CN103395072B - A kind of hydraulic artificial muscle - Google Patents

A kind of hydraulic artificial muscle Download PDF

Info

Publication number
CN103395072B
CN103395072B CN201310308611.8A CN201310308611A CN103395072B CN 103395072 B CN103395072 B CN 103395072B CN 201310308611 A CN201310308611 A CN 201310308611A CN 103395072 B CN103395072 B CN 103395072B
Authority
CN
China
Prior art keywords
tooth
withhold
closed
connector
connection
Prior art date
Application number
CN201310308611.8A
Other languages
Chinese (zh)
Other versions
CN103395072A (en
Inventor
张增猛
弓永军
侯交义
Original Assignee
大连海事大学
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 大连海事大学 filed Critical 大连海事大学
Priority to CN201310308611.8A priority Critical patent/CN103395072B/en
Publication of CN103395072A publication Critical patent/CN103395072A/en
Application granted granted Critical
Publication of CN103395072B publication Critical patent/CN103395072B/en

Links

Abstract

The invention discloses a kind of hydraulic artificial muscle, comprise closed end connection, elastic rubber pipe, high strength fibre mesh grid, water flowing end connector, two ends withhold ring, withhold ring in two and two back taper flank of tooth withhold ring.When the present invention works, under the effect of hydraulic pressure, elastic rubber pipe and high strength fibre mesh grid deform, and hydraulic artificial muscle diameter is increased, and length reduces, and then produce pulling force effect to the driven object that the tapped blind hole of closed end connection connects.Elastic rubber pipe in inside, because high strength fibre mesh grid becomes tubulose by high strength fibre close weave, covers elastic caoutchouc tube outside the water seal of certain pressure, enables hydraulic artificial muscle bear enough large internal water pressure; Owing to withholding the effect of withholding and the back taper flank of tooth and the convex shoulder structure effect of ring, enable hydraulic artificial muscle bear large drag load, and then make the present invention form high strength hydraulic artificial muscle.

Description

A kind of hydraulic artificial muscle

Technical field

The present invention relates to the fluid-driven artificial muscle, particularly a kind of high strength hydraulic artificial muscle of the field application such as robot, job that requires special skills manipulator and automatic production line.

Background technology

Drive with control at joint of robot, fluid-operated artificial-muscle is a kind of novel driver, can be divided into Pneumatic artificial muscle and hydraulic artificial muscle.Pneumatic artificial muscle is applied in the field such as robot and automatic production line, has the advantages such as structure is simple, action level and smooth, power output/weight ratio is large.It is simple that hydraulic artificial muscle not only has structure, is conducive to realizing advantage that is miniaturized and lightness, compare that Pneumatic artificial muscle power output is larger, response speed sooner, work noise is lower.Artificial-muscle is without Relative friction moving component, for underwater operation operating mode, can not produce the problem of hydraulic cylinder extension bar by environmental pollution or other influences, with low cost and maintainable good, thus hydraulic artificial muscle is specially adapted to joint drive and the control of Controller of Underwater Manipulator.

Hydraulic artificial muscle is different from Pneumatic artificial muscle driving medium, and air easily compresses, and the general pressure of Pneumatic Transmission is at below 1MPa, and pressure belongs to high-pressure pneumatic higher than 1MPa, there is a lot of safety issue under elevated pressures with gas-powered artificial-muscle.Therefore, Pneumatic artificial muscle operating pressure is no more than 1MPa, and Pneumatic artificial muscle self is not high for the requirement of intensity yet.But the power output of fluid-operated artificial-muscle increases along with the raising of operating pressure, and the operating pressure improving artificial-muscle can significantly improve its power output.Further, existing water hydraulic system element, the working pressure range as the operating pressure ratio Pneumatic artificial muscle of pump, control valve etc. is high a lot, and the pressure improving artificial-muscle is also conducive to matching with the operating pressure of water hydraulic system element.

