CN103921283A - Driving device for underwater hydraulic mechanical arm joints - Google Patents
Driving device for underwater hydraulic mechanical arm joints Download PDFInfo
- Publication number
- CN103921283A CN103921283A CN201410158234.9A CN201410158234A CN103921283A CN 103921283 A CN103921283 A CN 103921283A CN 201410158234 A CN201410158234 A CN 201410158234A CN 103921283 A CN103921283 A CN 103921283A
- Authority
- CN
- China
- Prior art keywords
- rotor
- end cap
- joint
- driving
- drive
- 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.)
- Granted
Links
Abstract
The invention aims to provide a driving device for underwater hydraulic mechanical arm joints. The driving device is composed of a hydraulic driving portion, a position detection portion and a front joint and rear joint connection portion. The position detection portion and the hydraulic driving portion are achieved through connection of a driving rotor output shaft. The hydraulic driving portion is composed of a driving rotor assembly and a driving stator and located through supporting of a left rolling bearing and a right sliding bearing, and a sealing O-shaped ring and a sealing Glyd ring are adopted for preventing leakage. The driving rotor assembly is composed of a driving rotation shaft, a driving rotor, a rotor sealing Glyd ring, a rotor O-shaped sealing ring and a driving rotor right end cover. The rotor is installed on the driving rotation shaft in a fastening mode. The surface, making contact with the end cover, of the rotor is painted with sealant. The inner hole of the right end cover is painted with sealant and installed on one side of the rotor, the rotation shaft, the rotor and the rotor right end cover are locked through rotor pre-tightening screws, and therefore the whole assembly is formed. The driving device is suitable for driving the joints of an underwater operation mechanical arm.
Description
Technical field
What the present invention relates to is a kind of drive unit, specifically drive unit under water.
Background technology
Ocean be richly stored with living resources and mineral resources, the development and utilization of the mankind to ocean, be unable to do without underwater operation equipment.Underwater manipulator is the power tool of the normal configuration of underwater operation equipment, and underwater hydraulic manipulator becomes study hotspot as its important branch.Underwater hydraulic manipulator has larger driving moment and the good advantage of stationarity, and hydraulic system has better weight--to-power ratio, is conducive to reduce overall weight and the volume of manipulator; But in recent years,, the increase underwater hydraulic manipulator feature of environmental protection, security and energy saving being required along with people, more and more came into one's own based on usining fresh water or the seawater water hydraulic technology as drive medium.
At present, the joint drive technology that is applicable to underwater manipulator is comparatively ripe, as Chinese Patent Application No. is 200810063943.3, name is called that " underwater manipulator upper arm " and Chinese Patent Application No. are 200810063942.9, name is called in the patent document of " submarine manipulator shoulder joint ", the drive unit of manipulator is straight line hydraulic cylinder, and the manipulator joint drive unit consisting of straight line hydraulic cylinder limits the angular range that this joint can be rotated; Chinese Patent Application No. 201110233303.4, name are called in the patent document of " a kind of swinging joint structure of underwater hydraulic manipulator ", manipulator driving device version is spiral oscillating cylinder, its structure is comparatively complicated, volume and weight is larger, and does not relate to the feedback of joint job information.
Because the characteristics such as fresh water or seawater viscosity and conventional hydraulic oil have larger difference, cause conventional hydraulic knuckle drive unit such as above-mentioned grade to exist larger internal leakage, external leakage and material etc. can not meet instructions for use; For improving the control accuracy of manipulator, manipulator joint drive unit need design closed loop feedback and regulate simultaneously.Therefore design a kind of articulated driving equipment novel, efficient and that have a closed loop feedback and be applied on water hydraulic manipulator, this device need to have larger improvement on structure and sealing means, to reduce internal leakage and to prevent external leakage.
Summary of the invention
The object of the present invention is to provide the manipulator a kind of manipulator joint of water hydraulic under water drive unit of the driving force of operation under water.
The object of the present invention is achieved like this:
A kind of water hydraulic under water of the present invention manipulator joint drive unit, it is characterized in that: comprise water hydraulic drive part, position detection part, cradle head shell, joint left end cap, joint right end cap, water hydraulic drive part and position detection part are arranged in cradle head shell, water hydraulic drive part comprises drive shaft, drive stator, drive rotor, drive stator to be fixed on cradle head outer casing inner wall, drive rotor to be connected mutually with drive shaft, drive shaft is arranged on and drives by stator, joint left end cap and joint right end cap are separately fixed at the left and right sides of cradle head shell, joint left end cap is connected by front articular link plate with joint right end cap, drive shaft matches with joint left end cap and cradle head shell by roll left dynamic bearing and right sliding bearing respectively, position detection part comprises rotary transformer, jump ring, rotary transformer comprises rotary transformer stator, rotary transformer rotor, the interference of rotary transformer rotor is arranged in drive shaft, rotary transformer stator is positioned at rotary transformer rotor exterior, jump ring is stuck on rotary transformer stator and cradle head shell, rotary transformer stator is fixed on cradle head shell by jump ring screw, jump ring screw middle part is through jump ring, water hydraulic pipe joint is installed on cradle head shell, cable watertight connector, water hydraulic pipe joint arranges through hole, through hole is communicated to cradle head enclosure, the liquid driven entering from water hydraulic pipe joint drives rotor and drive shaft with respect to driving stator rotation, cable watertight connector connects rotary transformer stator by cable.
The present invention can also comprise:
1, driving rotor is 180 degree～270 degree with respect to the anglec of rotation that drives stator.
2, on the cradle head shell between right sliding bearing and rotary transformer, open type sealed groove is set, sealing Glais ring in middle part is installed in open type sealed groove, after middle part sealing Glais ring and right sliding bearing interference fit, is formed enclosed groove and realize drive shaft movable sealing; Between joint right end cap and cradle head shell, by end cap O RunddichtringO, seal; Drive rotor and drive between stator and cradle head shell rotor right end cap is set, rotor right end cap is sleeved in drive shaft, between rotor right end cap and driving rotor, smear fluid sealant, on the face contacting with drive shaft on rotor right end cap, seal groove is set, rotor O RunddichtringO is set in seal groove, drive shaft and rotor right end cap and cradle head shell touching position arrange groove, and rotor seal Glais ring is all installed in groove; Between cable watertight connector and cradle head shell, by watertight head O RunddichtringO, realize end face static seal.
Advantage of the present invention is:
1. utilize seawater or fresh water as mechanical hand hydraulic medium, for manipulator design a kind of lightweight, volume is little, easy for installation, driving force is large and free of contamination underwater hydraulic manipulator articulated driving equipment.
2. adopt modular method for designing, design articulated driving equipment, can replace each free degree joint drive module of manipulator mutually by designing unified joint connection mode, meets the requirement of articulated driving equipment versatility and interchangeability.
3. utilize position detecting device to gather the angle angular acceleration signal of submarine mechanical swivel of hand operation, and transmitted back in manipulator control system, form underwater manipulator closed loop feedback.
4. water hydraulic drive unit and position detecting device are integrated in manipulator joint drive unit, make articulated driving equipment compact conformation, lightweight, improved the service efficiency of manipulator joint parts and inner space.
Accompanying drawing explanation
Fig. 1 is structure diagram of the present invention;
Fig. 2 is axial cutaway view 1 of the present invention;
Fig. 3 is axial cutaway view 2 of the present invention;
Fig. 4 is for driving the axial cutaway view of rotor assembly;
Fig. 5 is the A-A cutaway view that Fig. 4 drives rotor assembly;
Fig. 6 is front articular link plate structure diagram;
Fig. 7 is the structure diagram of jump ring;
Fig. 8 a is for driving the structure diagram a of rotor, and Fig. 8 b is for driving the structure diagram b of rotor, and Fig. 8 c is for driving the structure diagram c of rotor;
Fig. 9 a is for driving the structure diagram a of stator, and Fig. 9 b is for driving the structure diagram b of stator, and Fig. 9 c is for driving the structure diagram c of stator;
Figure 10 a is for improving rear drive rotor structure sketch a, and Figure 10 b is for improving rear drive rotor structure sketch b, and Figure 10 c is for improving rear drive rotor structure sketch c;
Figure 11 a is the structure diagram a of black box after improving, and Figure 11 b is the structure diagram b of black box after improving, and Figure 11 c is the structure diagram c of black box after improving.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail:
In conjunction with Fig. 1～11, patent object of the present invention be to provide a kind of lightweight, volume is little, easy for installation, driving force is large and free of contamination seawater or the fresh water of utilizing as the underwater hydraulic manipulator articulated driving equipment of hydraulic medium.This device, as the most important components of underwater hydraulic manipulator, provides the manipulator driving force of operation under water, and the parameters such as angle, angular acceleration of feeding back manipulator operation by position detection part are so that the control of host computer to manipulator joint; This device adopts water hydraulic to drive, and can provide driving moment larger, that stationarity is strong for manipulator, and water hydraulic mode is pressed more environmental protection (hydraulic medium leaks in external environment pollution-free), safe compared to fluid.
