CN101337577A - Multi-finger, multi-joints water drive mechanical arm for underwater operation - Google Patents
Multi-finger, multi-joints water drive mechanical arm for underwater operation Download PDFInfo
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- CN101337577A CN101337577A CNA2008100219282A CN200810021928A CN101337577A CN 101337577 A CN101337577 A CN 101337577A CN A2008100219282 A CNA2008100219282 A CN A2008100219282A CN 200810021928 A CN200810021928 A CN 200810021928A CN 101337577 A CN101337577 A CN 101337577A
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Abstract
The invention relates to a hydraulic driving manipulator used for multi-finger and multi-joint underwater operation, which comprises three fingers and six joints, wherein the root joints of the three fingers are driven via a hydraulic gerotor motor; the finger joints of the three fingers are respectively driven via diaphragm type hydraulic cylinders, transverse wire coil teeth of root joint components are mutually meshed with the teeth at the root parts of the three fingers, and driven via the gerotor motor, the motion is transmitted to the root parts of the three fingers and the root parts of the three fingers are forced to make radial motion in the respective guide grooves, and the large-travel opening and closing actions of the three fingers can be realized. Since the root joints adopt a transverse wire coil tooth transmission mechanism, and by using the characteristics of the mechanical self-locking mechanism of the transverse wire coil tooth transmission mechanism, the holdup time of the pressure difference between the high and low pressure chambers can be reduced to the utmost extent, and the power loss caused by leakage is also reduced. Since the movable parts (diaphragm) of the diaphragm type hydraulic cylinders are connected with the cylinder bodies through mechanical elastic bearings, the power loss caused by leakage is completely avoided. The hydraulic driving manipulator successfully solves the problems of serious leakage of the hydraulic drive and low transmission efficiency.
Description
Technical field
The present invention relates to the underwater robot technical field, especially under-water robot manipulator actuation techniques field.
Background technology
The function of manipulator is shape and the power constraint of keeping manipulation of objects, finishes the operations specific task, as extracting, erecting work etc.According to the function difference, manipulator is divided into clamper and Dextrous Hand two big classes usually.Wherein, Dextrous Hand possesses the many fingers of employing, multi-joint feature.Under the prior art condition, the joint drives generally three kinds of power form.The one, Electromagnetic Drive, as motor, electromagnet etc., the 2nd, fluid drives comprises pneumatic, hydraulic pressure and hydraulic drives, the 3rd, special driver element, Piezoelectric Ceramic for example, magnetic deformation driving etc.
The leading indicator of investigating the manipulator operational capability has two: the one, and the alerting ability of manipulation of objects, the 2nd, load-bearing capacity.Wherein, robotic manipulation target alerting ability is generally weighed with finger number and joint number, and when pointing number and joint number more for a long time, the alerting ability of robotic manipulation target is strong more, promptly can select multiple mode manipulation of objects; Load-bearing capacity refers to the maximum constrained power that manipulator can provide at target.The underwater manipulator operating environment is more special, relates to sealing and pressure compensation two hang-ups under water.Obviously, when finger and joint number when increasing, it is complicated that physical construction will become, and it is difficult to have increased sealing.Therefore, underwater manipulator adopts two pawl clampers usually at present, and initiatively the joint number generally has only 1.In addition, under-water operation requires the manipulator duty ratio bigger usually, and compact conformation, so the joint generally adopts hydraulic-driven, and hydraulically powered medium is selected mineral type hydraulic oil usually.
Though realize fairly simplely as the hydraulic-driven of medium with mineral type hydraulic oil, technology is very ripe, and the oil pressure element is selected very convenient, but leakage and pollution problem are difficult to fundamentally overcome, need to carry hydraulic oil simultaneously, auxiliary devices such as configuration fuel tank, it is huger that total system seems.In addition, the carrier space is limited under water, is difficult to carry huger underwater hydraulic system.In view of the foregoing, this patent proposes Controller of Underwater Manipulator hydraulic pressure direct drive.Though hydraulic drives can be taken the water source of work-site, do not need to carry working medium, do not need to dispose water tank yet, simplified hydraulic efficiency pressure system, hydraulic drives faces more technical difficulty, mainly shows as:
1) viscosity of water is low.
