CN115714551A - Non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection - Google Patents
Non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection Download PDFInfo
- Publication number
- CN115714551A CN115714551A CN202211389114.0A CN202211389114A CN115714551A CN 115714551 A CN115714551 A CN 115714551A CN 202211389114 A CN202211389114 A CN 202211389114A CN 115714551 A CN115714551 A CN 115714551A
- Authority
- CN
- China
- Prior art keywords
- degree
- liquid
- drive
- gas
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a non-spherical multi-degree-of-freedom hybrid driver capable of being driven by gas and liquid in a deflection mode, and relates to the technical field of motors; the motor comprises a motor body, the motor body lateral wall ball joint has two at least propulsion poles, the propulsion pole bottom slides and sets up in the rod cover, rod cover bottom intercommunication has the pressure tank, it is provided with the piston to slide in the pressure tank, the piston is kept away from the one end of rod cover is connected with the propeller, the propeller can promote the medium in the piston compression pressure tank, thereby drives the propulsion pole is in reciprocate in the rod cover. The non-spherical multi-degree-of-freedom hybrid driver capable of gas-liquid two-drive deflection is simple in structure control and easy to achieve multi-degree-of-freedom deflection of the motor.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a non-spherical multi-freedom-degree hybrid driver capable of driving and deflecting gas and liquid.
Background
The deflection type multi-degree-of-freedom motor has great progress from generation to the present, the deflection type multi-degree-of-freedom motor structure appearing at present is mostly a spherical motor structure, the motor magnetic field of the structure is mostly a three-dimensional magnetic field, and the structure is difficult to simplify into a two-dimensional magnetic field, so that the control operation is complex. Meanwhile, in order to realize multi-degree-of-freedom deflection motion of the motor, different electromagnetic field relationships are required to be set for each different degree of freedom, so that complex coupling relationships exist among the degrees of freedom, and the coupling relationships can seriously influence the motion stability of the motor, so that the conventional deflection type multi-degree-of-freedom motor is difficult to control and poor in stability, and has great limitation in the field of practical application.
Disclosure of Invention
The invention aims to provide a non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection, which solves the problems in the prior art, has simple structure control and is easy to realize the multi-degree-of-freedom deflection of a motor.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a non-spherical multi-degree-of-freedom hybrid driver capable of being deflected by gas and liquid, which comprises a motor body, wherein at least two pushing rods are hinged to the side wall of the motor body through balls, the bottoms of the pushing rods are arranged in a rod sleeve in a sliding manner, a through hole is formed in the rod sleeve and is communicated with the inner cavity of a pressure box, so that the bottom of the rod sleeve is communicated with the pressure box, the number of the pressure box is matched with that of the pushing rods, a piston is arranged in the pressure box in a sliding manner, one end, far away from the rod sleeve, of the piston is connected with a propeller, the propeller can push the piston to compress a medium in the pressure box, the medium is air or liquid, and further the pressure in the box is increased, so that the pushing rods are driven to move up and down in the rod sleeve.
Optionally, the thruster includes a first iron core and a first coil, the first coil is wound on the first iron core, a first magnet is disposed at an end of the piston close to the first coil, and the N-level or S-level of the first magnet faces the first coil.
Optionally, the pressure box deviates from the propeller end has been seted up the bleeder vent, be close to in the pressure box be equipped with the spout on the lateral wall of bleeder vent, it can sealed the cover to slide on the spout the end cap of bleeder vent is provided with the driver outward, the driver is used for the drive the end cap is followed the spout removes.
Optionally, the driver includes a second iron core and a second coil, the second coil is wound on the second iron core, the end cap is provided with a second magnet near the second coil end, and the N-level or S-level of the second magnet faces the second coil.
Optionally, the plug includes a bottom plate and a boss that are fixedly connected, the second magnet is disposed on the boss, the boss can be sleeved in the vent hole, and the radial cross section of the bottom plate is larger than that of the vent hole.
