CN117021154A - Hydraulic cylinder valve integrated joint actuator applied to exoskeleton robot - Google Patents
Hydraulic cylinder valve integrated joint actuator applied to exoskeleton robot Download PDFInfo
- Publication number
- CN117021154A CN117021154A CN202310916203.4A CN202310916203A CN117021154A CN 117021154 A CN117021154 A CN 117021154A CN 202310916203 A CN202310916203 A CN 202310916203A CN 117021154 A CN117021154 A CN 117021154A
- Authority
- CN
- China
- Prior art keywords
- output rotor
- valve
- swing output
- valve core
- oil
- 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
- 239000003921 oil Substances 0.000 claims description 69
- 238000007789 sealing Methods 0.000 claims description 35
- 239000010720 hydraulic oil Substances 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 claims description 18
- 229920000728 polyester Polymers 0.000 claims description 5
- 239000011148 porous material Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000012530 fluid Substances 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
- B25J9/148—Rotary actuators of the oscillating vane-type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Servomotors (AREA)
Abstract
The invention discloses a hydraulic cylinder valve integrated joint actuator applied to an exoskeleton robot, which comprises a vane type swing output rotor, an oil path component and a valve body component, wherein the vane type swing output rotor is connected with the oil path component, the valve body component is arranged in the oil path component, and the on-off of an oil path and the switching of the direction of the oil path between the vane type swing output rotor and the oil path component can be controlled through the valve body component. The invention has ingenious conception, reasonable design and simple structure, ensures that the vane type swing output rotor operates in a small space range, can output high torque, can directly drive a load to swing in a rotating way through the rotation of the valve core without an electromagnetic reversing valve, changes the rotating speed through a throttling device valve, integrates the functions of the vane type swing output rotor, the electromagnetic reversing valve and the throttling valve on one structure, ensures that the structure is compact, and reduces the space occupation range at joints.
Description
Technical Field
The invention relates to the technical fields of heavy-load exoskeleton robots, hydraulic driving and the like, in particular to a hydraulic actuator which can provide support for people wearing exoskeleton, improve the load capacity and the movement capacity of the people to complete tasks which cannot be completed by the people and improve the working efficiency.
Background
The hydraulic driving is a driving mode for realizing energy conversion and control by taking hydraulic oil as a working medium. The hydraulic system is typically comprised of a power element hydraulic pump, oil lines, control valves, a control circuit, and an actuator. The hydraulic driving system has simple structure and high working reliability, and can ensure the stability of movement when generating large output moment. With the development of robot theory and related technologies, the hydraulic driving robot is widely applied in the fields of military, medical treatment, civil use and the like, and the application scene puts extremely high requirements on the bearing capacity and the volume of the exoskeleton robot, so that the selection of a leg driving mode and the design of a swing joint structure are significant for improving the movement capacity of the heavy-load robot.
The exoskeleton robot is driven by a hydraulic cylinder or a motor, when the hydraulic cylinder keeps constant force output, the position of the driver changes along with the rotation of the joint, so that the problem of insufficient driving moment in certain stages of the whole travel can be caused, and more parts are arranged at the joint, so that more leg space is occupied; the motor driving power density is too low, and the moment is too small to meet the high-load requirement of the exoskeleton robot.
To this end, based on the above drawbacks, a structure capable of satisfying heavy load, small-sized hydraulic driving of a robot joint is proposed herein for solving the above problems by using a hydraulic swing output rotor as a basic driving unit of an exoskeleton robot.
Disclosure of Invention
The invention aims to solve the problems of small bearing capacity, overlarge driving structure volume and the like of an exoskeleton robot, and provides a joint swing hydraulic driving type actuator. Compared with the common driving structure model, the novel swing type joint structure model introduces the blade type swing output rotor to drive the joints, effectively overcomes the defect of small rotation angle range of the joint of the heavy-load exoskeleton robot under the driving of the traditional hydraulic cylinder, and can effectively reduce the weight of the joint while improving the bearing capacity.