The viscosity of pure water in the time of 50 ℃ is (0.55 ∽ 1.0) * 10
-6m
2/ s, oil viscosity then is (15 ∽ 70) * 10
-6m
2/ s.From water/oily characteristic relatively, hydrodynamic force viscosity (40 ℃) is mineral type hydraulic oil
The kinematic viscosity of water (50 ℃) is mineral type hydraulic oil
Under the identical condition of pressure, green phase is during with the gap, and the spillage of water is than 20 times of big 10 ∽ of oil.
2) wearability
The sticking pressure coefficient of aqueous medium has only 1/30 of hydraulic oil, under equal service condition, the minimum lubrication film thickness of water has only 0.16 times of hydraulic oil, the direct contact that reduces to follow surface of friction pair of lubrication film thickness, cause boundary friction or dry friction, produce serious adhesive wear, abrasive wear, fatigue wear.Simultaneously, low viscosity (LV) can cause high-velocity flow, causes erosive wear, and these wearing and tearing will be shortened the friction pair life-span greatly, further enlarges the tolerance clearance between the running surface and aggravates internal leakage, thereby make element and thrashing.
3) corrosive property
The conductivity water temperature and depth of aqueous medium is 1010 times of hydraulic oil, and corrosive property is strong, very easily causes the electrochemical corrosion of hydraulic pressure system element.
4) cavitation erosion property and water attack
The vapor tension of aqueous medium is 107 times of hydraulic oil, easier vaporization and boiling.The density of water is big than hydraulic oil, inertia is big during flow at high speed, in the flow channels of element and system, form parital vacuum easily, make water vapor or make in the water dissolved gases air elutriation produce a large amount of air pockets and crumble and fall in the higher-pressure region, thereby cause the serious cavitation erosion of wetted surfaces, cause vibration and noise, shortening component life, the reduce Volumetric efficiency and the serviceability of water hydraulic system.In addition, the modulus of elasticity of water is 2.4 times of 1.5 ∽ of hydraulic oil, and the compressibi1ity of water is little, rigidity is big, can produce compression shock when water velocity in the system and direction change suddenly, the water attack of its formation can cause vibration and noise in system, reduce the performance and the reliability of element and system.
At the problems referred to above, the Controller of Underwater Manipulator hydraulic drives often adopts the special technique measure.For example: 1) AMADEUS three of the European scientist of the countries concerned cooperation research and development refers to the underwater manipulator driver element, each finger is gone up three cylinder barrels of configuration, and in cylinder barrel, feed different pressures, then the axially amount of the contracting difference deeply of three cylinder barrels drives finger and does open and close movement.2) the three finger robotic drives under water of Japanese Xiao Song laboratory (Research Division KOMATUS Ltb) development, articulations digitorum manus adopts rubber muscle driver element, and principle is to feed pressure in rubber tubing, makes the folding of rubber tubing dilatational strain driving finger.
The domestic underwater manipulator patent that relates to has 5, is respectively " a kind of industry under-water robot mechanical wrist part structure (200510136710.8) under water of pretending ", " submarine mechanical handgrip (200420069960.5) ", " submarine mechanical wrist portion structure (200520145995.7) ", " high strength operation underwater robot manipulator telescopic joint (200620168723.3) under water ", " the multi-functional parallel paw of underwater manipulator (90207036.3) ".Wherein, " a kind of industry under-water robot mechanical wrist part structure under water of pretending " and " submarine mechanical wrist portion structure " adopt the hydraulic gerotor motor driven, and fluid medium is a hydraulic oil; " submarine mechanical handgrip " adopts magnet to clamp; " high strength operation underwater robot manipulator telescopic joint under water " adopts Driven by Hydraulic Cylinder, and medium also is a hydraulic oil; " the multi-functional parallel paw of underwater manipulator " is a kind of instrument of manual working under water, and unpowered configuration is by diver's manual control.
