CN104440939A - Small underwater hydraulic mechanical arm two-stage drive joint - Google Patents
Small underwater hydraulic mechanical arm two-stage drive joint Download PDFInfo
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- CN104440939A CN104440939A CN201410641165.7A CN201410641165A CN104440939A CN 104440939 A CN104440939 A CN 104440939A CN 201410641165 A CN201410641165 A CN 201410641165A CN 104440939 A CN104440939 A CN 104440939A
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Abstract
The invention aims at providing a small underwater hydraulic mechanical arm two-stage drive joint. The small underwater hydraulic mechanical arm two-stage drive joint comprises a gripper drive hydraulic cylinder assembly for the first-stage linear movement, a second-stage joint rotation assembly and a position detection assembly, wherein the rear end of the first-stage hydraulic cylinder assembly is connected with the front end of a second-stage wrist joint through screws, an oil way inside the first-stage hydraulic cylinder assembly is sealed through an O-shaped seal ring, and the position detection assembly is in interference fit with the rear end of the second-stage wrist joint through a supporting shaft. The wrist joint is driven by hydraulic oil at the oil inlet/outlet in the middle of a second-stage joint mechanism to rotate, and the first-stage gripper hydraulic cylinder assembly is driven to rotate together with the second-stage joint mechanism, a first-stage gripper hydraulic cylinder is driven by hydraulic oil at the oil inlet/outlet in the tail portion of the second-stage joint through the oil way in the first-stage gripper hydraulic cylinder assembly to do linear movement, and the drive torque is provided for a gripper. By means of the small underwater hydraulic mechanical arm two-stage drive joint, the interference of hydraulic connectors connected with the oil inlets and the oil outlets to an outer cylinder is avoided when a first-stage hydraulic cylinder rotates together with the wrist joint in the traditional hydraulic cylinder front and back oil inlet and outlet form.
Description
Technical field
What the present invention relates to is a kind of underwater robot.
Background technology
Underwater robot is the important tool of modern marine environmental monitoring and development of resources; Along with its working range, improving constantly of job requirements, it is also proposed higher requirement to its power tool.Current Autonomous Underwater Vehicle (AUV), due to the advantage such as its good concealment, environment for use be extensive, become the focus of research, but due to restrictions such as volume, weight and the energy, the manipulator being applicable to AUV is little; The miniaturized hydraulic efficiency manipulator being particularly equipped on driving force on AUV stronger is especially rare.
At present, domestic about underwater manipulator secondary drive joint or manipulator revolution, rotary joint patent be mostly installed on underwater electric manipulator; As number of patent application be 200610046218.6, name is called " a kind of rotary joint structure of underwater electric manipulator ", gyration and feedback position signal is produced by torque motor, brake, harmonic speed reducer and rotary encoder, but its volume is larger, belong to single-stage cradle head, motor drives compared with hydraulic-driven, and driving moment is relatively little; As application number 201110127095.X, name are called " two-stage rotary mechanism for small electric manipulator ", two-stage slew gear is integrated, structure relative compact, but also belong to motor to drive, compared with hydraulic-driven, driving moment is relatively little, and is integrated position detecting device.
Summary of the invention
The object of the present invention is to provide the small underwater hydraulic efficiency manipulator secondary drive joint being convenient to realize automatically controlling.
The object of the present invention is achieved like this:
Small underwater hydraulic efficiency manipulator secondary drive joint of the present invention, it is characterized in that: comprise paw connector, piston, cylinder barrel drive end bearing bracket, outer cylinder, urceolus is installed, wrist joint shell, drive stator, drive rotor, wrist shell, joint rear end cap, hydraulic cylinder end cover is fixed on cylinder barrel drive end bearing bracket composition paw hydraulic cylinder end cover, it is outside that outer cylinder is arranged on paw hydraulic cylinder end cover, urceolus is installed and is arranged on outer cylinder outside, piston rear portion is positioned in outer cylinder, piston front portion is positioned in cylinder barrel drive end bearing bracket, in the middle part of piston, projection is set, guiding between piston and outer cylinder and movable sealing is realized by piston guide ring and Glais ring between protruding and outer cylinder, paw connector arranges endoporus, the leading section of piston is arranged in the endoporus of paw connector, outer cylinder afterbody and drive shaft are connected, installation urceolus afterbody and wrist joint shell are connected, wrist joint shell is connected with wrist shell, a drive shaft part is positioned in wrist joint shell, drive shaft other parts are positioned in wrist shell, wrist shell is connected with joint rear end cap, drive stator and drive rotor to be all positioned in wrist joint shell, stator and wrist joint shell is driven to fix, rotor and drive shaft is driven to fix, wrist joint shell is arranged the NPT screwed hole and the 2nd NPT screwed hole that control to drive clockwise and counterclockwise relative rotation between rotor and driving stator, drive one end of rotor with when driving the first end of stator to contact, there is the gap communicated with a NPT screwed hole between the two, when the second end driving rotor and the second end in contact driving stator, there is the gap communicated with the 2nd NPT screwed hole between the two, wrist shell is arranged the 3rd movable NPT screwed hole of control piston and the 4th NPT screwed hole, first passage and second channel are set in drive shaft, third channel and four-way are set in outer cylinder, the projection of piston forms Five-channel and Hexamermis spp respectively by between the both sides, front and back of piston and outer cylinder, 7th passage is set in outer cylinder, 3rd NPT screwed hole, first passage, third channel, 7th passage, Five-channel is connected successively, 4th NPT screwed hole, second channel, four-way, Hexamermis spp is connected successively.
The present invention can also comprise:
1, also comprise angular transducer, the tail end of wrist joint shell connects back shaft, and angular transducer is arranged on back shaft.
2, the radial static seal of O RunddichtringO is adopted between outer cylinder and cylinder barrel drive end bearing bracket, install between urceolus and outer cylinder and sliding bearing is installed, outer cylinder and sliding bearing interference fit are installed, between wrist joint shell and drive shaft, rolling bearing is installed, rolling bearing and wrist joint shell interference fit are installed, install sliding bearing between drive shaft and wrist shell, sliding bearing and wrist shell interference fit are installed.
Advantage of the present invention is:
1, slew gear and straight-line motion mechanism are integrated in one, make mechanical arm compact conformation, volume weight and driving force ratio little, optimized fro hydraulic driving machinery arm configuration, for miniaturized mechanical wrist joint and paw provide a kind of ideal structure;
2, the integrated position detecting device of intra articular, utilizes position detecting device to gather angle, the angular acceleration signal of the operation of submarine mechanical swivel of hand, and is transmitted back in manipulator control system, realizes underwater manipulator closed loop feedback and controls;
3, by the ingenious arrangement combinations of first order paw hydraulic cylinder inlet and outlet of fuel channel by cylinder body, drive shaft and wrist enclosure oil circuit, paw hydraulic cylinder oil inlet and outlet is realized to be placed on joint afterbody, avoid if oil inlet and outlet form before and after conventional cylinder is when first order hydraulic cylinder follows wrist joint rotation, the hydraulic connecting head be connected with oil inlet and outlet is with the interference of installing urceolus.
Accompanying drawing explanation
Fig. 1 is the overall profile in small underwater hydraulic efficiency manipulator secondary drive joint;
Fig. 2 is the A-A profile in small underwater hydraulic efficiency manipulator secondary drive joint;
Fig. 3 is the hydraulic-driven channel floor profile in small underwater hydraulic efficiency manipulator secondary drive joint;
Fig. 4 is the hydraulic-driven partial 3-D outline drawing in small underwater hydraulic efficiency manipulator secondary drive joint;
Fig. 5 is first order paw hydraulic cylinder piston when moving backward, and oil circuit moves towards figure;
Fig. 6 is first order paw hydraulic cylinder piston when travelling forward, and oil circuit moves towards figure;
Fig. 7 is the monnolithic case figure in small underwater hydraulic efficiency manipulator secondary drive joint.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 7, the present invention seeks to realize like this: the paw that secondary drive joint comprises first order rectilinear motion drives hydraulic pressure cylinder assembly, second level articulation assembly, position detection components, the carpal front end in the rear end of first order hydraulic pressure cylinder assembly and the second level is connected by screw, the oil circuit of component internal is sealed by O RunddichtringO, position detection components and the second level carpal rear end back shaft interference fit; Drive wrist joint gyration by the hydraulic oil of the entry/exit hydraulic fluid port in the middle part of secondary articulation mechanism and drive first order paw hydraulic pressure cylinder assembly to rotate together, the hydraulic oil of the entry/exit hydraulic fluid port of secondary joint afterbody drives first order paw hydraulic cylinder rectilinear motion, for paw provides driving moment by component internal oil circuit.
