CN114233712A - Electro-hydraulic servo drive unit and application thereof - Google Patents

Electro-hydraulic servo drive unit and application thereof Download PDF

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Publication number
CN114233712A
CN114233712A CN202210085444.4A CN202210085444A CN114233712A CN 114233712 A CN114233712 A CN 114233712A CN 202210085444 A CN202210085444 A CN 202210085444A CN 114233712 A CN114233712 A CN 114233712A
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CN
China
Prior art keywords
oil
gear pump
communicated
electro
oil pipe
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Pending
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CN202210085444.4A
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Chinese (zh)
Inventor
李一唯
许强
梁江南
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Suzhou Hongteng Hydraulic Electromechanical Technology Co ltd
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Suzhou Hongteng Hydraulic Electromechanical Technology Co ltd
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Application filed by Suzhou Hongteng Hydraulic Electromechanical Technology Co ltd filed Critical Suzhou Hongteng Hydraulic Electromechanical Technology Co ltd
Priority to CN202210085444.4A priority Critical patent/CN114233712A/en
Publication of CN114233712A publication Critical patent/CN114233712A/en
Pending legal-status Critical Current

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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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • F15B13/023—Excess flow valves, e.g. for locking cylinders in case of hose burst
    • 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
    • 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
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0846—Electrical details
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention discloses an electro-hydraulic servo driving unit, and belongs to the field of hydraulic driving. The electro-hydraulic servo driving unit comprises a servo motor, a first meshing gear pump, a second meshing gear pump, a liquid filling oil tank, a driving cylinder, a first one-way valve, a first overflow valve, a first pressure sensor, a second one-way valve, a second overflow valve and a second pressure sensor, wherein the servo motor is simultaneously communicated with the first meshing gear pump and the second meshing gear pump; one end of the first internal gear pump is communicated with a rodless cavity of a driving cylinder of the driving cylinder through an oil pipe, and the other end of the first internal gear pump is communicated with a liquid-filled oil tank through an oil pipe; one end of the second internal gear pump is communicated with a rod cavity of the driving cylinder through an oil pipe, and the other end of the second internal gear pump is communicated with the liquid-filled oil tank through an oil pipe. The electro-hydraulic servo driving unit provided by the embodiment of the invention has the pressure signal and flow signal control functions, and can improve the driving accuracy and safety.