Domestic above-mentioned 5 patents do not possess the described Controller of Underwater Manipulator hydraulic drives of this patent feature.
Common hydraulic driving element has two kinds of base models, i.e. hydraulic actuating cylinder and HM Hydraulic Motor.Wherein, the Driven by Hydraulic Cylinder movable parts is done straight-line motion, and the fluid motor-driven movable parts rotates.Hydraulic actuating cylinder and HM Hydraulic Motor all are to utilize the difference of pressure of high pressure chest and low-pressure cavity, and drive motion components is done rotation or straight-line motion.In order to satisfy the requirement of motion mutually between conventional hydraulic actuating cylinder and HM Hydraulic Motor movable part and fixed parts, must keep certain interval between movable part and the fixed parts.When the fluid of high pressure chest flows to low-pressure cavity through the gap between movable part and fixed parts, will follow degradation of energy.
At present, by the utilization of special material such as pottery, corrosion-resistant steel, aluminum alloy and specific forming process, solve that the hydraulic drives element is wear-resistant, aspects such as cavitation resistance and water attack, technology is increasingly mature, reliable.Kawasaki, Japan heavy industry technical institute, Japanese NABCO company, Finland Tampere University of Science and Technology and Denmark Danfoss company all have commercially produced product to sell, especially Danfoss company, its product comprises flow-controlling gate, pressure-gradient control valve, directional control valve, hydraulic pamp, hydraulic motor of all size etc., kind is more complete, can satisfy this patent Controller of Underwater Manipulator hydraulic driving system hydraulic pressure element requirements of type selecting.In addition, the Controller of Underwater Manipulator driving power is smaller, and the throughput ratio of hydraulic driving system is less, and flow velocity is also lower, and cavitation erosion property and water attack problem are not too outstanding, can achieve a solution preferably.
In the manipulator hydraulic driving system, technical difficult points is to leak and loss in efficiency under water.Because of one of percentage of the not enough mineral type of the viscosity of water hydraulic oil viscosity, leak much more seriously than oil pressure actuated, drive efficiency will descend rapidly.In no cable underwater robot, the supply of the energy comes from storage battery, and is in order to improve the flying power of no cable underwater robot to greatest extent, very strict to the requirement of operating system efficiency of energy utilization.Therefore, reducing to greatest extent and leak the degradation of energy that causes, is the matter of utmost importance of Controller of Underwater Manipulator hydraulic drives, needs to adopt the special technique means, just can be hopeful to overcome this technical barrier.
Summary of the invention
In order to solve the hydraulic drives Controller of Underwater Manipulator, the invention provides that a kind of new construction is pointed more, multi-joints water drive mechanical arm for underwater operation because of the degradation of energy problem that leakage causes.
The technical scheme that realizes above-mentioned purpose is as follows:
The root joint housing 1 of many fingers, multi-joints water drive mechanical arm for underwater operation comprises the root joint body 14 of cylindrical tube shape and is positioned at its axial lower wall screw mandrel 15;
Root joint body 14 1 side shafts are provided with three radially-directed grooves 18 to end face, and the axial cross section of lower wall screw mandrel 15 is a T shape, and the end face of lower wall screw mandrel 15 is following parcel track plane 19, and following parcel track plane 19 correspondences guide groove 18;
Be provided with articulations digitorum manus support 12 in each guide groove 18, articulations digitorum manus support 12 is L shaped, and the one end is connecting the cylinder body 25 of diaphragm type water cylinder, and its other end is positioned at guide groove, and the corresponding surface that cooperates with lower wall screw mandrel end face is provided with parcel tooth 22; The overhanging end of the piston rod 31 of diaphragm type water cylinder is connecting the mechanical finger middle part, and the bottom of mechanical finger is flexibly connecting the back of the last parcel tooth 22 of articulations digitorum manus support 12;
Described diaphragm type water cylinder comprises elastic bearing 28, cylinder body 25, piston rod 31, overload positioning plate 29 and barrier film 27, axially be divided into high pressure chest and low-pressure cavity by barrier film 27 in the cylinder body 25, barrier film 27 is connecting cylinder body 25 inwalls by annular resilient bearing 28, be connected piston rod 31 with overload positioning plate 29 cooresponding barrier film 27 sidewalls, piston rod 31 other ends are outside low-pressure cavity extends cylinder body 25; High pressure chest one sidewall is provided with high-pressure water inlet 26, and the low-pressure cavity sidewall is provided with water outlet 30.