Existing hydraulic artificial muscle still adopts the structure of Pneumatic artificial muscle, the form of general employing rubber tube, the fastening joint in two ends couples together, its intensity is lower, main relevant with two aspects: one is that fiber knitted net is more sparse, intensity is not high, and rubber tube can swell from mesh grid hole at elevated pressures, produces and destroys; Two be two ends connect joint be only block rubber tube and fiber knitted net by fastening effect, the phenomenon of disengagement can be produced under higher tensile load.The structure of existing artificial-muscle cannot meet the requirement of strength of hydraulic artificial muscle, also not having at present can in the high strength hydraulic artificial muscle of elevated pressures and power output work, so need the high strength hydraulic artificial muscle of development of new to meet the demand of withstand voltage and high power output.

Summary of the invention

For solving the problems referred to above that prior art exists, the present invention will design a kind of hydraulic artificial muscle bearing elevated pressures and tensile load.

To achieve these goals, technical scheme of the present invention is as follows: a kind of hydraulic artificial muscle, comprises closed end connection, elastic rubber pipe, high strength fibre mesh grid, water flowing end connector, two ends withhold ring, withholds ring in two and two back taper flank of tooth withhold ring, described high strength fibre mesh grid becomes tubulose by high strength fibre close weave, and its axial length is than elastic caoutchouc pipe range, and elastic rubber pipe penetrates in high strength fibre mesh grid, described closed end connection and water flowing end connector there are the back taper flank of tooth and convex shoulder, periphery between the back taper flank of tooth and convex shoulder withholds face in being, the back taper flank of tooth of closed end connection and the back taper flank of tooth of water flowing end connector all insert elastic rubber pipe towards the inside of elastic rubber pipe from two ends, elastic rubber pipe cover closed end connection and water flowing end connector the back taper flank of tooth and in withhold face, high strength fibre mesh grid strides across the convex shoulder of closed end connection and water flowing end connector than the part that elastic rubber pipe grows, the end covering closed end connection and water flowing end connector withholds face, and withhold ring by two ends and withhold respectively and withhold on face at the end of closed end connection and water flowing end connector, the high strength fibre mesh grid capped end that turns over withholds ring, stride across convex shoulder again, and withhold face and the back taper flank of tooth in covering, the high strength fibre mesh grid part of withholding face and the back taper flank of tooth in turning over and covering is together with the elastic rubber pipe of high strength fibre mesh grid and internal layer, withhold latch closure and be pressed in closed end connection and water flowing end connector by withholding ring and two back taper flank of tooth in two and withhold on face and the back taper flank of tooth,

Described water flowing end connector center has limbers and screwed hole, and closed end connection is withheld one, face at end and had tapped blind hole.

The fibrous material that high strength fibre mesh grid of the present invention uses is Fanglun l414 or high-strength polyethylene fiber or pbo fiber; The material that described closed end connection and water flowing end connector use is stainless steel.

When the present invention works, the screwed hole of water flowing end connector connects the jointing being used for fixing and water flowing, and the tapped blind hole of closed end connection connects driven object.After hydraulic artificial muscle passes into the water of certain pressure, under the effect of hydraulic pressure, elastic rubber pipe and high strength fibre mesh grid deform, and hydraulic artificial muscle diameter is increased, length reduces, and then produces pulling force effect to the driven object that the tapped blind hole of closed end connection connects.Elastic rubber pipe in inside, because high strength fibre mesh grid becomes tubulose by high strength fibre close weave, covers elastic caoutchouc tube outside the water seal of certain pressure, enables hydraulic artificial muscle bear enough large internal water pressure.At back taper cutting structure and the convex shoulder structure of closed end connection and water flowing end connector, and end withhold ring, in withhold ring and the back taper flank of tooth withhold ring withhold effect under, enable hydraulic artificial muscle bear large drag load.

Concrete principle and effect are: end is withheld ring and is limited in end by convex shoulder, high strength fibre mesh grid walk around end withhold ring after again by withhold ring and the back taper flank of tooth withholds latch closure pressure.During hydraulic artificial muscle tension, the upturned part of high strength fibre mesh grid is contrary with the direction that former part pulls, be subject to again holding the barrier effect withholding ring and convex shoulder, add upper withhold that ring and the back taper flank of tooth withhold ring withhold effect, high strength fibre mesh grid is made to be securely fastened on closed end connection and water flowing end connector, and then hydraulic artificial muscle is not easily destroyed by large tensile load, the phenomenon of closed end connection or the disengagement of water flowing end connector can not be produced.And, elastic rubber pipe by the back taper flank of tooth withhold ring and in withhold latch closure pressure compress after, together with elastic rubber pipe and closed end connection are staggered in the back taper flank of tooth on water flowing end connector, form enough large drag effect, prevent elastic rubber pipe and closed end connection and water flowing end connector from throwing off further.Therefore, hydraulic artificial muscle of the present invention has high pressure resistant and bears the high-intensity performance of large drag load, is high strength hydraulic artificial muscle.

Compared with prior art, the present invention has following beneficial effect:

1, the present invention adopts and becomes the high strength fibre mesh grid of tubulose to cover outside elastic rubber pipe by high strength fibre close weave, enables the present invention tolerate very high pressure and drag load.

2, two end connectors of the present invention there are the back taper flank of tooth and convex shoulder, after withholding at two ends the high strength fibre mesh grid striding across convex shoulder, withhold upturned high strength fibre mesh grid and elastic rubber pipe at the middle part of two end connectors and the back taper flank of tooth two positions again, enable two ends of the present invention tolerate very high drag load and the phenomenon of throwing off joint, two ends can not be produced.

3, hydraulic artificial muscle of the present invention has high pressure resistant and bears the high-intensity performance of large drag load, and then significantly can improve power output along with the raising of operating pressure, and make the working pressure range of artificial-muscle and existing water hydraulic system element, the operating pressure as pump, control valve etc. matches.

4, closed end connection of the present invention and water flowing end connector adopt stainless steel or other non-corrosive materials, can tolerate the action of rust of water, adopt stainless steel or other non-corrosive materials of seawater corrosion resistance, can work in underwater environment for time in seawater.

5, the hydraulic drives element that combines as artificial-muscle and Hydraulic Drive Technology of the present invention, has clean environment firendly, weight ratio of an exerting oneself advantages of higher.The present invention does not have the piston rod extended part of similar hydraulic cylinder, there is not movable sealing place seawater pollution problem, adopts Marine fish to be applied in the underwater environment of ocean, is conducive to the small light of underwater operating machine.

Accompanying drawing explanation

The present invention is drawings attached 1 only, wherein:

Fig. 1 is structural representation of the present invention.

In figure: 1. closed end connection, 2. elastic rubber pipe, 3. high strength fibre mesh grid, 4. water flowing end connector, 12. ends withhold face A, and 13. convex shoulder A, withhold face A in 14,15. back taper flank of tooth A, 16. tapped blind holes, 41. limbers, 42. ends withhold face B, 43. convex shoulder B, face B is withheld, 45. back taper flank of tooth B, 46. screwed holes in 44., 51. ends withhold ring A, and 52. ends withhold ring B, withhold ring A in 61., withhold ring B in 62., the 71. back taper flank of tooth withhold ring A, and the 72. back taper flank of tooth withhold ring B.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described further.As shown in Figure 1, a kind of hydraulic artificial muscle, comprise closed end connection 1, elastic rubber pipe 2, high strength fibre mesh grid 3, water flowing end connector 4, end withhold ring A51, in withhold ring A61, the back taper flank of tooth withholds ring A71, end withholds ring B52, in withhold ring B62, the back taper flank of tooth withholds ring B72, described high strength fibre mesh grid 3 becomes tubulose by high strength fibre close weave, its axial length is longer than elastic rubber pipe 2, elastic rubber pipe 2 penetrates in high strength fibre mesh grid 3, described closed end connection 1 there is back taper flank of tooth A15 and convex shoulder A13, water flowing end connector 4 there is back taper flank of tooth B45 and convex shoulder B43, the back taper flank of tooth A15 of the closed end connection 1 and back taper flank of tooth B45 of water flowing end connector 4 all inserts elastic rubber pipe 2 towards the inside of elastic rubber pipe 2 from two ends, elastic rubber pipe 2 covers the back taper flank of tooth A15 of closed end connection 1, in withhold face A14 and water flowing end connector 4 back taper flank of tooth B45 and in withhold face B44, high strength fibre mesh grid 3 part longer than elastic rubber pipe 2 strides across the convex shoulder A13 of the closed end connection 1 and convex shoulder B43 of water flowing end connector 4, cover the end that the end of closed end connection 1 withholds face A12 and water flowing end connector 4 and withhold face B42, and withhold ring A51 and end by end and withhold ring B52 and withhold the end withholding face A12 and water flowing end connector 4 at the end of closed end connection 1 respectively and withhold on the B42 of face, the high strength fibre mesh grid 3 two ends capped end respectively that turns over withholds ring A51 and end withholds ring B52, stride across convex shoulder A13 and convex shoulder B43 more respectively, and cover in closed end connection respectively and withhold face A14, face B44 is withheld in back taper flank of tooth A15 and water flowing end connector, back taper flank of tooth B45, high strength fibre mesh grid 3 part of withholding face and the back taper flank of tooth in turning over and covering is together with the elastic rubber pipe 2 of high strength fibre mesh grid 3 and internal layer, by in withhold ring A61, in withhold ring B62 and the back taper flank of tooth withholds ring A71, the back taper flank of tooth is withheld ring B72 and is withheld respectively withhold face A14 in closed end connection 1, withhold on face B44 and back taper flank of tooth B45 in back taper flank of tooth A15 and water flowing end connector 4.

