WO2018090159A1 - 一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达 - Google Patents

一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达 Download PDF

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WO2018090159A1
WO2018090159A1 PCT/CN2016/000642 CN2016000642W WO2018090159A1 WO 2018090159 A1 WO2018090159 A1 WO 2018090159A1 CN 2016000642 W CN2016000642 W CN 2016000642W WO 2018090159 A1 WO2018090159 A1 WO 2018090159A1
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Prior art keywords
motor
oil distribution
axial oil
cylinder
plunger
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PCT/CN2016/000642
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English (en)
French (fr)
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孙双桢
邓红革
韩丽
郑希军
王禄
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秦皇岛正时乐液压设备有限公司
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Application filed by 秦皇岛正时乐液压设备有限公司 filed Critical 秦皇岛正时乐液压设备有限公司
Priority to EP16921802.1A priority Critical patent/EP3460229B1/en
Priority to PCT/CN2016/000642 priority patent/WO2018090159A1/zh
Publication of WO2018090159A1 publication Critical patent/WO2018090159A1/zh

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    • 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
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
    • F03C1/047—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement the pistons co-operating with an actuated element at the outer ends of the cylinders
    • F03C1/0474—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement the pistons co-operating with an actuated element at the outer ends of the cylinders with two or more radial piston/cylinder units in series
    • 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
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • 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
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
    • F03C1/0403—Details, component parts specially adapted of such engines
    • F03C1/0435—Particularities relating to the distribution members

