CN114030595A - Time-controllable differential motion actuating device - Google Patents
Time-controllable differential motion actuating device Download PDFInfo
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- CN114030595A CN114030595A CN202111373840.9A CN202111373840A CN114030595A CN 114030595 A CN114030595 A CN 114030595A CN 202111373840 A CN202111373840 A CN 202111373840A CN 114030595 A CN114030595 A CN 114030595A
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- 230000033001 locomotion Effects 0.000 title claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 25
- 239000010959 steel Substances 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 210000005069 ears Anatomy 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000004381 surface treatment Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/22—Operating mechanisms fluid
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Abstract
The invention belongs to the field of controllable undercarriage actuating devices, and relates to a differential mechanism with controllable working time. The differential actuating device includes: the actuating device comprises an actuating device shell, a piston rod (3), a three-way nozzle (9), a one-way throttling component, a reversing component and an oil return component; the piston rod (3) is connected in the shell of the actuating device in a sliding way and divides the shell into a rod cavity and a rodless cavity; the three-way pipe nozzle (9) is respectively connected with the one-way throttling component and the reversing component; the one-way throttling component is communicated with the rodless cavity; the reversing component is respectively connected with the oil return component and the rod cavity.
Description
Technical Field
The invention belongs to the field of controllable undercarriage actuating devices, and relates to a differential mechanism with controllable working time.
Background
At present, all driving execution devices on an airplane adopt actuating devices, and a power source system is air pressure or hydraulic pressure. Due to the landing gear system requirements: under the condition of the same pressure and the area of the rodless cavity larger than that of the rod cavity, the retraction load of the actuating device is larger than the extension load of the actuating device, so that the transmission actuating device cannot meet the functional requirements. And the driving actuating device cannot realize the function of controlling the motion time of the piston. If the requirements are met, the transmission product needs a large space, is heavy, has a large number of parts and is low in reliability.
In the prior art, patent CN104454723B discloses a landing gear strut actuator cylinder function control valve, which mainly relates to the design of a control valve block; patent CN107461374B discloses a hydraulic control valve for a landing gear retractable actuator cylinder, which has four nozzles and a buffer piston to realize the landing gear retractable function. None of the above patents meets the functional requirements of landing gear actuation devices.
Disclosure of Invention
The purpose of the invention is as follows: the time-controllable differential motion actuating device solves the problem that the transmission actuating device cannot realize the functions of differential motion and controllable working time at the same time, and is highly integrated, simple in structure, high in reliability and small in occupied space.
The technical scheme is as follows: providing a time controllable differential actuation device, said differential actuation device comprising: the actuating device comprises an actuating device shell, a piston rod 3, a three-way nozzle 9, a one-way throttling component, a reversing component and an oil return component;
the piston rod 3 is connected in the shell of the actuating device in a sliding way and divides the shell into a rod cavity and a rodless cavity;
the three-way pipe nozzle 9 is respectively connected with the one-way throttling component and the reversing component; the one-way throttling component is communicated with the rodless cavity; the reversing component is respectively connected with the oil return component and the rod cavity;
when the piston rod is retracted, high-pressure oil is introduced into the oil return assembly, the reversing assembly acts to the first position, and the oil return assembly is communicated with the rod cavity; the rodless cavity is communicated with the one-way throttling component; the high-pressure oil in the rod cavity pushes the piston rod 3 to retract;
when the piston rod extends out, high-pressure oil is introduced into the three-way nozzle 9, and the high-pressure oil respectively enters the one-way throttling assembly and the reversing assembly; high-pressure oil passing through the one-way throttling component enters the rodless cavity; the high-pressure oil passing through the reversing component pushes the reversing component to move to a second position, the three-way pipe nozzle 9 is communicated with the rod cavity, and the high-pressure oil enters the rod cavity; after the oil in the rod cavity is full, the high-pressure oil in the rodless cavity pushes the piston rod to move, and the oil in the rod cavity flows back to the three-way nozzle 9.
