CN109760038B - Hydraulic drive flexible artificial muscle - Google Patents
Hydraulic drive flexible artificial muscle Download PDFInfo
- Publication number
- CN109760038B CN109760038B CN201910048117.XA CN201910048117A CN109760038B CN 109760038 B CN109760038 B CN 109760038B CN 201910048117 A CN201910048117 A CN 201910048117A CN 109760038 B CN109760038 B CN 109760038B
- Authority
- CN
- China
- Prior art keywords
- end cap
- flexible cylinder
- piston
- flexible
- rope
- 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.)
- Active
Links
Images
Landscapes
- Actuator (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a hydraulic drive flexible artificial muscle, which comprises a flexible cylinder, a piston and a traction rope, wherein the flexible cylinder is provided with joints used for being connected with a hydraulic pump at two ends, a spiral steel wire is embedded in the flexible cylinder, the piston is arranged in the flexible cylinder and can move in the flexible cylinder through hydraulic drive, the piston is connected with the traction rope, and the other end of the traction rope extends out of the flexible cylinder and is used for being connected with a load outside the flexible cylinder; the outer wall of the piston is in sealing contact with the inner wall of the flexible cylinder to form a rope cavity and a cordless cavity in the flexible cylinder, and the traction rope extends out of the flexible cylinder after passing through the rope cavity. Compared with the prior art, the artificial muscle of the invention does not generate additional radial expansion in the contraction process and has longer stroke, thereby greatly expanding the application range of the artificial muscle and providing a more excellent scheme for the driving of the existing robot and exoskeleton system.
Description
Technical Field
The invention relates to the technical field of artificial muscles, in particular to a hydraulic driving flexible artificial muscle.
Background
Artificial muscles are a class of electromechanical systems based on engineering and biomimetic designs that, given an input signal, can produce a contractile motion and an output force like muscles. Because of its characteristics of certain flexibility and compact structure, artificial muscle is widely used in various robots and exoskeleton systems to realize the driving of various mechanisms.
The traditional artificial muscle generally adopts a woven material, and under the condition of inputting high-pressure liquid or gas, the axial contraction is realized through the radial expansion of the outer wall of the cylindrical muscle. The traditional artificial muscle has the following defects: firstly, the traditional artificial muscle is inevitably expanded in the radial direction when needing to generate contraction movement, and the characteristic is easy to interfere the actions of other structures nearby the muscle, so that the application of the traditional artificial muscle is limited; secondly, the traditional artificial muscle has smaller contraction movement stroke due to the actuation principle, and the requirement of application with larger stroke cannot be met.
Disclosure of Invention
The present invention addresses the deficiencies of the prior art by providing a hydraulically driven flexible artificial muscle for providing drive for a robotic and exoskeleton system.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a hydraulic drive flexible artificial muscle comprises a flexible cylinder, a piston and a traction rope, wherein the flexible cylinder is provided with joints used for being connected with a hydraulic pump at two ends and embedded with a spiral steel wire, the piston is arranged in the flexible cylinder and can move in the flexible cylinder through hydraulic drive, the piston is connected with the traction rope, and the other end of the traction rope extends out of the flexible cylinder and is used for being connected with a load outside the flexible cylinder; the outer wall of the piston is in sealing contact with the inner wall of the flexible cylinder to form a rope cavity and a cordless cavity in the flexible cylinder, and the traction rope extends out of the flexible cylinder after passing through the rope cavity.
The piston comprises a piston core and a drum-shaped piston sleeve which are coaxially arranged, the piston sleeve is arranged outside the piston core through a groove and protrusion matching structure, the piston core and the piston sleeve are coaxially arranged after being assembled, and the cylindrical surface of the middle section of the piston sleeve is in contact with the inner surface of the flexible cylinder and can relatively slide along the inner surface of the flexible cylinder; the traction rope penetrates through a rope hole in the piston core, and rope clamps are arranged at two ends of the rope hole and fixed on the traction rope to connect the traction rope with the piston core.