The technical scheme of the invention is as follows:
the utility model provides a be applied to hydraulic cylinder valve integral type joint actuator of ectoskeleton robot, includes vane type swing output rotor, oil circuit subassembly and valve body subassembly, link to each other between vane type swing output rotor and the oil circuit subassembly, the valve body subassembly sets up inside the oil circuit subassembly, through the valve body subassembly can control the oil circuit break-make and the oil circuit direction switch between vane type swing output rotor and the oil circuit subassembly.
Further, the valve body assembly comprises a valve core, an electromagnet, a motor and a return spring, wherein the return spring is positioned in a valve core hole and between the electromagnet and the valve core, the electromagnet is arranged on one side of the valve core, the motor is arranged on the other side of the valve core, the motor is in transmission connection with the valve core, and the circumferential rotary motion and the axial motion of the valve core can be realized under the action of the motor and the electromagnet.
Further, a plurality of grooves are formed in the outer surface of the valve core, the grooves comprise a valve core open groove 1, a valve core open groove 2, a valve core open groove 3, a valve core open groove 4 and a valve core circumferential groove, the valve core open groove 1 and the valve core open groove 4 are located on the same side circumference, the valve core open groove 2 and the valve core open groove 3 are located on the same side circumference, the valve core circumferential groove is arranged between the valve core open groove 1 and the valve core open groove 3, the valve core open groove 1 and the valve core open groove 3 are respectively communicated with the valve core circumferential groove, and the valve core open groove 2 and the valve core open groove 4 are mutually independent.
Further, the valve body assembly further comprises a valve core end face sealing piece, and the valve core end face sealing piece is fixed on the swing output rotor shell through bolts so as to realize the sealing of the right end face of the valve core.
Further, the blade type swing output rotor comprises a swing output rotor shell, a swing output rotor upper end cover, a swing output rotor output shaft and an output shaft blade; the swing output rotor shell is characterized in that a hydraulic oil outlet and a hydraulic oil inlet are formed in the upper end face of the swing output rotor shell, two ends of an output shaft of the swing output rotor penetrate through the swing output rotor shell through a rotary sealing ring and a bearing, two output shaft blades are arranged on the output shaft of the swing output rotor and positioned inside the swing output rotor shell, the two output shaft blades are fixedly arranged on the output shaft of the swing output rotor, a distance piece is arranged between the two output shaft blades, and an open-pore polyester closed rectangular sealing ring (the open-pore polyester closed rectangular sealing ring is arranged on the periphery of the distance piece) is arranged between the two output shaft blades.
Further, the oil path component comprises a swing output rotor shell and an oil return bottom layer, an oil path 1, an oil path 2, an oil path through hole 1 and an oil path through hole 2 are formed in the upper end face of the swing output rotor shell, the oil path through hole 1 and the oil path through hole 2 are respectively communicated with an external low-pressure oil port, the oil path 1 is connected with a hydraulic oil inlet on the vane type swing output rotor, and the oil path 2 is connected with a hydraulic oil outlet on the vane type swing output rotor.
Further, the motor is fixed on the oil return bottom layer through the motor support, a valve core input shaft is arranged on the valve core, and the valve core input shaft is connected with the motor output shaft through a guide sliding key, so that the valve core can perform circumferential rotary motion and axial movement.
Further, the hydraulic cylinder valve integrated joint actuator using the exoskeleton robot further comprises a throttling device valve, wherein the throttling device valve is arranged on the swing output rotor shell, an oil outlet of the throttling device valve is connected with the swing output rotor shell and leads to a valve core circumferential groove, and the rotation speed control of the swing output rotor output shaft is realized by adjusting flow.
Still further, the throttling device valve comprises a throttling valve and a miniature linear servo driver, wherein the throttling valve comprises a valve body, a valve core push rod, a sealing end cover and a hydraulic oil seal, and the miniature linear servo driver is connected with the valve core push rod of the throttling valve.
