. 13 is a schematic diagram of a coasting phase in a rotary hydraulic transformer;
Detailed Description
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.
The following detailed description of the invention refers to the accompanying drawings and preferred embodiments. As shown in fig. 1 to 8, an energy conversion module includes a base 1, a housing 2, an inertial rotor 3, a rotor blade 4, a cover plate 5, and a control dial 6; the inertial rotor is positioned in the middle of the shell, the inertial rotor and the cover plate are assembled to form an annular oil cavity 7, the inertial rotor rotates around the inertial rotor, an inner oil path 8 is communicated in the inertial rotor up and down, the moved blade is arranged on one side of the shell, has translational freedom degree in the radial direction of the inertial rotor and is tightly attached to the inertial rotor under the action of a spring 9, a fixed blade 10 is arranged at a cylindrical boss of the inertial rotor, the moved blade and the fixed blade isolate the annular oil cavity into two oil cavities (a first oil cavity 11 and a second oil cavity 12), and an output pressure oil channel 13 and a low pressure oil channel 14 which are communicated with the annular oil cavity are respectively arranged on the shell on two sides of the moved blade;
the top of base is equipped with annular groove 15, and the control carousel is installed at annular groove's middle part, and control carousel and base cooperate and form controllable entry 16, and control carousel is irregularly shaped's metal sheet, and control carousel can rotate for the bottom plate to change controllable entry size, the rotation position of control carousel can be realized through multiple forms, is the rotation of step motor control carousel in this example. The base is provided with a high-pressure oil channel 17 communicated with the controllable inlet, and high-pressure oil enters the annular oil cavity through the controllable inlet and the inner oil way. The hydraulic converter controls the load supply pressure by controlling the energy conversion of the inertia rotor and the hydraulic oil.
As shown in fig. 5, the inertial rotor 3 is composed of a bottom column 31, a cylindrical boss 32, a fixed blade 33 and a guide plate 34, the cylindrical boss and the bottom column are integrally formed, the diameter of the cylindrical boss is smaller than that of the bottom column, the fixed blade and the side part of the cylindrical boss are integrally formed, the outer side of the fixed blade and the side wall of the bottom column are integrally formed, the two guide plates are connected between the cylindrical boss and the fixed blade, and the outer surfaces of the guide plates are smoothly connected with the cylindrical boss and the side wall of the fixed blade. And a sealing rubber strip 35 is fixed on the outer side of the fixed blade and is tightly matched with the side wall of the annular oil cavity. The inner oil way extends upwards from the bottom of the bottom column to the junction of the cylindrical boss, the fixed blades and the guide plate. The unique inertial rotor structure has the characteristics of small volume and light inertia, and improves the dynamic performance of the hydraulic converter.
The shape of the moved blade is T-shaped, and is in sliding fit with the guide groove at the side part of the shell, the spring is arranged between the guide groove and the moved blade, the middle part of the moved blade is provided with a pressure balance channel 41, the outer side of the moved blade is arc-shaped, and the outer side of the moved blade is matched with the outer sides of the fixed blade, the guide plate and the cylindrical boss. There are many ways to control the switching of the state of the rotor blade. In this example, the hydraulic transformer enters the coasting phase, and the inertial rotor begins to push the moved blades away from itself by the guide plates, as illustrated in fig. 10a-10 e. After the inertial rotor passes through the region where the moving blade is located, the moving blade returns to its original position under the action of spring force.
In order to ensure tightness between the housing and the cover plate and prevent hydraulic oil leakage, a sealing ring 18 is arranged between the cover plate and the housing.
As shown in fig. 9, a rotary hydraulic transformer includes an energy conversion module, a high pressure oil port PS, a low pressure oil port PT, a first check valve 19, a second check valve 20, and an accumulator 21, the high pressure oil port being connected to a high pressure oil passage in the energy conversion module, the low pressure oil port being connected to a low pressure oil passage in the energy conversion module, the energy conversion module being provided with an output pressure oil passage leading to a hydraulic system load PL, the first check valve being disposed between the low pressure oil port and the energy conversion module for controlling a flow direction of the low pressure oil, the second check valve being disposed between the output passage of the energy conversion module and the hydraulic system load to avoid a backflow of hydraulic oil, the accumulator being connected between the second check valve and the hydraulic system load.