The front end and the rear end of the flexible cylinder are respectively and coaxially provided with a front end cover and a rear end cover, the outer wall of the front end cover is in sealing connection with the inner wall of the flexible cylinder, the front end cover is in contact with a middle end cover which is coaxially arranged, corresponding traction ropes pass through holes are formed in the front end cover and the middle end cover respectively, and a rope cavity joint and a cordless cavity joint are respectively arranged on the front end cover and the rear end cover.
The front end cover is connected with the middle end cover through a connecting bolt, a traction rope sealing ring is arranged at a traction rope penetrating hole between the front end cover and the middle end cover, a non-through threaded hole is formed in the cover end cover, and a countersunk bolt hole is formed in the middle end cover.
The front end cover and the rear end cover are respectively provided with an internal thread hole for connecting the rope cavity joint and the cordless cavity joint, and the middle end cover is provided with a through hole corresponding to the rope cavity joint.
The outer side of the flexible cylinder is provided with a front pipe hoop and a rear pipe hoop respectively at positions corresponding to the front end cover and the rear end cover, and the front pipe hoop and the rear pipe hoop are used for clamping the flexible cylinder with the front end cover, the middle end cover and the rear end cover.
Compared with the prior art, the invention has the beneficial effects that:
compared with the prior art, the artificial muscle of the invention does not generate additional radial expansion in the contraction process and has longer stroke, thereby greatly expanding the application range of the artificial muscle and providing a more excellent scheme for the driving of the existing robot and exoskeleton system.
Drawings
FIG. 1 is a schematic diagram of a structure of a hydraulically driven flexible artificial muscle;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;
FIGS. 3A-3B are front and cross-sectional views of the front end cap of FIG. 1;
FIGS. 4A-4B are front and cross-sectional views of the middle cap of FIG. 1;
FIG. 5 is a working diagram of the hydraulically driven artificial muscle in a straightened state;
fig. 6 is a working diagram of the hydraulic driven artificial muscle in a bending state.
In the figure: 1-a traction rope; 2-a rope cavity joint; 3-front end cover; 4-connecting bolts; 5-front end cover sealing ring; 6-sealing ring of hauling rope; 7-front pipe hoop; 8-middle end cap; 9-a flexible cylinder; 10-a piston core; 11-a piston sleeve; 12-rope clamp; 13-rear end cap; 14-cordless cavity tap; 15-rear end cap seal ring; 16-rear pipe hoop; 17-support, 18-cordless cavity; 19-a lumen with a cord; 20-an electric motor; 21-hydraulic pump.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the hydraulic drive flexible artificial muscle of the present invention includes a hauling cable 1, a cable cavity joint 2, a front end cover 3, a connecting bolt 4, a front end cover sealing ring 5, a hauling cable sealing ring 6, a front pipe hoop 7, a middle end cover 8, a flexible cylinder 9, a piston core 10, a piston sleeve 11, a cable clamp 12, a rear end cover 13, a cordless cavity joint 14, a rear end cover sealing ring 15, and a rear pipe hoop 16.
The flexible cylinder is of a tubular structure, the main body of the flexible cylinder is made of flexible materials, and the spiral steel wire is arranged in the flexible cylinder, so that the flexible cylinder can be bent randomly and has high radial rigidity, and radial expansion cannot be generated under the condition of internal pressure bearing.
The haulage rope passes front end housing, haulage rope sealing washer, well end cap and piston core and the inside through-hole of two rope clamps, the haulage rope can freely slide in front end housing, haulage rope sealing washer and well end cap hole. The traction rope is pressed tightly by the rope clamp at two sides of the piston core, so that the traction rope and the piston core cannot move axially relative to each other.
The haulage rope adopts industry rubber coating wire rope material preparation, and this material guarantees that the haulage rope can bear great pulling force, has smooth cylindrical surface again, easily seals, and the haulage rope can be crooked wantonly, possesses better flexibility. The front end of the traction rope is provided with an annular structure, so that the traction rope can be conveniently connected with different mechanisms or loads.
The rope cavity joint and the cordless cavity joint are standard quick joints and are respectively connected with the front end cover and the rear end cover through threads. The rope cavity joint is in a right-angle quick joint form, and the cordless cavity joint is in a straight-through quick joint form.