Description

Electro-hydraulic servo drive unit and application thereof
Technical Field
The invention belongs to the technical field of hydraulic drive, and particularly relates to an electro-hydraulic servo drive unit and application thereof.
Background
Currently, lower limb exoskeletons are mainly applied to rehabilitation training of human lower limbs. The wearable lower limb exoskeleton can be worn to move synchronously with a human body and the human body, and can follow the motion information of the human body or actively provide driving torque in dynamic walking movement so as to help a wearer finish larger load and walk for a longer time and reduce the fatigue of the wearer. The existing lower limb exoskeleton driving system mainly adopts an electric driving mode of valve control hydraulic driving or a joint arrangement motor, and the valve control hydraulic driving is characterized in that the driving efficiency is low because the lower limb king skeleton driving system follows the load of human motion information. The driver is arranged at the joint position through electric driving, the inertia of the lower limb exoskeleton is large, the power requirement on the system is large, the self-disturbance problem of the system exists, and the following capability is poor. Therefore, the improvement and optimization of the driving mode of the lower limb exoskeleton are of great significance.
Disclosure of Invention
The invention aims to provide an electro-hydraulic servo drive unit and application thereof.
First, according to an aspect of the present invention, the present invention provides an electro-hydraulic servo drive unit, including a servo motor, a first meshing gear pump, a second meshing gear pump, a liquid-filled tank, a first oil passage, a second oil passage, a first check valve, a first relief valve, a first pressure sensor, a second check valve, a second relief valve, and a second pressure sensor.
Preferably, the servo motor is communicated with the first internal gear pump and the second internal gear pump simultaneously; an oil port at one end of the first internal gear pump is communicated with the first oil way, and an oil port at the other end of the first internal gear pump is communicated with a liquid-filled oil tank through an oil pipe; an oil port at one end of the second internal gear pump is communicated with a second oil path, and an oil port at the other end of the second internal gear pump is communicated with a liquid-filled oil tank through an oil pipe.
Furthermore, one end of the first pressure sensor is communicated with the servo motor through an oil pipe, and the other end of the first pressure sensor is communicated with the first oil way through the oil pipe.
Furthermore, one end of the first one-way valve is communicated with the first oil way through an oil pipe, and the other end of the first one-way valve is communicated with the liquid-filled oil tank through an oil pipe.
Furthermore, one end of the first overflow valve is communicated with the first oil way through an oil pipe, and the other end of the first overflow valve is communicated with the liquid filling oil tank through an oil pipe.
Furthermore, one end of the second pressure sensor is communicated with the servo motor through an oil pipe, and the other end of the second pressure sensor is communicated with the second oil way through the oil pipe.
Furthermore, one end of the second one-way valve is communicated with the second oil way through an oil pipe, and the other end of the second one-way valve is communicated with the liquid-filled oil tank through an oil pipe.
Furthermore, one end of the second overflow valve is communicated with the second oil way through an oil pipe, and the other end of the second overflow valve is communicated with the liquid filling oil tank through an oil pipe.
Further, the first internal gear pump is counter-rotating to the second internal gear pump.
According to another aspect of the invention, the invention also relates to the application of the electro-hydraulic servo drive unit in a hydraulic drive system of the lower limb exoskeleton.
Compared with the prior art, the electro-hydraulic servo driving unit has the pressure signal and flow signal control functions, and can improve the driving accuracy and safety. The wearable lower limb exoskeleton robot driving system can be applied to the wearable lower limb exoskeleton robot driving system, can improve the energy efficiency of the lower limb exoskeleton driving system, simultaneously reduces the inertia of the lower limb, has a power assisting function, can feed back driving information, can improve the coordination of the lower limb exoskeleton and human body motion, and ensures the correspondence and consistency of the lower limb exoskeleton driving motion and human lower limb joint motion in dynamic walking motion. The exoskeleton can be applied to the objects needing to assist walking and load bearing, and can also help the lower limb movement mild disorder to realize rehabilitation.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of the structure of an electro-hydraulic servo drive unit of the present invention;
FIG. 2 is a schematic diagram of the application of the electro-hydraulic servo drive unit of the present invention to a lower limb exoskeleton system;
in the figure, A1-a servo motor, A2-a first internal gear pump, A3-a second internal gear pump, A4-a liquid charging oil tank, A5-a first oil circuit, A6-a second oil circuit, A7-a first check valve, A8-a first overflow valve, A9-a first pressure sensor, A10-a second check valve, A11-a second overflow valve, A12-a second pressure sensor, A13-a driving cylinder, A131-a driving cylinder rodless cavity, A132-a driving cylinder rod cavity, B-a joint rod cavity oil pipe, C-a joint rodless cavity oil pipe, D-a joint driving cylinder, E-a liquid charging total oil tank, F-cables and G-controllers.
Detailed Description
The present invention will be described in detail and with reference to specific examples thereof, which are set forth to illustrate, but are not to be construed as the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In addition to the specific methods, devices, and materials used in the examples, any methods, devices, and materials similar or equivalent to those described in the examples may be used in the practice of the invention, in addition to the specific methods, devices, and materials used in the examples, in keeping with the knowledge of one skilled in the art and with the description of the invention.
As shown in fig. 1, a first exemplary embodiment of the present invention provides an electro-hydraulic servo drive unit, which includes a servo motor a1, a first meshing gear pump a2, a second meshing gear pump A3, a liquid-filled oil tank a4, a first oil passage a5, a second oil passage A6, a first check valve a7, a first relief valve A8, a first pressure sensor a9, a second check valve a10, a second relief valve a11, and a second pressure sensor a 12.
Specifically, the servo motor A1 is communicated with a first internal gear pump A2 and a second internal gear pump A3 at the same time; the first gerotor pump a2 is counter-rotating to the second gerotor pump A3.
An oil port at one end of the first internal gear pump A2 is communicated with a first oil path A5, and an oil port at the other end of the first internal gear pump A2 is communicated with a liquid-filled oil tank A4 through an oil pipe.
One end of the first pressure sensor A9 is communicated with the servo motor A1 through an oil pipe, and the other end of the first pressure sensor A9 is communicated with the first oil way A5 through an oil pipe.
One end of the first check valve A7 is communicated with the first oil path A5 through an oil pipe, and the other end of the first check valve A7 is communicated with the liquid-filled oil tank A4 through an oil pipe.