Described hydraulic motor is the hydraulic pressure gerotor motor, or the water pressure plunger motor, or the hydraulic pressure gear motor.
The described parcel track of parcel track plane 19 down is an involute path, or parabolic path, or the Archimedes spiral track, or elliplicorbit, or hyperbolic locus.
Described barrier film 27 is connecting cylinder body 25 inwalls by annular resilient bearing 28.
The bottom axle body 20 of described lower wall screw mandrel 15 is provided with flat key 21.The bottom axle body 20 of lower wall screw mandrel 15 is connected with motor output shaft by elastic coupling.
Described butt flange 8 another sides are down connecting mounting flange 10 by four connecting screw rods.
Described annular resilient bearing 28 is annular arrangement connecting portion places between movable member barrier film 27 and fixed parts cylinder body 25 inwalls in water cylinder, and the connecting portion place adopts arc transition, and cylinder body 25, barrier film 27 and elastic bearing 28 are integral type.
The invention has the beneficial effects as follows: be used for that under-water operation is pointed more, multi-joint manipulator, the utilization hydraulic drives, by the unique design thought of actuator, successfully solved hydraulic drives leak serious, the key issue that driving efficiency is low.
The characteristics of many fingers, multi-joints water drive mechanical arm for underwater operation structure have:
The one, parcel tooth 22 and the following parcel tooth 19 intermeshing forms of going up are adopted in the transmission of root joint, friction angle by the parcel between cog that is meshing with each other, realized unidirectional transmission agency, promptly descend parcel tooth 19 rotation energys to drive and go up 22 motions of parcel tooth, can not drive down 19 rotations of parcel tooth and go up parcel tooth 22, that is to say reverse transmission auto-lock function.This type of belt drive great advantage is, when manipulator is kept Clamping force to manipulation of objects, the hydraulic motor 9 that drives the root joint does not need to continue to inject high pressure water, can reduce the time that hydraulic motor 9 high and low pressure cavity pressure differences are kept to greatest extent, reduces to leak the loss in efficiency that causes.
The 2nd, the articulations digitorum manus driver element is adopted as many fingers, the custom-designed diaphragm type water cylinder 2 of multi-joints water drive mechanical arm for underwater operation.Compare with the aqua communis Press cylinder device, diaphragm type water cylinder movable member does not adopt piston but substitutes with barrier film 27.Aqua communis cylinder pressure piston utilizes inboard wall of cylinder block face of cylinder guiding, the support of fixed parts, and the barrier film of diaphragm type water cylinder adopts elastic bearing 28 guiding, supports.The fundamental difference of two kinds of water cylinders is, has the gap between the inwall face of cylinder of the piston of aqua communis cylinder pressure and cylinder body, can't stop to leak the loss in efficiency that causes; The barrier film 27 of diaphragm type water cylinder, elastic bearing 28 made integral structure with cylinder body 25, and 25 of barrier film 27 and cylinder bodies are connected by elastic bearing 28, do not have the gap between its movable member and fixed parts, stop to leak the loss in efficiency that causes.
Many fingers, the root joint of multi-joints water drive mechanical arm for underwater operation and the particular design of articulations digitorum manus actuator, compact conformation, driving efficiency height are arranged, characteristics such as the loss in efficiency that leakage causes is little have satisfied Controller of Underwater Manipulator driving efficiency height, volume miniaturization, in light weight and specific (special) requirements that energy utilization rate is high.
Description of drawings
Fig. 1 is that the present invention 3 refers to 6 joint Controller of Underwater Manipulator structural representations.
Fig. 2 is the A-A cutaway view of Fig. 1.