The piston core is made of steel and is cylindrical, and a through hole is formed in the axis of the piston core and is used for penetrating through the traction rope; three circumferential rectangular groove structures are arranged on the cylindrical surface of the piston sleeve and used for realizing the fixation with the piston sleeve. The piston sleeve is made of rubber materials and is drum-shaped, a through hole is formed in the axis of the piston sleeve, a circumferential rectangular protrusion is machined on the surface of the through hole and used for being matched with the piston core, two sides of the outer surface of the piston sleeve are of conical structures, and the middle section of the outer surface of the piston sleeve is of a cylindrical structure. The piston core and the piston sleeve are coaxially arranged, and the convex and the concave structures of the contact surfaces of the piston core and the piston sleeve are matched and are connected and fixed by adopting an adhesive. The piston core and the piston sleeve are coaxially arranged after being assembled, and the middle section cylindrical surface of the piston sleeve is in contact with the inner surface of the flexible cylinder and can relatively slide along the inner surface of the flexible cylinder.
The front end cover is made of steel materials and is in a disc shape, and 3 identical non-through threaded holes are uniformly distributed on the circumference of the front end cover and are used for being connected with connecting bolts so as to fixedly connect the middle end cover with the middle end cover; the upper part of the front end cover is also provided with a through threaded hole structure so as to be provided with a rope cavity joint; a cylindrical through hole is formed on the axis of the front end cover and is used for passing through a traction rope; and a circumferential rectangular groove structure is processed on the outer circumferential surface of the front end cover and used for placing a front end cover sealing ring.
The middle end cover is made of steel and is in a disc shape, and 3 same countersunk bolt holes are uniformly distributed on the circumference of the middle end cover and are used for mounting connecting bolts; a circular groove is arranged on the axis of the middle end cover at the opposite side of the countersunk bolt hole and used for placing a traction rope sealing ring; a cylindrical through hole is formed in the axis of the middle end cover and is used for passing through a traction rope; the upper part of the middle end cover is also provided with a cylindrical through hole to realize the communication between the rope cavity of the flexible muscle and the rope cavity joint.
The front end cover and the middle end cover are coaxially arranged and fixed by three connecting bolts, and a traction rope sealing ring is arranged between the front end cover and the middle end cover. The front end cover, the middle end cover and the flexible cylinder are coaxially arranged, the left end face of the front end cover is aligned with the end face of the flexible cylinder, and a front pipe hoop is arranged at the axial position corresponding to the front end cover and the middle end cover and used for reinforcing the connection of the front end cover, the middle end cover and the flexible cylinder.
The rear end cover is made of steel materials and is in a disc shape, and a threaded through hole is formed in the axis of the rear end cover and is used for being connected with the cordless cavity joint; and a circumferential rectangular groove structure is processed at the edge of the sealing ring for placing a rear end cover sealing ring. The rear end cover and the flexible cylinder are coaxially arranged, the right end face of the rear end cover is aligned with the other end face of the flexible cylinder, and a rear pipe hoop is arranged at the axial position corresponding to the rear end cover and used for reinforcing the connection between the rear end cover and the flexible cylinder.
The front pipe hoop and the rear pipe hoop are industrial standard pipe hoops and are used for clamping the flexible cylinder to be connected with the front end cover, the middle end cover and the rear end cover.
In the invention, the flexible cylinder, the traction rope and the piston sleeve are made of flexible materials such as rubber, so that the whole flexible muscle has certain flexibility and can be bent at will, the flexible muscle can meet different installation space requirements and environmental deformation in the use process, the environmental adaptability of the artificial muscle is enhanced, and the application range of the artificial muscle is greatly enlarged.
In the invention, the piston, which is an integral body formed by the piston core and the piston sleeve, can slide to the positions where the rope clamps at the two sides are respectively contacted with the middle end cover and the rear end cover at will in the flexible cylinder, the stroke is very long, the defect of short stroke of the traditional artificial muscle is overcome, and the application of larger stroke requirements can be met.