Optionally, a connecting rod is arranged on the side wall of the bottom plate, and the end part of the connecting rod is in sliding connection with the sliding groove through a spherical head.
Optionally, a protrusion is arranged on the outer wall of the push rod, and the protrusion can be lapped on the upper end face of the rod sleeve.
Optionally, a pressure sensor is arranged at the bottom end of the push rod.
Optionally, the motor body includes a motor casing having an output hole at one end; a rotating shaft is rotatably connected in the output hole, one end of the rotating shaft penetrates through the output hole and then is connected with an inner wall ball at the other end of the motor shell, and a gear is arranged on the rotating shaft; a rotor core is arranged in the motor shell, a plurality of magnetic shoes are arranged on the outer wall of the rotor core, a gear groove is formed in the center of the rotor core, and the gear is inserted in the gear groove; and a plurality of stator windings are fixedly arranged on the inner wall of the motor shell along the circumferential direction, and the stator windings are positioned between the inner wall of the motor shell and the magnetic shoes.
Optionally, the centers of the inner walls of the bottom ends of the rotating shaft and the motor casing are provided with arc grooves, and the bottom end of the rotating shaft is connected with the arc grooves of the bottom end of the motor casing through ball balls.
The motor realizes multi-degree-of-freedom movement and has two operation modes, wherein the first operation mode is an air pressure working environment, the medium in the pressure tank is air at the moment, the second operation mode is a hydraulic operation mode, and the liquid is introduced into the pressure tank at the moment; both modes of operation share the same pressure sensor. When the pressure tank operates in a hydraulic mode, the electromagnetic system stops working, and the tank tail pressure-balancing part can be filled with liquid to enter the tank. In the liquid operation mode, the water hammer effect generated when the switch valve is opened and closed can be buffered by the driver part.
Compared with the prior art, the invention has the following technical effects:
the invention relates to a non-spherical multi-freedom degree hybrid driver capable of driving deflection by gas and liquid, which is characterized in that a propelling rod is hinged outside a single-freedom degree motor body, at least two propelling rods are arranged according to the number and the positions of the propelling rods required by free deflection of the motor body, the propelling rods are sleeved in rod sleeve through holes connected with an inner cavity of a pressure box, a propeller and a piston are arranged in the pressure box, and the propeller controls the piston to compress air or introduce liquid to control the propelling rods to move up and down so as to realize the free deflection degree of the motor body. The motor deflection freedom degree is realized, and meanwhile, the rotation of the motor body and the deflection motion of the motor body are separately controlled, so that the coupling of the electromagnetic relation among the freedom degrees is avoided, the control is simpler and easier to realize, the control cost is reduced, and the marketization is easier.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a non-spherical multi-degree-of-freedom hybrid actuator capable of gas-liquid two-drive deflection according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional structural diagram of a non-spherical multi-degree-of-freedom hybrid drive capable of gas-liquid two-drive deflection according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a pressure tank according to an embodiment of the present invention;
FIG. 4 isbase:Sub>A sectional view taken along line A-A of FIG. 3;
fig. 5 is a schematic view of a plug structure according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a motor according to an embodiment of the present invention;
FIG. 7 is a sectional view taken along line B-B of FIG. 6;
FIG. 8 is a schematic view of a rotor connection structure according to an embodiment of the present invention;
FIG. 9 is a schematic view of a rotating shaft structure according to an embodiment of the present invention;
fig. 10 is a multi-degree-of-freedom drive control schematic block diagram.