Further, the throttle channel of the throttle valve is in an axial triangular groove shape:
the flow resistance is small: the axial triangular groove type throttling channel can effectively reduce flow resistance when fluid passes through, so that the fluid can smoothly flow through, energy loss is reduced, and meanwhile, the efficiency of the system is improved.
The control precision is high: the axial triangular groove type throttling channel can enable the fluid to form directional rotary flow in the channel, so that control accuracy of the throttling valve can be improved, and control of the throttling valve is more accurate.
The anti-blocking capability is strong: the axial triangular groove type throttling channel can prevent particulate matters or impurities in the fluid from depositing inside the channel, so that the possibility of blockage is reduced, and the anti-blockage capability of the throttling valve is improved.
The noise is small: the axial triangular groove type throttling channel can reduce vortex and oscillation when fluid passes through, so that noise is reduced, and the throttle valve works more quietly.
Further, the upper end face of the swing output rotor shell is provided with a sealing groove, and the lower end face of the swing output rotor upper end cover corresponding to the upper end face is also provided with a sealing groove which is used for placing a sealing gasket to realize sealing.
In operation of the actuator, hydraulic oil fills the circumferential grooves and the spool opening grooves 1, 3 communicating therewith. The operation of each working condition of the valve core comprises the following steps: when the valve core open slot 1 is communicated with the oil way 1, the oil way 2 is communicated with the through hole 1 through the valve core open slot 2, and the output shaft of the swing output rotor rotates clockwise under the action of hydraulic oil; when the valve core open slot 3 is communicated with the oil way 2, the oil way 1 is communicated with the through hole 3 through the valve core open slot 4, and the output shaft of the swing output rotor rotates anticlockwise under the action of hydraulic oil; when the valve core open grooves 1 and 3 are respectively communicated with the through holes 1 and 2, the valve core open grooves 2 and 4 are respectively communicated with the oil paths 1 and 2, the oil inlet is directly communicated with an external low-pressure oil port, the oil paths 1 and 2 are blocked by the valve core open grooves 2 and 4, and the output shaft keeps static and does not rotate. The continuous work of the three working conditions can realize the swinging motion at the joint and the time interval required by switching different swinging directions.
The beneficial effects of the invention are as follows:
the invention has ingenious conception, reasonable design and simple structure, ensures that the vane type swing output rotor operates in a small space range, can output high torque, can directly drive a load to swing in a rotating way through the rotation of the valve core without an electromagnetic reversing valve, changes the rotating speed through a throttling device valve, integrates the functions of the vane type swing output rotor, the electromagnetic reversing valve and the throttling valve on one structure, ensures that the structure is compact, and reduces the space occupation range at joints.
Drawings
FIG. 1 is a schematic general construction of the present invention;
FIG. 2 is a schematic view of the interior of the vane-type swing output rotor of the present invention;
FIG. 3 is a schematic view of the vane-type swing output rotor of the present invention;
FIG. 4 is a schematic view of the output shaft blade mounting structure of the present invention;
FIG. 5 is a schematic cross-sectional view of a throttle device valve of the present invention;
FIG. 6 is a schematic view of the oil circuit structure of the valve cartridge of the present invention;
FIG. 7 is a schematic view of the valve core structure of the present invention;
FIG. 8 is a schematic diagram of the swing output rotor housing of the present invention;
FIG. 9 is a schematic view of the oil return bottom layer structure of the present invention;
in the figure, 100-blade type swing output rotor, 101-hydraulic oil inlet, 102-hydraulic oil outlet, 103-swing output rotor upper end cover, 104-swing output rotor shell, 105-swing output rotor output shaft, 106-open-pore polyester closed rectangular sealing ring, 107-output shaft blade, 108-blade fastening nut, 109-rotary sealing ring, 110-deep groove ball bearing, 110-swing output rotor cylinder body sealing groove, 111-swing output rotor output shaft sealing groove 1, 112-swing output rotor output shaft sealing groove 2, 200-electromagnet, 300-throttle valve, 301-valve body, 302-valve core push rod, 303-sealing end cover, 304-hydraulic oil seal, 400-valve core end face seal, 500-swing output rotor shell, 501-oil channel 1, 502-oil channel through hole 1, 503-valve core open slot 1, 504-valve core circumferential slot, 505-valve core open slot 2, 506-oil channel 2, 507-valve core open slot 4, 508-throttle valve fixing piece, 509-oil channel through hole 2, 510-valve core open slot 3, 600-miniature linear servo driver, 700-motor bracket, 800-motor, 900-oil return bottom layer.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 9, a hydraulic cylinder valve integrated joint actuator applied to an exoskeleton robot comprises a vane type swing output rotor 100, a throttle device valve 300, a valve core, a swing output rotor housing 500, an oil return bottom layer 900, a motor 800, a motor bracket 700 and an electromagnet 200.