Further, the one-way throttling assembly comprises a one-way valve core 10, a nozzle I11, a spring 112 and a nut 13; a one-way valve core 1. Is positioned in the nozzle I11; one end of the nozzle I11 is fixedly connected with the actuating device shell, and the other end of the nozzle I is fixedly communicated with the duct assembly II 20; the duct assembly II 20 is communicated with the three-way nozzle 9;
one end of the spring 112 is positioned in the one-way valve core 10, and the other end is contacted with the nut 13; the nut 13 is fixedly connected in the nozzle I11;
one end of the one-way valve core 10, which is far away from the spring, is of a cone structure, and through holes are formed in the end surface and the conical surface of the cone structure;
when the piston rod is retracted, oil in the rodless cavity pushes the one-way valve core 10 to compress the spring, the conical structure is separated from the inner duty of the nozzle I11, and the oil returns through the through holes on the end face and the conical surface of the conical structure;
when the piston rod extends out, high-pressure oil passing through the three-way nozzle 9 pushes the one-way valve core 10 to be in contact with the inner cavity of the nozzle I11, the through hole on the conical surface of the cone structure is disconnected with the rodless cavity, and the high-pressure oil flows into the rodless cavity only through the through hole on the end surface of the cone structure; the size of the through hole on the end face of the cone structure is adjusted to adjust the flow of oil introduced into the rodless cavity, and further the extending time of the piston rod is controlled.
Furthermore, the reversing assembly comprises an integrated block 6, a nozzle II 14, a reversing shell 15, a steel ball 16, a spring II 17 and a reversing nut 19;
the reversing shell 15 is fixedly arranged in the cavity of the integrated block 6 through a reversing nut 19; the steel ball 16 and the spring II 17 are positioned in the reversing shell 15, one end of the spring II 17 is in contact with the steel ball 16, and the other end of the spring II 17 is limited in the inner cavity of the reversing shell 15;
the integrated block 6 is fixedly arranged on the actuating device shell and is communicated with the duct component I8 through the nozzle II 14; the integrated block 6 is provided with a first channel, a second channel and a third channel which are communicated with each other; the first channel is communicated with the conduit assembly I8, the second channel is communicated with the rod cavity, and the third channel is communicated with the oil return assembly;
when the piston rod is retracted, the high-pressure oil passing through the oil return component pushes the steel ball 16 to move left, namely, the reversing component moves to a first position; the steel ball 16 disconnects the first channel from the second channel, the second channel is communicated with the third channel, high-pressure oil passing through the oil return assembly enters the rod cavity, and oil in the rodless cavity is returned through the three-way nozzle 9;
when the piston rod extends out, high-pressure oil flowing through the three-way nozzle 9 flows into the first channel, and then the steel ball 16 is pushed to move right, namely the reversing component moves to a second position; the steel ball 16 cuts off the communication between the second channel and the third channel, and the first channel is communicated with the second channel, so that the three-way nozzle 9 is communicated with the rod cavity.
Further, the reversing housing 15 is a cylindrical structure with an opening in the middle, and is respectively communicated with the first channel, the second channel and the third channel.
Further, the oil return assembly comprises a right-angle nozzle 7, a throttle valve 18; the right-angle nozzle 7 is fixedly communicated with the integrated block 6; and the throttle valve 18 is positioned in the cavity of the right-angle nozzle 7, is communicated with the third channel and is used for regulating the flow of oil liquid.
Furthermore, the actuating device shell comprises an end cover 1 with ears, a cylinder body 2, a threaded sleeve 4 and a front joint 5; the two ends of the cylinder body 2 are respectively and fixedly provided with an end cover 1 with ears and a threaded sleeve 4; the piston rod 3 is positioned in the cylinder 2, and the piston rod 3 passes through the threaded sleeve 4 and is fixedly connected with the front joint 5.
Further, the outer surface of the check valve spool 10 is nitrided to improve the wear resistance of the check valve spool 10.
Furthermore, the cone angle of the conical structure of the one-way valve core 10 is 35-45 degrees, so that the throttling effect and the sealing property of the one-way valve core 10 are improved, and the impact stress generated in the movement process of the one-way valve core 10 is reduced.
