CN110181498B - Underwater execution arm and execution method thereof - Google Patents
Underwater execution arm and execution method thereof Download PDFInfo
- Publication number
- CN110181498B CN110181498B CN201910469272.9A CN201910469272A CN110181498B CN 110181498 B CN110181498 B CN 110181498B CN 201910469272 A CN201910469272 A CN 201910469272A CN 110181498 B CN110181498 B CN 110181498B
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- electromagnet
- power shaft
- claw
- water isolation
- swing arm
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- 238000000034 method Methods 0.000 title claims description 14
- 210000000078 claw Anatomy 0.000 claims abstract description 110
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 58
- 210000000707 wrist Anatomy 0.000 claims abstract description 22
- 238000002955 isolation Methods 0.000 claims description 48
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000005389 magnetism Effects 0.000 claims description 5
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004904 shortening Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater execution arm, which comprises a mechanical arm, wherein the mechanical arm comprises a tailstock, a first swing arm is rotatably arranged at the tail end of the tailstock, and a steering engine on the tailstock can drive the first swing arm to horizontally swing; a second swing arm is rotatably arranged at the tail end of the first swing arm, and a steering engine on the first swing arm can drive the second swing arm to swing longitudinally; the tail end of the second swing arm is provided with an executing claw unit; the executing claw unit comprises a cylindrical wrist structure, and the root part of the wrist structure is integrally fixed at the tail end of the second swing arm; the structure of the invention plays a role in isolating water through the water isolating piston, so that the environment where the electromagnet and the linear push rod motor are positioned is always in a dry environment; meanwhile, the quick grabbing of the mechanical claw is realized by adopting an electromagnetic ejection mode, and the stable clamping effect after the quick grabbing is realized by adopting an electromagnet chasing mode.
Description
Technical Field
The invention belongs to the field of underwater manipulators.
Background
The existing underwater mechanical claw needs to achieve good waterproof performance, and meanwhile the existing underwater mechanical claw is difficult to achieve the effects of fast grabbing and stable clamping.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides an underwater actuating arm capable of realizing rapid clamping and stable clamping and an actuating method thereof,
the technical scheme is as follows: in order to achieve the above purpose, the underwater execution arm comprises a mechanical arm, wherein the mechanical arm comprises a tailstock, a first swing arm is rotatably arranged at the tail end of the tailstock, and a steering engine on the tailstock can drive the first swing arm to horizontally swing; a second swing arm is rotatably arranged at the tail end of the first swing arm, and a steering engine on the first swing arm can drive the second swing arm to swing longitudinally; the tail end of the second swing arm is provided with an executing claw unit; the executing claw unit comprises a cylindrical wrist structure, and the root part of the wrist structure is integrally fixed at the tail end of the second swing arm; three groups of finger mechanisms are distributed on the wrist structure in a circumferential array, and the three groups of finger mechanisms can perform grabbing and loosening actions.
Further, a cylindrical piston channel is coaxially arranged at the axis position inside the wrist structure, a water isolation piston is arranged in the piston channel, the water isolation piston comprises a hard disc body made of non-magnetic materials, a waterproof rubber ring is integrally arranged at the outline edge of the hard disc body, and the outer ring of the waterproof rubber ring is in sealing sliding connection with the inner wall of the piston channel; an electromagnet is arranged on one side of the water isolation piston, which is far away from the execution claw unit, an electromagnetic iron core of the electromagnet is coaxially arranged with the piston channel, a linear push rod motor is fixedly arranged on one side of the electromagnet, which is far away from the water isolation piston, the tail end of a linear push rod of the linear push rod motor is fixedly connected with the electromagnet, and the linear push rod motor can drive the electromagnet to wholly move back and forth along the axis of the piston channel through the linear push rod; an actuating claw power shaft is coaxially arranged on one side of the water isolation piston, which is far away from the electromagnetic iron core, and a permanent magnet rod is fixedly arranged on one end of the actuating claw power shaft, which is close to the water isolation piston, and the N-terminal of the permanent magnet rod corresponds to one end of the electromagnetic iron core; the water isolation piston is positioned between the permanent magnet rod and the electromagnetic iron core;
further, one end of the actuating claw power shaft far away from the water isolation piston coaxially moves through a power shaft penetrating hole at the tail end of the wrist structure; a linkage disc is coaxially and fixedly connected to one end, far away from the water isolation piston, of the power shaft of the actuating claw, and three first hinge parts are arranged on the contour edge of the linkage disc in a circumferential array; three second hinging pieces are distributed on the tail end outline of the wrist structure in a circumferential array, the three groups of finger mechanisms respectively comprise three claws, and the root parts of the three claws are respectively hinged on the three second hinging pieces; the tail ends of the three hand claws are respectively provided with claw tips which are bent inwards; the middle parts of the three hand claws are respectively provided with a third hinging piece and also comprise three linkage rods, and two ends of the linkage rod are respectively hinged with a corresponding first hinge piece and a corresponding third hinge piece.
Further, an execution method of the underwater execution arm comprises the following steps:
the actuating claw unit is in an open state in the initial state, the electromagnet is in a state without power, the actuating claw unit of the mechanical arm is completely immersed under water, and at the moment, the water isolation piston plays a role in isolating water, so that the environment where the electromagnet and the linear push rod motor are located is always in a dry environment;
the execution method of the rapid grabbing and capturing action comprises the following steps: the electromagnet is electrified, so that the electromagnet core rapidly obtains magnetism, the permanent magnet rod of the power shaft of the executing claw and the electromagnet core are mutually and strongly repelled, the power shaft of the executing claw is rapidly ejected by electromagnetic force, the electromagnet is rapidly powered off after the power shaft of the executing claw is ejected, the electromagnet core loses magnetism, the electromagnet is electrified, the linear push rod motor is started, the linear push rod is further stretched, the electromagnet is further integrally moved to chase the power shaft of the executing claw, the end part of the electromagnet core starts to push the water isolation piston leftwards, and the water isolation piston is further moved to chase the power shaft of the executing claw along with the electromagnet; at the moment, the linkage disc synchronously pops up along with the power shaft of the executing claw, and then the linkage disc drives the three claws to perform inward grabbing action through the three linkage rods, so that the claw tips at the tail ends of the three claws grab and puncture the grabbed objects rapidly inwards, and the purpose of rapid grabbing is achieved; after the three hand claws do the grabbing action, the linkage disc and the power shaft of the executing claw stop moving, the whole electromagnet and the water isolation piston catch up with the power shaft of the executing claw, and after the whole electromagnet and the water isolation piston catch up with the power shaft of the executing claw, the operation of the linear push rod motor is stopped, at the moment, the left end of the electromagnetic iron core is coaxially contacted with the right side of the water isolation piston, and the right end of the power shaft of the executing claw is contacted with the left side of the water isolation piston; at this time, stable grabbing of the execution claw unit is realized;
the loosening and returning execution method of the execution claw unit comprises the following steps:
electrifying the electromagnet again, and attracting the permanent magnet rod of the power shaft of the executing claw and the electromagnetic iron core to form a synchronous state with the power shaft of the executing claw; and meanwhile, starting the linear push rod motor, so that the linear push rod shortens, and further the electromagnet, the power shaft of the executing claw and the linkage disc synchronously move rightward until the linkage disc drives the three claws to do outward loosening motion through the three linkage rods.
The beneficial effects are that: the structure of the invention plays a role in isolating water through the water isolating piston, so that the environment where the electromagnet and the linear push rod motor are positioned is always in a dry environment; meanwhile, the quick grabbing of the mechanical claw is realized by adopting an electromagnetic ejection mode, and the stable clamping effect after the quick grabbing is realized by adopting an electromagnet chasing mode.
Drawings
FIG. 1 is a schematic diagram of a mechanical arm structure;
FIG. 2 is a schematic illustration of a robotic arm at an implement jaw;
FIG. 3 is a schematic view of an interior cut-away view of the wrist structure;
fig. 4 is a schematic front cross-sectional view of a wrist structure.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The underwater execution arm as described in fig. 1 to 4, comprising a mechanical arm, wherein the mechanical arm comprises a tailstock 7, a first swing arm 5 is rotatably arranged at the tail end of the tailstock 7, and a steering engine on the tailstock 7 can drive the first swing arm 5 to horizontally swing; the tail end of the first swing arm 5 is rotatably provided with a second swing arm 3, and a steering engine on the first swing arm 5 can drive the second swing arm 3 to swing longitudinally; the tail end of the second swing arm 3 is provided with an executing claw unit 1; the executing claw unit 1 comprises a cylindrical wrist structure 2, and the root part of the wrist structure 2 is integrally fixed at the tail end of the second swing arm 3; three groups of finger mechanisms are distributed on the wrist structure 2 in a circumferential array, and the three groups of finger mechanisms can perform grabbing and loosening actions.
A cylindrical piston channel 22 is coaxially arranged at the axis position inside the wrist structure 2, a water isolation piston 24 is arranged in the piston channel 22, the water isolation piston 24 comprises a hard disc body 18 made of non-magnetic materials, a waterproof rubber ring 20 is integrally arranged at the outline edge of the hard disc body 18, and the outer ring of the waterproof rubber ring 20 is in sealing sliding connection with the inner wall of the piston channel 22; an electromagnet 25 is arranged on one side of the water isolation piston 24 far away from the execution claw unit 1, an electromagnetic iron core 21 of the electromagnet 25 and the piston channel 22 are coaxially arranged, a linear push rod motor 29 is fixedly arranged on one side of the electromagnet 25 far away from the water isolation piston 24, the tail end of a linear push rod 28 of the linear push rod motor 29 is fixedly connected with the electromagnet 25, and the linear push rod motor 29 can drive the electromagnet 25 to wholly move back and forth along the axis of the piston channel 22 through the linear push rod 28; an actuating claw power shaft 27 is coaxially arranged on one side of the water isolation piston 24 far away from the electromagnetic iron core 21, a permanent magnet rod 16 is fixedly arranged on one end of the actuating claw power shaft 27 close to the water isolation piston 24 in a coaxial manner, and the N-terminal 16.1 of the permanent magnet rod 16 corresponds to one end of the electromagnetic iron core 21 in a coaxial manner; the water isolation piston 24 is positioned between the permanent magnet rod 16 and the electromagnetic iron core 21;
one end of the actuating claw power shaft 27, which is far away from the water isolation piston 24, coaxially moves through a power shaft through hole 17 at the tail end of the wrist structure 2; a linkage disc 14 is coaxially and fixedly connected to one end of the actuating claw power shaft 27, which is far away from the water isolation piston 24, and three first hinge parts 10 are arranged on the contour edge of the linkage disc 14 in a circumferential array; three second hinging pieces 8 are distributed on the tail end outline of the wrist structure 2 in a circumferential array, the three groups of finger mechanisms respectively comprise three claws 11, and the root parts of the three claws 11 are respectively hinged on the three second hinging pieces 8; the tail ends of the three hand claws 11 are respectively provided with inward bent claw tips 12; the middle parts of the three claws 11 are provided with third hinging pieces 9, and the three claws further comprise three linkage rods 13, and two ends of each linkage rod 13 are respectively hinged with the corresponding first hinging pieces 10 and the corresponding third hinging pieces 9.
The method, the process and the technical progress of the scheme are as follows:
the actuating claw unit 1 is in an open state in the initial state, the electromagnet 25 is in a non-energized state, the actuating claw unit 1 of the mechanical arm is completely immersed under water, and at the moment, the water isolation piston 24 plays a role in isolating water, so that the environment where the electromagnet 25 and the linear push rod motor 29 are located is always in a dry environment;
the execution method of the rapid grabbing and capturing action comprises the following steps: the electromagnet 25 is electrified, so that the electromagnet core 21 quickly obtains magnetism, the permanent magnet rod 16 of the actuating claw power shaft 27 and the electromagnet core 21 are mutually and strongly repelled, the actuating claw power shaft 27 is quickly ejected outwards by electromagnetic force, the electromagnet 25 is quickly powered off after the actuating claw power shaft 27 is ejected, the electromagnet core 21 is enabled to lose magnetism, the electromagnet 25 is electrified, the linear push rod motor 29 is started, the linear push rod 28 is further subjected to elongation movement, the electromagnet 25 is further subjected to movement of the whole chasing actuating claw power shaft 27, the end part of the electromagnet core 21 starts to push the water isolation piston 24 leftwards, and the water isolation piston 24 is further subjected to movement of the chasing actuating claw power shaft 27 along with the electromagnet 25; at this time, the linkage disc 14 pops up synchronously along with the power shaft 27 of the executing claw, so that the linkage disc 14 drives the three claws 11 to perform inward grabbing action through the three linkage rods 13, and then the claw tips 12 at the tail ends of the three claws 11 grab and puncture the grabbed object rapidly inwards, so that the purpose of rapid grabbing is realized; after the three hand claws 11 do the grabbing action, the linkage disc 14 and the executing claw power shaft 27 stop moving, the whole electromagnet 25 and the water isolation piston 24 catch up with the executing claw power shaft 27 immediately, and after the whole electromagnet 25 and the water isolation piston 24 catch up with the executing claw power shaft 27, the operation of the linear push rod motor 29 is stopped, at the moment, the left end of the electromagnetic iron core 21 coaxially contacts with the right side of the water isolation piston 24, and the right end of the executing claw power shaft 27 contacts with the left side of the water isolation piston 24; at this time, stable gripping of the execution claw unit 1 is realized;
the release and return execution method of the execution claw unit 1:
the electromagnet 25 is electrified again, and the permanent magnet rod 16 of the actuating claw power shaft 27 and the electromagnetic iron core 21 are attracted mutually, so that the electromagnet 25 and the actuating claw power shaft 27 form a synchronous state; at the same time, the linear push rod motor 29 is started, so that the linear push rod 28 performs shortening movement, and the electromagnet 25, the actuating claw power shaft 27 and the linkage disc 14 synchronously move rightward until the linkage disc 14 drives the three claws 11 to perform outward loosening movement through the three linkage rods 13.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (1)
1. The execution method of the underwater execution arm comprises a mechanical arm, wherein the mechanical arm comprises a tailstock (7), a first swing arm (5) is rotatably arranged at the tail end of the tailstock (7), and a steering engine on the tailstock (7) can drive the first swing arm (5) to swing horizontally; the tail end of the first swing arm (5) is rotatably provided with a second swing arm (3), and a steering engine on the first swing arm (5) can drive the second swing arm (3) to swing longitudinally; the tail end of the second swing arm (3) is provided with an execution claw unit (1); the executing claw unit (1) comprises a cylindrical wrist structure (2), and the root part of the wrist structure (2) is integrally fixed at the tail end of the second swing arm (3); three groups of finger mechanisms are distributed on the wrist structure (2) in a circumferential array, and the three groups of finger mechanisms can perform grabbing and loosening actions;
a cylindrical piston channel (22) is coaxially arranged at the axis position inside the wrist structure (2), a water isolation piston (24) is arranged in the piston channel (22), the water isolation piston (24) comprises a hard disc body (18) made of non-magnetic materials, a waterproof rubber ring (20) is integrally arranged at the outline edge of the hard disc body (18), and the outer ring of the waterproof rubber ring (20) is in sealed sliding connection with the inner wall of the piston channel (22); an electromagnet (25) is arranged on one side, far away from the execution claw unit (1), of the water isolation piston (24), an electromagnetic iron core (21) of the electromagnet (25) and the piston channel (22) are coaxially arranged, a linear push rod motor (29) is fixedly arranged on one side, far away from the water isolation piston (24), of the electromagnet (25), the tail end of a linear push rod (28) of the linear push rod motor (29) is fixedly connected with the electromagnet (25), and the linear push rod motor (29) can drive the electromagnet (25) to wholly move back and forth along the axis of the piston channel (22) through the linear push rod (28); an actuating claw power shaft (27) is coaxially arranged on one side of the water isolation piston (24) far away from the electromagnetic iron core (21), a permanent magnet rod (16) is fixedly arranged on one end of the actuating claw power shaft (27) close to the water isolation piston (24) in a coaxial mode, and the N-terminal (16.1) of the permanent magnet rod (16) corresponds to one end of the electromagnetic iron core (21) in a coaxial mode; the water isolation piston (24) is positioned between the permanent magnet rod (16) and the electromagnetic iron core (21);
one end of the actuating claw power shaft (27) far away from the water isolation piston (24) coaxially moves through a power shaft penetrating hole (17) at the tail end of the wrist structure (2); one end of the actuating claw power shaft (27) far away from the water isolation piston (24) is coaxially and fixedly connected with a linkage disc (14), and three first hinging pieces (10) are arranged on the contour edge of the linkage disc (14) in a circumferential array; three second hinging pieces (8) are distributed on the tail end outline of the wrist structure (2) in a circumferential array, the three groups of finger mechanisms respectively comprise three claws (11), and the root parts of the three claws (11) are respectively hinged on the three second hinging pieces (8); the tail ends of the three claws (11) are respectively provided with claw tips (12) which are bent inwards; the middle parts of the three hand claws (11) are respectively provided with a third hinging piece (9), and the three hand claws also comprise three linkage rods (13), and two ends of each linkage rod (13) are respectively hinged with a corresponding first hinging piece (10) and a corresponding third hinging piece (9);
the method is characterized in that:
the actuating claw unit (1) is in an open state in the initial state, the electromagnet (25) is in a non-energized state, the actuating claw unit (1) of the mechanical arm is completely immersed under water, and at the moment, the water isolation piston (24) plays a role in isolating water, so that the environments of the electromagnet (25) and the linear push rod motor (29) are always in a dry environment;
the execution method of the rapid grabbing and capturing action comprises the following steps: the electromagnet (25) is electrified, so that the electromagnet core (21) rapidly obtains magnetism, the permanent magnet rod (16) of the actuating claw power shaft (27) and the electromagnet core (21) are mutually and strongly repelled, the actuating claw power shaft (27) is rapidly ejected outwards by electromagnetic force, the electromagnet (25) is rapidly powered off after the actuating claw power shaft (27) is ejected, the electromagnet core (21) is demagnetized, the linear push rod motor (29) is started while the electromagnet (25) is electrified, the linear push rod (28) is further stretched, the electromagnet (25) integrally moves to chase the actuating claw power shaft (27), the end part of the electromagnet core (21) starts to push the water isolation piston (24) leftwards, and the water isolation piston (24) moves to chase the actuating claw power shaft (27) together with the electromagnet (25); at the moment, the linkage disc (14) synchronously pops up along with the power shaft (27) of the executing claw, and then the linkage disc (14) drives the three claws (11) to perform inward grabbing action through the three linkage rods (13), so that the claw tips (12) at the tail ends of the three claws (11) grab and puncture the grabbed objects rapidly inwards, and the purpose of grabbing rapidly is achieved; after three hand claws (11) do grabbing actions, the linkage disc (14) and the executing claw power shaft (27) can stop moving, the whole electromagnet (25) and the water isolation piston (24) catch up the executing claw power shaft (27), the operation of the linear push rod motor (29) is suspended after the whole electromagnet (25) and the water isolation piston (24) catch up the executing claw power shaft (27), at the moment, the left end of the electromagnetic iron core (21) is coaxially contacted with the right side of the water isolation piston (24), and the right end of the executing claw power shaft (27) is contacted with the left side of the water isolation piston (24); at this time, stable grabbing of the execution claw unit (1) is realized;
the release and return execution method of the execution claw unit (1) comprises the following steps:
the electromagnet (25) is electrified again, and the permanent magnet rod (16) of the actuating claw power shaft (27) and the electromagnetic iron core (21) are attracted to each other, so that the electromagnet (25) and the actuating claw power shaft (27) form a synchronous state; simultaneously, a linear push rod motor (29) is started, so that the linear push rod (28) performs shortening movement, and then the electromagnet (25), the actuating claw power shaft (27) and the linkage disc (14) synchronously move rightward until the linkage disc (14) drives the three claws (11) to perform outward loosening movement through the three linkage rods (13).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910469272.9A CN110181498B (en) | 2019-05-31 | 2019-05-31 | Underwater execution arm and execution method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910469272.9A CN110181498B (en) | 2019-05-31 | 2019-05-31 | Underwater execution arm and execution method thereof |
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| CN110181498A CN110181498A (en) | 2019-08-30 |
| CN110181498B true CN110181498B (en) | 2023-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7470698B2 (en) * | 2019-09-03 | 2024-04-18 | 株式会社北川鉄工所 | Sealed Gripper |
| CN114474127A (en) * | 2022-03-29 | 2022-05-13 | 温州欧乐彩科技有限公司 | Wear-resisting antiskid type manipulator of interval adjustable |
| CN115068749B (en) * | 2022-06-13 | 2023-07-18 | 成都工业学院 | Device for automatically separating and collecting needle cylinder of syringe needle |
| CN117863203B (en) * | 2024-03-11 | 2024-05-17 | 苏州依岚机器人科技有限公司 | Tongs of underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5039254A (en) * | 1989-12-14 | 1991-08-13 | Science Applications International Corporation | Passive grabbing apparatus having six degrees of freedom and single command control |
| CN106239541A (en) * | 2016-09-20 | 2016-12-21 | 上海未来伙伴机器人有限公司 | A kind of light-duty paw of unmanned plane |
| CN208128899U (en) * | 2018-04-17 | 2018-11-23 | 西安工业大学 | A kind of agricultural gardens clamping device |
| CN109366493B (en) * | 2018-10-25 | 2020-05-15 | 滨州学院 | Paster robot |
| CN109533239A (en) * | 2018-11-27 | 2019-03-29 | 长安大学 | A kind of deep water underwater intelligent operation robot and its control system |
| CN209921586U (en) * | 2019-05-31 | 2020-01-10 | 西安工业大学 | Quick clamping mechanism of diving equipment |
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Effective date of registration: 20240115 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: No.2 Xuefu Middle Road, Weiyang District, Xi'an City, Shaanxi Province, 720021 Patentee before: XI'AN TECHNOLOGICAL University |