In this structure, the vane type swing output rotor 100 includes a hydraulic swing output rotor housing 104, a swing output rotor upper end cover 103, a hydraulic oil inlet 101, a hydraulic oil outlet 102, flange mounting holes provided on the hydraulic swing output rotor housing 104 and the swing output rotor upper end cover 103, a rotary seal ring 109 and a deep groove ball bearing 110 provided on an output shaft of the vane type swing output rotor 100 (swing output rotor output shaft 105) and both ends thereof, two output shaft blades 107 provided on the swing output rotor output shaft 105 and fastened on the output shaft by a pin set screw and a blade fastening nut 108, distance pieces provided between the two output shaft blades 107 to maintain the relative distance between the two blades, perforated polyester rectangular seal rings 106 provided between the blades to realize sealing, and grooves and a plurality of screw holes provided on the rotor housing and the upper end cover high end surfaces to mount seal gaskets and realize sealing of both contact end surfaces thereof. The hydraulic oil outlet and inlet are arranged on the upper end face of the output rotor shell, and the power output of the output shaft is controlled by controlling the input and output of the hydraulic oil at the hydraulic oil outlet and inlet.
In the structure, open grooves with different degrees are formed in the outer surface of the valve core, the circumferential grooves of the valve core are communicated with the open grooves 1 and 3 of the valve core, and the open grooves 2 and 4 of the valve core are mutually independent; the motor 800 is fixed on the oil return bottom layer 900 through the motor bracket 700, an output shaft of the motor 800 is connected with a valve core input shaft to realize synchronous rotation, and the valve core input shaft is provided with a guide sliding key to be connected with the valve core, so that the circumferential rotary motion and the axial movement of the valve core can be realized.
The valve core is arranged on a swing output rotor shell, oil paths 1 and 2 and oil path through holes 1 and 2 are formed in the upper end face of the swing output rotor shell, the oil path through holes 1 and 2 are communicated with an external low-pressure oil port, the oil path 1 is connected with a hydraulic oil inlet 101 of a vane type swing output rotor 100, and the oil path 2 is connected with a hydraulic oil outlet 102 of the vane type swing output rotor 100.
The valve core end face sealing member 400 is fixed on the swing output rotor housing and the swing output rotor upper end cover 103 through bolts so as to realize the right end face sealing of the rotary valve core.
The upper end face of the swing output rotor housing 104 and the upper end face of the swing output rotor housing 500 are provided with sealing grooves, and the lower end face of the swing output rotor upper end cover 103 corresponding to the upper end face is also provided with sealing grooves which are used for placing sealing gaskets so as to realize sealing with the upper end cover. When the actuator works, hydraulic oil fills the valve core circumferential groove and the valve core opening grooves 1 and 3 communicated with the valve core circumferential groove. Grooves are formed in left ports of two oil ways of the swing output rotor shell, and accurate butt joint with the swing output rotor cylinder body is achieved.