The object of patent of the present invention is achieved through the following technical solutions:
Patent of the present invention adopts water hydraulic type of drive, and hydraulic medium is that fresh water or seawater all can; Articulated driving equipment is mainly comprised of water hydraulic drive part, position detection part and coupling part, joint, front and back; Described position detection part is connected realization with water hydraulic drive part by driving rotor of output shaft axle.Described water hydraulic drive part is mainly comprised of driving rotor assembly, driving stator, and by the dynamic bearing that rolls left, right sliding bearing supporting and location, and adopt sealing O type circle, sealing Glais ring Leakage prevention; Drive rotor assembly mainly by drive shaft, driving rotor, rotor seal Glais ring, rotor O RunddichtringO, driving rotor right end cap, to be formed, rotor is fastening to be arranged in drive shaft, fluid sealant is smeared on the surface that rotor is contacted with end cap, right end cap endoporus is smeared to fluid sealant and be arranged on rotor one side, and by rotor pretension screw, turning cylinder, rotor, rotor right end cap are locked, be assembled into a black box.When articulated driving equipment is worked, hydraulic medium acts on and drives rotor stress surface to make its drive driving rotor assembly and drive between stator relative motion occurs, and articulated driving equipment power is provided.
Described position detection part is mainly comprised of rotary transformer, installation jump ring, joint right end cap, sealing ring and homemade watertight connector.Rotary transformer rotor is arranged in drive shaft by interference fit, and stator is fastened on articulated driving equipment shell by two semicircle jump rings; Rotary transformer is absolute transducer, and drive shaft drives relative motion between rotor sensor and stator, and sensor produces the transmission of angle angular acceleration signal and returns in governor circuit, realizes the closed-loop control that manipulator joint is driven.Coupling part, described joint is mainly comprised of joint left end cap, joint right end cap and front articular link plate; The adjacent posterior joint of joint left end cap and manipulator is connected and fixed by flat key, and joint right end cap turning cylinder is connected with posterior joint adjacent with manipulator after rolling bearing interference fit; Front articular link plate is arranged on the end cap of left and right by screw and alignment pin, more front joint adjacent with manipulator is connected and fixed.
As depicted in figs. 1 and 2, patent of the present invention is primarily characterized in that: adopt fresh water or seawater as hydraulic medium, mainly water hydraulic drive part 6, position detection part 5 and coupling part, joint, front and back 4,9,15, consist of; Water hydraulic drive part 6 and position detection part 5 are integrated in to cradle head shell 11 inside, and the rotating shaft by water hydraulic drive shaft 8 and joint right end cap 15 is connected with manipulator adjacent segment.On cradle head shell 11, assembling water hydraulic pipe joint 1 that taper thread connects and cable watertight connector 3 realizes respectively and being connected of external hydraulic oil circuit and position detecting device communication line.
As shown in Figure 1 and Figure 2, joint left end cap 9 is arranged on cradle head shell 11 by left hold-down screw 10, and joint right end cap 15 is fixed on cradle head shell 11 by right hold-down screw 16, and realizes sealing by end cap O RunddichtringO 17; Joint left end cap 9 posterior joint adjacent with manipulator is connected and fixed by flat key, joint right end cap 15 turning cylinders by rolling bearing interference fit after posterior joint adjacent with manipulator be connected; Front articular link plate 4 is arranged on the end cap of left and right by screw and alignment pin, then with being connected and fixed of the adjacent front joint of manipulator.