In the figure: 1. a motor body; 2. a push rod; 3. a rod sleeve; 4. a pressure tank; 5. a driver; 6. a piston; 7. a plug; 8. a first magnet; 9. a propeller; 10. a support; 11. a rotating shaft; 12. a stator winding; 13. a magnetic shoe; 14. a rotor core; 15. a ball bearing; 16. a gear; 17. a motor housing; 101. connecting lugs; 401. threading holes; 402. a chute; 403. air holes are formed; 701. a connecting rod; 702. a base plate; 703. and (4) a boss.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection, which solves the problems in the prior art, has simple structure control and is easy to realize the multi-degree-of-freedom deflection of a motor.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
The invention provides a non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection, which comprises a motor body 1, a propelling rod 2, a pressure box 4 and a propeller 9 as shown in figures 1 and 2. The number of the push rods 2 is not less than two and the push rods are all hinged with the motor body 1 in a spherical mode. The number of the pressure boxes 4 is matched with that of the pushing rods 2, the pressure boxes 4 are provided with rod sleeves 3, the rod sleeves 3 are provided with through holes, the through holes are communicated with inner cavities of the pressure boxes 4, the pushing rods 2 are sleeved in the rod sleeves 3, pistons 6 are arranged in the pressure boxes 4, and the pistons 6 are connected with the pressure boxes 4 in a sliding mode; pressure tank 4 is gas (liquid) pressure tank to can adopt two kinds of mode work in the pressure tank 4, propeller 9 locates in the pressure tank 4, when operation atmospheric pressure mode, be used for promoting 6 compressed pressure tank 4 internal air of piston, when the operation is in hydraulic pressure mode, can let in liquid through 4 afterbody of pressure tank, thereby drive propulsion pole 2 reciprocates.
Compared with the prior art, the non-spherical multi-degree-of-freedom hybrid driver capable of driving the deflection type by gas and liquid is characterized in that a pushing rod 2 is hinged to a rotating ball outside a single-degree-of-freedom motor body 1, the number and the position of the pushing rod 2 are set at least two according to the requirement of free deflection of the motor body 1, the pushing rod 2 is sleeved in a rod sleeve 3 through hole connected with an inner cavity of a pressure box 4, a propeller 9 and a piston 6 are arranged in the pressure box 4, the pushing rod 2 is controlled to move up and down by controlling the piston 6 to compress air or introducing liquid through the propeller 9 to control the pushing rod 2 to realize the free deflection of the motor body 1, the principle is shown in a figure 10, a controller is regulated and controlled according to a motion scheme to send a control signal to control the motor to rotate, and meanwhile, a pneumatic transmission mode or a hydraulic transmission mode is selected to control the motor to deflect, so as to realize the multi-degree-of-freedom deflection of the motor; in the deflection process, the rotating speed of the motor and the pressure borne by the push rod 2 are detected in real time through the sensor, and signals are fed back to the controller, so that the state of the motor can be adjusted in real time conveniently according to actual conditions. The motor deflection freedom degree is realized, the self rotation of the motor body 1 and the deflection motion of the motor body are separately controlled, the coupling of the electromagnetic relation among the freedom degrees is avoided, the control is simpler and easier to realize, the control cost is reduced, and the marketization is easier.
In this embodiment, four pushing rods 2 are uniformly distributed in the circumferential direction of the motor body 1, and each pushing rod 2 is provided with a pressure tank 4, a rod sleeve 3, a piston 6 and a propeller 9. When the propeller 9 does not act, the motor body 1 rotates in the vertical direction. When wanting motor body 1 vertical rotation in the height of difference, push piston 6 compressed air or let in liquid simultaneously through controlling four propellers 9, air compression and liquid injection produce atmospheric pressure and push pushing ram 2 and move simultaneously along rod cover 3 is upwards, during reseing, impel drive piston 6 or extract liquid and withdraw and resell, realize reciprocating of motor body 1. If the motor is required to deflect and rotate, the piston 6 is pushed to move by controlling different propellers 9 to move by different displacements, and the displacement of the piston 6 is different from the displacement of the gas in the pressure tank 4, so that the moving distances of the push rod 2 are different, and the deflection of the motor body 1 in different directions is formed.
As a specific embodiment of the gas-liquid two-drive deflection type aspheric multi-degree-of-freedom hybrid driver provided by the present invention, referring to fig. 2, the propeller 9 includes a first iron core and a first coil, the first coil is wound on the first iron core, the piston 6 is provided with a first magnet 8 near the first coil end, and N-stage or S-stage of the first magnet 8 faces the first coil.
When the air pressure principle is operated, currents in different directions are introduced into the first coil according to the electromagnetic principle to generate different magnetic fields, the strength of the magnetic fields is different, and when the magnetic field generated by the first coil and the magnetic pole of the first magnet 8 facing the first coil repel each other, the piston 6 is forced to move in the direction away from the propeller 9; when the magnetic field generated by the first coil and the magnetic pole of the first magnet 8 facing the first coil attract each other, the piston 6 is forced to move towards the propeller 9; thereby achieving the up and down movement of the push rod 2. The mounting surface of the thruster 9 of the pressure tank 4 is provided with a threading hole 401, which is convenient for the electric connection of the thruster 9.
When the device operates on a hydraulic principle, liquid can be introduced into the pressure box 4 through the external pipeline, the pressure of the introduced liquid increases the height of the push rod 2, and therefore the multi-degree-of-freedom motion driver 5 can be connected with the pressure box in a non-pneumatic motion state and is provided with the switch valve.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 2, fig. 3, fig. 4 and fig. 5, an air vent 403 is formed at an end of the pressure box 4 away from the propeller 9, a sliding groove 402 is formed on a side wall inside the pressure box 4, a plug 7 is slidably disposed in the sliding groove 402, the plug 7 can cover the air vent 403, a driver 5 is disposed outside the pressure box 4, and the driver 5 is used for driving the plug 7 to move along the sliding groove 402. Normally, the plug 7 is in a state of covering the air hole 403, the whole pressure box 4 is sealed, when the motor body 1 needs to be reset, the quick reset driver 5 drives the plug 7 to move along the sliding groove 402 towards the direction away from the air hole 403, the air hole 403 is ventilated, and the motor body 1 resets. The deflection action control and the reset action control of the motor body 1 are separated, and the control is more convenient to realize.
As an embodiment of the invention, referring to fig. 1 and fig. 2, the driver 5 includes a second iron core and a second coil, the second coil is wound on the second iron core, the end cap 7 is provided with a second magnet near the second coil, and the N-level or S-level of the second magnet faces the second coil.
When the magnetic field generated by electrifying the second coil and the magnetic pole of the second magnet facing the second coil repel each other, the plug 7 moves in the direction departing from the air holes 403 under the stress; when the magnetic field generated by the second coil being electrified and the magnetic pole of the second magnet facing the second coil attract each other, the choke plug 7 covers the air hole 403 again. A support 10 is arranged outside the pressure box 4, and the driver 5 is fixed outside the pressure box 4 through the support 10 and is opposite to the air holes 403.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 4 to 5, the plug 7 includes a bottom plate 702 and a boss 703, the second magnet is disposed on the boss 703, and the boss 703 can be sleeved in the air hole 403. The air holes 403 are covered by the boss 703 in a sleeved mode, so that the sealing is tighter.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 4 to 5, a connecting rod 701 is disposed on the bottom plate 702, and the plug 7 is slidably connected to the sliding groove 402 by the connecting rod 701.
In this embodiment, the two sliding grooves 402 are symmetrically arranged on the inner wall of the pressure tank 4, and the bottom ends of the sliding grooves 402 are spherical. The connecting rods 701 are correspondingly and symmetrically arranged on the plugs 7 in two numbers, and spherical heads are arranged on the end faces of the connecting rods 701. When the plug 7 covers the air hole 403, the spherical head of the connecting rod 701 is attached to the bottom end of the sliding groove 402 in a spherical shape. The two sliding grooves 402 are arranged, so that the plug 7 slides along the sliding grooves 402 more stably. The end of the connecting rod 701 is provided with a spherical head, so that the sliding friction force is reduced.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1, a protrusion is disposed on an outer wall of the push rod 2, and the protrusion can be lapped on an upper end surface of the rod cover 3.