Described water flowing end connector 4 center has limbers 41 and screwed hole 46, and closed end connection 1 is withheld face A12 mono-at end and had tapped blind hole 16.The fibrous material that described high strength fibre mesh grid 3 uses can be Fanglun l414 or high-strength polyethylene fiber or pbo fiber.The material that described closed end connection 1 and water flowing end connector 4 use is stainless steel or other non-corrosive materials, adopts stainless steel or other non-corrosive materials of seawater corrosion resistance for time in seawater.

When the present invention works, the screwed hole 46 of water flowing end connector 4 connects the jointing being used for fixing and water flowing, and the tapped blind hole 16 of closed end connection 1 connects driven object.After hydraulic artificial muscle of the present invention passes into the water of certain pressure, under the effect of hydraulic pressure, elastic rubber pipe 2 and high strength fibre mesh grid 3 deform, hydraulic artificial muscle diameter of the present invention is increased, length reduces, and then produces pulling force effect to the driven object that the tapped blind hole 16 of closed end connection 1 connects.Elastic rubber pipe 2 in inside, because described high strength fibre mesh grid 3 becomes tubulose by high strength fibre close weave, covers the water seal of certain pressure outside elastic rubber pipe 2, enables hydraulic artificial muscle bear enough large internal water pressure.Under the convex shoulder structure effect of closed end connection 1 and the back taper flank of tooth A15 of water flowing end connector 4, the teeth structure of back taper flank of tooth B45 and convex shoulder A13, convex shoulder B43, and end withholds ring A51, end withholds ring B52, in withhold ring A61, in withhold ring B62 and the back taper flank of tooth withholds ring A71, the back taper flank of tooth withholds ring B72 withhold effect under, enable hydraulic artificial muscle of the present invention bear large drag load.Concrete principle and effect are: end withholds ring A51, end withholds ring B52 by convex shoulder A13, convex shoulder B43 is limited in the end of closed end connection 1 and water flowing end connector 4 respectively, high strength fibre mesh grid 3 two ends are walked around end and are withheld ring A51, end withhold ring B52 after again by withhold ring A61, in withhold ring B62 and the back taper flank of tooth withholds ring A71, the back taper flank of tooth is withheld ring B72 and is withheld, like this, during hydraulic artificial muscle tension of the present invention, the upturned part in high strength fibre mesh grid 3 two ends is contrary with the direction that mid portion pulls, be subject to again end and withhold ring A51, end withholds ring B52 and convex shoulder A13, the barrier effect of convex shoulder B43, add and upperly withhold ring A61, in withhold ring B62 and the back taper flank of tooth withholds ring A71, what the back taper flank of tooth withheld ring B72 withholds effect, high strength fibre mesh grid 3 is made to be securely fastened on closed end connection 1 and water flowing end connector 4, and then hydraulic artificial muscle is not easily destroyed by large tensile load, the phenomenon that closed end connection 1 or water flowing end connector 4 and high strength fibre mesh grid 3 are thrown off can not be produced.And, elastic rubber pipe 2 is withheld ring A71 by the back taper flank of tooth, the back taper flank of tooth withholds ring B72 and in withhold ring A61, in withhold after ring B62 withholds compression, together with elastic rubber pipe 2 and the back taper flank of tooth A15 in closed end connection 1 are staggered in the back taper flank of tooth B45 on water flowing end connector 4, form enough large drag effect, prevent elastic rubber pipe 2 from throwing off with closed end connection 1 and water flowing end connector 4 further.Therefore, hydraulic artificial muscle of the present invention has high pressure resistant and bears the high-intensity performance of large drag load, and then significantly can improve power output along with the raising of operating pressure, and make the working pressure range of artificial-muscle and existing water hydraulic system element, the operating pressure as pump, control valve etc. matches.