As shown in Figure 1 and Figure 2, water hydraulic drive part 6 is by driving rotor assembly and driving relative motion between stator 12 to realize its function, driving corner between rotor assembly and stator 12 is 180 °, can be driven stator 12 and be driven the size of rotor 22 in order to change the size of corner by adjusting, hard-over can reach 270 °; Drive behind stator 12 use alignment pin 2 location, by stator screw 7, be arranged on cradle head shell 11, install while driving stator 12 seal combination shown in Fig. 3 31,32 is arranged in stator arc surface groove, reduce the internal leakage of hydraulic medium; Drive rotor assembly by bearing 13,24 supporting and locations that horizontally slip; Middle part is sealed to Glais ring 14 and be arranged on cradle head shell 11 open type sealed grooves inside, and realize drive shaft 8 movable sealings by forming enclosed groove after itself and right sliding bearing 13 interference fit, the hydraulic medium that prevents drive part 6 leaks into position detection part 5, causes short circuit sensor to damage.
As shown in Figure 3,28 interference of rotary transformer rotor are arranged in drive shaft 8, and stator 27 is arranged on cradle head shell 11 with jump ring screw 18 after clamping by two semicircle jump rings 26; After submerged cable is connected with watertight head fixing base, and vulcanize sealing formation cable watertight connector 3 with fixing base, cable watertight connector 3 is threaded and is pressed on cradle head shell 11 by fixing base, between cable watertight connector 3 and cradle head shell 11, by watertight head O RunddichtringO 25, realizes end face static seal.
As shown in Figure 4, Figure 5, drive rotor 22 to be arranged in drive shaft 8 by rotor mounting screw 29 and rotor alignment pin 30, during installation, will drive rotor 22 to smear fluid sealant with drive shaft 8 with the surface that rotor right end cap 20 contacts; Rotor O RunddichtringO 21 is arranged in the seal groove of rotor right end cap 20, after right end cap 20 endoporus being smeared during installation to fluid sealant, installation is fixing, and by rotor pretension screw 19, drive shaft 8, driving rotor 22, rotor right end cap 20 are locked, form and drive rotor assembly; Rotor seal Glais ring 23 is arranged in drive shaft 8 and rotor right end cap 20 grooves, prevents hydraulic medium and external environment condition generation external leakage; Drive rotor seal assembly by providing flexible acrylonitrile-butadiene rubber circle 31 and square PTFE teflon seal ring 32 to form, during installation, black box and the cradle head shell 11 being mated have been compressed to sealing effectiveness, in order to prevent the internal leakage of hydraulic-driven part 6.
The operation principle of this embodiment is:
When manipulator joint drive unit is worked, hydraulic medium enters into water hydraulic drive part 6 by water hydraulic pipe joint 1, act on to drive on rotor 22 and drive between whole driving rotor assembly 8,19,20,21,22,23 and driving stator 12 and produce relative motion, relative motion between the adjacent front joint of manipulator that the adjacent posterior joint of manipulator that now drive shaft 8, joint right end cap 15 connect and joint left end cap 9, front articular link plate 4 are fastenedly connected, completes the joint motions of manipulator; Be arranged between rotary transformer rotor 28 in drive shaft 8 and its stator 27 relative motion simultaneously and produce angle angular acceleration signal and transmits back in governor circuit by cable watertight connector 3, the closed-loop control of formation to manipulator.
In conjunction with Fig. 3, Figure 10 and Figure 11, change driving rotor 22 into as shown in figure 10 structure, black box 31,32 is changed for the homemade nitrile rubber square seal ring shown in Figure 11 simultaneously, this kind of mode can reduce the installation procedure of smearing fluid sealant, and can reduce the internal leakage while moving, improve the operating efficiency of articulated driving equipment.
Water hydraulic manipulator joint drive unit, adopts fresh water or seawater as driving hydraulic medium, mainly water hydraulic drive part 6, position detection part 5 and coupling part, joint, front and back 4,9,15, consists of; This device advantage is water hydraulic drive part 6 and position detection part 5 to be integrated in cradle head shell 11 inside, and rotating shaft and manipulator adjacent segment by drive shaft 8 and joint right end cap 15 are fastenedly connected.
On cradle head shell 11, by water hydraulic pipe joint 1 and cable watertight connector 3, realize respectively the connection of hydraulic pressure water route and position detection signal circuit.
Water hydraulic drive part is by driving rotor assembly, driving stator 12, rotor O RunddichtringO 21, the dynamic bearing 24 that rolls left, right sliding bearing 13 and middle part sealing Glais ring 14 to form; Drive stator 12 and drive between rotor assembly to relatively rotate, rotor assembly is by left and right bearing 24,13 supporting and locations; Middle part sealing Glais ring 14 is arranged on joint shell 11 grooves and by right sliding bearing 13 interference fit realizes the sealing of position detection part 5.
Position detection part is comprised of rotary transformer rotor 28 and rotary transformer stator 27, installation jump ring 26, joint right end cap 15, end cap O RunddichtringO 17 and cable watertight connector 3; 28 interference of rotary transformer rotor are arranged in drive shaft 8, and rotation relative to stator 27 produces angle angular acceleration signal and transmit back main control loop by cable watertight connector 3, realizes manipulator closed-loop control; The right hold-down screw 16 of joint right end cap 15 use is fixed on cradle head shell 11, by 17 sealings of end cap O RunddichtringO.
Coupling part, joint, front and back is comprised of joint left end cap 9, joint right end cap 15 and front articular link plate 4; Joint left end cap 9 and front articular link plate 4 are fastenedly connected with adjacent front joint, and the turning cylinder of joint right end cap 15 is connected with posterior joint adjacent with manipulator after rolling bearing interference fit.
Drive rotor assembly to be formed by drive shaft 8, driving rotor 22, rotor seal Glais ring 23, rotor O RunddichtringO 21, rotor right end cap 20, rotor pretension screw 19, rotor mounting screw 29, rotor alignment pin 30 and black box 31,32.After driving rotor 22 both ends of the surface to smear fluid sealant, be installed in drive shaft 8, right end cap 20 coordinates rotor O RunddichtringO 21 and drive shaft 8, drives rotor 22 to assembly an integral body; Rotor assembly is realized dynamic radial seal by rotor seal Glais ring 23, prevents aqueous medium external leakage; Black box is comprised of acrylonitrile-butadiene rubber circle 31 and square PTFE teflon seal ring 32.
Drive stator 12 to be fastenedly connected in cradle head shell 11 by dowel pins pump ring 2 and stator screw 7, drive the main sealing innovative point of stator 12 to be the improvement of its sealing original paper, and driving the mode that adopts twice to repeat sealing on stator 12 to improve its sealing effectiveness.
Claims (3)
1. a water hydraulic manipulator joint drive unit under water, it is characterized in that: comprise water hydraulic drive part, position detection part, cradle head shell, joint left end cap, joint right end cap, water hydraulic drive part and position detection part are arranged in cradle head shell, water hydraulic drive part comprises drive shaft, drive stator, drive rotor, drive stator to be fixed on cradle head outer casing inner wall, drive rotor to be connected mutually with drive shaft, drive shaft is arranged on and drives by stator, joint left end cap and joint right end cap are separately fixed at the left and right sides of cradle head shell, joint left end cap is connected by front articular link plate with joint right end cap, drive shaft matches with joint left end cap and cradle head shell by roll left dynamic bearing and right sliding bearing respectively, position detection part comprises rotary transformer, jump ring, rotary transformer comprises rotary transformer stator, rotary transformer rotor, the interference of rotary transformer rotor is arranged in drive shaft, rotary transformer stator is positioned at rotary transformer rotor exterior, jump ring is stuck on rotary transformer stator and cradle head shell, rotary transformer stator is fixed on cradle head shell by jump ring screw, jump ring screw middle part is through jump ring, water hydraulic pipe joint is installed on cradle head shell, cable watertight connector, water hydraulic pipe joint arranges through hole, through hole is communicated to cradle head enclosure, the liquid driven entering from water hydraulic pipe joint drives rotor and drive shaft with respect to driving stator rotation, cable watertight connector connects rotary transformer stator by cable.