As a specific implementation manner of the embodiment of the present invention, a pressure sensor is disposed at the bottom end of the push rod 2. The pressure sensor is arranged to sense the air compression effect in the pressure tank 4 and the acting force of the push rod 2, the pressure sensor transmits the pressure value to the controller of the air-liquid driven deflection type non-spherical multi-degree-of-freedom hybrid driver, and the deflection state of the motor body 1 can be determined by converting the moving distance of the push rod 2.
Referring to fig. 6, 7, 8 and 9, as a specific implementation manner of the embodiment of the present invention, the motor body 1 includes a motor casing 17, a rotating shaft 11 and a rotor core 14. An output hole is formed in one end face of the motor casing 17, and a plurality of stator windings 12 are fixedly arranged on the inner wall of the motor casing 17 along the circumferential direction; one end of the rotating shaft 11 is rotatably connected with the output hole, the other end of the rotating shaft is connected with an inner wall ball at the bottom end of the motor shell 17, and a gear 16 is arranged on the rotating shaft 11; the outer wall of the rotor core 14 is provided with a plurality of magnetic shoes 13, the center of the rotor core 14 is provided with a gear groove, and the gear 16 is inserted in the gear groove.
In this embodiment, the magnetic shoe 13 is one of permanent magnets, and is a shoe magnet mainly used for a permanent magnet motor. The magnetic shoes 13 are alternately arranged on the rotor core 14 according to a certain mode of N-level and S-level. The motor casing 17 is provided with engaging lugs 101 corresponding to the number of the push rods 2, and the push rods 2 are in ball hinge joint with the motor casing 17 through the engaging lugs 101.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 6 to 9, arc-shaped grooves are respectively formed at the bottom end of the rotating shaft 11 and the center of the inner wall of the bottom end of the motor casing 17, and the bottom end of the rotating shaft 11 is connected with the arc-shaped groove at the bottom end of the motor casing 17 through a ball 15. The rotor of motor body 1 comprises rotor core 14 and magnetic shoe 13, and the motor body 1 probably produces the eccentric problem when taking place to deflect the rotation early, supports pivot 11 through ball 15, adjusts through the mode that one end ball is connected, is favorable to slowing down the eccentricity of the rotor of motor body 1.
As a specific embodiment of the present invention, there are two operation modes, that is, pneumatic driving and hydraulic driving, and the pressure tank 4 and the actuator 5 respectively play different roles when different driving is performed.
In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. But non-spherical multi freedom hybrid drive of gas-liquid two drive deflection formula, its characterized in that: the motor comprises a motor body, the motor body lateral wall ball joint has two at least propulsion poles, the propulsion pole bottom slides and sets up in the rod cover, rod cover bottom intercommunication has the pressure tank, it is provided with the piston to slide in the pressure tank, the piston is kept away from the one end of rod cover is connected with the propeller, the propeller can promote the medium in the piston compression pressure tank, thereby drives the propulsion pole is in reciprocate in the rod cover.
2. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 1, wherein: the propeller comprises a first iron core and a first coil, the first coil is wound on the first iron core, the piston is close to the end of the first coil and is provided with a first magnet, and the N-level or S-level orientation of the first magnet is towards the first coil.
3. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 1, wherein: the pressure box deviates from the propeller end has been seted up the bleeder vent, be close to in the pressure box be equipped with the spout on the lateral wall of bleeder vent, it can sealed cover to slide on the spout be provided with the end cap of bleeder vent, the pressure box is equipped with the driver outward, the driver is used for the drive the end cap is followed the spout removes.
4. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 3, wherein: the driver comprises a second iron core and a second coil, the second coil is wound on the second iron core, a second magnet is arranged at the end, close to the second coil, of the plug, and the N-level or S-level orientation of the second magnet is towards the second coil.
5. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 4, wherein: the end cap comprises a base plate and a boss which are fixedly connected, the second magnet is arranged on the boss, the boss can be sleeved in the air hole, and the radial section of the base plate is larger than that of the air hole.
6. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 5, wherein: the side wall of the bottom plate is provided with a connecting rod, and the end part of the connecting rod is connected with the sliding groove in a sliding manner through a spherical head.
7. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 1, wherein: the outer wall of the push rod is provided with a bulge, and the bulge can be lapped on the upper end face of the rod sleeve.
8. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 1, wherein: and a pressure sensor is arranged at the bottom end of the push rod.
9. The gas-liquid two-drive deflectable non-spherical multi-degree-of-freedom hybrid actuator of claim 1, wherein: the motor body comprises a motor shell with an output hole at one end; a rotating shaft is rotatably connected in the output hole, one end of the rotating shaft penetrates through the output hole and then is connected with an inner wall ball at the other end of the motor shell, and a gear is arranged on the rotating shaft; a rotor core is arranged in the motor shell, a plurality of magnetic shoes are arranged on the outer wall of the rotor core, a gear groove is formed in the center of the rotor core, and the gear is inserted in the gear groove; and a plurality of stator windings are fixedly arranged on the inner wall of the motor shell along the circumferential direction, and the stator windings are positioned between the inner wall of the motor shell and the magnetic shoes.
10. The gas-liquid two-drive deflectable non-spherical multiple degree of freedom hybrid actuator of claim 9, wherein: the motor casing bottom inner wall center department all is equipped with the arc recess, the pivot bottom with the arc recess of motor casing bottom passes through the ball and links to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211389114.0A CN115714551A (en) | 2022-11-08 | 2022-11-08 | Non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211389114.0A CN115714551A (en) | 2022-11-08 | 2022-11-08 | Non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115714551A true CN115714551A (en) | 2023-02-24 |
Family
ID=85232461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211389114.0A Pending CN115714551A (en) | 2022-11-08 | 2022-11-08 | Non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115714551A (en) |
-
2022
- 2022-11-08 CN CN202211389114.0A patent/CN115714551A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1738071B1 (en) | Antirotational structure for wave energy converters | |
| AU2023251511B2 (en) | Electric motor | |
| US10647397B2 (en) | Robotic jellyfish | |
| CN102594079B (en) | Linear oscillation motor for direct drive pump based on selfshield characteristic of Halbach array | |
| US11274533B2 (en) | Linear motor for pumping | |
| US11148773B2 (en) | Robotic fish with multiple torque reaction engines | |
| US20100291813A1 (en) | Electrical linear motor for propulsion of marine vessel | |
| CN102897309A (en) | Small-size underwater magnetic coupling propeller device | |
| CN115714551A (en) | Non-spherical multi-degree-of-freedom hybrid driver capable of realizing gas-liquid two-drive deflection | |
| CN102953956B (en) | Compressor driven by brushless coreless linear motor | |
| US20130207487A1 (en) | Electromagnetic motor | |
| CN207377751U (en) | A kind of variable displacement mouse-cage type mechanical electronic hydraulic integrated power device | |
| CN114337187A (en) | In-wheel motor and vehicle | |
| KR101926938B1 (en) | Small hydraulic system integrated with motor and pump and built-in hydraulic curcuit | |
| CN107630801A (en) | A kind of variable displacement mouse-cage type mechanical electronic hydraulic integrated power device | |
| CN202455241U (en) | Magnetic drive vibration generating device of vacuum tube | |
| US20110266904A1 (en) | Permanent magnet actuator for adaptive actuation | |
| CN109617360B (en) | Multi-freedom-degree rotation and linear compound motion motor | |
| CN110535285A (en) | Multi-freedom electric motor | |
| CN111555474B (en) | Linear rotary drilling motor | |
| CN109282979B (en) | Ship propulsion simulation device driven by double-degree-of-freedom servo motor | |
| US11845522B2 (en) | Robotic fish with one or more torque reaction engines | |
| US20220033043A1 (en) | Robotic fish with multiple torque reaction engines | |
| US7604520B2 (en) | Electrical linear motor for marine propulsion | |
| CN114583880B (en) | Stator permanent magnet winding hybrid excitation two-degree-of-freedom motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |