EP1899603A1 - Actionneur d hydrure de métal - Google Patents

Actionneur d hydrure de métal

Info

Publication number
EP1899603A1
EP1899603A1 EP06752853A EP06752853A EP1899603A1 EP 1899603 A1 EP1899603 A1 EP 1899603A1 EP 06752853 A EP06752853 A EP 06752853A EP 06752853 A EP06752853 A EP 06752853A EP 1899603 A1 EP1899603 A1 EP 1899603A1
Authority
EP
European Patent Office
Prior art keywords
metal hydride
actuator according
pressure chamber
aluminum foam
hydride actuator
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.)
Withdrawn
Application number
EP06752853A
Other languages
German (de)
English (en)
Inventor
Stephane Bedard
Martin Richard
Pierre-Olivier Roy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Victhom Human Bionics Inc
Original Assignee
Victhom Human Bionics Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Victhom Human Bionics Inc filed Critical Victhom Human Bionics Inc
Publication of EP1899603A1 publication Critical patent/EP1899603A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/008—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for characterised by the actuating element
    • F03G7/011—Actuators having a material for absorbing or desorbing a gas, e.g. with a fuel cell reaction or a metal hydride
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/005—Electro-chemical actuators; Actuators having a material for absorbing or desorbing gas, e.g. a metal hydride; Actuators using the difference in osmotic pressure between fluids; Actuators with elements stretchable when contacted with liquid rich in ions, with UV light, with a salt solution
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/061—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element
    • F03G7/06115—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element using materials changing their chemical composition
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/19—Pyrotechnical actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids

Definitions

  • the present invention relates to a metal hydride actuator. More specifically, the present invention relates to a metal hydride actuator for use with an active prosthesis.
  • actuators are used in apparatuses requiring a controllable movement such as printers, industrial automated devices or motorized prostheses.
  • McKibben pneumatic artificial muscle was developed as a part of an orthotic limb system.
  • electric actuators have been the preferred technology.
  • the primary reason for selecting electric actuators over other technologies is based on the coupling efficiency of about 90%, the coupling efficiency being the ratio of mechanical work over electrical work.
  • electric actuators use a well known technology and are readily-available in both rotational and linear configurations.
  • the present invention relates to a metal hydride actuator, comprising:
  • a pressure chamber having a first and second pressure chamber portions
  • At least one reaction chamber operatively connected to one of the first and second pressure chamber portions, the at least one reaction chamber having a temperature adjustment mechanism and containing therein metal hydride powder;
  • first movement transmission means operatively connected to the piston, the first movement transmission means being so positioned in the first pressure chamber portion as to exit from an opening in a wall of the first pressure chamber portion;
  • a change of temperature of the metal hydride powder in at least one of the reaction chamber by the temperature adjustment mechanism creates a pressure differential between both pressure chamber portions, causing the piston to move.
  • the present invention also relates to a metal hydride actuator as described above, wherein the at least one reaction chamber includes an aluminum foam containing the metal hydride, the aluminum foam being enclosed in a filter.
  • the present invention further relates to a metal hydride actuator as described above, wherein the temperature adjustment mechanism consists in a thermoelectrical cooler positioned in contact with the filter.
  • the present invention relates to a metal hydride actuator as described above, further comprising a second movement transmission means positioned in the second pressure chamber portion, the second movement transmission means being connected to the piston and positioned so as to exit from an opening in a wall of the second pressure chamber.
  • Figure 1 is a cross sectional view of a metal hydride actuator according to the illustrative embodiment of the present invention.
  • Figure 2 is a cross sectional view of a second illustrative embodiment of the metal hydride actuator
  • Figure 3 is an exploded perspective view of a reaction chamber
  • FIG 4 is a perspective view of the aluminum foam and filter placed between two thermoelectrical coolers (TEC);
  • Figure 5 is a close-up view of an aluminum foam
  • Figure 6 is a cross sectional view of a third illustrative embodiment of the metal hydride actuator
  • Figure 7 is a cross sectional view of a fourth illustrative embodiment of the metal hydride actuator.
  • Figure 8 is an exploded perspective view of a stacked reaction chamber.
  • the metal hydride actuator technology described herein addresses electrical actuators limitations such as weight and noise with its use of gas pressure and the absence of a mechanical transmission.
  • the metal hydride actuator also exhibits passive properties, such as damping and compliance, that may be exploited in the context of prosthetic applications without the addition of external mechanical component.
  • a metal hydride actuator (100) includes a first (12) and a second (14) reaction chamber with corresponding first (16) and second (18) gas outlets operatively connecting the reaction chambers (12, 14) to a pressure chamber (20) containing a piston (22) connected to a movement transmission means (24) and seals (26, 27).
  • the metal hydride actuator (100) is powered by converting pressure created by hydrogen fluxes in the reaction chambers (12, 14) into linear movement of the movement transmission means (24) via the piston (22).
  • Metal hydride powder contained in the reaction chambers (12, 14) has the chemical characteristic that it is able to absorb or desorb great amounts of hydrogen depending on temperature and pressure to which it is submitted. When the temperature of the metal hydride powder increases it desorbs hydrogen, which in turn increases the pressure. This pressure may then be used to activate the metal hydride actuator (100). Conversely, when the temperature of the metal hydride powder decreases it in turn absorbs hydrogen, which decreases the pressure.
  • the metal hydride actuator (100) uses a push-pull configuration.
  • Two reaction chambers (12, 14) provide hydrogen pressure through corresponding gas outlets (16, 18) to two hermetic pressure chamber portions (32, 34) in order to either push in the direction of arrow (1) using reaction chamber (12), gas outlet (16) and pressure chamber portion (32) or pull in the direction of arrow (2) using reaction chamber (14), gas outlet (18) and pressure chamber portion (34), the piston (22) and movement transmission means (24).
  • the movement transmission means (24) may take the form of, for example, a shaft or a fluid.
  • the movement transmission means (24) takes the form of a shaft and will be identified as such from hereinafter. However, if the movement transmission means (24) was to take the form of a fluid, it is to be understood that the pressure chamber portion (34) would include a fluid conduit, for example a below (38) as shown in Figure 2, containing the movement transmission means (24).
  • the metal hydride powder in one of the reaction chambers (12, 14) is heated while the metal hydride powder in the other reaction chamber (12, 14) it is being cooled. This creates a pressure differential between both hermetic pressure chamber portions (32, 34) of the cylinder (20) on each side of the piston (22), which in turn produces a force upon the piston surfaces (22a, 22b) and moves the shaft (24).
  • the two hermetic pressure chamber portions (32, 34) may be sealed from each other using seals (26). Furthermore, the pressure chamber (20) may be sealed from the ambient air using seals (27) to prevent oxygen contamination of the metal hydride powder.
  • the purpose of the piston seals (26) is to hermetically isolate each pressure chamber portions (32, 34) from one another without creating too much friction between the seal (26) and the internal wall of the pressure chamber (20).
  • Turcon® AQ-Seal® 5 from Busak+Shamban with Slydring® rings may be used to seal the two pressure chamber portions (32, 34) without creating important friction.
  • metal hydride actuator (200) is very similar to the metal hydride actuator (100) of Figure 1 , therefore only the differences will be described for concision purposes.
  • the pressure chamber (20) of metal hydride actuator (200) may be sealed from the ambient air using metal bellow (38) instead of the seals (27) of metal hydride actuator (100), for example a bellow made out of thin (0.075 mm) taper metal washers welded together inside and outside edge-to-edge, in pressure chamber portion (34) to isolate the shaft (24) from the pressure chamber (20).
  • a second metal bellow (36) may also be added to the other pressure chamber portion (32) so that the piston surfaces (22a, 22b) exposed to the pressure differentials have generally equal areas.
  • reaction chamber (12, 14) which may be, for example, a sealed aluminum box (64) connected the gas outlet (16, 18).
  • the reaction chamber (12, 14) includes a metal hydride powder storage structure (40) and a temperature adjustment mechanism (50).