The technical effects are as follows: the invention can carry out high-pressure reversing action on the pneumatic/hydraulic actuating device, freely realize the motion reversing of the actuating device in a high-pressure state by utilizing high-pressure selection, and realize the function that the output force of a rodless cavity of the actuating device is smaller than the output force of a rod cavity; the actuating device can select one-way throttle valves and throttle valves with different diameters to meet the requirements of different working time requirements, and the requirements of the actuating device for adjustable and controllable piston movement time are met.
The invention has simple working principle, small occupied space, modularized design, easy realization of structure, high safety and reliability and prolonged service life of the actuating device. Has wide application prospect in military aircrafts and civil aircrafts.
Drawings
FIG. 1 is a front view of a motion time controllable differential actuator.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical problems to be solved by the invention include: the output force of the extension piston of the traditional actuating device is larger than the output force of the retraction piston. The movement time of the piston of the actuating device in the full stroke is not adjustable and controllable.
Referring to fig. 1, the present invention provides a differential actuator with controllable movement time, in which the retraction load of the actuator is greater than the extension load of the actuator under the conditions of the same pressure and the area of the rodless cavity being greater than the area of the rod cavity, i.e., the load is small when the piston rod extends out of the landing gear and is large when the piston rod retracts into the landing gear.
The differential actuating device includes: the actuating device comprises an actuating device shell, a piston rod 3, a three-way nozzle 9, a one-way throttling component, a reversing component and an oil return component.
The piston rod 3 is connected in the shell of the actuating device in a sliding way and divides the shell into a rod cavity and a rodless cavity;
the three-way pipe nozzle 9 is respectively connected with the one-way throttling component and the reversing component; the one-way throttling component is communicated with the rodless cavity; the reversing component is respectively connected with the oil return component and the rod cavity.
When the piston rod is retracted, high-pressure oil is introduced into the oil return assembly, the reversing assembly acts to the first position, and the oil return assembly is communicated with the rod cavity; the rodless cavity is communicated with the one-way throttling component; the high-pressure oil in the rod cavity pushes the piston rod 3 to retract.
When the piston rod extends out, high-pressure oil is introduced into the three-way nozzle 9, and the high-pressure oil respectively enters the one-way throttling assembly and the reversing assembly; high-pressure oil passing through the one-way throttling component enters the rodless cavity; the high-pressure oil passing through the reversing component pushes the reversing component to move to a second position, the three-way pipe nozzle 9 is communicated with the rod cavity, and the high-pressure oil enters the rod cavity; after the oil in the rod cavity is full, the high-pressure oil in the rodless cavity pushes the piston rod to move, and the oil in the rod cavity flows back to the three-way nozzle 9.
The one-way throttling assembly comprises a one-way valve core 10, a nozzle I11, a spring 112 and a nut 13; a one-way valve core 1. Is positioned in the nozzle I11; one end of the nozzle I11 is fixedly connected with the actuating device shell, and the other end of the nozzle I is fixedly communicated with the duct assembly II 20; the duct assembly II 20 is communicated with the three-way nozzle 9.
One end of the spring 112 is positioned in the one-way valve core 10, and the other end is contacted with the nut 13; the nut 13 is fixedly connected in the nozzle I11.
One end of the one-way valve core 10, which is far away from the spring, is of a cone structure, and through holes are formed in the end face and the conical surface of the cone structure.
When the piston rod is retracted, oil in the rodless cavity pushes the one-way valve core 10 to compress the spring, the conical structure is separated from the inner duty of the nozzle I11, and the oil returns through the through holes on the end face and the conical surface of the conical structure;
when the piston rod extends out, high-pressure oil passing through the three-way nozzle 9 pushes the one-way valve core 10 to be in contact with the inner cavity of the nozzle I11, the through hole on the conical surface of the cone structure is disconnected with the rodless cavity, and the high-pressure oil flows into the rodless cavity only through the through hole on the end surface of the cone structure; the size of the through hole on the end face of the cone structure is adjusted to adjust the flow of oil introduced into the rodless cavity, and further the extending time of the piston rod is controlled.
The reversing assembly comprises a manifold block 6, a nozzle II 14, a reversing shell 15, a steel ball 16, a spring II 17 and a reversing nut 19.