The hydraulic drives element that hydraulic artificial muscle of the present invention combines as artificial-muscle and Hydraulic Drive Technology, has clean environment firendly, weight ratio of an exerting oneself advantages of higher.The present invention does not have the piston rod extended part of similar hydraulic cylinder, there is not movable sealing place seawater pollution problem, adopts Marine fish to be applied in the underwater environment of ocean, is conducive to the small light of underwater operating machine.

Claims (2)

1. a hydraulic artificial muscle, is characterized in that: comprise closed end connection (1), elastic rubber pipe (2), high strength fibre mesh grid (3), water flowing end connector (4), two ends withhold ring, withhold ring in two and two back taper flank of tooth withhold ring; Described high strength fibre mesh grid (3) becomes tubulose by high strength fibre close weave, and its axial length is longer than elastic rubber pipe (2), and elastic rubber pipe (2) penetrates in high strength fibre mesh grid (3); described closed end connection (1) and water flowing end connector (4) there are the back taper flank of tooth and convex shoulder, periphery between the back taper flank of tooth and convex shoulder withholds face in being, the back taper flank of tooth of closed end connection (1) and the back taper flank of tooth of water flowing end connector (4) all insert elastic rubber pipe (2) towards the inside of elastic rubber pipe (2) from two ends, elastic rubber pipe (2) cover closed end connection (1) and water flowing end connector (4) the back taper flank of tooth and in withhold face, high strength fibre mesh grid (3) strides across the convex shoulder of closed end connection (1) and water flowing end connector (4) than the part that elastic rubber pipe (2) grows, the end covering closed end connection (1) and water flowing end connector (4) withholds face, and withhold ring by two ends and withhold respectively and withhold on face at the end of closed end connection (1) and water flowing end connector (4), high strength fibre mesh grid (3) capped end that turns over withholds ring, stride across convex shoulder again, and withhold face and the back taper flank of tooth in covering, high strength fibre mesh grid (3) part of withholding face and the back taper flank of tooth in turning over and covering is together with the elastic rubber pipe (2) of high strength fibre mesh grid (3) and internal layer, withhold latch closure and be pressed in closed end connection (1) and water flowing end connector (4) by withholding ring and two back taper flank of tooth in two and withhold on face and the back taper flank of tooth,
Described water flowing end connector (4) center has limbers (41) and screwed hole (46), and closed end connection (1) is withheld one, face at end and had tapped blind hole (16).
2. a kind of hydraulic artificial muscle according to claim 1, is characterized in that: the fibrous material that described high strength fibre mesh grid (3) uses is Fanglun l414 or high-strength polyethylene fiber or pbo fiber; The material that described closed end connection (1) and water flowing end connector (4) use is stainless steel.
CN201310308611.8A 2013-07-22 2013-07-22 A kind of hydraulic artificial muscle CN103395072B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310308611.8A CN103395072B (en) 2013-07-22 2013-07-22 A kind of hydraulic artificial muscle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310308611.8A CN103395072B (en) 2013-07-22 2013-07-22 A kind of hydraulic artificial muscle

Publications (2)

Publication Number Publication Date
CN103395072A CN103395072A (en) 2013-11-20
CN103395072B true CN103395072B (en) 2015-10-28

Family

ID=49558895

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310308611.8A CN103395072B (en) 2013-07-22 2013-07-22 A kind of hydraulic artificial muscle

Country Status (1)