  • the reaction chamber (12, 14) is advantageously designed so as to maintain pressure between the temperature adjustment mechanism (50) and the metal hydride powder storage structure (40), as well as act as a heat-sink for the extra- heat of the temperature adjustment mechanism (50) and heat coming from the metal hydride exothermic reaction.
  • the metal hydride powder storage structure (40) includes an aluminum foam (41 ), such as shown in Figure 5, in which is embedded the metal hydride powder.
  • the aluminum foam (41) may be, for example, Duocell Aluminum Foam from ERG Aerospace with 40 pores per inch (PPI), which provides good thermal transfer.
  • PPI Porous Polymethyl methacrylate
  • the metal hydride powder permeated aluminum foam (41) is enclosed within a filter made out of micro- perforated stainless steel sheets (42) and stainless foil (44), such as 0.001 inch stainless foil.
  • the perforated sheets (42) are located on the sides of the aluminum foam (41) to retain the metal hydride powder and leave the hydrogen free to pass through it.
  • the stainless steel foils (44) are placed on the top and bottom of the aluminum foam (41 ), where heat is transferred.
  • This metal hydride powder storage structure (40) favors hydrogen permeability and increases the life expectancy of the reaction chambers (12, 14).
  • copper plated metal hydride pellets may be used but they may not sustain as many cycles due to the volume increase of the metal when absorbing the hydrogen. Metal hydride pellets may also decrease the hydrogen permeability of the reaction chambers (12, 14).
  • the temperature adjustment mechanism (50) is used to heat up and cool down the metal hydride powder storage structure (40).
  • the temperature adjustment mechanism (50) may take the form of a pair of thermoelectrical coolers (TEC) between which is placed the metal hydride powder storage structure (40), the TECs (50) being used to either heat up or cool down the metal hydride powder storage structure (40).
  • Thermal grease may be applied to the stainless foil (44) to improve the thermal transfer between the TECs (50) and the metal hydride powder storage structure (40).
  • a contact pressure between the TECs (50) and the metal hydride powder storage structure (40) is recommended. This pressure is recommended by TEC manufacturers to allow a good contact surface between the various parts of the TECs (50) assembly for the effective transfer of heat. Depending on the TECs (50) size and thickness, this pressure may vary.
  • the metal hydride actuator (100), such as illustrated in Figure 1 may be used in a variety of applications, an example of which is for powering a knee member of an actuated leg prosthesis.
  • the maximum torque at the knee is approximately 0.7 Nm/kg. Based on a 70 kg person, the required torque would then be around 50 Nm, thus using a 0.1 m level arm on a three-bar mechanism, a 500 N actuator would be able to produce the required torque.
  • a metal hydride actuator (100) with an effective piston (22) area of 8.56X10 "4 m 2 and a pressure chamber (20) length of 10 cm may be used.
  • the amount of metal hydride powder required for each reaction chamber (12, 14) would be approximately 15 g and the total volume of the metal hydride actuator (100) would be approximately 175 cm 3 (external diameter of 1.5" and length of 6").
  • the metal hydride actuator (100), as previously described, may also be used in a passive mode, dissipating kinetic energy. In this mode an external force pushes on the shaft (24) attached to the piston (22) in the direction of arrow (2), compressing the Hfe gas. The compression of the hb gas creates a force opposed to the movement, resulting in the metal hydride actuator (100) acting in a spring like fashion The compression of the hfe gas also results in some of the Hb gas being absorbed by the metal hydride powder, resulting in a damping of the movement. Such a behavior may be useful, for example, at the ankle were the ankle joint acts like a spring and damper for most part of the movement cycle.
  • the metal hydride actuator (300) is very similar to the metal hydride actuator (200) of Figure 2, therefore only the differences will be described for concision purposes.
  • the metal hydride actuator (300) includes two shafts (24, 25), one on each side of the piston (22).
  • the other components of the metal hydride actuator (300) are similar to those of the metal hydride actuator (100) shown in Figure 1 and the metal hydride actuator (200) shown in Figure 2, the second shaft
  • the metal hydride actuator (400) is very similar to the metal hydride actuator (200) of Figure 2, therefore only the differences will be described for concision purposes.
  • the metal hydride actuator (400) includes a single reaction chamber (12) with gas outlet (16) operatively connecting the reaction chamber (12) to the pressure chamber (32), which includes the piston (22) connected to the shaft (24), seals
  • the metal hydride actuator (400) is simply used in a push configuration.
  • the reaction chamber (12) which is positioned at the rear of the metal hydride actuator (400), i.e. the end opposite the shaft (24), provides hydrogen pressure through corresponding gas outlet (16) to the hermetic pressure chamber portion (32) in order to push the piston (22) and shaft (24) in the direction of arrow (3).
  • a resilient member (39) for example a spring, provides the pull force and, for efficiency purposes, may be set such as to provide a constant force during the full stroke of the metal hydride actuator (400).
  • (36, 38) may have the property of being resilient, thus making possible the elimination of the resilient member (39).
  • the metal hydride actuator is very similar to the metal hydride actuator (100) shown in Figure 1 , metal hydride actuator (200) of Figure 2 or metal hydride actuator (300) of Figure 6, with the difference that both reaction chambers (12, 14) are combined into a single stacked reaction chamber (15) having a first (15a) and second (15b) reaction chamber portions, as shown in Figure 8.
  • the TECs (50) are heat pumps which transfer energy from one side (called the cold side) to the other (called the hot side).
  • the TECs (50a, 50c, 50b) may be stacked with the metal hydride powder storage structures (40a, 40b) so as to recover some of the thermal energy and enhance system efficiency, effectively eliminating one of the TECs (50) in the process, since the TEC (50c) located between the two reaction chamber portions (15a, 15b) acts as a heater on one side and as a cooler on the other side.
  • the metal hydride powder storage structures (40a, 40b) will mostly be at different operational pressures, they must be sealed from one another within the body (74) of the reaction chamber (15) within their respective reaction chamber portions (15a, 15b) using a seal (76) that may accept a high hydrogen pressure gradient and fast temperature cycling.
  • the lids (72) may be used to apply the recommended contact pressure between the TECs (50a, 50c, 50b) and the metal hydride powder storage structures (4Oa 1 40b) for an effective transfer of heat.
  • the seal (76) includes at least two separate sealing portions (not shown), in order to decrease pressure gradient due to high temperature gradient, and is made of a material well suited for thermal cycling, the material having stable mechanical properties for the whole thermal cycling range.
  • thermal grease may be applied to the stainless foil (44) to improve the thermal transfer between the TECs (50a, 50c, 50b) and the metal hydride powder storage structures (40a, 40b).
  • a contact pressure between the TECs (50a, 50c, 50b) and the metal hydride powder storage structures (40a, 40b) is recommended. This pressure is recommended by TEC manufacturers to allow a good contact surface between the various parts of the TECs (50a, 50c, 50b) assembly for the effective transfer of heat.
  • this pressure may vary.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Sorption Type Refrigeration Machines (AREA)

Abstract

L'invention concerne un actionneur d'hydrure de métal comprenant une chambre de pression ayant une première portion de chambre de pression et une seconde portion de chambre de pression et au moins une chambre de réaction connectée de manière opérationnelle à l'une de la première portion de chambre de pression et de la seconde portion de chambre de pression, ladite au moins une chambre de réaction ayant un mécanisme de réglage de température et contenant de la poudre d'hydrure de métal. Un piston est positionné dans la chambre de pression, le piston formant une barrière entre la première portion de chambre de pression et la seconde portion de chambre de pression, et un moyen de transmission de mouvement est connecté de manière opérationnelle avec le piston, le moyen de transmission de mouvement étant positionné dans la première portion de chambre de pression pour sortir d'une ouverture dans une paroi de la première portion de chambre de pression. Le mécanisme de réglage de température peut servir à provoquer un changement de température de la poudre d'hydrure de métal dans l'au moins une chambre de réaction, créant ainsi un différentiel de pression entre les deux portions de chambre de pression, provoquant le mouvement du piston.
EP06752853A 2005-06-29 2006-06-29 Actionneur d hydrure de métal Withdrawn EP1899603A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US69468305P 2005-06-29 2005-06-29
PCT/CA2006/001081 WO2007000058A1 (fr) 2005-06-29 2006-06-29 Actionneur d'hydrure de metal

Publications (1)

Publication Number Publication Date
EP1899603A1 true EP1899603A1 (fr) 2008-03-19

Family

ID=37595031

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06752853A Withdrawn EP1899603A1 (fr) 2005-06-29 2006-06-29 Actionneur d hydrure de métal

Country Status (3)

Country Link
EP (1) EP1899603A1 (fr)
CA (1) CA2613563A1 (fr)
WO (1) WO2007000058A1 (fr)

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CN102536963A (zh) * 2011-12-31 2012-07-04 长沙中联消防机械有限公司 工程机械及其支腿水平油缸的保护方法及保护装置

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RU2499163C2 (ru) * 2011-08-23 2013-11-20 Учреждение Российской Академии Наук Институт Машиноведения Им. А.А. Благонравова Ран Линейный привод
JP6043502B2 (ja) * 2012-04-13 2016-12-14 吉田 静男 自律駆動型水素吸蔵合金アクチュエータ
CN103321863A (zh) * 2013-06-28 2013-09-25 李先强 温差式空气能发电机
CN105082183B (zh) * 2014-05-12 2017-02-15 宁夏巨能机器人系统有限公司 一种机械臂夹具保护装置
CN105298775B (zh) * 2015-04-13 2018-10-12 贾二芳 从温差中获取动力利用自然规律实现自动化作业的机械装置
CN107143472B (zh) * 2017-02-09 2019-08-09 贾二芳 主动持续从各种环境中获取温差转化成动力的温差发动机
CN110953212A (zh) * 2019-12-11 2020-04-03 常州大学 高频响振动伺服液压缸

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CN102536963A (zh) * 2011-12-31 2012-07-04 长沙中联消防机械有限公司 工程机械及其支腿水平油缸的保护方法及保护装置

Also Published As

Publication number Publication date
WO2007000058A1 (fr) 2007-01-04
CA2613563A1 (fr) 2007-01-04

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