2. a kind of manipulator joint of water hydraulic under water drive unit according to claim 1, is characterized in that: driving rotor is 180 degree～270 degree with respect to the anglec of rotation that drives stator.
3. a kind of manipulator joint of water hydraulic under water drive unit according to claim 1 and 2, it is characterized in that: on the cradle head shell between right sliding bearing and rotary transformer, open type sealed groove is set, sealing Glais ring in middle part is installed in open type sealed groove, after middle part sealing Glais ring and right sliding bearing interference fit, is formed enclosed groove and realize drive shaft movable sealing; Between joint right end cap and cradle head shell, by end cap O RunddichtringO, seal; Drive rotor and drive between stator and cradle head shell rotor right end cap is set, rotor right end cap is sleeved in drive shaft, between rotor right end cap and driving rotor, smear fluid sealant, on the face contacting with drive shaft on rotor right end cap, seal groove is set, rotor O RunddichtringO is set in seal groove, drive shaft and rotor right end cap and cradle head shell touching position arrange groove, and rotor seal Glais ring is all installed in groove; Between cable watertight connector and cradle head shell, by watertight head O RunddichtringO, realize end face static seal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410158234.9A CN103921283B (en) | 2014-04-18 | 2014-04-18 | One is water hydraulic manipulator joint drive unit under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410158234.9A CN103921283B (en) | 2014-04-18 | 2014-04-18 | One is water hydraulic manipulator joint drive unit under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103921283A true CN103921283A (en) | 2014-07-16 |
| CN103921283B CN103921283B (en) | 2015-09-30 |
Family
ID=51139800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410158234.9A Expired - Fee Related CN103921283B (en) | 2014-04-18 | 2014-04-18 | One is water hydraulic manipulator joint drive unit under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103921283B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479442A (en) * | 2016-01-19 | 2016-04-13 | 北京工业大学 | Pure water hydraulic system for driving of mechanical arm joint and control method of pure water hydraulic system |
| CN105904480A (en) * | 2016-05-30 | 2016-08-31 | 广东工业大学 | Hydraulic joint |
| CN106272540A (en) * | 2016-09-09 | 2017-01-04 | 广东工业大学 | A kind of hydraulic knuckle and the robot being made up of it |
| CN107914267A (en) * | 2018-01-05 | 2018-04-17 | 北京章鱼智控科技有限公司 | A kind of underwater hydraulic rotating mechanism and underwater hydraulic manipulator |
| CN109050841A (en) * | 2018-09-05 | 2018-12-21 | 哈尔滨工程大学 | A kind of Wheel leg type walking device based on AUV |
| CN110125973A (en) * | 2018-02-02 | 2019-08-16 | 中国科学院沈阳自动化研究所 | A kind of underwater electric joint structure with position and speed feedback |
| CN112984111A (en) * | 2021-02-04 | 2021-06-18 | 中国船舶科学研究中心 | Underwater actuating mechanism with speed feedback function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4526239A (en) * | 1982-04-12 | 1985-07-02 | Japan Marine Science & Technology Center | Underwater hydraulic tool |
| US20030221549A1 (en) * | 2002-05-28 | 2003-12-04 | Danfoss A/S | Water-hydraulic machine |
| CN1542295A (en) * | 2003-11-06 | 2004-11-03 | 浙江大学 | Pure water hydraulic axial plunger pump / motor by total water lubrication |
| CN2864188Y (en) * | 2006-01-18 | 2007-01-31 | 宁波中意液压马达有限公司 | Sea water resistance hydraulic motor |
| CN101429955A (en) * | 2008-12-11 | 2009-05-13 | 哈尔滨工程大学海能科技有限责任公司 | Servo pipe positioning fluid driver |
-
2014
- 2014-04-18 CN CN201410158234.9A patent/CN103921283B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4526239A (en) * | 1982-04-12 | 1985-07-02 | Japan Marine Science & Technology Center | Underwater hydraulic tool |
| US20030221549A1 (en) * | 2002-05-28 | 2003-12-04 | Danfoss A/S | Water-hydraulic machine |
| CN1542295A (en) * | 2003-11-06 | 2004-11-03 | 浙江大学 | Pure water hydraulic axial plunger pump / motor by total water lubrication |
| CN2864188Y (en) * | 2006-01-18 | 2007-01-31 | 宁波中意液压马达有限公司 | Sea water resistance hydraulic motor |
| CN101429955A (en) * | 2008-12-11 | 2009-05-13 | 哈尔滨工程大学海能科技有限责任公司 | Servo pipe positioning fluid driver |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479442A (en) * | 2016-01-19 | 2016-04-13 | 北京工业大学 | Pure water hydraulic system for driving of mechanical arm joint and control method of pure water hydraulic system |
| CN105904480A (en) * | 2016-05-30 | 2016-08-31 | 广东工业大学 | Hydraulic joint |
| CN106272540A (en) * | 2016-09-09 | 2017-01-04 | 广东工业大学 | A kind of hydraulic knuckle and the robot being made up of it |
| CN107914267A (en) * | 2018-01-05 | 2018-04-17 | 北京章鱼智控科技有限公司 | A kind of underwater hydraulic rotating mechanism and underwater hydraulic manipulator |
| CN110125973A (en) * | 2018-02-02 | 2019-08-16 | 中国科学院沈阳自动化研究所 | A kind of underwater electric joint structure with position and speed feedback |
| CN109050841A (en) * | 2018-09-05 | 2018-12-21 | 哈尔滨工程大学 | A kind of Wheel leg type walking device based on AUV |
| CN112984111A (en) * | 2021-02-04 | 2021-06-18 | 中国船舶科学研究中心 | Underwater actuating mechanism with speed feedback function |
| CN112984111B (en) * | 2021-02-04 | 2022-08-12 | 中国船舶科学研究中心 | Underwater actuating mechanism with speed feedback function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103921283B (en) | 2015-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103921283B (en) | One is water hydraulic manipulator joint drive unit under water | |
| CN104440939B (en) | Small underwater hydraulic efficiency manipulator secondary drive joint | |
| CN100484727C (en) | Rotary joint structure of underwater electric manipulator | |
| CN104029215B (en) | A kind of miniaturized underwater hydraulic manipulator arm joint structure | |
| CN110203358A (en) | A kind of AUV connection station with ocean current automatic direction regulating | |
| CN202923877U (en) | Small-size underwater magnetic coupling propeller device | |
| CN102935643B (en) | Underwater hydraulic manipulator swinging joint structure | |
| CN104029219B (en) | The collapsible Manipulator arm structure of a kind of brace type | |
| CN107017515B (en) | Sealing structure and rotary connector adopting same | |
| CN104162893B (en) | The collapsible Manipulator arm structure of a kind of brace type | |
| CN208782611U (en) | A kind of submersible machine sealing device | |
| CN110829787A (en) | Linear rotation magnetic transmission mechanism and wing changing device of underwater vehicle | |
| CN210724529U (en) | Linear rotation magnetic transmission mechanism and wing changing device of underwater vehicle | |
| CN109866249B (en) | Blade type swing joint structure of underwater hydraulic manipulator | |
| CN101936380B (en) | Magnetic-driving leakproof sleeve | |
| CN211089295U (en) | Self-adaptive pressure compensation propulsion system | |
| CN207616610U (en) | Underwater hydraulic manipulator vane type swinging joint structure | |
| CN204997686U (en) | Small -size hydraulic pressure under water machinery wrist second grade rotation mechanism of portion | |
| CN209041553U (en) | The mixed rotary sealing appts of a kind of air-liquid, electricity | |
| CN208021700U (en) | Underwater propeller magnetic seal driving device | |
| CN219134471U (en) | Steering engine device | |
| CN203887862U (en) | Small underwater hydraulic mechanical arm joint structure | |
| CN201216979Y (en) | One-dimensional numerical control nozzle | |
| CN201874497U (en) | Water supply device for drill rod | |
| CN2597767Y (en) | Underwater rotary sealer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20210418 |