In this structure, the throttle device valve 300 is composed of a valve body 301, a valve core push rod 302, a sealing end cover 303 and a hydraulic oil seal 304, the throttle channel of this throttle valve is in an axial triangular groove shape, one end of the valve core push rod 302 is connected with the output shaft of the miniature linear servo driver 600 through threads, the miniature linear servo driver 600 is fixed on the swing output rotor shell, the output of the miniature linear servo driver is in linear motion, the axial movement of the valve core push rod 302 is realized by driving the miniature linear servo driver 600, thus the area of the throttle opening is changed to adjust the flow, and the oil outlet of the throttle device valve 300 is connected with the swing output rotor shell to the circumferential groove of the valve core. The rotation speed of the swing output rotor output shaft 105 is controlled by adjusting the flow, the throttle device valve 300 is fixed in relative position by using a throttle fixing piece, and the throttle fixing piece is fixed on the swing output rotor shell and the swing output rotor upper end cover through fastening screws. The swing output rotor shell at the left side of the valve core is provided with a groove for installing an electromagnet. When the electromagnet 200 is electrified, the spool can axially move under the interaction force, and when the spool moves to the leftmost end of the spool cavity, the oil paths 1 and 2 and the through holes 1 and 2 are cut off, the flow of the oil inlet and outlet of the swing output rotor is zero, and the function of stopping at any position of the swing joint can be realized. When the electromagnet is powered off, the electromagnet can return to the original working position under the action of the return spring.
In the embodiment, only the output shaft of the swing output rotor has one rotation degree of freedom, so that the swing function of the knee joint can be realized. The embodiment also comprises a rotatable valve core, and is driven by the motor 800 to realize the switching of the hydraulic oil inlet and outlet of the swing output rotor and realize the function of changing the rotation direction of the knee joint. The embodiment also comprises an electromagnet and a throttle device valve, when the electromagnet is electrified, the valve core axially moves to stop the oil passages 1 and 2, and the opening of the throttle valve is changed through the miniature linear servo driver to realize the function of stopping the angle position of any joint and the function of regulating the rotating speed.
The embodiments described in this specification are merely illustrative of the manner in which the inventive concepts may be implemented. The scope of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but the scope of the present invention and the equivalents thereof as would occur to one skilled in the art based on the inventive concept.
Claims (8)
1. The utility model provides a be applied to hydraulic cylinder valve integral type joint actuator of ectoskeleton robot, its characterized in that includes vane type swing output rotor, oil circuit subassembly and valve body subassembly, link to each other between vane type swing output rotor and the oil circuit subassembly, the valve body subassembly sets up inside the oil circuit subassembly, through the valve body subassembly can control the oil circuit break-make and the oil circuit direction switch between vane type swing output rotor and the oil circuit subassembly.
2. The integrated hydraulic cylinder valve joint actuator applied to the exoskeleton robot according to claim 1, wherein the valve body assembly comprises a valve core, an electromagnet, a motor and a return spring, the electromagnet is arranged at one end of the valve core, the motor is arranged at the other end of the valve core, the motor is in transmission connection with the valve core, and the circumferential rotary motion and the axial motion of the valve core can be realized under the action of the motor and the electromagnet.
3. The hydraulic cylinder valve integrated joint actuator applied to the exoskeleton robot according to claim 2, wherein the outer surface of the spool is provided with a plurality of grooves, including a spool open groove 1, a spool open groove 2, a spool open groove 3, a spool open groove 4 and a spool circumferential groove, the spool open groove 1 and the spool open groove 4 are located on the same side circumference, the spool open groove 2 and the spool open groove 3 are located on the same side circumference, the spool circumferential groove is arranged between the spool open groove 1 and the spool open groove 3, the spool open groove 1 and the spool open groove 3 are respectively communicated with the spool circumferential groove, and the spool open groove 2 and the spool open groove 4 are mutually independent.
