CN202746527U - Fold-back linear electromechanical actuator adopting tandem type planetary roller lead screw pair - Google Patents
Fold-back linear electromechanical actuator adopting tandem type planetary roller lead screw pair Download PDFInfo
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- CN202746527U CN202746527U CN 201220340412 CN201220340412U CN202746527U CN 202746527 U CN202746527 U CN 202746527U CN 201220340412 CN201220340412 CN 201220340412 CN 201220340412 U CN201220340412 U CN 201220340412U CN 202746527 U CN202746527 U CN 202746527U
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Abstract
The utility model discloses a fold-back linear electromechanical actuator adopting a tandem type planetary roller lead screw pair. The actuator mainly comprises a motor, a synchronous belt reduction mechanism, a tandem type planetary roller lead screw actuator and a controller, wherein the motion drives a first-stage planetary roller lead screw pair by the motor via the reduction of the synchronous belt and is transmitted to a second-stage planetary roller lead screw pair; the rotary motion of the lead screw is converted to linear reciprocating motion of a nut through revolution and autorotation of the roller, so that the linear motion of the two-stage nut is superposed, and the ratio of the stroke to the original length is increased. The left end support of the first-stage lead screw is a damping bearing, so that reverse self-locking is achieved. The motor is installed in a fold-back manner, i.e., the axis of the motor is parallel to that of the planetary roller lead screw. The fold-back linear electromechanical actuator has the advantages of constant transmission ratio kept by the transmission of the synchronous belt, uniform transmission speed, adaptability to long-distance transmitting power, low noise, impact resistance, installation easiness, low machining cost, large stroke-original length ratio, and the benefit for achieving self-locking.
Description
Technical field
But the present invention relates to a kind of straight-line large stroke-former long ratio self-locking mechanical device that is converted into for rotatablely moving.
Background technique
Electromechanical actuator is the directly or indirectly motion of control load of operation by control motor or electrical equipment, the general name of a type systematic of the position servo control of realization control target.
Electromechanical actuator mainly contains two kinds: whirler motor-driven cylinder and linear electromechanical actuator.Wherein linear electromechanical actuator mainly is comprised of motor, reducing gear, actuator and controller four parts, and actuator is comprised of leading screw, rolling element and nut usually.During work rotatablely moving of motor passed to leading screw by reducing gear, the straight line motion that leading screw will rotatablely move and be converted to nut by the revolution of rolling element and rotation.Such linear electromechanical actuator is most widely used, as aircraft and the start of guided missile rudder face, rocket vector advance that dock with space shuttle control, space station, the electromechanics of folding and unfolding, Vehicle Active Suspension System, aircraft and the vehicle of undercarriage brakes, the electric power steering of vehicle, without cam Fuel Injection device control valve, reciprocal compressor and friction welding etc.
About linear electromechanical actuator, prior art such as China Patent No. are that the electromechanical actuator that proposes in 03249715.6 mainly is comprised of AC servo motor, two-stage reduction gears mechanism, single-stage planetary ball screw, adopt the Wound-rotor type potentiometer accurately to locate, reducing gear is relatively complicated, take than large space and also increased total quality, lack corresponding seal approach and self-locking device.Slow down owing to adopting the two-stage reduction gears mechanism directly to be connected on the motor shaft in the existing linear electromechanical actuator, so not only strengthened the weight of actuating system and the noise in the transmission, but also increased the complexity of structure.Adopting the Wound-rotor type potentiometer to be installed in the lead screw shaft end in the existing electromechanical actuator and come motion is accurately located, so also is the structure complicated.Existing actuator adopts the single-stage planetary ball screw more, and this adopts the occasion of multistage linear start often not reach required stroke at needs.Planetary roller screw actuator of the prior art does not design self-locking device, if be used for vertically arranged occasion, gravity can cause nut or leading screw to move, and device is fallen voluntarily.
Summary of the invention
In order to overcome the above-mentioned deficiency of existing linear electromechanical actuator, stroke extension in simplified structure-former long ratio has been adopted the corresponding self-locking measure of getting.The returning type linear electromechanical actuator purpose of the present invention that the present invention has designed a kind of novel employing tandem planetary roller screw designs a kind of simple and compact for structure exactly, noise is little, transmission stiffness is large, torque is stable, and lightweight, stroke-former length is than large linear electromechanical actuator.