Each duty cycle of the rotary hydraulic transformer can be divided into three phases: an energy storage phase, an energy release phase and a coasting phase.
Energy storage phase fig. 11 shows two vanes dividing the annular oil chamber into two parts: an oil chamber 11 and an oil chamber 12. In this stage, the controllable inlet is communicated with the internal oil path of the inertial rotor, and high-pressure oil can enter the oil cavity 11 through the internal oil path of the rotor through the controllable inlet to push the inertial rotor to accelerate and rotate. At this stage, part of the hydraulic energy of the high-pressure oil pushes the hydraulic oil in the inertial rotor discharge oil chamber 12 to flow to the load, and the surplus energy is converted into the kinetic energy of the inertial rotor. During the energy storage phase, all energy entering the energy conversion module is supplied by the high pressure oil supply. Since the pressure of the oil chamber 11 is higher than the low-pressure oil pressure, the check valve 1 is in the open-reverse shut-off state.
When the inertia rotor rotates by a certain angle, the internal oil path of the inertia rotor is separated from the controllable inlet, high-pressure oil can not enter the oil cavity 11 through the internal oil path of the inertia rotor, namely, the high-pressure oil is not communicated with the oil cavity 11 any more, and the rotary hydraulic converter enters an energy release stage from an energy storage stage, as shown in fig. 12. In this stage, no high-pressure oil pushes the inertial rotor, but the rotational inertia of the inertial rotor drives the rotor to rotate anticlockwise, the pressure of the oil cavity 11 drops rapidly and even negative pressure is formed, the pressure of the low-pressure oil is higher than that of the oil cavity 11, the one-way valve 1 is in a communicating state, and the low-pressure oil enters the oil cavity 11 of the energy conversion module. At this stage, the rotation speed of the inertia rotor is reduced, and hydraulic oil in the oil chamber 12 is pushed to be supplied to a load by the kinetic energy of the inertia rotor.
And in the sliding stage, the driven blade moves outwards under the pushing of the inertial rotor guide plate, the driven blade is separated from the inner wall of the annular oil cavity, and the oil cavity 12 disappears. When the inertia rotor reaches the interface of the energy release phase and the coasting phase, the inertia rotor guide plate will push the moved blades to move radially out of the annular oil chamber, as shown in fig. 13. At this stage, no hydraulic oil enters the rotary hydraulic transformer, and the accumulator is required to compensate to ensure continuous output of the output hydraulic oil.
The three working phases run in sequence to form the whole working cycle. The duty ratio of each stage in the cycle is changed to adjust the input hydraulic energy of the hydraulic transformer. The duty ratio of the sliding stage is related to the parameters of the inertia rotor guide plate structure, and the sliding stage can be designed according to requirements, but cannot be adjusted after the processing is completed. Since the total duty cycle of the energy storage phase and the energy release phase is constant, increasing the energy storage phase will result in a decrease of the energy release phase, the higher the proportion of the energy storage phase, the more hydraulic energy is input.
In a rotary hydraulic transformer, the angle through which the inertial rotor rotates in each cycle is constant, and the range of angles corresponding to each working phase determines the duty cycle of the different phases throughout the cycle. Therefore, the controllable inlet with the adjustable design angle can control the duty ratio of the energy storage stage, and the angle range corresponding to the controllable inlet is the angle range corresponding to the energy storage stage. Let θ1 be controllable entry opening angle scope, when the oil circuit mouth is located controllable entry opening angle scope in the rotor, high pressure oil gets into energy conversion module through controllable entry, and high pressure oil pressure is higher than the load required pressure of delivery outlet, and inertial rotor can the rotation of acceleration.
Since the time of the coasting phase is fixed throughout the cycle, the ratio of the energy storage phase to the energy release phase can be taken as an important parameter for the rotary hydraulic transformer. θ 1 The opening angle range of the controllable inlet is the angle range corresponding to the energy storage stage; θ2 is the angle range corresponding to the energy release phase; θ3 is the angle range corresponding to the coasting phase.
θ1+θ2+θ3＝2π
K＝θ1/(θ1+θ2)
K is defined as the control quantity of the rotary hydraulic transformer, k is only related to the angle, and different k values correspond to different opening sizes and positions of the controllable inlet. The controllable inlet is closed when the value of the control signal is 0 and the controllable inlet is opened to a maximum position when the value of the control signal is 1. Thus k can represent the ratio of the energy storage phase to the energy release phase. When k is changed, the ratio of the energy storage phase to the energy release phase is changed, thereby realizing hydraulic energy conversion adjustment. Therefore, the output pressure can be regulated by controlling the proportion K occupied by the high-pressure oil area, and the opening angle range is controlled by driving the turntable to rotate by a motor.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. An energy conversion module, characterized by: comprises a base, a shell, an inertial rotor, a driven blade, a cover plate and a control turntable; the inertial rotor is positioned in the middle of the shell, the inertial rotor and the cover plate are assembled to form an annular oil cavity, the inertial rotor rotates around the inertial rotor, an inner oil way is communicated in the inertial rotor up and down, the driven blade is arranged on one side of the shell, has translational freedom degree in the radial direction of the inertial rotor and is tightly attached to the inertial rotor under the action of a spring, a fixed blade is arranged at a cylindrical boss of the inertial rotor, the driven blade and the fixed blade isolate the annular oil cavity into two oil cavities, and an output pressure oil channel and a low pressure oil channel which are communicated with the annular oil cavity are respectively arranged on the shells on two sides of the driven blade; the upper side of base is equipped with annular groove, and the control carousel is installed at annular groove's middle part, and control carousel cooperatees with the base and forms controllable entry, be equipped with the high-pressure oil passageway with controllable entry intercommunication on the base, high-pressure oil passes through the controllable entry and gets into annular oil pocket through interior oil circuit.
2. The energy conversion module according to claim 1, wherein the inertial rotor is composed of a bottom post, a cylindrical boss, a fixed blade and a guide plate, the cylindrical boss is integrally formed with the bottom post and has a diameter smaller than that of the bottom post, the fixed blade is integrally formed with a side portion of the cylindrical boss, an outer side of the fixed blade is integrally formed with a side wall of the bottom post, the two guide plates are connected between the cylindrical boss and the fixed blade, and an outer surface of the guide plate is smoothly connected with the cylindrical boss and the side wall of the fixed blade.
3. The energy conversion module according to claim 2, wherein the passive blade is T-shaped and is slidably engaged with the guide groove on the side of the housing, the spring is disposed between the guide groove and the passive blade, the middle of the passive blade is provided with a pressure balancing channel, and the outer side of the passive blade is arc-shaped and is engaged with the outer sides of the fixed blade, the guide plate and the cylindrical boss.
4. The energy conversion module of claim 2, wherein the internal oil passage extends upward from the bottom of the bottom post to the intersection of the cylindrical boss, stationary vane and guide plate.
5. The energy conversion module according to claim 1, wherein a sealing rubber strip is fixed on the outer side of the fixed blade and is tightly matched with the side wall of the annular oil cavity.
6. The energy conversion module of claim 1, wherein a seal ring is disposed between the cover plate and the housing.
7. The energy conversion module of claim 1, wherein the turntable rotation angle is controlled by a stepper motor direct drive.
8. A rotary hydraulic transformer, characterized by: the hydraulic system comprises the energy conversion module, a high-pressure oil port, a low-pressure oil port, a first one-way valve, a second one-way valve and an energy accumulator, wherein the high-pressure oil port is connected with a high-pressure oil channel in the energy conversion module, the low-pressure oil port is connected with a low-pressure oil channel in the energy conversion module, the energy conversion module is provided with an output pressure oil channel which leads to a hydraulic system load, the first one-way valve is arranged between the low-pressure oil port and the energy conversion module and used for controlling the flow direction of low-pressure oil, the second one-way valve is arranged between the output pressure oil channel of the energy conversion module and the hydraulic system load so as to avoid backflow of hydraulic oil, and the energy accumulator is connected between the second one-way valve and the hydraulic system load.
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| CN110248849A (en) * | 2016-12-21 | 2019-09-17 | A&A国际有限公司 | Integrated energy conversion, transmitting and storage system |
| CN110273864A (en) * | 2018-03-16 | 2019-09-24 | A&A国际有限公司 | Thermohydraulic gravitation-energy converting system |
| CN111846003A (en) * | 2020-06-19 | 2020-10-30 | 浙江大学 | Multi-foot walking robot and hydraulic drive system for leg flexion and extension and control method thereof |
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