According to the invention, the spiral steel wire structure is arranged in the flexible cylinder to enhance the radial rigidity of the flexible cylinder, so that the flexible cylinder cannot expand radially under the condition of bearing larger pressure, and the defect of additional radial expansion generated in the traditional artificial muscle contraction process is overcome.
The working states of the invention in the straightened and bent states are shown in fig. 5 and 6, respectively. The working principles of the invention for generating contraction motion and output force in the extension and bending states are respectively described as follows:
1) the extension state generates contraction movement and output force.
As shown in fig. 5, during the retraction process, the controller controls the motor 20 to rotate forward, the motor drives the hydraulic pump 21 to suck the liquid in the cordless cavity 18 into the corded cavity 19, at this time, the pressure in the corded cavity rises due to the inflow of the liquid, and the pressure in the cordless cavity falls due to the outflow of the liquid, so that a pressure difference is generated between the two sides of the piston core and the piston sleeve, and the action of the pressure difference causes the two to generate an upward resultant force. Due to the fixing function of the rope clamp, the upward movement trend of the piston core and the piston sleeve integrally drives the traction rope to move upward together, and the artificial muscle generates contraction movement. At this time, the load connected with the end ring of the traction rope can be subjected to the contraction force of the artificial muscle.
In the diastole process, the controller controls the motor to rotate reversely, the motor drives the hydraulic pump to suck the liquid in the rope cavity into the cordless cavity, at the moment, the pressure in the cordless cavity is increased due to the inflow of the liquid, and the pressure in the rope cavity is reduced due to the outflow of the liquid, so that pressure difference is generated between the two sides of the piston core and the piston sleeve, and the pressure difference generates downward resultant force action. Due to the fixing effect of the rope clamp, the downward movement trend of the piston core and the piston sleeve integrally drives the traction rope to move downwards together, the traction rope simultaneously receives the downward acting force of the load, and the artificial muscle generates the diastole movement.
2) The contraction movement and the output force are generated in the bending state.
As shown in fig. 6, since the flexible tube is made of flexible material, it can be bent arbitrarily, and the cross section of the flexible tube is still approximately circular due to the supporting function of the spiral steel wire inside the flexible tube. Because the piston sleeve is also made of flexible materials, the piston sleeve can still freely slide in the flexible cylinder after corresponding slight deformation.
As shown in fig. 6, during the retraction process, the controller controls the motor to rotate forward, the motor drives the hydraulic pump to suck the liquid in the cordless cavity into the corded cavity, at this time, the pressure in the corded cavity rises due to the inflow of the liquid, and the pressure in the cordless cavity falls due to the outflow of the liquid, so that a pressure difference is generated between the two sides of the piston core and the piston sleeve, and the pressure difference causes the two to generate a resultant force to the right. Due to the fixing effect of the rope clamp, the integral upward movement trend of the piston core and the piston sleeve drives the traction rope to move upward to the right, at the moment, the part of the traction rope between the middle end cover and the piston core is straightened, the tail end of the traction rope drives the load to move upward, and the artificial muscle generates contraction movement. At this time, the load connected with the end ring of the traction rope can be subjected to the contraction force of the artificial muscle.