Country Link
CN (1) CN103395072B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105083535A (en) * 2015-07-21 2015-11-25 哈尔滨工业大学 Integrated fluid artificial muscle driver
CN106181991A (en) * 2016-07-18 2016-12-07 杨海兵 A kind of bionic muscle
JP2018035930A (en) * 2016-09-02 2018-03-08 株式会社ブリヂストン Fluid pressure actuator
CN106181994B (en) * 2016-09-22 2019-02-26 哈尔滨工业大学 Deep-sea flexible grabbing device based on hydraulic-driven artificial-muscle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4860639A (en) * 1984-12-11 1989-08-29 Bridgestone Corporation Flexible tubular wall actuator with end-mounted strain gauge
CN2595538Y (en) * 2002-12-31 2003-12-31 上海大学 Bionic rib machine creeping type moving mchanism in pipe
CN2739353Y (en) * 2004-10-12 2005-11-09 铁岭市铁南橡胶制品厂 Oil well packing rubber sleeve with steel rope frame
CN201380495Y (en) * 2009-04-04 2010-01-13 北华大学 Extension artificial muscle
CN102490183A (en) * 2011-12-09 2012-06-13 江南大学 Compliant joint taking irregular plate spring with variable cross section as skeleton
CN203371556U (en) * 2013-07-22 2014-01-01 大连海事大学 Water pressure artificial muscle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4860639A (en) * 1984-12-11 1989-08-29 Bridgestone Corporation Flexible tubular wall actuator with end-mounted strain gauge
CN2595538Y (en) * 2002-12-31 2003-12-31 上海大学 Bionic rib machine creeping type moving mchanism in pipe
CN2739353Y (en) * 2004-10-12 2005-11-09 铁岭市铁南橡胶制品厂 Oil well packing rubber sleeve with steel rope frame
CN201380495Y (en) * 2009-04-04 2010-01-13 北华大学 Extension artificial muscle
CN102490183A (en) * 2011-12-09 2012-06-13 江南大学 Compliant joint taking irregular plate spring with variable cross section as skeleton
CN203371556U (en) * 2013-07-22 2014-01-01 大连海事大学 Water pressure artificial muscle

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Very High Force Hydraulic McKibben Artificial Muscle with a p-Phenylene-2,6-benzobisoxazole Cord Sleeve;Mayuko Mori,Koichi Suzumori,Masayuki Takahashi,Takashi Hosoya;《Advanced Robotics》;20120402;第24卷(第1-2期);233-254 *
水压人工肌肉驱动特性仿真与实验研究;齐龙;《中国优秀硕士学位论文全文数据库》;20121031;第I140卷(第1021期);11-15 *

Also Published As

Publication number Publication date
CN103395072A (en) 2013-11-20

Similar Documents

Publication Publication Date Title
CN201730780U (en) Hydraulically driven difunctional multi-cylinder slurry pump
US20150266549A1 (en) Oscillating Piston-Type Wave Power Generation Method and System
CN203488306U (en) Annular float cylinder hydraulic type sea wave electric generator
CN201763722U (en) Double-acting multilevel hydraulic cylinder
CN202768508U (en) Hydraulic ram
CN101749169A (en) Dual-rope type float body rope wheel sea wave power generation system
CN201401386Y (en) Parallel-connection type gas-liquid booster cylinder
CN203519351U (en) Loading device for mooring test
CN103247975A (en) Cable injection and recovery system
CN202381448U (en) Hydraulic oil cylinder and hydraulic system
CN203078630U (en) Excavator track tensioning cylinder
CN103247976A (en) Cable drawing mechanism for cable filling device
WO2009088176A3 (en) Vibration hammer
CN204878841U (en) Pipe clamp valve
CN202768520U (en) Plunger cylinder, hydraulic system and engineering machinery
CN201262045Y (en) Hydraulic back-off sub used for oil well water block
CN101737238A (en) Heaving plunger cylinder-type wave energy generation system
CN202671106U (en) Multi-head jack
CN202360118U (en) Pressurizing type emulsion anchor cable anchor unlocking machine
CN201778669U (en) Locking piece connecting type marine riser device
CN203570731U (en) Connecting structure for oil-way block and end cap
CN206191105U (en) Highly pressurised liquid two way seal pipe joint
CN203476272U (en) Hydraulic jet flow continuous vibration unfreezing device
CN101368538A (en) Power generation system by ocean wave energy
CN102108847A (en) Dual well balance type hydraulic pumping unit and working method thereof

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model