The reversing shell 15 is fixedly arranged in the cavity of the integrated block 6 through a reversing nut 19; the steel ball 16 and the spring II 17 are positioned in the reversing shell 15, one end of the spring II 17 is in contact with the steel ball 16, and the other end of the spring II 17 is limited in the inner cavity of the reversing shell 15.
The integrated block 6 is fixedly arranged on the actuating device shell and is communicated with the duct component I8 through the nozzle II 14; the integrated block 6 is provided with a first channel, a second channel and a third channel which are communicated with each other; the first passage is communicated with the conduit assembly I8, the second passage is communicated with the rod cavity, and the third passage is communicated with the oil return assembly.
When the piston rod is retracted, the high-pressure oil passing through the oil return component pushes the steel ball 16 to move left, namely, the reversing component moves to a first position; the steel ball 16 is disconnected from the first channel and the second channel, the second channel is communicated with the third channel, high-pressure oil passing through the oil return assembly enters the rod cavity, and oil in the rodless cavity is returned through the three-way nozzle 9.
When the piston rod extends out, high-pressure oil flowing through the three-way nozzle 9 flows into the first channel, and then the steel ball 16 is pushed to move right, namely the reversing component moves to a second position; the steel ball 16 cuts off the communication between the second channel and the third channel, and the first channel is communicated with the second channel, so that the three-way nozzle 9 is communicated with the rod cavity.
The reversing shell 15 is a cylindrical structure with a hole in the middle, and is respectively communicated with the first channel, the second channel and the third channel.
Wherein the oil return assembly comprises a right-angle nozzle 7 and a throttle valve 18; the right-angle nozzle 7 is fixedly communicated with the integrated block 6; and the throttle valve 18 is positioned in the cavity of the right-angle nozzle 7, is communicated with the third channel and is used for regulating the flow of oil liquid.
The working principle of the embodiment is as follows:
when the main landing gear is put down, the hydraulic source leads high-pressure oil to the nozzle of the rodless cavity of the actuating cylinder through the reversing valve, and returns oil to the nozzle of the rod cavity connected with the hydraulic system. And an oil inlet one-way throttling mechanism is designed in the rodless cavity in the piston extending process to control the oil inlet flow.
The oil-feeding throttling process of the actuating device at the stage is as follows: the one-way valve core, the spring 1 and the nut are arranged in the nozzle 1, the one-way valve core and the nozzle 1 form linear sealing fit, the flow of high-pressure oil entering the rodless cavity is controlled through the size of the throttling hole of the one-way valve core, and the function of controlling the extending time of the piston rod of the actuating cylinder is realized; the conical design of the one-way throttle valve core is an optimal conical angle, energy waste is avoided, the throttling effect is high, the surface adopts a special treatment process, and the wear resistance and the shock resistance of the one-way throttle valve core are improved.
When the landing gear is retracted, high-pressure oil is introduced to the rod cavity nozzle of the actuating cylinder through the reversing valve by the hydraulic source, the rodless cavity nozzle is connected with a hydraulic system for oil return, and the differential connection oil circuit of the rod cavity and the rodless cavity is disconnected under the action of the differential mechanism with the high-pressure selection function, so that the high-pressure oil can only enter the rod cavity, push the piston to retract and pull the main landing gear to retract. An oil inlet throttle valve mechanism is designed in the piston retracting process to control the oil inlet flow.
The differential motion process of the stage motion device is as follows: the steel ball is placed in the reversing shell and can move according to pressure on two sides, the spring II is installed on the reversing nut, the steel ball is reset in a non-pressing state, and the shell is fixed with the reversing nut through threads. When the three-way nozzle is connected with high-pressure oil, the high pressure flows to the rodless cavity through the pipeline assembly, the steel ball compression spring II is driven to enter the rod cavity through the conduit assembly 1, meanwhile, line sealing is formed between the steel ball and the reversing nut, and an oil path between the right-angle nozzle and the rod cavity is cut off, so that the differential mechanism with the actuating cylinder in an isobaric unequal area state is formed.