Fig. 3 is a root joint assembly scheme drawing.
Fig. 4 is a lower wall screw structure scheme drawing.
Fig. 5 is meant the knuckle support structural representation.
Fig. 6 is the B-B cut away view of Fig. 1.
Fig. 7 is barrier film, housing assembly scheme drawing.
Fig. 8 is the C-C cut away view of Fig. 7.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further described by embodiment.
Embodiment 1:
Referring to Fig. 1 and Fig. 2, the root joint housing 1 of many fingers, multi-joints water drive mechanical arm for underwater operation comprises the root joint body 14 of cylindrical tube shape and is positioned at its axial lower wall screw mandrel 15;
Root joint body 14 1 side shafts are provided with three radially-directed grooves 18 to end face, see Fig. 3, and the axial cross section of lower wall screw mandrel 15 is a T shape, and the end face of lower wall screw mandrel 15 is following parcel track plane 19, and following parcel track plane 19 correspondences guide groove 18; Be provided with articulations digitorum manus support 12 in each guide groove 18, articulations digitorum manus support 12 is L shaped, see Fig. 5 and Fig. 6, the one end is hinged by the hole 24 of cylinder body 25 1 ends of pin shaft hole 23, bearing pin and diaphragm type water cylinder, its other end is positioned at guide groove, and the corresponding surface that cooperates with lower wall screw mandrel end face is provided with parcel tooth 22; The overhanging end of the piston rod 31 of diaphragm type water cylinder is connecting the mechanical finger middle part, and the bottom-hinged of mechanical finger is connecting the back of the last parcel tooth 22 of articulations digitorum manus support 12; Articulations digitorum manus support 12 is meshing with each other by the following parcel tooth 19 of last parcel tooth 22 with lower wall screw mandrel 15, realizes being connected between finger and root joint assembly.Mechanical finger has three, and promptly left hand refers to 3, middle finger 4 and the right hand refer to 5.
Following butt flange 8 another sides are connecting mounting flange 10 by four connecting screw rods 16, and mounting flange 10 is used for interconnecting between manipulator and mechanical arm.
As seen from Figure 6, the diaphragm type water cylinder comprises elastic bearing 28, cylinder body 25, piston rod 31, overload positioning plate 29 and barrier film 27, axially be divided into high pressure chest and low-pressure cavity by barrier film 27 in the cylinder body 25, barrier film 27 is connecting cylinder body 25 inwalls by annular resilient bearing 28, has thoroughly eliminated the gap between movable member barrier film 27 and the fixed parts cylinder body 25.Be connected piston rod 31 with overload positioning plate 29 cooresponding barrier film 27 sidewalls, piston rod 31 other ends are outside low-pressure cavity extends cylinder body 25; High pressure chest one sidewall is provided with high-pressure water inlet 26, and the low-pressure cavity sidewall is provided with water outlet 30.Overload positioning plate 29 is intended to prevent that the pressure in the high pressure chest is excessive, and the distortion of barrier film 27 or elastic bearing 28 surpasses tolerance band, causes barrier film 27 or elastic bearing 28 to produce expendable elastic deformation, causes damage.
Annular resilient bearing 28 is annular arrangement connecting portion places between movable member barrier film 27 and fixed parts cylinder body 25 inwalls in water cylinder, do not adopt the right angle transition, but adopt 3 arc transition of 1 ∽, purpose is when realizing barrier film 27 guiding and supporting, and has increased the stroke range of barrier film 27; The integral structure of cylinder body 25, barrier film 27 and elastic bearing 28 has thoroughly been eliminated the gap between movable member barrier film 27 and the fixed parts cylinder body 25.
The bottom axle body 20 of lower wall screw mandrel 15 is provided with flat key 21.The bottom axle body 20 of lower wall screw mandrel 15 is connected with hydraulic motor output shaft by elastic coupling.