Technological scheme of the present invention is: a kind of returning type linear electromechanical actuator that adopts tandem planetary roller screw pair mainly comprises motor 8, toothed belt transmission reducing gear, tandem planetary roller screw pair and sleeve push-rod assembly four parts;
In the secondary holder housing 6 of described tandem planetary roller screw, mainly comprise one-level planetary roller screw secondary 33 and secondary planet roller screw pair 37; One-level leading screw 35 adopts an end to fix freely supporting way of an end, and described fixed end adopts two damping bearings 32 and bearing distance ring 31 is set between two bearings adjusts bearing clearance, adopts the shaft shoulder and round nut 30 to realize the axially locating of bearing; Described free end passes the internal cavities of secondary leading screw 36, and realizes the series connection of one-level planetary roller screw secondary 33 and secondary planet roller screw pair 37 by the hexagonal square steel 39 of end; The nut of described one-level planetary roller screw pair 33 is connected with secondary planet roller screw pair 37 by thrust-bearing 34,
Described toothed belt transmission reducing gear mainly comprises synchronous pulley a13, synchronous pulley b18, Timing Belt 17 and belt wheel rib 14; Described Timing Belt 17 is installed on synchronous pulley a13 and the synchronous pulley b18; Synchronous pulley a13 with both sides belt wheel rib 14 is installed on the output shaft of motor 8, realizes respectively the circumferential and axial location by parallel key I 15 and Cock screw 16; Described synchronous pulley b18 is installed in the end of one-level leading screw 35, realize circumferentially location by parallel key II 19, and described one-level leading screw 35 fixed end ends there are the shaft end ring 20 and the pad I 22 that connect by screw 21 to cooperate the shaft shoulder to realize the axially locating of synchronous pulley b18;
Described sleeve push-rod assembly mainly comprises push rod 1 and the sleeve 2 that is threaded connection together; Described sleeve 2 is threaded connection on the nut of secondary planet roller screw pair 37 and by locating stud 38 and realizes circumferentially location;
The output shaft of described motor 8 and one-level leading screw 35 fixed ends pass respectively hole a and the hole b on the bonnet 11; Motor 8 is connected connection with bonnet; The housing 6 of described tandem planetary roller screw pair and the sealing of bonnet 11 mating faces; End cap 12 is connected with bonnet 11, thereby the actuator rear end is encapsulated; Sealing between shaft part and the bonnet 11 between described toothed belt transmission reducing gear and the tandem planetary roller screw pair;
Sleeve 2 outer walls of described sleeve push-rod assembly have mounting flange 3 and protecgulum 4, and protecgulum 4 step sagittal planes and housing 6 end faces only lean on; Sealing between described protecgulum 4 and sleeve 2 outer walls, protecgulum 4 and the housing 6; Long bolt 26 links together mounting flange 3, protecgulum 4 and bonnet 11.
In order to eliminate the kinematic error of bringing owing to the nut fine rotation of secondary planet roller screw pair 37, the position that the spline ring is installed can be arranged on the described sleeve 2.
For reducing the impact in the motion, on protecgulum 4 and bonnet 11, anticollision ring 5 can be housed.
During work, motor 8 is used to provide power, and motor is used to provide power and carries out the control of speed displacement etc. by supporting driver, and selecting according to power required in the practical application and corresponding rotating speed of motor selected.Power directly hands on by the synchronous pulley a13 that is connected on the motor output shaft, carries out speed displacement control by motor driver, selects suitable AC servo permagnetic synchronous motor and supporting driver according to the required power of practical application.The toothed belt transmission reducing gear carries out the deceleration of certain reduction speed ratio as driving mechanism, transmitting power to the straight line actuation mechanism is tandem planetary roller screw pair and sleeve push-rod assembly, and will rotatablely move is converted into straight line motion.The rotation of one-level leading screw 35 is rotated with same rotating speed with it by secondary leading screw 36 in the hexagonal square steel 39 drive secondary planet roller screw pairs of its end in the tandem planetary roller screw pair, the straight-line displacement of nut passes to the secondary planet roller screw pair by the connection of thrust-bearing 34 in the one-level planetary roller screw pair, by nut linear movement output in the secondary planet roller screw pair, the straight line motion of nut passes by the sleeve push-rod assembly that is connected to nut end in the secondary planet roller screw pair at last.One-level leading screw 35 fixed ends adopt damping bearing 32 to support, and can effectively prevent from oppositely moving voluntarily, realize self-locking.The present embodiment is when work, by setting the parameter of motor 8 control sections, motor 8 is rotated with certain rotating speed band movable belt pulley, deceleration by toothed belt transmission is passed to the planetary roller screw pair with motion, from the straight line motion of push rod 1 output certain speed, and the attachment screw hole that is provided with by the screw thread on the push rod 1 and mounting flange 3 is connected to the application.Can accurately control movement position by the positioning control parameter that motor 8 control sections are set simultaneously.
The invention has the beneficial effects as follows: two belt wheels of Timing Belt 17, be that synchronous pulley a13 and synchronous pulley b18 are installed in respectively on motor 8 output shafts and the lead screw shaft, thereby lacked an intermediate propeller shaft with electromechanical actuator in the existing patent and made designs simplification, the remarkable advantages such as it is strong that the planetary roller screw pair has again bearing capacity, and running precision is good, rigidity is large, the life-span is long, to-and-fro motion still can accurately be located.The design of housing is considered location, sealing, is supported the requirement to it, and the design of protecgulum 4, bonnet 11, end cap 12 etc. considers that all the simple compactness of total and the needs of connection carry out optimized design.Needs when the design of mounting flange 3 has considered that electromechanical actuator is connected to the application, mounting flange 3 can carry out customized according to the size of concrete application in actual use, the position of mounting flange 3 also can be improved according to the different of installing space accordingly with form, and install the side or install the bottom surface such as end face mounting flange among the design being changed into.And one-level leading screw 35 fixed ends adopt damping bearing 32 to support, and can effectively prevent from oppositely moving voluntarily, realize self-locking.
Returning type electromechanical actuator major advantage involved in the present invention is compact structure, saving installing space, owing to having adopted the tandem planetary roller screw, when realizing large stroke-former long ratio, guaranteed the straight line start performance of actuator, for example transmission stiffness is large, motion steadily, precision is high, intensity is high, and described returning type electromechanical actuator can be widely used in the occasion that Aero-Space, precision machine tool, field of petrochemical industry need linear servo control.
Description of drawings
Fig. 1 is the returning type linear electromechanical actuator plan view of the employing tandem planetary roller screw pair among the embodiment;
Fig. 2 is the returning type linear electromechanical actuator axonometric drawing of the employing tandem planetary roller screw pair among the embodiment;
Fig. 3 is the pusher structure axonometric drawing;
Fig. 4 is the tube-in-tube structure axonometric drawing;
Fig. 5 is mounting flange axis of no-feathering mapping;
Fig. 6 is the front-cover structure axonometric drawing;
Fig. 7 is the shell construction axonometric drawing;
Fig. 8 is the rear cover structure axonometric drawing;
Fig. 9 is the end cover structure axonometric drawing;
Wherein: the 1-push rod; The 2-sleeve; The 3-mounting flange; The 4-protecgulum; The 5-anticollision ring; The 6-housing; The 8-motor; 9-bolt I; 10-nut I; The 11-bonnet; The 12-end cap; 13-synchronous pulley a; 14-belt wheel rib; 15-parallel key I; The 16-Cock screw; The 17-Timing Belt; 18-synchronous pulley b; 19-parallel key II; The 20-shaft end ring; The 21-screw; 22-pad I; 23-bolt II; 24-nut II; 25-pad II; The 26-long bolt; The 27-circlip for hole; 28-O shape circle I; The 29-lip-type packing; The 30-round nut; 31-bearing distance ring; The 32-damping bearing; 33-one-level planetary roller screw is secondary; The 34-thrust-bearing; 35-one-level leading screw; 36-secondary leading screw; 37-secondary planet roller screw pair; The 38-locating stud; 39-hexagonal square steel; 40-O shape circle II
Embodiment
Consult Fig. 1-Fig. 9, adopt the returning type linear electromechanical actuator of tandem planetary roller screw pair in the present embodiment, mainly comprise motor 8, toothed belt transmission reducing gear, tandem planetary roller screw pair and sleeve push-rod assembly four parts;
In the secondary holder housing 6 of described tandem planetary roller screw, mainly comprise one-level planetary roller screw secondary 33 and secondary planet roller screw pair 37; Wherein, one-level leading screw 35 and secondary leading screw 36 all adopt hollow hexagonal square steel processing, one-level leading screw 35 adopts an end to fix freely supporting way of an end, described fixed end adopts two damping bearings 32 and bearing distance ring 31 is set between two bearings adjusts bearing clearance, adopts the shaft shoulder and round nut 30 to realize the axially locating of bearing; Described free end passes the internal cavities of secondary leading screw 36, and realizes the series connection of one-level planetary roller screw secondary 33 and secondary planet roller screw pair 37 by the hexagonal square steel 39 of end; The nut of described one-level planetary roller screw pair 33 is connected with secondary planet roller screw pair 37 by thrust-bearing 34,
Described toothed belt transmission reducing gear mainly comprises synchronous pulley a13, synchronous pulley b18, Timing Belt 17 and belt wheel rib 14; Described Timing Belt 17 is installed on synchronous pulley a13 and the synchronous pulley b18; Synchronous pulley a13 with both sides belt wheel rib 14 is installed on the output shaft of motor 8, realizes respectively the circumferential and axial location by parallel key I 15 and Cock screw 16; Described synchronous pulley b18 is installed in the end of one-level leading screw 35, realize circumferentially location by parallel key II 19, and described one-level leading screw 35 fixed end ends there are the shaft end ring 20 and the pad I 22 that connect by screw 21 to cooperate the shaft shoulder to realize the axially locating of synchronous pulley b18;
Described sleeve push-rod assembly mainly comprises push rod 1 and the sleeve 2 that is threaded connection together; Described sleeve 2 is threaded connection on the nut of secondary planet roller screw pair 37 and by locating stud 38 and realizes circumferentially location;
The output shaft of described motor 8 and one-level leading screw 35 fixed ends pass respectively hole a and the hole b on the bonnet 11, and their centre distance guarantees by the centre distance of hole a and hole b; Motor 8 and bonnet 11 link together by bolt I 9; The housing 6 of described tandem planetary roller screw pair and bonnet 11 mating faces adopt O shape circle I 28 to realize sealing; End cap 12 is encapsulated the actuator rear end by bolt II 23, nut II 24 and pad II 25 with bonnet 11; Adopt lip-type packing 27 and circlip for hole 27 sealings between described toothed belt transmission reducing gear and the tandem planetary roller screw pair between shaft part and the bonnet 11;
Sleeve 2 outer walls of described sleeve push-rod assembly have mounting flange 3 and protecgulum 4, and protecgulum 4 step sagittal planes and housing 6 end faces only lean on; Seal by O shape circle II 40 between described protecgulum 4 and sleeve 2 outer walls, protecgulum 4 and the housing 6; Long bolt 26 links together mounting flange 3, protecgulum 4 and bonnet 11.
In order to eliminate the kinematic error of bringing owing to the nut fine rotation of secondary planet roller screw pair 37, the position that the spline ring is installed is arranged on the sleeve 2 in the present embodiment.
For reducing the impact in the motion, at protecgulum 4 and bonnet 11 anticollision ring 5 is housed in the present embodiment.
During work, motor 8 is used to provide power, power directly hands on by the synchronous pulley a13 that is connected on the motor output shaft, carries out speed displacement control by motor driver, selects suitable AC servo permagnetic synchronous motor and supporting driver according to the required power of practical application.The toothed belt transmission reducing gear carries out the deceleration of certain reduction speed ratio as driving mechanism, transmitting power to the straight line actuation mechanism is tandem planetary roller screw pair and sleeve push-rod assembly, and will rotatablely move is converted into straight line motion.The rotation of one-level leading screw 35 is rotated with same rotating speed with it by secondary leading screw 36 in the hexagonal square steel 39 drive secondary planet roller screw pairs of its end in the tandem planetary roller screw pair, the straight-line displacement of nut passes to the secondary planet roller screw pair by the connection of thrust-bearing 34 in the one-level planetary roller screw pair, by nut linear movement output in the secondary planet roller screw pair, the straight line motion of nut passes by the sleeve push-rod assembly that is connected to nut end in the secondary planet roller screw pair at last.One-level leading screw 35 fixed ends adopt damping bearing 32 to support, and can effectively prevent from oppositely moving voluntarily, realize self-locking.The present embodiment is when work, by setting the parameter of motor 8 control sections, motor 8 is rotated with certain rotating speed band movable belt pulley, deceleration by toothed belt transmission is passed to the planetary roller screw pair with motion, from the straight line motion of push rod 1 output certain speed, and the attachment screw hole that is provided with by the screw thread on the push rod 1 and mounting flange 3 is connected to the application.Can accurately control movement position by the positioning control parameter that motor 8 control sections are set simultaneously.
Claims (3)
1. a returning type linear electromechanical actuator that adopts tandem planetary roller screw pair is characterized in that: mainly comprise motor (8), toothed belt transmission reducing gear, tandem planetary roller screw pair and sleeve push-rod assembly four parts;
In the secondary holder housing of described tandem planetary roller screw (6), mainly comprise one-level planetary roller screw secondary (33) and secondary planet roller screw pair (37); One-level leading screw (35) adopts an end to fix freely supporting way of an end, described fixed end adopts two damping bearings (32) and bearing distance ring (31) is set between two bearings adjusts bearing clearance, adopts the shaft shoulder and round nut (30) to realize the axially locating of bearing; Described free end passes the internal cavities of secondary leading screw (36), and realizes the series connection of one-level planetary roller screw secondary (33) and secondary planet roller screw pair (37) by the hexagonal square steel (39) of end; The nut of described one-level planetary roller screw secondary (33) is connected with secondary planet roller screw pair (37) by thrust-bearing (34),
Described toothed belt transmission reducing gear mainly comprises synchronous pulley a(13), synchronous pulley b(18), Timing Belt (17) and belt wheel rib (14); Described Timing Belt (17) is installed in synchronous pulley a(13) and synchronous pulley b(18) on; Synchronous pulley a(13 with both sides belt wheel ribs (14)) is installed on the output shaft of motor (8), realizes respectively the circumferential and axial location by parallel key I (15) and Cock screw (16); Described synchronous pulley b(18) end that is installed in, realize circumferentially location by parallel key II (19), and described one-level leading screw (35) fixed end end there are the shaft end ring (20) and the pad I (22) that connect by screw (21) to cooperate the shaft shoulder to realize the axially locating of synchronous pulley b18;
Described sleeve push-rod assembly mainly comprises push rod (1) and the sleeve (2) that is threaded connection together; Described sleeve (2) is threaded connection on the nut of secondary planet roller screw pair (37) and by locating stud (33) and realizes circumferentially location;
The output shaft of described motor (8) and one-level leading screw (35) fixed end pass respectively hole a and the hole b on the bonnet (11); Motor (8) is connected 11 with bonnet) connect; The housing (6) of described tandem planetary roller screw pair and the sealing of bonnet (11) mating face; End cap (12) is connected with bonnet (11), thereby the actuator rear end is encapsulated; Sealing between shaft part and the bonnet (11) between described toothed belt transmission reducing gear and the tandem planetary roller screw pair;
The sleeve of described sleeve push-rod assembly (2) outer wall has mounting flange (3) and protecgulum (4), and protecgulum (4) step sagittal plane and housing (6) end face only lean on; Sealing between described protecgulum (4) and sleeve (2) outer wall, protecgulum (4) and the housing (6); Long bolt (26) links together mounting flange (3), protecgulum (4) and bonnet (11).
2. the returning type linear electromechanical actuator of an employing tandem planetary roller screw pair as claimed in claim 1 is characterized in that: the position that the spline ring is installed is arranged on the described sleeve (2).