Definitions

  • the present invention relates to a low speed high torque hydraulic motor in the field of hydraulic motors, and more particularly to an inner curve low speed high torque hydraulic motor having a housing rotational output torque.
  • the wheel drive hydraulic motor used in the construction vehicle has two structural modes, one is a planetary reduction gear box in which the plunger hydraulic motor drives the housing to rotate; the other is the rotation of the cylinder body (spindle), and the motor housing is fixed and not rotated. Curved hydraulic motor.
  • the first structure due to its complicated structure, low efficiency, low speed crawling, high failure rate, is not conducive to market competition; the second structure, because it is the rotation of the cylinder (spindle), the internal curve of the motor housing is not fixed Motors, which occupy a large space, are limited in their application in construction vehicles. For this reason, how to improve the structure, improve the efficiency, reduce the failure rate, reduce the occupied space, and make the layout of the host more reasonable by improving the structure of the vehicle is a very significant subject in the field.
  • the Viking motor In the ship, lifting equipment and other industries, the Viking motor is commonly used.
  • the Viking motor is also a structure in which the housing rotates, but compared with the inner curve motor in which the housing rotates, the oil distribution method is different, and the Viking motor is Radial oil distribution method, the oil distribution shaft seal ring or the gap seal will wear out during use, which will make it impossible to compensate after the gap is large, resulting in internal leakage and unable to work normally.
  • its rated speed is low, and the internal curve hydraulic motor of the housing rotation can be widely used in industries such as walking construction machinery, ships, lifting equipment, and the like.
  • the main object of the present invention is to overcome the defects of low efficiency, low speed crawling, heavy weight, large volume, and the like, and overcome the defects of the planetary main shaft rotating shaft of the conventional plunger hydraulic motor driving housing, and overcome the rotation output of the cylinder main shaft, and the housing is not fixed.
  • the internal curve hydraulic motor of the turn has the disadvantage of occupying a large space and limiting the application, and provides a novel structure of an inner curve low-speed high-torque hydraulic motor with a rotating output torque of the casing, and the technical problem to be solved is to make it
  • the structure is improved, and the technical performance required for the wheel drive of the engineering vehicle is easily realized, thereby reducing defects and deficiencies caused by the structure of the wheel-driven traveling hydraulic motor in the existing engineering vehicle, and is very suitable for practical use.
  • An inner curve low speed high torque hydraulic motor with a housing rotation output torque is composed of a left bearing housing, a right end cover, a spacer ring, a cylinder block, an inner curved cam ring, an axial oil distribution plate, and a radial arrangement.
  • the plurality of plunger assemblies are composed of: the inner curved cam ring and the left bearing seat, the spacer ring and the right end cover constitute a motor housing, wherein the motor housing is a split structure, and the inner curved cam ring and the left bearing seat and the spacer ring, The right end caps are connected in series and are assembled by high-strength bolts.
  • the motor is integrally assembled by a fixed cylinder and a rotating motor casing.
  • the motor casing rotates around the cylinder, and the cylinder is fixed.
  • the axial oil distribution plate is axially disposed on one side of the cylinder, and the axial oil distribution plate is connected to the oil passage of the cylinder through the oil passage. According to the output
  • the torque of the cylinder is different in size, and the plunger holes of the cylinder are arranged in a single row and a plurality of rows, and the plurality of plunger assemblies are uniformly disposed in the plunger holes in a radial direction around the cylinder.
  • the plurality of plunger assemblies are evenly disposed about a radial direction around the cylinder.
  • the above-mentioned inner-rotation low-speed high-torque hydraulic motor with a housing rotation output wherein the axial oil distribution disc is provided with a spring and a balance plunger, the balance plunger is a cup shape, and the spring top is at the balance plunger
  • the bottom surface of the cup of the balance plunger and the right end cover of the balance plunger are closely matched. Under the action of the reaction force of the force, the force of the spring and the balance plunger makes the axial oil distribution plate and the cylinder contact surface closely contact.
  • the axial oil distribution plate relies on the action of the spring and the balance plunger and the pressure oil to keep the contact surface of the axial oil distribution plate and the cylinder body in close contact with each other.
  • the contact surface of the axial oil distribution plate and the cylinder body continue to be in close contact, which compensates for the wear, compensates for the wear of the axial oil distribution plate, and reduces the internal leakage of the motor. Extends the life of the motor.
  • the present invention has significant advantages and advantageous effects over the prior art. It has at least the following advantages:
  • the inner curve low speed high torque hydraulic motor of the housing rotating output torque of the invention provides an effective way for the application of the inner curve hydraulic motor on the engineering vehicle due to the structure of the housing rotation. At the same time, it also provides a new solution for the wheel drive mode of engineering vehicles.
  • the inner curve low-speed high-torque hydraulic motor of the housing rotating output torque of the invention has a structure that is simpler and more efficient than the plunger type hydraulic motor driving the planetary reduction gear box due to the structure of the housing rotating. It is more stable at low speed, lighter in weight, smaller in size, easier to manufacture and process, and has a lower failure rate. Compared with the inner curve driving hydraulic motor with the cylinder rotating and the housing not fixed, it takes up less space and is beneficial to the layout of the mainframe. Etc.
  • the inner curve low-speed high-torque hydraulic motor with a rotating output torque of the casing of the present invention the biggest difference from the Viking motor is the oil distribution mode, and the oil distribution mode of the Viking motor is radial oil distribution, and the disadvantage is that the time is long.
  • the sealing ring or gap seal of the oil distribution shaft is worn, and there is an internal leakage, which affects the output torque of the motor and cannot be used normally.
  • the oil distribution method of the invention is an axial oil distribution, and has a spring in the axial oil distribution plate, a balance plunger and oil pressure compensation wear, so that the service life of the motor is long.
  • FIG. 1 is a schematic structural view of an inner curve low speed high torque hydraulic motor of a housing rotating output torque according to the present invention.
  • Figure 2 is a left side view of Figure 1.
  • left bearing housing 2 inner curved cam ring
  • Figure 3 is a partial enlarged view of Figure 1.
  • an inner curve low-speed high-torque hydraulic motor with a rotating output torque of a casing is mainly composed of a cylinder block 4 and a left bearing housing 1 .
  • the right end cover 7 constitutes a motor housing, which is a split structure, and is composed of an inner curved cam ring 2 connected in series with the left bearing housing 1, the spacer ring 3, and the right end cover 7, and is combined by a high-strength bolt.
  • the motor as a whole is a combination of a fixed cylinder 4 and a rotating motor housing that rotates around the cylinder 4 while the cylinder 4 is stationary.
  • the plunger holes of the cylinder block 4 may be of a single row and a plurality of rows, which are designed according to the magnitude of the torque output, and the plurality of plunger assemblies 5 are uniformly disposed around the cylinder body 4 in the radial direction.
  • the axial oil distribution plate 6 is axially disposed on one side of the cylinder block 4, and the axial oil distribution plate 6 is coupled to the oil passage on the cylinder block 4 through the oil passage.
  • the axial oil distribution plate 6 is provided with a spring 6-1 and a balance plunger 6-2.
  • the balance plunger 6-2 is cup-shaped, and the spring 6-1 is placed on the bottom of the balance plunger 6-2, and the balance is balanced.
  • the outer surface of the bottom of the plunger 6-2 is closely fitted with the right end cover 7, so that the axial oil-disc 6 is always in contact with the cylinder 4 by the spring force of the spring 6-1 under the action of the force reaction force.
  • the face is closely matched.
  • the oil inlet and the oil return hole are both disposed at one end of the cylinder block 4, and the oil inlet route enters the axial oil distribution plate 6 from the center of the cylinder block 4 in the direction shown, and is distributed to
  • the cylinder block 4 is radially evenly distributed in the working chamber of the plunger assembly 5, and pushes the plunger assembly 5 to move linearly.
  • the plunger assembly 5 pushes the inner curved cam ring 2 with the left bearing housing 1, the spacer ring 3, and the right end under the action of pressure.
  • the motor housing composed of the cover 7 performs a rotary motion.
  • the axial oil distribution plate 6 relies on the force of the spring 6-1 and the balance plunger 6-2 so that the contact surface of the axial oil distribution plate 6 and the cylinder block 4 always maintains a close fit, and the pressurized oil enters.
  • the axial oil distribution plate 6 is combined with the spring 6-1 and the balance plunger 6-2 and the pressure oil, the axial oil distribution plate 6 and the cylinder 4 are in close contact with each other, and the axial oil distribution plate 6
  • the force of the spring 6-1 and the balance plunger 6-2 causes the axial oil distribution plate 6 to continue to be in close contact with the cylinder block 4, thereby compensating for the wear effect. Compensating for the wear of the axial oil pan 6 reduces the internal leakage of the motor and prolongs the life of the motor.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Hydraulic Motors (AREA)