This manipulator comprises 3 fingers and 6 joints, and three mechanical fingers are that left hand refers to 3, middle finger 4 and the right hand refer to that 5,6 joints comprise 3 articulations digitorum manus and 3 root joints.Wherein, 3 articulations digitorum manus drive (also claiming individual drive) respectively with 3 diaphragm type water cylinders, and 3 roots close saves 1 hydraulic pressure gerotor motor driving (also claiming to owe to drive).
After High-Pressure Water entered the high pressure chest of cylinder body 25 by high-pressure water inlet 26, barrier film 27 produced deformation, and piston rod 31 is done straight-line motion.Because it is hinged to point the hole 32 of passing through piston rod 31, when piston rod 31 was done the linear telescopic motion, finger produced corresponding swing, and promptly the straight-line motion of piston rod 31 can drive the respective finger gathering or open.When high-pressure water inlet 26 stops logical High-Pressure Water, when pressure switched to and equates with water outlet 30, the deformation of barrier film 27 progressively recovered, and piston rod 31 is done straight line thereupon and recovered motion, and the driving respective finger is opened.Whereby, realize the articulations digitorum manus opening and closing movement, the contact force between finger and the manipulation of objects realizes regulating by the pressure in the high pressure chest.
Embodiment 2:
Used hydraulic motor 9 is the water pressure plunger motor; Other is with embodiment 1.
Embodiment 3:
Institute's hydraulic motor of doing 9 is the hydraulic pressure gear motor; Other is with embodiment 1.
Embodiment 4:
The parcel track of following parcel track plane 19 is a parabolic path; Other is with embodiment 1.
Embodiment 5:
The parcel track of following parcel track plane 19 is the Archimedes spiral track; Other is with embodiment 1.
Embodiment 6:
The parcel track of following parcel track plane 19 is a hyperbolic locus; Other is with embodiment 1.
Embodiment 7:
The parcel track of following parcel track plane 19 is an elliplicorbit; Other is with embodiment 1.
Claims (7)
1, many fingers, multi-joints water drive mechanical arm for underwater operation is characterized in that:
The root joint housing (1) of this manipulator comprises the root joint body (14) of cylindrical tube shape and is positioned at its axial lower wall screw mandrel (15);
Body (14) one side shafts in root joint are provided with three radially-directed grooves (18) to end face, and the axial cross section of lower wall screw mandrel (15) is a T shape, and the end face of lower wall screw mandrel (15) is following parcel track plane (19), following parcel track plane (19) corresponding guide groove (18);
Be provided with articulations digitorum manus support (12) in each guide groove (18), articulations digitorum manus support (12) is L shaped, the one end is connecting the cylinder body (25) of diaphragm type water cylinder, and its other end is positioned at guide groove, and the corresponding surface that cooperates with lower wall screw mandrel end face is provided with parcel tooth (22); The overhanging end of the piston rod of diaphragm type water cylinder (31) is connecting the mechanical finger middle part, and the bottom of mechanical finger is flexibly connecting the back of the last parcel tooth (22) of articulations digitorum manus support (12);
Root joint body (14) opposite side axial end is connecting sextuple wrist force sensor (7) by last butt flange (6), and the other end of sextuple wrist force sensor (7) is connecting hydraulic motor by following butt flange (8);
Described diaphragm type water cylinder comprises elastic bearing (28), cylinder body (25), piston rod (31), overload positioning plate (29) and barrier film (27), axially be divided into high pressure chest and low-pressure cavity by barrier film (27) in the cylinder body (25), barrier film (27) is connecting cylinder body (25) inwall by annular resilient bearing (28), be connected piston rod (31) with the overload cooresponding barrier film of positioning plate (29) (27) sidewall, piston rod (31) other end is outside low-pressure cavity extends cylinder body (25); High pressure chest one sidewall is provided with high-pressure water inlet (26), and the low-pressure cavity sidewall is provided with water outlet (30).
2, many fingers according to claim 1, multi-joints water drive mechanical arm for underwater operation, it is characterized in that: described hydraulic motor is the hydraulic pressure gerotor motor, or the water pressure plunger motor, or the hydraulic pressure gear motor.
3, many fingers according to claim 1, multi-joints water drive mechanical arm for underwater operation, it is characterized in that: the described parcel track of parcel track plane (19) down is an involute path, or parabolic path, or the Archimedes spiral track, or elliplicorbit, or hyperbolic locus.
4, many fingers according to claim 1, multi-joints water drive mechanical arm for underwater operation, it is characterized in that: described barrier film (27) is connecting cylinder body (25) inwall by annular resilient bearing (28).
5, many fingers according to claim 1, multi-joints water drive mechanical arm for underwater operation, it is characterized in that: the bottom axle body (20) of described lower wall screw mandrel (15) is provided with flat key (21).The bottom axle body (20) of lower wall screw mandrel (15) is connected with motor output shaft by elastic coupling.
6, many fingers according to claim 1, multi-joints water drive mechanical arm for underwater operation is characterized in that: described butt flange (8) another side is down connecting mounting flange (10) by four connecting screw rods.
7, many fingers according to claim 1, multi-joints water drive mechanical arm for underwater operation, it is characterized in that: described annular resilient bearing (28) is the annular arrangement connecting portion place between movable member barrier film (27) and fixed parts cylinder body (25) inwall in water cylinder, the connecting portion place adopts arc transition, and cylinder body (25), barrier film (27) and elastic bearing (28) are integral type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810021928A CN100575187C (en) | 2008-08-08 | 2008-08-08 | Many fingers, multi-joints water drive mechanical arm for underwater operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810021928A CN100575187C (en) | 2008-08-08 | 2008-08-08 | Many fingers, multi-joints water drive mechanical arm for underwater operation |
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| Publication Number | Publication Date |
|---|---|
| CN101337577A true CN101337577A (en) | 2009-01-07 |
| CN100575187C CN100575187C (en) | 2009-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105738071A (en) * | 2015-12-31 | 2016-07-06 | 中国海洋大学 | Underwater device water tunnel experiment six-dimension test platform |
| CN107943124A (en) * | 2017-11-29 | 2018-04-20 | 大连海事大学 | A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback |
| CN108016585A (en) * | 2017-12-01 | 2018-05-11 | 东北石油大学 | A kind of grand micro-mechanical arm of underwater robot |
| CN112977766A (en) * | 2021-02-03 | 2021-06-18 | 华中科技大学鄂州工业技术研究院 | Novel modularization electrically-driven underwater mechanical arm and underwater robot |
| WO2021218487A1 (en) * | 2020-04-30 | 2021-11-04 | Versitech Limited | Smart soft actuation unit for underwater applications |
| CN113721635A (en) * | 2021-09-14 | 2021-11-30 | 江苏理工学院 | Photoelectrochemistry chlorine salt removing underwater robot |
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
-
2008
- 2008-08-08 CN CN200810021928A patent/CN100575187C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105738071A (en) * | 2015-12-31 | 2016-07-06 | 中国海洋大学 | Underwater device water tunnel experiment six-dimension test platform |
| CN107943124A (en) * | 2017-11-29 | 2018-04-20 | 大连海事大学 | A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback |
| CN107943124B (en) * | 2017-11-29 | 2021-06-01 | 大连海事大学 | Master-slave type artificial muscle joint system with position/force bidirectional feedback |
| CN108016585A (en) * | 2017-12-01 | 2018-05-11 | 东北石油大学 | A kind of grand micro-mechanical arm of underwater robot |
| CN108016585B (en) * | 2017-12-01 | 2019-07-02 | 东北石油大学 | A kind of macro micro-mechanical arm of underwater robot |
| WO2021218487A1 (en) * | 2020-04-30 | 2021-11-04 | Versitech Limited | Smart soft actuation unit for underwater applications |
| CN112977766A (en) * | 2021-02-03 | 2021-06-18 | 华中科技大学鄂州工业技术研究院 | Novel modularization electrically-driven underwater mechanical arm and underwater robot |
| CN113721635A (en) * | 2021-09-14 | 2021-11-30 | 江苏理工学院 | Photoelectrochemistry chlorine salt removing underwater robot |
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
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| CN100575187C (en) | 2009-12-30 |
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