3. the returning type linear electromechanical actuator of an employing tandem planetary roller screw pair as claimed in claim 1 is characterized in that: at described protecgulum (4) and bonnet (11) anticollision ring (5) is housed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220340412 CN202746527U (en) | 2012-07-15 | 2012-07-15 | Fold-back linear electromechanical actuator adopting tandem type planetary roller lead screw pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220340412 CN202746527U (en) | 2012-07-15 | 2012-07-15 | Fold-back linear electromechanical actuator adopting tandem type planetary roller lead screw pair |
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| CN202746527U true CN202746527U (en) | 2013-02-20 |
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| CN 201220340412 Expired - Fee Related CN202746527U (en) | 2012-07-15 | 2012-07-15 | Fold-back linear electromechanical actuator adopting tandem type planetary roller lead screw pair |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102748451A (en) * | 2012-07-15 | 2012-10-24 | 西北工业大学 | Turn-back type linear electromechanical actuator by utilizing tandem-type planet roller lead screw pair |
| CN104534041A (en) * | 2014-11-12 | 2015-04-22 | 西北工业大学 | Electric execution device of dual-redundancy direct-drive type roller lead screw pair |
| CN104554823A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Space deflection electro-mechanical actuator |
| CN106352072A (en) * | 2016-08-30 | 2017-01-25 | 宁波高发汽车控制系统股份有限公司 | Control method for gear-shifter actuator of driverless car |
| CN106523682A (en) * | 2016-08-30 | 2017-03-22 | 宁波高发汽车控制系统股份有限公司 | Executing mechanism of automobile gear shifter |
| CN106641157A (en) * | 2017-02-15 | 2017-05-10 | 池州市邦鼐机电科技有限公司 | Screw-driven novel joint speed reducer |
| CN106641150A (en) * | 2017-02-25 | 2017-05-10 | 池州市弥优智能传动部件有限公司 | Series connection type micro ball joint |
| CN107906176A (en) * | 2017-12-08 | 2018-04-13 | 扬州众孚传动科技有限公司 | A kind of planetary roller screw |
| CN110649756A (en) * | 2019-10-08 | 2020-01-03 | 北京航空航天大学 | Redundancy full-electric actuating device based on cascade type planetary roller screw pair |
| CN112234753A (en) * | 2020-08-24 | 2021-01-15 | 西安方元明科技股份有限公司 | Vertical electric cylinder for engineering truck |
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2012
- 2012-07-15 CN CN 201220340412 patent/CN202746527U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102748451A (en) * | 2012-07-15 | 2012-10-24 | 西北工业大学 | Turn-back type linear electromechanical actuator by utilizing tandem-type planet roller lead screw pair |
| CN104554823A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Space deflection electro-mechanical actuator |
| CN104534041B (en) * | 2014-11-12 | 2020-02-14 | 西北工业大学 | Electric actuator of double-redundancy direct-drive type roller screw pair |
| CN104534041A (en) * | 2014-11-12 | 2015-04-22 | 西北工业大学 | Electric execution device of dual-redundancy direct-drive type roller lead screw pair |
| CN106352072A (en) * | 2016-08-30 | 2017-01-25 | 宁波高发汽车控制系统股份有限公司 | Control method for gear-shifter actuator of driverless car |
| CN106523682A (en) * | 2016-08-30 | 2017-03-22 | 宁波高发汽车控制系统股份有限公司 | Executing mechanism of automobile gear shifter |
| CN106641157A (en) * | 2017-02-15 | 2017-05-10 | 池州市邦鼐机电科技有限公司 | Screw-driven novel joint speed reducer |
| CN106641157B (en) * | 2017-02-15 | 2023-11-17 | 广州弥优机床有限公司 | Novel joint speed reducer of screw drive formula |
| CN106641150A (en) * | 2017-02-25 | 2017-05-10 | 池州市弥优智能传动部件有限公司 | Series connection type micro ball joint |
| CN106641150B (en) * | 2017-02-25 | 2023-09-08 | 广州弥优机床有限公司 | Series miniature ball joint |
| CN107906176A (en) * | 2017-12-08 | 2018-04-13 | 扬州众孚传动科技有限公司 | A kind of planetary roller screw |
| CN107906176B (en) * | 2017-12-08 | 2024-05-31 | 扬州众孚传动科技有限公司 | Planetary roller screw |
| CN110649756A (en) * | 2019-10-08 | 2020-01-03 | 北京航空航天大学 | Redundancy full-electric actuating device based on cascade type planetary roller screw pair |
| CN112234753A (en) * | 2020-08-24 | 2021-01-15 | 西安方元明科技股份有限公司 | Vertical electric cylinder for engineering truck |
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