One end of the first relief valve A8 is communicated with the first oil passage a5 through an oil pipe, and the other end of the first relief valve A8 is communicated with the liquid-filled oil tank a4 through an oil pipe.
An oil port at one end of the second internal gear pump A3 is communicated with a second oil path A6, and an oil port at the other end of the second internal gear pump A3 is communicated with a liquid-filled oil tank A4 through an oil pipe.
One end of the second pressure sensor A12 is communicated with the servo motor A1 through an oil pipe, and the other end of the second pressure sensor A12 is communicated with the second oil path A6 through an oil pipe.
One end of the second one-way valve A10 is communicated with the second oil channel A6 through an oil pipe, and the other end of the second one-way valve A10 is communicated with the liquid-filled oil tank A4 through an oil pipe.
One end of the second overflow valve A11 is communicated with the second oil path A6 through an oil pipe, and the other end of the second overflow valve A11 is communicated with the liquid-filled oil tank A4 through an oil pipe.
The operation principle of the electro-hydraulic servo drive unit of the embodiment is as follows:
when the driving cylinder A13 extends, the servo motor A1 rotates forwards, hydraulic oil is pressurized by the liquid filling oil tank A4 through the first internal gear pump A2 and enters the rod-free cavity A131 of the driving cylinder through the first oil path A5, meanwhile, the second internal gear pump A3 sucks oil in the rod cavity A132 of the driving cylinder out and enters the liquid filling oil tank A4 through the second oil path A6, and when the oil input into the rod-free cavity A131 of the driving cylinder by the first internal gear pump A2 exceeds the oil amount required by the full stroke of the rod-free cavity A131 of the driving cylinder, so that the oil pressure of the loop rises, the first pressure sensor A9 sends a signal to the servo motor A1, so that the servo motor A1 decelerates or stops, and a protection effect is achieved. If the extending process of the driving cylinder A13 is failed, the servo motor A1 cannot stop timely, so that when the oil pressure is increased, the oil can return to the liquid-filled oil tank A4 through the first overflow valve A8. The first check valve a7 can ensure the oil pressure between the first ring gear pump a2 and the driving cylinder a13, and can play a role of ensuring the unidirectional flow of the oil when the first ring gear pump a2 sucks the oil from the driving cylinder a 13. The second check valve a10 can ensure the oil pressure between the second ring gear pump A3 and the driving cylinder a13, and can play a role of ensuring the unidirectional flow of the oil when the second ring gear pump A3 sucks the oil from the driving cylinder a 13.
When the driving cylinder A13 contracts, the servo motor A1 rotates reversely, hydraulic oil is pressurized from the oil filling tank A4 through the second internal gear pump A3 and enters the rod cavity A132 of the driving cylinder through the second oil path A6, meanwhile, the first internal gear pump A2 sucks oil in the rodless cavity A131 of the driving cylinder and enters the oil filling tank A4 through the first oil path A5, and when the oil input into the rod cavity A132 of the driving cylinder by the second internal gear pump A3 exceeds the oil amount required by the full stroke of the rod cavity A132 of the driving cylinder, so that the oil pressure of the circuit rises, the second pressure sensor A12 sends a signal to the servo motor A1, so that the servo motor A1 decelerates or stops, and plays a role in protection. If the contraction process of the driving cylinder A13 fails, the servo motor A1 cannot stop timely, so that when the oil pressure rises, the oil can return to the liquid-filled oil tank A4 through the second overflow valve A11.
The electro-hydraulic servo driving unit of the embodiment has the pressure signal and flow signal control functions, and can improve the driving accuracy and safety.
As shown in fig. 2, a second exemplary embodiment of the present invention provides an application of an electro-hydraulic servo drive unit in a hydraulic drive system for a lower extremity exoskeleton. And the controller G sends an instruction, the electro-hydraulic servo driving unit A extracts oil from the liquid filling total oil tank E, and the oil is supplied to the joint driving cylinder D through the joint rod cavity oil pipe B and the joint rodless cavity oil pipe C, so that the joint driving cylinder D is extended or retracted to drive the joint to act.
When the servo motor A1 rotates forwards, the first internal gear pump A2 sucks oil from the total liquid filling oil tank E and outputs flow to the rodless cavity of the joint driving cylinder D to push the joint driving cylinder D to extend, and at the moment, the second internal gear pump A3 sucks oil in the rod cavity of the joint driving cylinder D to the total liquid filling oil tank D. The controller G adjusts the rotation speed of the servo motor a1 to adjust the output flow rates of the first internal gear pump a2 and the second internal gear pump A3, thereby adjusting the movement speed of the joint driving cylinder D. The position accuracy of the motion of the D cylinder of the joint driving cylinder is adjusted by controlling the rotation position accuracy of the servo motor A1, and the first check valve A7 and the second check valve A10 are used for realizing the pressure of oil liquid of the D cylinder of the joint driving cylinder and realizing the unidirectional flow. When the oil output to the rodless cavity of the joint driving cylinder D by the second internal gear pump A3 exceeds the oil amount required by the full stroke of the rodless cavity of the joint driving cylinder D, the oil pressure of the loop rises, the first pressure sensor A9 and the second pressure sensor A12 which are connected between the second internal gear pump A3 and the joint driving cylinder D send signals to the servo motor A1, the rotating speed of the servo motor A1 is reduced, the oil flow entering the rodless cavity of the joint driving cylinder D is controlled, and the safety protection effect is achieved. When the joint driving cylinder D breaks down in the extending movement process, overload protection is realized through the first overflow valve A8 and the second overflow valve A11. In the extending movement process of the joint driving cylinder D, when the oil volume discharged by the rod cavity oil liquid full stroke of the joint driving cylinder D cannot meet the oil absorption requirement of the second internal gear pump A3, the liquid filling total oil tank E can realize the oil supplementing effect. The liquid-filled oil tank E can also provide damping for the system, and the stability of the system is improved. When the servo motor A1 rotates reversely, the joint driving cylinder D works in the same way.
The electro-hydraulic servo driving unit can be applied to a wearable lower limb exoskeleton robot driving system, improves the energy efficiency of the lower limb exoskeleton driving system, reduces the inertia of the lower limb, plays a role in assisting, can feed back driving information, can improve the coordination of the lower limb exoskeleton and human body motion, and ensures the correspondence and consistency of the lower limb exoskeleton driving motion and the human lower limb joint motion in dynamic walking motion. The exoskeleton can be applied to the objects needing to assist walking and load bearing, and can also help the lower limb movement mild disorder to realize rehabilitation.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

1. An electro-hydraulic servo drive unit is characterized by comprising a servo motor, a first meshing gear pump, a second meshing gear pump, a liquid filling oil tank, a first oil way, a second oil way, a first one-way valve, a first overflow valve, a first pressure sensor, a second one-way valve, a second overflow valve and a second pressure sensor, wherein the servo motor is simultaneously communicated with the first meshing gear pump and the second meshing gear pump; an oil port at one end of the first internal gear pump is communicated with the first oil way, and an oil port at the other end of the first internal gear pump is communicated with a liquid-filled oil tank through an oil pipe; an oil port at one end of the second internal gear pump is communicated with a second oil path, and an oil port at the other end of the second internal gear pump is communicated with a liquid-filled oil tank through an oil pipe.
2. The electro-hydraulic servo drive unit of claim 1, wherein one end of the first pressure sensor is in communication with the servo motor through an oil pipe, and the other end of the first pressure sensor is in communication with the first oil passage through an oil pipe.
3. The electro-hydraulic servo drive unit of claim 1, wherein one end of the first check valve is in communication with the first oil passage through an oil pipe, and the other end of the first check valve is in communication with the charge oil tank through an oil pipe.
4. The electro-hydraulic servo drive unit according to claim 1, wherein one end of the first overflow valve is communicated with the first oil passage through an oil pipe, and the other end of the first overflow valve is communicated with the liquid-filled oil tank through an oil pipe.
5. The electro-hydraulic servo drive unit of claim 1, wherein one end of the second pressure sensor is in communication with the servo motor through an oil pipe, and the other end of the second pressure sensor is in communication with the second oil passage through an oil pipe.
6. The electro-hydraulic servo drive unit of claim 1, wherein one end of the second check valve is in communication with the second oil passage through an oil pipe, and the other end of the second check valve is in communication with the charge oil tank through an oil pipe.
7. The electro-hydraulic servo drive unit according to claim 1, wherein one end of the second overflow valve is communicated with the second oil passage through an oil pipe, and the other end of the second overflow valve is communicated with the liquid-filled oil tank through an oil pipe.
8. The electro-hydraulic servo drive unit of claim 1, wherein the first internal gear pump is counter-rotating to the second internal gear pump.
9. Use of an electro-hydraulic servo drive unit according to any of claims 1-8 in a hydraulic drive system for a lower extremity exoskeleton.
CN202210085444.4A 2022-01-25 2022-01-25 Electro-hydraulic servo drive unit and application thereof Pending CN114233712A (en)

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Application Number Priority Date Filing Date Title
CN202210085444.4A CN114233712A (en) 2022-01-25 2022-01-25 Electro-hydraulic servo drive unit and application thereof

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Application Number Priority Date Filing Date Title
CN202210085444.4A CN114233712A (en) 2022-01-25 2022-01-25 Electro-hydraulic servo drive unit and application thereof

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105686930A (en) * 2016-03-01 2016-06-22 芜湖安普机器人产业技术研究院有限公司 Connecting rod and joint integrated hydraulic driving external skeleton
CN105902368A (en) * 2016-03-01 2016-08-31 芜湖安普机器人产业技术研究院有限公司 Connecting rod-joint integration hydraulic driven exoskeleton control system and control method thereof
CN206320089U (en) * 2016-12-23 2017-07-11 南京埃斯顿自动化股份有限公司 Hydraulic control system based on electro-hydraulic servo type hydraulic press
CN110482084A (en) * 2019-08-20 2019-11-22 长沙中联重科环境产业有限公司 Rubbish compactor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105686930A (en) * 2016-03-01 2016-06-22 芜湖安普机器人产业技术研究院有限公司 Connecting rod and joint integrated hydraulic driving external skeleton
CN105902368A (en) * 2016-03-01 2016-08-31 芜湖安普机器人产业技术研究院有限公司 Connecting rod-joint integration hydraulic driven exoskeleton control system and control method thereof
CN206320089U (en) * 2016-12-23 2017-07-11 南京埃斯顿自动化股份有限公司 Hydraulic control system based on electro-hydraulic servo type hydraulic press
CN110482084A (en) * 2019-08-20 2019-11-22 长沙中联重科环境产业有限公司 Rubbish compactor

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