In the diastole process, the controller controls the motor to rotate reversely, the motor drives the hydraulic pump to suck the liquid in the rope cavity into the cordless cavity, at the moment, the pressure in the cordless cavity is increased due to the inflow of the liquid, and the pressure in the rope cavity is reduced due to the outflow of the liquid, so that pressure difference is generated between the two sides of the piston core and the piston sleeve, and the pressure difference generates a resultant force action towards the left and the bottom. Due to the fixing effect of the rope clamp, the integral downward leftward movement trend of the piston core and the piston sleeve drives the traction rope to move downward leftward together, the traction rope is simultaneously subjected to downward acting force of load, the part of the traction rope between the middle end cover and the piston core is straightened, the tail end of the traction rope moves downward, and the artificial muscle generates relaxation movement.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A hydraulic drive flexible artificial muscle is characterized by comprising a flexible cylinder, a piston and a traction rope, wherein the flexible cylinder is provided with joints used for being connected with a hydraulic pump at two ends, a spiral steel wire is embedded in the flexible cylinder, the piston is arranged in the flexible cylinder and can move in the flexible cylinder through hydraulic drive, the piston is connected with the traction rope, and the other end of the traction rope extends out of the flexible cylinder and is used for being connected with a load outside the flexible cylinder; the outer wall of the piston is in sealing contact with the inner wall of the flexible cylinder to form a rope cavity and a cordless cavity in the flexible cylinder, and the traction rope extends out of the flexible cylinder after passing through the rope cavity;
the spiral steel wire can enable the flexible cylinder to be bent, has large rigidity in the radial direction and cannot expand in the radial direction under the condition of internal pressure bearing; the piston comprises a piston sleeve made of rubber material;
the piston comprises a piston core made of steel materials and coaxially arranged with the piston sleeve, the piston sleeve is in a drum shape, the piston sleeve is installed outside the piston core through a groove and protrusion matching structure, the piston core and the piston sleeve are coaxially installed with the flexible cylinder after being assembled, and the cylindrical surface of the middle section of the piston sleeve is in contact with the inner surface of the flexible cylinder and can relatively slide along the inner surface of the flexible cylinder; the traction rope penetrates through a rope hole in the piston core, and rope clamps are arranged at two ends of the rope hole and fixed on the traction rope to connect the traction rope with the piston core.
2. The hydraulically driven flexible artificial muscle according to claim 1, wherein the front end and the rear end of the flexible tube are coaxially provided with a front end cap and a rear end cap, respectively, the outer walls of which are hermetically connected with the inner wall of the flexible tube, the front end cap is in contact with a coaxially arranged middle end cap, the front end cap and the middle end cap are respectively provided with corresponding traction rope through holes, and the front end cap and the rear end cap are respectively provided with a rope cavity joint and a cordless cavity joint.
3. The hydraulically driven flexible artificial muscle according to claim 2, wherein the front end cap is connected to the middle end cap by a connecting bolt, a pull rope sealing ring is disposed at a pull rope passing hole between the front end cap and the middle end cap, the front end cap has a non-through threaded hole, and the middle end cap has a countersunk bolt hole.
4. The hydraulically driven flexible artificial muscle according to claim 2, wherein the front and rear end caps are respectively formed with female screw holes for connecting the wired and wireless chamber joints, and the middle end cap is formed with a through hole corresponding to the wired chamber joint.
5. The hydraulically driven flexible artificial muscle according to claim 2, wherein the outer side of the flexible tube is provided with a front pipe clamp and a rear pipe clamp at positions corresponding to the front end cap and the rear end cap, respectively, for clamping the flexible tube with the front end cap, the middle end cap and the rear end cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048117.XA CN109760038B (en) | 2019-01-18 | 2019-01-18 | Hydraulic drive flexible artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048117.XA CN109760038B (en) | 2019-01-18 | 2019-01-18 | Hydraulic drive flexible artificial muscle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109760038A CN109760038A (en) | 2019-05-17 |