4. The integrated hydraulic cylinder valve joint actuator for an exoskeleton robot of claim 1, wherein the vane type swing output rotor comprises a swing output rotor housing, a swing output rotor upper end cover, a swing output rotor output shaft and an output shaft vane; the swing output rotor shell is characterized in that a hydraulic oil outlet and a hydraulic oil inlet are formed in the upper end face of the swing output rotor shell, two ends of an output shaft of the swing output rotor penetrate through the swing output rotor shell through a rotary sealing ring and a bearing, two output shaft blades are arranged on the output shaft of the swing output rotor and positioned in the swing output rotor shell, the two output shaft blades are fixedly arranged on the output shaft of the swing output rotor, a distance piece is arranged between the two output shaft blades, and an open-pore polyester closed rectangular sealing ring is arranged between the two output shaft blades.
5. The hydraulic cylinder valve integrated joint actuator applied to the exoskeleton robot according to claim 4, wherein the oil path assembly comprises a swing output rotor housing and an oil return bottom layer, an oil path 1, an oil path 2, an oil path through hole 1 and an oil path through hole 2 are formed in the upper end face of the swing output rotor housing, the oil path through hole 1 and the oil path through hole 2 are respectively communicated with an external low-pressure oil port, the oil path 1 is connected with a hydraulic oil inlet on the vane type swing output rotor, and the oil path 2 is connected with a hydraulic oil outlet on the vane type swing output rotor.
6. The integrated joint actuator for the hydraulic cylinder valve of the exoskeleton robot, according to claim 5, wherein the motor is fixed on the oil return bottom layer through a motor bracket, a valve core input shaft is arranged on the valve core, and the valve core input shaft is connected with a motor main shaft through a guide sliding key, so that the valve core can perform circumferential rotary motion and axial movement; the valve core end face sealing piece is fixed on the swing output rotor shell through a bolt so as to realize the sealing of the right end face of the valve core.
7. The integrated hydraulic cylinder valve joint actuator applied to an exoskeleton robot according to claim 6, further comprising a throttle device valve, wherein the throttle device valve consists of a valve body, a valve core push rod, a sealing end cover and a hydraulic oil seal, the throttle channel is in an axial triangular groove shape, one end of the valve core push rod is connected with an output shaft of a miniature linear servo driver through threads, the miniature linear servo driver is fixed on a middle layer of an oil way, the output of the miniature linear servo driver is in linear motion, the axial movement of the valve core push rod is realized by driving the miniature linear servo driver, so that the area of a cut-off port is changed to adjust the flow, and an oil outlet of the throttle device valve is connected with the middle layer of the oil way to a circumferential groove of the valve core; the rotating speed control of the output shaft of the swing output rotor is realized by adjusting the flow, the throttle device valve is fixed in relative position by utilizing the throttle valve fixing piece, and the throttle valve fixing piece is fixed on the swing output rotor shell and the front end cover of the swing output rotor through the fastening screw.
8. The integrated joint actuator for a hydraulic cylinder valve of an exoskeleton robot of claim 5, wherein the upper end surface of the swing output rotor housing is provided with a sealing groove, and the lower end surface of the upper end cover of the swing output rotor corresponding to the upper end surface of the swing output rotor housing is also provided with a sealing groove, which is used for placing a sealing gasket to realize sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310916203.4A CN117021154A (en) | 2023-07-25 | 2023-07-25 | Hydraulic cylinder valve integrated joint actuator applied to exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310916203.4A CN117021154A (en) | 2023-07-25 | 2023-07-25 | Hydraulic cylinder valve integrated joint actuator applied to exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117021154A true CN117021154A (en) | 2023-11-10 |
Family
ID=88636433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310916203.4A Pending CN117021154A (en) | 2023-07-25 | 2023-07-25 | Hydraulic cylinder valve integrated joint actuator applied to exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117021154A (en) |
-
2023
- 2023-07-25 CN CN202310916203.4A patent/CN117021154A/en active Pending
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