Abstract

一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，由左轴承座（1）、右端盖（7）、隔环（3）、缸体（4）、内曲线凸轮环（2）、轴向配油盘（6）以及径向排列的多个柱塞组件（5）组成。轴向配油盘（6）轴向设置在缸体（4）一侧，内曲线凸轮环（2）与左轴承座（1）、隔环（3）、右端盖（7）串联且经高强度螺栓把合组成马达壳体。马达由固定的缸体（4）和旋转的壳体组成。该结构使得内曲线低速大扭矩液压马达的应用领域扩展，优化了马达驱动部的机械结构，降低成本，减少传动环节，变成直驱，消除了低速时的爬行，提高了运行时的稳定性和可靠性，在轴向配油盘内设置弹簧和平衡柱塞的作用力下，使得轴向配油盘和缸体的接触面始终能紧密配合，减少了马达的内泄，延长马达的使用寿命。

Description

一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达 技术领域
本发明涉及一种液压马达领域的低速大扭矩液压马达，特别是涉及一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达。
背景技术
随着工程车辆市场竞争激烈的形势，如何降低成本，提高车辆性能，占有市场就显得至关重要。目前工程车辆所用的车轮驱动液压马达有两种结构方式，一种结构是柱塞液压马达驱动壳体旋转的行星减速箱；一种是缸体(主轴)旋转，马达壳体固定不转的内曲线液压马达。第一种结构，因其结构复杂，效率低、低速爬行，故障率高，不利于市场竞争；第二种结构，因其是缸体(主轴)旋转，马达壳体固定不转的内曲线液压马达，其占有空间大，在工程车辆中的应用受到限制。为此，如何通过改进结构，在保证车辆驱动性能的基础上，提高效率，降低故障率，减小占用空间，使得主机的布局更加合理，是在本领域中的一个很有意义的课题。
在船舶、起重设备等行业中，常用维京马达，维京马达也是壳体旋转的结构，但其与所述的壳体旋转的内曲线马达相比较，配油方式不同，维京马达是径向配油方式，在使用过程中配油轴密封圈或间隙密封会有磨损，造成间隙大后无法补偿，造成内泄，无法正常工作。在相同的排量和扭矩的情况下，其额定转速低，所述的壳体旋转的内曲线液压马达可在行走工程机械、船舶、起重设备等行业，具有广泛的应用价值。
发明内容
本发明的主要目的在于，克服现有的柱塞液压马达驱动壳体旋转的行星减速箱存在的效率低、低速爬行、重量大、体积大等缺陷和克服缸体主轴旋转输出，壳体固定不转的内曲线液压马达，占有空间大而使得应用受到限制的缺陷，而提供了一种新型结构的一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，所要解决的技术问题是使其结构改进，易实现工程车辆车轮驱动所需的技术性能，从而降低现有的工程车辆中车轮驱动的行走液压马达结构所产生的缺陷和不足，非常适于实用。
本发明的目的及解决其技术问题是采用以下的技术方案来实现的。依据本发明提出的一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，是由左轴承座、右端盖、隔环、缸体、内曲线凸轮环、轴向配油盘以及径向排列的多个柱塞组件组成，其中内曲线凸轮环与左轴承座、隔环、右端盖构成马达壳体，该马达壳体为分体结构，由内曲线凸轮环与左轴承座、隔环、右端盖串联且经高强度螺栓把合组成，该马达整体是由固定的缸体和旋转的马达壳体组合而成，该马达壳体绕着缸体旋转，而缸体固定不动，所述的轴向配油盘轴向设置在缸体的一侧，该轴向配油盘通过油道与缸体的油道相接。根据所输出 的扭矩大小不同，该缸体的柱塞孔设置为单排和多排，所述的多个柱塞组件围绕在缸体周围径向方向均布设置在柱塞孔中。
所述的多个柱塞组件围绕在缸体周围径向方向均布设置。
前述的一种壳体旋转输出的内曲线低速大扭矩液压马达，其中所述的轴向配油盘内配置有弹簧和平衡柱塞，该平衡柱塞是杯形，该弹簧顶在平衡柱塞的杯底，而平衡柱塞的杯底外表面与右端盖紧密配合，在作用力反作用力的作用下，该弹簧和平衡柱塞的作用力使得轴向配油盘与缸体接触面紧密接触，在有压力油进入时，该轴向配油盘是依靠弹簧和平衡柱塞的作用力及压力油的共同作用使得轴向配油盘与缸体的接触面始终保持紧密配合，在有磨损的情况下，利用弹簧和平衡柱塞的作用力使得轴向配油盘与缸体的接触面继续紧密接触，具有补偿磨损作用，补偿轴向配油盘的磨损，减少了马达的内泄，延长了马达的寿命。
本发明与现有技术相比具有明显的优点和有益效果。其至少具有下列优点：