| CN109760038B true CN109760038B (en) | 2021-12-24 |
Family
ID=66454191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910048117.XA Active CN109760038B (en) | 2019-01-18 | 2019-01-18 | Hydraulic drive flexible artificial muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109760038B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561406B (en) * | 2019-08-31 | 2022-10-25 | 华南理工大学 | Bionic person-oriented artificial muscle bidirectional driving mechanism |
| CN111665141B (en) * | 2020-06-03 | 2022-11-29 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN111660286B (en) * | 2020-06-04 | 2022-05-17 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2258065C3 (en) * | 1972-11-27 | 1978-07-06 | Max 5650 Solingen Jacobs | Hydraulic device for operating an elevator |
| JP4607345B2 (en) * | 2001-01-31 | 2011-01-05 | 周治郎 堂田 | Actuator |
| JP4620263B2 (en) * | 2001-01-31 | 2011-01-26 | 周治郎 堂田 | Actuator |
| DE102004032339B3 (en) * | 2004-07-03 | 2005-12-01 | Festo Ag & Co. | Fluid-operated working cylinder has piston rods extending in guide chamber parallel to drive chamber and extending next to it in cylinder tube, and through wall of which they are supported in transverse direction |
| DE102005000907A1 (en) * | 2005-01-05 | 2006-08-10 | Schlötzer, Eugen, Dipl.-Ing. (FH) | Flexible pneumatic and/or hydraulic cylinder has flexible hose instead of cylinder casing and spring steel wire instead of piston rod that adapts to hose position |
| US20090255400A1 (en) * | 2008-04-14 | 2009-10-15 | Polygon Company | Hybrid Piston Rod |
| JP5604345B2 (en) * | 2011-03-23 | 2014-10-08 | カヤバ工業株式会社 | Piston bearing structure of fluid pressure cylinder |
| CN203272328U (en) * | 2013-05-29 | 2013-11-06 | 石家庄三环阀门股份有限公司 | Flexible hydraulic cylinder |
| CN104613047A (en) * | 2013-11-05 | 2015-05-13 | 天津市鑫浩盛液压机械科技有限公司 | Leakage-proof pressure-bearing hydraulic cylinder |
| US20150285275A1 (en) * | 2014-04-02 | 2015-10-08 | Caterpillar Inc. | Hydraulic linear actuator integrated into a flexible hose, and hydraulic circuit using same |
| CN105041772A (en) * | 2015-08-29 | 2015-11-11 | 济南大学 | Hydraulic cylinder with parabola-type starting characteristic |
| CN205117876U (en) * | 2015-11-17 | 2016-03-30 | 黄杰 | Novel flexible rodless cylinder |
| CN107152430A (en) * | 2017-06-14 | 2017-09-12 | 杨芳 | A kind of improvement type cylinder |
| CN110480668B (en) * | 2019-07-30 | 2022-02-22 | 东南大学 | Flexible connection and hydraulic drive's bulb joint finger mechanism |
-
2019
- 2019-01-18 CN CN201910048117.XA patent/CN109760038B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109760038A (en) | 2019-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109760038B (en) | Hydraulic drive flexible artificial muscle | |
| CN107598910B (en) | Tendon-driven variable-scale continuous robot | |
| EP0122099B1 (en) | Connection of and sealing of tubular members | |
| ES2020114A6 (en) | Method of fastening hose to nipple | |
| CN1682059A (en) | Means for connecting pipes comprising an axial press surface to take axial pressure from a preloading tool | |
| CN206883553U (en) | Catching parts and the device of clip assembling | |
| CN106099516B (en) | A kind of electric connector accessory and the electric connector using the attachment | |
| KR20190031405A (en) | Expansion Joint Assembly | |
| CA2941922C (en) | Plug-type sleeve | |
| CN110978038A (en) | Two-degree-of-freedom underwater manipulator | |
| CN110695981A (en) | Double-acting hydraulic artificial muscle linear reciprocating actuator | |
| CN103395072A (en) | Hydraulic artificial muscle | |
| CN203371556U (en) | Water pressure artificial muscle | |
| WO2011104554A3 (en) | Clamping arrangement | |
| CN103851064B (en) | A kind of pressure type disk-sucking device | |
| CN111283672A (en) | Annular section pneumatic flexible axial driver | |
| CN107763338A (en) | A kind of hydraulic pressure pipe connections | |
| CN203993764U (en) | Link-type bracing or strutting arrangement | |
| CN104653544A (en) | Irregular section type magnetic rodless hydraulic cylinder/ pneumatic cylinder | |
| CN110067893B (en) | Double-wall corrugated pipe type deep sea pipeline connector | |
| CN110131493B (en) | Circumferential force-increasing clamping and pressing type submarine pipeline connector | |
| CN215763978U (en) | Explosion-proof oil pipe of oil press | |
| CN110030452B (en) | Telescopic submarine pipeline connector | |
| CN205479979U (en) | Detect in industrial pipeline magnetic leakage and use drive arrangement | |
| CN219028605U (en) | Communication pipeline repairing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |