CN116624442A - Electric putter rocking arm braced system with moment of gravity compensation - Google Patents
Electric putter rocking arm braced system with moment of gravity compensation Download PDFInfo
- Publication number
- CN116624442A CN116624442A CN202310907788.3A CN202310907788A CN116624442A CN 116624442 A CN116624442 A CN 116624442A CN 202310907788 A CN202310907788 A CN 202310907788A CN 116624442 A CN116624442 A CN 116624442A
- Authority
- CN
- China
- Prior art keywords
- push rod
- cavity
- energy storage
- rocker arm
- electric push
- 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
- 230000005484 gravity Effects 0.000 title claims abstract description 41
- 238000004146 energy storage Methods 0.000 claims abstract description 46
- 239000007788 liquid Substances 0.000 claims abstract description 14
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 11
- 239000003921 oil Substances 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000005538 encapsulation Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims 1
- 230000036544 posture Effects 0.000 description 14
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Abstract
The invention provides an electric push rod rocker arm supporting system with heavy moment compensation, which comprises an electric push rod and an energy storage balance system, wherein the electric push rod rocker arm supporting system with the heavy moment compensation comprises a rocker arm and a rocker arm support system with the heavy moment compensation; the energy storage balance system is communicated with the cavity of the electric push rod and comprises at least one energy storage tank, the energy storage tank comprises an energy storage tank inner liquid cavity and an energy storage tank inner air bag, when the inner cavity of the electric push rod is enlarged, hydraulic oil in the energy storage tank inner liquid cavity enters the inner cavity of the electric push rod, and the energy storage tank inner air bag is released; when the inner cavity of the electric push rod is reduced, hydraulic oil in the inner cavity of the electric push rod is extruded into the liquid cavity in the energy accumulator tank, and the air bag in the energy accumulator tank is compressed. The invention uses the hydraulic energy storage balance system to automatically compensate the rocker arm gravity moment, thereby greatly reducing the load of the servo motor, and the whole system space is fully utilized because the oil cavity is arranged in the electric push rod.
Description
Technical Field
The invention belongs to the technical field of servo motor driving and hydraulic transmission, and particularly relates to an electric push rod rocker arm supporting system with gravity moment compensation.
Background
The rocker arm system supported by the push rod is a drive transmission mechanism commonly used in industry, and the support and rotation of the rocker arm are realized by adopting an integrated hydraulic push rod system consisting of a hydraulic push rod and a balance energy accumulator. Different from the hydraulic push rod, the dynamic control performance of the electric push rod is superior, auxiliary equipment such as a pump station is not needed, and the efficiency is far higher than that of the hydraulic push rod.
However, if a conventional electric push rod is used instead of the hydraulic push rod, a balancing mechanism is additionally used to offset the weight moment of the rocker arm, otherwise the servo motor needs to be continuously operated for a long time to offset the weight moment of the rocker arm.
Disclosure of Invention
The invention aims to provide an electric push rod rocker arm supporting system with gravity moment compensation.
The technical scheme for realizing the purpose of the invention is as follows: an electric push rod rocker arm supporting system with gravity moment compensation comprises an electric push rod and an energy storage balance system; the energy storage balance system is communicated with the cavity of the electric push rod and comprises at least one energy storage tank, the energy storage tank comprises an energy storage tank inner liquid cavity and an energy storage tank inner air bag, when the inner cavity of the electric push rod is enlarged, hydraulic oil in the energy storage tank inner liquid cavity enters the inner cavity of the electric push rod, and the energy storage tank inner air bag is released; when the inner cavity of the electric push rod is reduced, hydraulic oil in the inner cavity of the electric push rod is extruded into the liquid cavity in the energy accumulator tank, and the air bag in the energy accumulator tank is compressed.
Preferably, the electric push rod comprises a servo motor, a transmission mechanism, a screw rod, a sliding block and a push rod; the servo motor drives the screw rod to rotate around the screw rod shaft through the transmission mechanism, threads are arranged on the surface of the screw rod, the sliding block is connected to the screw rod in a threaded mode, the push rod is sleeved on the screw rod and is adjacent to the sliding block, when the screw rod rotates, the sliding block translates along the screw rod, meanwhile, the sliding block pushes the adjacent push rod to translate, when the push rod stretches out, the cavity in the electric push rod is increased, and when the push rod stretches back, the cavity in the electric push rod is reduced.
Preferably, the transmission mechanism is enclosed by a transmission housing.
Preferably, the screw rod, the sliding block and the push rod form a cavity through the push rod shell in a sealing way to serve as an inner cavity of the electric push rod.
Preferably, the energy accumulator tank is connected with the inner cavity of the electric push rod through an oil pipe.
Preferably, the hydraulic pressure P of the energy storage balance system always balances the supporting moment generated by the rocker and the rocker gravity moment M born by the electric push rod, so that the following conditions are satisfied:wherein G is the gravity of the rocker arm, h is the gravity moment, P is the hydraulic pressure, S is the effective area of the hydraulic pressure on the push rod, h 1 To support arm of force
Wherein G is the gravity of the rocker arm, h is the gravity moment, P is the hydraulic pressure, S is the effective area of the hydraulic pressure on the push rod, h 1 To support the arm of force.
Compared with the prior art, the invention has the remarkable advantages that: in the process of realizing the rotation control of the rocker arm by using the electric push rod, the load of the rocker arm gravity moment on the electric push rod is counteracted by the energy storage balance system, so that the load of a servo motor is greatly reduced, and the rapid and accurate driving of a large-scale mechanism by using the servo motor is realized; according to the invention, the screw rod is designed into a hollow structure, and the inner cavity of the push rod is communicated with the rear end cavity to serve as a hydraulic cavity, so that the space is fully utilized.
Drawings
Fig. 1 is a cross-sectional view of an electric putter system with gravity torque compensation according to the present invention.
Fig. 2 is a schematic view of an electric putter in accordance with the present invention.
Fig. 3 is a schematic diagram of the operation of the electric putter rocker arm support system with gravity moment compensation of the present invention at low angles.
Fig. 4 is a schematic diagram of the operation of the electric putter rocker arm support system of the present invention at high angles with compensation for gravity torque.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, an electric pushrod rocker arm support system with gravity moment compensation comprises an electric pushrod 1 and an energy storage balance system 2. The energy storage balance system 2 is communicated with the cavity of the electric push rod 1, the energy storage balance system 2 comprises at least one energy storage tank 21, the energy storage tank 21 comprises an energy storage tank inner liquid cavity 211 and an energy storage tank inner air bag 212, when the cavity of the electric push rod 1 is enlarged, hydraulic oil in the energy storage tank inner liquid cavity 211 enters the cavity of the electric push rod, and the energy storage tank inner air bag 212 is released; when the inner cavity of the electric push rod 1 is smaller, hydraulic oil in the inner cavity of the electric push rod is extruded into the liquid cavity 211 in the energy accumulator tank, and the air bag 212 in the energy accumulator tank is compressed.
In a further embodiment, the electric push rod 1 comprises a servo motor 11, a transmission mechanism 12, a screw rod 13, a slide block 14 and a push rod 15; the servo motor 11 drives the screw rod 13 to rotate around the screw shaft through the transmission mechanism 12, threads are arranged on the surface of the screw rod 13, the sliding block 14 is connected to the screw rod 13 in a threaded mode, the push rod 15 is sleeved on the screw rod 13 and is adjacent to the sliding block, when the screw rod 13 rotates, the sliding block 14 moves horizontally along the screw rod 13, meanwhile, the sliding block 14 pushes the adjacent push rod 15 to move horizontally, when the push rod 15 stretches out, the inner cavity of the electric push rod 1 is increased, and when the push rod 15 withdraws, the inner cavity of the electric push rod 1 is reduced. The inner cavity 23 of the electric push rod is a bridge connected between the electric push rod 1 and the energy storage balance system 2. After the servo motor is started, the screw rod is driven to rotate through the transmission mechanism, the sliding block is driven to translate through the threaded connection, meanwhile, the sliding block pushes the push rod to translate, the telescopic motion of the push rod is achieved, the rocker arm is driven to rotate around the rotation center of the rocker arm within the angle range of the telescopic length constraint of the push rod, meanwhile, when the push rod stretches, the cavity in the electric push rod changes along with the telescopic length of the push rod, and the hydraulic pressure of the push rod is affected.
In a further embodiment, the transmission 12 is enclosed by a transmission housing 17 to form a cavity.
In a further embodiment, the screw 13, the slider 14 and the push rod 15 are sealed by the push rod housing 16 to form a cavity as an inner cavity of the electric push rod.
In a further embodiment, the interior cavity of the electric putter communicates with the cavity formed by the encapsulation of the transmission housing 17. When the inner cavity of the electric push rod is communicated with the cavity formed by the encapsulation of the transmission shell 17, the energy storage balance system 2 can be communicated with the inner cavity of the electric push rod or the cavity formed by the encapsulation of the transmission shell 17 through an oil pipe. When the inner cavity of the electric push rod is not communicated with the cavity formed by the encapsulation of the transmission shell 17, the energy storage balance system 2 can only be communicated with the inner cavity of the electric push rod through an oil pipe.
In a further embodiment, the accumulator tank 21 is connected with the inner cavity of the electric push rod 1 through an oil pipe.
In a further embodiment, the screw 13 is of hollow structure. The electric push rod inner cavity 23 can be divided into a push rod inner cavity 231, a screw rod cavity 232 and a rear end cavity 233; the push rod inner cavity 231 refers to a cavity portion between the screw rod 13 and the push rod 15, the screw rod cavity 232 refers to an oil liquid channel around or in the screw rod 13, and the rear end cavity 233 refers to a sealed cavity portion between the connection end of the support system screw rod 13 and the transmission mechanism 12 and the push rod housing 16 or the transmission housing 17. Through designing the lead screw as hollow structure, with push rod inner chamber and rear end cavity intercommunication, as hydraulic pressure cavity, realized the make full use of to the space.
In a further embodiment, the hydraulic pressure P of the energy storage balance system 2 always balances the supporting moment generated by the rocker and the rocker gravity moment M received by the electric push rod 1, so as to satisfy the following conditions:wherein G is the gravity of the rocker arm, h is the gravity moment, P is the hydraulic pressure, S is the effective area of the hydraulic pressure on the push rod, h 1 To support arm of force
Wherein G is the gravity of the rocker arm, h is the gravity moment, P is the hydraulic pressure, S is the effective area of the hydraulic pressure on the push rod, h 1 To support the arm of force.
When the invention is used for supporting the rocker arm, one end of the rocker arm is hinged on a certain fixed object, namely the rotation center of the rocker arm, the other end of the rocker arm is hinged with one end of a push rod 15 in the electric push rod 1, namely the support point of the rocker arm, and meanwhile, a transmission shell 17 at the other end of the electric push rod 1 is hinged on a certain fixed object, namely the rotation center of a supporting system.
As shown in fig. 3 and fig. 4, after the servo motor 11 is started, the screw rod 13 is driven to rotate by the transmission mechanism 12, the sliding block 14 is driven to translate by the threaded connection, meanwhile, the sliding block 14 pushes the push rod 15 to translate, the telescopic motion of the push rod 15 is realized, the rocker arm is driven to rotate around the rotation center of the rocker arm within the angle range of constraint of the telescopic length of the push rod, meanwhile, when the push rod 15 stretches, the inner cavity 23 of the electric push rod changes, and the hydraulic pressure of the push rod 15 is influenced.
As shown in fig. 3 and 4, when the push rod 15 is extended, the rocker arm is changed from a low-angle posture to a high-angle posture, the volume of the inner cavity 23 of the electric push rod is increased, the vacuum area tends to be generated, hydraulic oil enters the inner cavity 23 of the electric push rod through the hydraulic oil pipe 22, so that the air bag 212 in the compressed energy accumulator tank is released, the volume is increased, the air pressure is reduced, the pressure in the energy storage balance system 2 is reduced, and the pressure born by the push rod 15 is reduced; when the push rod 15 is shortened, the rocker arm is changed from a high-angle posture to a low-angle posture, the push rod 15 extrudes hydraulic oil in the inner cavity 23 of the electric push rod into the liquid cavity 211 in the accumulator tank, so that the air bag 212 in the accumulator tank is compressed, the air bag volume is reduced, the air pressure is increased, the pressure in the energy storage balance system 2 is increased, and the pressure on the push rod 15 is increased.
Rotation of the rocker arm causes a change in the length h of the gravitational arm, which results in a change in the gravitational moment. When the push rod 15 is extended, the rocker arm is changed from the low-angle posture to the high-angle posture, the gravity arm h is shortened, the gravity moment is reduced, and when the push rod 15 is shortened, the rocker arm is changed from the high-angle posture to the low-angle posture, the gravity arm h is increased, and the gravity moment is reduced. In summary, when the rocker arm is in the low-angle posture, the force applied to the electric push rod 1 by the rocker arm is large, and when the rocker arm is in the high-angle posture, the force applied to the electric push rod 1 by the rocker arm is small.
When the rocker arm is in a low-angle posture, the hydraulic pressure of the energy storage balance system 2 is large, and the large acting force of the electric push rod 1 due to the gravity moment of the rocker arm is balanced; when the rocker arm is in a high-angle posture, the hydraulic pressure of the energy storage balance system 2 is smaller, and the smaller acting force of the electric push rod 1 due to the gravity moment of the rocker arm is balanced; through designing the internal structure of the energy accumulator tank 21, or designing a plurality of energy accumulator tanks 21 in parallel, and reasonably designing the working postures of the rocker arms, the gravity moment of the rocker arms under various angles can be balanced, and the self-balancing effect is achieved, namely, the servo motor 11 only needs to drive the posture change of the rocker arms, and the gravity moment of the rocker arms is not needed to be overcome, so that the load of the servo motor 11 is greatly reduced.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent modifications can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention.
Claims (9)
1. The electric push rod rocker arm supporting system with the gravity moment compensation is characterized by comprising an electric push rod (1) and an energy storage balance system (2); the energy storage balance system (2) is communicated with the cavity of the electric push rod (1), the energy storage balance system (2) comprises at least one energy storage tank (21), the energy storage tank (21) comprises an energy storage tank inner liquid cavity (211) and an energy storage tank inner air bag (212), when the cavity of the electric push rod (1) is enlarged, hydraulic oil in the energy storage tank inner liquid cavity (211) enters the electric push rod inner cavity, and the energy storage tank inner air bag (212) is released; when the inner cavity of the electric push rod (1) is reduced, hydraulic oil in the inner cavity of the electric push rod is extruded into the liquid cavity (211) in the energy accumulator tank, and the air bag (212) in the energy accumulator tank is compressed.
2. The electric putter rocker arm support system with gravity torque compensation of claim 1, wherein the electric putter (1) comprises a servo motor (11), a transmission mechanism (12), a lead screw (13), a slider (14) and a pushrod (15); the servo motor (11) drives the screw rod (13) to rotate around the screw rod shaft through the transmission mechanism (12), threads are arranged on the surface of the screw rod (13), the sliding block (14) is connected to the screw rod (13) in a threaded mode, the push rod (15) is sleeved on the screw rod (13) and is adjacent to the sliding block, when the screw rod (13) rotates, the sliding block (14) translates along the screw rod (13), meanwhile, the sliding block (14) pushes the adjacent push rod (15) to translate, when the push rod (15) stretches out, the cavity in the electric push rod (1) is increased, and when the push rod (15) stretches back, the cavity in the electric push rod (1) is reduced.
3. The electric putter rocker arm support system with gravity torque compensation of claim 2, wherein the transmission mechanism (12) is enclosed by a transmission housing (17) to form a cavity.
4. An electric putter rocker arm support system with gravity torque compensation according to claim 3, characterized in that the screw (13), the slider (14) and the pushrod (15) are sealed by means of a pushrod housing (16) forming a cavity as an electric putter inner cavity.
5. The electric putter rocker arm support system with gravity torque compensation of claim 4, wherein the electric putter interior cavity is in communication with a cavity formed by the encapsulation of the transmission housing (17).
6. The electric putter rocker arm support system with gravity torque compensation of claim 4, wherein the electric putter interior cavity is isolated from the cavity formed by the encapsulation of the transmission housing (17).
7. The electric putter rocker arm support system with gravity moment compensation of claim 4, wherein the accumulator tank (21) is connected to the interior cavity of the electric putter (1) through an oil pipe.
8. The electric putter rocker arm support system with gravity moment compensation according to claim 2, characterized in that the screw (13) is of hollow construction.
9. The electric putter rocker arm support system with gravity moment compensation according to claim 1, characterized in that the hydraulic pressure P of the energy storage balancing system (2) always balances the support moment generated by the rocker arm with the rocker arm gravity moment M received by the electric putter (1), so as to satisfy:wherein G is the gravity of the rocker arm, h is the gravity moment, P is the hydraulic pressure, S is the effective area of the hydraulic pressure on the push rod, h 1 To support the arm of force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310907788.3A CN116624442A (en) | 2023-07-24 | 2023-07-24 | Electric putter rocking arm braced system with moment of gravity compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310907788.3A CN116624442A (en) | 2023-07-24 | 2023-07-24 | Electric putter rocking arm braced system with moment of gravity compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116624442A true CN116624442A (en) | 2023-08-22 |
Family
ID=87617440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310907788.3A Pending CN116624442A (en) | 2023-07-24 | 2023-07-24 | Electric putter rocking arm braced system with moment of gravity compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116624442A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1118060A (en) * | 1966-01-11 | 1968-06-26 | Caterpillar Tractor Co | Load balancing system for hydraulic jack |
| GB1227353A (en) * | 1967-02-02 | 1971-04-07 | ||
| CN1526960A (en) * | 2003-09-25 | 2004-09-08 | 浙江大学 | Single rod equal area double acting hydraulic cylinder capable of balancing weight |
| CN101287671A (en) * | 2005-06-11 | 2008-10-15 | 斯坦纳电梯有限公司 | Improvements in or relating to to drive systems |
| CN102471043A (en) * | 2009-07-15 | 2012-05-23 | 学校法人庆应义塾 | Load-compensation device |
| CN104295558A (en) * | 2014-10-13 | 2015-01-21 | 山东大学 | Highly integrated hydraulic servo oil cylinder having buffering and overload protection functions |
| CN104847710A (en) * | 2015-03-17 | 2015-08-19 | 北京理工大学 | Electro-hydraulic hybrid actuator based on oil-gas balance |
| JP2015203470A (en) * | 2014-04-15 | 2015-11-16 | 住友重機械工業株式会社 | hydraulic actuator |
| CN205184789U (en) * | 2015-11-10 | 2016-04-27 | 淄博巨鼎陶瓷机械有限公司 | Robot is with balanced hydraulic spring jar of big arm |
| CN109940600A (en) * | 2017-12-20 | 2019-06-28 | 范红兵 | A kind of electric pushrod having power-assisted |
| CN111946674A (en) * | 2020-09-25 | 2020-11-17 | 南京理工大学 | Multi-energy-accumulator balancing device for large-load cantilever servo mechanism and design method |
| CN114673700A (en) * | 2022-03-28 | 2022-06-28 | 长沙理工大学 | Novel electric push rod for energy storage of cylinder barrel |
-
2023
- 2023-07-24 CN CN202310907788.3A patent/CN116624442A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1118060A (en) * | 1966-01-11 | 1968-06-26 | Caterpillar Tractor Co | Load balancing system for hydraulic jack |
| GB1227353A (en) * | 1967-02-02 | 1971-04-07 | ||
| CN1526960A (en) * | 2003-09-25 | 2004-09-08 | 浙江大学 | Single rod equal area double acting hydraulic cylinder capable of balancing weight |
| CN101287671A (en) * | 2005-06-11 | 2008-10-15 | 斯坦纳电梯有限公司 | Improvements in or relating to to drive systems |
| CN102471043A (en) * | 2009-07-15 | 2012-05-23 | 学校法人庆应义塾 | Load-compensation device |
| JP2015203470A (en) * | 2014-04-15 | 2015-11-16 | 住友重機械工業株式会社 | hydraulic actuator |
| CN104295558A (en) * | 2014-10-13 | 2015-01-21 | 山东大学 | Highly integrated hydraulic servo oil cylinder having buffering and overload protection functions |
| CN104847710A (en) * | 2015-03-17 | 2015-08-19 | 北京理工大学 | Electro-hydraulic hybrid actuator based on oil-gas balance |
| CN205184789U (en) * | 2015-11-10 | 2016-04-27 | 淄博巨鼎陶瓷机械有限公司 | Robot is with balanced hydraulic spring jar of big arm |
| CN109940600A (en) * | 2017-12-20 | 2019-06-28 | 范红兵 | A kind of electric pushrod having power-assisted |
| CN111946674A (en) * | 2020-09-25 | 2020-11-17 | 南京理工大学 | Multi-energy-accumulator balancing device for large-load cantilever servo mechanism and design method |
| CN114673700A (en) * | 2022-03-28 | 2022-06-28 | 长沙理工大学 | Novel electric push rod for energy storage of cylinder barrel |
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|---|
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