The oil-feeding throttling process of the actuating device at the stage is as follows: when high-pressure oil enters a product through the right-angle nozzle and the piston rod is retracted, the one-way valve core compresses the spring 1, and return oil enters a hydraulic system through a through-flow hole (non-throttling) in the cylindrical surface of the one-way valve core; the displacement accurate design of the throttling valve core improves the reliability of one-way and throttling. The throttle valve is arranged in the right-angle nozzle, and the flow of high-pressure oil entering the rod cavity is controlled through the size of the throttle valve orifice, so that the retraction time control function of the piston rod of the actuating cylinder is realized.
The invention is mainly characterized by comprising the following steps of one-way valve core surface treatment and taper angle design: the valve core is ensured to be matched with wear resistance and maintain precision through a special surface treatment process; the valve core can realize the throttling function in the minimum damping range through the taper angle design.
The actuating device realizes the functions of controllable and adjustable working time by adopting a scheme that the one-way throttling component and the reversing component control the oil inlet flow of the actuating cylinder. A one-way valve core is designed in the rodless cavity oil way, the throttling device only plays a throttling role in the extending process of the piston and controls the oil inlet flow of the rodless cavity, so that the extending movement time of the piston rod is influenced, and the time requirement of the lowering movement of the undercarriage is met; a throttle valve is designed in the oil circuit of the rod cavity, the throttle device is combined with a high-pressure reversing assembly, the throttle function is achieved in the retraction process of the piston rod, the flow of the rod cavity is controlled, and therefore the retraction movement time of the piston rod is influenced, and the time requirement of the retraction movement of the landing gear is met. The diameters of throttling holes of throttling devices with different diameters are adjusted and replaced, so that different movement time of the undercarriage during putting down and retracting is met, and the controllability of the movement time of the undercarriage is realized.
Claims (8)
1. A time controllable differential actuation device, comprising: the actuating device comprises an actuating device shell, a piston rod (3), a three-way nozzle (9), a one-way throttling component, a reversing component and an oil return component;
the piston rod (3) is connected in the shell of the actuating device in a sliding way and divides the shell into a rod cavity and a rodless cavity;
the three-way pipe nozzle (9) is respectively connected with the one-way throttling component and the reversing component; the one-way throttling component is communicated with the rodless cavity; the reversing component is respectively connected with the oil return component and the rod cavity;
when the piston rod is retracted, high-pressure oil is introduced into the oil return assembly, the reversing assembly acts to the first position, and the oil return assembly is communicated with the rod cavity; the rodless cavity is communicated with the one-way throttling component; the high-pressure oil in the rod cavity pushes the piston rod (3) to retract;
when the piston rod extends out, high-pressure oil is introduced into the three-way nozzle (9), and the high-pressure oil respectively enters the one-way throttling assembly and the reversing assembly; high-pressure oil passing through the one-way throttling component enters the rodless cavity; the high-pressure oil passing through the reversing component pushes the reversing component to move to a second position, the three-way nozzle (9) is communicated with the rod cavity, and the high-pressure oil enters the rod cavity; after the oil in the rod cavity is full, the oil in the rod cavity flows back to the three-way pipe nozzle (9) in the process that the high-pressure oil in the rodless cavity pushes the piston rod to move.
2. Time-controlled differential actuation device according to claim 1, characterized in that the unidirectional throttling assembly comprises a unidirectional spool (10), a nozzle i (11), a spring 1(12), a nut (13); the one-way valve core (1.) is positioned in the nozzle I (11); one end of the nozzle I (11) is fixedly connected with the actuating device shell, and the other end of the nozzle I is fixedly communicated with the duct assembly II (20); the duct assembly II (20) is communicated with the three-way nozzle (9);
one end of the spring 1(12) is positioned in the one-way valve core (10), and the other end of the spring is contacted with the nut (13); the nut (13) is fixedly connected in the nozzle I (11);
one end of the one-way valve core (10) far away from the spring is of a cone structure, and through holes are formed in the end face and the conical surface of the cone structure;
when the piston rod is retracted, oil in the rodless cavity pushes the one-way valve core (10) to compress the spring, the conical structure is separated from the inner duty of the pipe nozzle I (11), and the oil returns through the end face of the conical structure and the through hole on the conical surface;
when the piston rod extends out, high-pressure oil passing through the three-way nozzle (9) pushes the one-way valve core (10) to be in contact with the inner cavity of the nozzle I (11), the through hole on the conical surface of the cone structure is disconnected with the rodless cavity, and the high-pressure oil flows into the rodless cavity only through the through hole on the end surface of the cone structure; the size of the through hole on the end face of the cone structure is adjusted to adjust the flow of oil introduced into the rodless cavity, and further the extending time of the piston rod is controlled.
3. Time-controllable differential actuation device according to claim 1, characterized in that the reversing assembly comprises a manifold block (6), a nozzle ii (14), a reversing housing (15), a steel ball (16), a spring ii (17), a reversing nut (19);
the reversing shell (15) is fixedly arranged in the cavity of the integrated block (6) through a reversing nut (19); the steel ball (16) and the spring II (17) are positioned in the reversing shell (15), one end of the spring II (17) is in contact with the steel ball (16), and the other end of the spring II (17) is limited in the inner cavity of the reversing shell (15);
the integrated block (6) is fixedly arranged on the actuating device shell and is communicated with the duct component I (8) through a nozzle II (14); the integrated block (6) is provided with a first channel, a second channel and a third channel which are communicated with each other; the first channel is communicated with the conduit assembly I (8), the second channel is communicated with the rod cavity, and the third channel is communicated with the oil return assembly;
when the piston rod is retracted, the high-pressure oil passing through the oil return component pushes the steel ball (16) to move left, namely the reversing component moves to a first position; the steel ball (16) is disconnected from the first channel and the second channel, the second channel is communicated with the third channel, high-pressure oil passing through the oil return assembly enters the rod cavity, and oil in the rodless cavity is returned through the three-way nozzle (9);
when the piston rod extends out, high-pressure oil flowing through the three-way nozzle (9) flows into the first channel, and then the steel ball (16) is pushed to move right, namely the reversing component moves to a second position; the steel ball (16) breaks the communication between the second channel and the third channel, and the first channel is communicated with the second channel, so that the three-way nozzle (9) is communicated with the rod cavity.
4. A time-controlled differential actuating device according to claim 3, wherein the reversing housing (15) is a cylindrical structure with an opening in the middle, communicating with the first, second and third passages, respectively.
5. Time-controlled differential actuation device according to claim 3, characterized in that the oil return assembly comprises a right-angle nozzle (7), a throttle (18); the right-angle nozzle (7) is fixedly communicated with the integrated block (6); the throttle valve (18) is positioned in the cavity of the right-angle nozzle (7), is communicated with the third channel and is used for adjusting the flow of oil liquid.
6. Time-controllable differential actuation device according to claim 1, characterized in that the actuation device housing comprises an eared end cap (1), a cylinder (2), a threaded sleeve (4), a front joint (5); two ends of the cylinder body (2) are respectively and fixedly provided with an end cover (1) with an ear and a threaded sleeve (4); the piston rod (3) is positioned in the cylinder body (2), and the piston rod (3) penetrates through the threaded sleeve (4) and is fixedly connected with the front connector (5).
7. Time-controlled differential actuation device according to claim 2, characterized in that the outer surface of the one-way spool (10) is nitrided to improve the wear resistance of the one-way spool (10).
8. A time controlled differential actuation device according to claim 2, characterized in that the cone structure of the one-way spool (10) has a cone angle of 35-45 ° to improve the throttling effect and the sealing of the one-way spool (10) and to reduce the impact stress generated during the movement of the one-way spool (10).
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| CN202111373840.9A CN114030595B (en) | 2021-11-18 | 2021-11-18 | Time-controllable differential actuating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111373840.9A CN114030595B (en) | 2021-11-18 | 2021-11-18 | Time-controllable differential actuating device |
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| CN114030595A true CN114030595A (en) | 2022-02-11 |
| CN114030595B CN114030595B (en) | 2024-06-18 |
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| CN114030595B (en) | 2024-06-18 |
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