1、本发明一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，由于采用壳体旋转的结构，为内曲线液压马达在工程车辆上的应用提供了一条有效途径。同时也为工程车辆的车轮驱动方式提供了一个新方案。
2、本发明一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，由于采用壳体旋转的结构，使得其与柱塞式液压马达驱动行星减速箱相比结构更简单，效率更高、低速时更稳定、重量轻、体积小，制造加工更容易，故障率低；其与缸体旋转，壳体固定不转的内曲线行车液压马达相比其占用空间更小，有利于主机的布局等优点。
3、本发明一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，同维京马达的最大区别是配油方式，维京马达的配油方式为径向配油，缺点是时间久了，配油轴的密封圈或间隙密封有磨损，会有内泄发生，影响马达输出扭矩，无法正常使用。本发明的配油方式为轴向配油，并有轴向配油盘中的弹簧、平衡柱塞和油压补偿磨损，使得马达的使用寿命长。
上述说明仅是本发明技术方案的概述，为能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为让本发明的上述和其他目的、特征和优点能够更明显易懂，以下特举较佳实施例，并配合附图，详细说明如下。
附图的简要说明
本发明：
图1是本发明的一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达的结构示意图。
图2是图1的左视图。
其中：
1：左轴承座       2：内曲线凸轮环
3：隔环           4：缸体
5：柱塞组件
6：轴向配油盘
6-1：弹簧         6-2：平衡柱塞
7：右端盖
图3是图1中的局部放大图.
实现发明的最佳方式
为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效，以下结合附图及较佳实施例，对依据本发明提出的一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达其具体实施方式、结构、特征及其功效，详细说明如后。
请参阅图1、图2、图3所示，本发明较佳实施例的一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，其主要由缸体4、左轴承座1、内曲线凸轮环2、隔环3、轴向配油盘6、右端盖7以及径向排列的多个柱塞组件5组成，其中所述的内曲线凸轮环2与左轴承座1、隔环3、右端盖7构成马达壳体，该马达壳体为分体结构，由内曲线凸轮环2与左轴承座1、隔环3、右端盖7串联且经高强度螺栓把合组成。马达整体是由固定的缸体4和旋转的马达壳体组合而成，该马达壳体围绕缸体4旋转，而缸体4固定不动。该缸体4的柱塞孔可以是单排和多排的，是根据所输出的扭矩大小而设计的，所述的多个柱塞组件5围绕在缸体4周围径向方向均布设置在柱塞孔中。参阅图3，所述的轴向配油盘6轴向设置在缸体4的一侧，该轴向配油盘6通过油道与缸体4上的油道相接。该轴向配油盘6内配置有弹簧6-1、平衡柱塞6-2，平衡柱塞6-2是杯形，弹簧6-1顶在平衡柱塞6-2的杯底，而平衡柱塞6-2的杯底外表面与右端盖7紧密配合，因此在作用力反作用力的作用下，利用弹簧6-1的弹簧力使得轴向配油盘6与缸体4的始终保持接触面紧密配合。
参阅图1、图2、附图3，进油和回油孔均设置在缸体4的一端，进油路线沿图示方向从缸体4的中心进入轴向配油盘6，再分配到缸体4径向均布的柱塞组件5工作腔内，推动柱塞组件5做直线运动，柱塞组件5在压力的作用下推动内曲线凸轮环2同左轴承座1、隔环3、右端盖7组成的马达壳体做旋转运动。初始压力下，轴向配油盘6是依靠弹簧6-1和平衡柱塞6-2的作用力使得轴向配油盘6与缸体4的接触面始终保持紧密配合，在有压力油进入时，轴向配油盘6是依靠弹簧6-1和平衡柱塞6-2及压力油的共同作用使得轴向配油盘6与缸体4的接触面紧密配合，在轴向配油盘6与缸体4的接触面有磨损的情况下，利用弹簧6-1和平衡柱塞6-2的作用力使得轴向配油盘6与缸体4继续紧密接触，起到补偿磨损作用，补偿轴向油盘6磨损，减少了马达的内泄，使得马达的寿命延长。
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内，当可利用上述揭示的技术内容作出些许更动 或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。

Claims (2)

  1. 一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，其特征在于：其是由左轴承座(1)、右端盖(7)、缸体(4)、内曲线凸轮环(2)、隔环(3)、轴向配油盘(6)以及径向排列的多个柱塞组件(5)组成，其中所述的内曲线凸轮环(2)与所述的左轴承座(1)、隔环(3)、右端盖(7)构成马达壳体，该马达壳体为分体结构，由内曲线凸轮环(2)与左轴承座(1)、隔环(3)、右端盖(7)串联且经高强度螺栓把合组成，该马达整体是由固定的缸体(4)和旋转的马达壳体组合而成，该马达壳体绕着缸体(4)旋转，而缸体(4)固定不动，所述的轴向配油盘(6)轴向设置在缸体(4)的一侧，该轴向配油盘(6)通过油道与缸体(4)的油道相接相接，根据所输出的扭矩大小不同，该缸体(4)的柱塞孔设置为单排和多排，所述的多个柱塞组件5围绕在缸体4周围径向方向均布设置在柱塞孔中。
  2. 根据权利要求1所述的一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达，其特征在于，所述的轴向配油盘(6)内配置有弹簧(6-1)和平衡柱塞(6-2)，该平衡柱塞(6-2)是杯形，该弹簧(6-1)顶在平衡柱塞(6-2)的杯底，而平衡柱塞(6-2)的杯底外表面与右端盖(7)紧密配合，在作用力反作用力的作用下，该弹簧(6-1)和平衡柱塞(6-2)的作用力使得轴向配油盘(6)与缸体(4)接触面始终保持紧密配合，在有压力油进入时，该轴向配油盘(6)是依靠弹簧(6-1)、平衡柱塞(6-2)和压力油的共同作用使得轴向配油盘(6)与缸体(4)的接触面始终保持紧密配合，在有磨损的情况下，利用弹簧(6-1)和平衡柱塞(6-2)作用力使得轴向配油盘(6)与缸体(4)接触面继续紧密接触，具有补偿磨损作用，补偿轴向配油盘(6)的磨损，减少了马达的内泄。
PCT/CN2016/000642 2016-11-18 2016-11-18 一种壳体旋转输出扭矩的内曲线低速大扭矩液压马达 WO2018090159A1 (zh)

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