First order paw drives hydraulic pressure cylinder assembly to be arranged on the installation urceolus of secondary articulating anterior by two sliding bearings, and is connected with second level wrist joint casing screws by installing urceolus; First order hydraulic cylinder afterbody is connected with the carpal drive shaft in the second level, the oil circuit of first order hydraulic cylinder is coordinated with drive shaft internal oil passages and prevents from mutually leaking between two oil circuits with O RunddichtringO, realized by rearmounted for first order hydraulic cylinder oil inlet and outlet to joint afterbody by drive shaft internal oil passages, when avoiding wrist joint to drive first order hydraulic cylinder to rotate, oil circuit installs inconvenience.
Second level wrist joint rotates by hydraulic-driven part, seal, is arranged on driving stator on wrist joint shell and wrist shell forms.Drive rotor to be fixedly installed in drive shaft, relatively rotate between rotor and stator, rotor drives drive shaft to produce carpal gyration, realizes the carpal movable sealing in the second level and static seal by seals such as Glais ring and O RunddichtringOs; Oil inlet and outlet on wrist shell by drive shaft internal oil passages for first order paw hydraulic cylinder provides driving hydraulic oil.
Back shaft is threaded with second level wrist joint drive shaft, and adopts thread locking adhesive to seal; Back shaft is arranged joint angles sensor, sensor and back shaft interference fit, and install fixing by semicircle snap ring of installing, joint rear end cap and wrist shell are connected by screw, O RunddichtringO seals, form airtight sensor space, angular transducer output line is by being connected to the inner cabling of underwater electrical connector on the rear end cap of joint.
The parts that the present invention includes have: paw connector 1, hydraulic cylinder end cover 2, end cover 3, O RunddichtringO 4, Glais ring 5, cylinder barrel drive end bearing bracket 6, drive end bearing bracket 7 is installed, rotary oil seal 8, urceolus 9 is installed, sliding bearing A10, rolling bearing 11, wrist joint shell 12, drive shaft 13, black box 14, drive stator 15, rotor right end cap 16, sliding bearing 17, wrist shell 18, support member 19 is installed, snap ring 20 is installed, joint rear end cap 21, angular transducer 22, back shaft 23, wrist oil circuit sealing Glais ring 24, rotor seal Glais ring 25, drive rotor 26, rotor pads 27, outer cylinder 28, piston guide ring 29, piston 30, piston rod guide ring 31.
As shown in Figure 1, the present invention sets forth a kind of miniaturized underwater hydraulic manipulator secondary drive joint, is mainly made up of first order rectilinear motion, second level articulation, position detecting device.The paw of first order rectilinear motion drives hydraulic pressure cylinder assembly mainly to provide paw end effector linear drives moment, and paw connector 1 endoporus is connected with paw end effector, is connected with piston 30 head threads; It is inner and fixing by end cover 3 that piston rod guide ring 31, Glais ring 5 are arranged on cylinder barrel drive end bearing bracket 6, piston rod guide ring 31, Glais ring 5 are respectively used to piston 30 and lead and its straight line movable sealing, and hydraulic cylinder end cover 2 is installed on cylinder barrel drive end bearing bracket 6 by screw and forms paw cylinder ends cover; Cylinder ends cover is threaded with outer cylinder 28, adopts the radial static seal of O RunddichtringO 4 between outer cylinder 28 and cylinder barrel drive end bearing bracket 6; Hydraulic oil driven plunger 30 moves in outer cylinder 28 inside and provides paw driving moment, and by Glais ring sealing fluid cylinder pressure rod chamber and rodless cavity, former and later two piston guide rings 29 are in order to drive guiding; Outer cylinder 28 afterbody is connected with screw with the carpal drive shaft 13 in the second level, and with O RunddichtringO end face seal hydraulic cylinder oil circuit; Outer cylinder 28 passes through two sliding bearing A10 and wrist joint rolling bearing 11 supporting and location, sliding bearing A10 and installation urceolus 9 interference fit; Movable sealing place utilizes rotary oil seal 8, and static seal adopts the end face seal of O RunddichtringO, installs drive end bearing bracket 7 and is connected with installation urceolus 9 by screw, install urceolus 9 afterbody and closely fixed by one group of screw and second level wrist joint shell 12.
As shown in Figure 1, Figure 2 and Figure 3, hydraulic-driven part and the driving stator 15 be arranged on wrist joint shell 12 relative gyration under hydraulic oil effect, himself is arranged on wrist joint shell 12 and wrist shell 18 by rolling bearing 11 and sliding bearing 17, and rolling bearing 11 and sliding bearing 17 are installed with wrist joint shell 12 and wrist shell 18 interference fit respectively, by one group of screw compact siro spinning technology between wrist joint shell 12 and wrist shell 18; Seal Glais ring 24 by one group of O RunddichtringO and wrist oil circuit between hydraulic-driven part and wrist shell 18 to seal, in order to prevent between paw hydraulic cylinder two oil circuits mutually leaking and by hydraulic fluid leak to angular transducer part and wrist joint shell 12 inside; B point two NPT screwed holes (shown in Fig. 2) on wrist shell 18 are connected with external hydraulic oil pipe in order to install threaded connector; Hydraulic-driven part provides flywheel moment for second level wrist joint, be installed in drive shaft 13 by screw and alignment pin after driving rotor 26 both ends of the surface to smear fluid sealant, rotor right end cap 16 coordinate O RunddichtringO after by lock-screw compact siro spinning technology drive rotor 26, and with drive shaft 13, drive rotor 26 to assembly rotor assembly (as shown in Figure 3); Rotor assembly realizes dynamic radial seal by rotor seal Glais ring 25, prevents hydraulic oil external leakage; Black box 14 is made up of acrylonitrile-butadiene rubber circle and square PTFE (polytetrafluoroethylene (PTFE)) sealing ring, drives rotor 26, drives stator 15 respectively and wrist joint shell 12, produce the arc-shaped surface movable sealing problem (as shown in Figure 2) of relative motion between drive shaft 13 in order to solve; Back shaft 23 is threaded with drive shaft 13, and coats thread locking adhesive sealing in threaded connection place.
As shown in Figure 1, angular transducer 22 gathers angle, the angular acceleration signal that wrist joint rotates, and is transmitted back in manipulator control system, realizes underwater manipulator closed loop feedback and controls; Back shaft 23 interference fit of angular transducer 22 and hydraulic-driven part, and clamped by two semicircle snap rings 20 of installing, by one group of screw, snap ring 20 will be installed and support member 19 and wrist shell 18 compact siro spinning technology will be installed; Joint rear end cap 21 is connected with wrist shell 18 by screw, and seals with O RunddichtringO; Sensor signal lines will be connected with outside by being connected watertight head with joint rear end cap 21.
The operation principle of this embodiment is:
To be hydraulic oil enter working chamber by wrist shell 18 and B point NPT screwed hole (oil inlet and outlet of wrist joint shown in Fig. 2) connecting thread connector to second level articulation principle acts on and drive rotor 26, and drive by drive shaft 13, rotor right end cap 16, drive the hydraulic-driven part that forms of rotor 26 and drive between stator 15 and produce relative motion, and owing to being connected and fixed between outer cylinder 28 afterbody of first order paw hydraulic cylinder and drive shaft 13, rotate together so first order paw hydraulic cylinder can follow second level wrist joint; The paw Driven by Hydraulic Cylinder hydraulic oil of first order rectilinear motion can act on piston 30 end face from A, B entry/exit hydraulic fluid port by drive shaft 13 and outer cylinder 28 internal oil passages (as shown in Fig. 4 arrow oil circuit), piston 30 is rectilinear motion under piston guide ring 29, piston rod guide ring 31 lead, and acts on paw end effector by the paw connector 1 be connected with piston 30; Patent movable sealing part of the present invention adopts Glais ring 5 and rotary oil seal 8, and static seal part adopts traditional O RunddichtringO 4.
Claims (3)
1. small underwater hydraulic efficiency manipulator secondary drive joint, it is characterized in that: comprise paw connector, piston, cylinder barrel drive end bearing bracket, outer cylinder, urceolus is installed, wrist joint shell, drive stator, drive rotor, wrist shell, joint rear end cap, hydraulic cylinder end cover is fixed on cylinder barrel drive end bearing bracket composition paw hydraulic cylinder end cover, it is outside that outer cylinder is arranged on paw hydraulic cylinder end cover, urceolus is installed and is arranged on outer cylinder outside, piston rear portion is positioned in outer cylinder, piston front portion is positioned in cylinder barrel drive end bearing bracket, in the middle part of piston, projection is set, guiding between piston and outer cylinder and movable sealing is realized by piston guide ring and Glais ring between protruding and outer cylinder, paw connector arranges endoporus, the leading section of piston is arranged in the endoporus of paw connector, outer cylinder afterbody and drive shaft are connected, installation urceolus afterbody and wrist joint shell are connected, wrist joint shell is connected with wrist shell, a drive shaft part is positioned in wrist joint shell, drive shaft other parts are positioned in wrist shell, wrist shell is connected with joint rear end cap, drive stator and drive rotor to be all positioned in wrist joint shell, stator and wrist joint shell is driven to fix, rotor and drive shaft is driven to fix, wrist joint shell is arranged the NPT screwed hole and the 2nd NPT screwed hole that control to drive clockwise and counterclockwise relative rotation between rotor and driving stator, drive one end of rotor with when driving the first end of stator to contact, there is the gap communicated with a NPT screwed hole between the two, when the second end driving rotor and the second end in contact driving stator, there is the gap communicated with the 2nd NPT screwed hole between the two, wrist shell is arranged the 3rd movable NPT screwed hole of control piston and the 4th NPT screwed hole, first passage and second channel are set in drive shaft, third channel and four-way are set in outer cylinder, the projection of piston forms Five-channel and Hexamermis spp respectively by between the both sides, front and back of piston and outer cylinder, 7th passage is set in outer cylinder, 3rd NPT screwed hole, first passage, third channel, 7th passage, Five-channel is connected successively, 4th NPT screwed hole, second channel, four-way, Hexamermis spp is connected successively.
2. small underwater hydraulic efficiency manipulator secondary drive joint according to claim 1, is characterized in that: also comprise angular transducer, and the tail end of wrist joint shell connects back shaft, and angular transducer is arranged on back shaft.
3. small underwater hydraulic efficiency manipulator secondary drive joint according to claim 1 and 2, it is characterized in that: between outer cylinder and cylinder barrel drive end bearing bracket, adopt the radial static seal of O RunddichtringO, install between urceolus and outer cylinder and sliding bearing is installed, outer cylinder and sliding bearing interference fit are installed, between wrist joint shell and drive shaft, rolling bearing is installed, rolling bearing and wrist joint shell interference fit are installed, install sliding bearing between drive shaft and wrist shell, sliding bearing and wrist shell interference fit are installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410641165.7A CN104440939B (en) | 2014-11-13 | 2014-11-13 | Small underwater hydraulic efficiency manipulator secondary drive joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410641165.7A CN104440939B (en) | 2014-11-13 | 2014-11-13 | Small underwater hydraulic efficiency manipulator secondary drive joint |
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| CN104440939A true CN104440939A (en) | 2015-03-25 |
| CN104440939B CN104440939B (en) | 2016-01-27 |
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| CN201410641165.7A Expired - Fee Related CN104440939B (en) | 2014-11-13 | 2014-11-13 | Small underwater hydraulic efficiency manipulator secondary drive joint |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029211A (en) * | 2014-06-05 | 2014-09-10 | 同济大学 | Hydraulic joint of underwater manipulator |
| CN104999473A (en) * | 2015-08-26 | 2015-10-28 | 北京航空航天大学 | Arm length-changeable mechanical arm joint module suitable for seat-loaded small mechanical arm |
| CN105058420A (en) * | 2015-08-23 | 2015-11-18 | 哈尔滨工程大学 | Wrist part two-stage slewing mechanism of small underwater hydraulic manipulator |
| CN105415397A (en) * | 2015-12-12 | 2016-03-23 | 常州大学 | Non-hollow wiring mechanical and electronic integrated joint |
| CN105459147A (en) * | 2016-01-25 | 2016-04-06 | 哈尔滨工业大学 | Single-freedom-degree rotating joint of underwater robot |
| CN105691572A (en) * | 2016-01-25 | 2016-06-22 | 哈尔滨工业大学 | Pneumatic muscle antagonistic driving frog-imitating swimming robot |
| CN107351118A (en) * | 2017-08-22 | 2017-11-17 | 重庆蓝略路新科技有限公司 | A kind of light and handy flexible hydraulic manipulator rotational structure |
| 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 |
| CN109465844A (en) * | 2018-12-27 | 2019-03-15 | 浙江大学 | A kind of overload hydraulic gripper with double freedom |
| CN109866249A (en) * | 2017-12-05 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of underwater hydraulic manipulator vane type swinging joint structure |
| CN110091352A (en) * | 2019-03-28 | 2019-08-06 | 哈尔滨工业大学 | Miniature large torque high speed joint integrates hydraulic unit driver |
| 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 |
| CN112809717A (en) * | 2021-01-26 | 2021-05-18 | 华中科技大学 | Water pressure drive integrated form manipulator end effector |
| CN114274170A (en) * | 2021-12-17 | 2022-04-05 | 镇江市高等专科学校 | Manipulator rotating device |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029211A (en) * | 2014-06-05 | 2014-09-10 | 同济大学 | Hydraulic joint of underwater manipulator |
| CN105058420A (en) * | 2015-08-23 | 2015-11-18 | 哈尔滨工程大学 | Wrist part two-stage slewing mechanism of small underwater hydraulic manipulator |
| CN104999473A (en) * | 2015-08-26 | 2015-10-28 | 北京航空航天大学 | Arm length-changeable mechanical arm joint module suitable for seat-loaded small mechanical arm |
| CN105415397A (en) * | 2015-12-12 | 2016-03-23 | 常州大学 | Non-hollow wiring mechanical and electronic integrated joint |
| CN105459147A (en) * | 2016-01-25 | 2016-04-06 | 哈尔滨工业大学 | Single-freedom-degree rotating joint of underwater robot |
| CN105691572A (en) * | 2016-01-25 | 2016-06-22 | 哈尔滨工业大学 | Pneumatic muscle antagonistic driving frog-imitating swimming robot |
| CN105691572B (en) * | 2016-01-25 | 2017-08-11 | 哈尔滨工业大学 | A kind of imitative frog travel robot of pneumatic muscles antagonism formula driving |
| CN107351118A (en) * | 2017-08-22 | 2017-11-17 | 重庆蓝略路新科技有限公司 | A kind of light and handy flexible hydraulic manipulator rotational structure |
| CN107351118B (en) * | 2017-08-22 | 2023-06-06 | 重庆梦马致新科技有限公司 | Light and flexible hydraulic mechanical arm rotating structure |
| CN109866249A (en) * | 2017-12-05 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of underwater hydraulic manipulator vane type swinging joint structure |
| CN109866249B (en) * | 2017-12-05 | 2023-08-22 | 中国科学院沈阳自动化研究所 | Blade type swing joint structure of underwater hydraulic manipulator |
| 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 |
| CN110125973B (en) * | 2018-02-02 | 2024-05-07 | 中国科学院沈阳自动化研究所 | Underwater electric joint structure with position and speed feedback |
| CN109465844A (en) * | 2018-12-27 | 2019-03-15 | 浙江大学 | A kind of overload hydraulic gripper with double freedom |
| CN109465844B (en) * | 2018-12-27 | 2023-10-27 | 浙江大学 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
| CN110091352A (en) * | 2019-03-28 | 2019-08-06 | 哈尔滨工业大学 | Miniature large torque high speed joint integrates hydraulic unit driver |
| CN110091352B (en) * | 2019-03-28 | 2022-10-18 | 哈尔滨工业大学 | Miniature large-torque high-speed joint integrated hydraulic driver |
| CN112809717A (en) * | 2021-01-26 | 2021-05-18 | 华中科技大学 | Water pressure drive integrated form manipulator end effector |
| CN112809717B (en) * | 2021-01-26 | 2022-03-15 | 华中科技大学 | Water pressure drive integrated form manipulator end effector |
| CN114274170A (en) * | 2021-12-17 | 2022-04-05 | 镇江市高等专科学校 | Manipulator rotating device |
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