CN113357219A - Hydraulic swing cylinder mechanism for deep-sea manipulator - Google Patents
Hydraulic swing cylinder mechanism for deep-sea manipulator Download PDFInfo
- Publication number
- CN113357219A CN113357219A CN202110693196.7A CN202110693196A CN113357219A CN 113357219 A CN113357219 A CN 113357219A CN 202110693196 A CN202110693196 A CN 202110693196A CN 113357219 A CN113357219 A CN 113357219A
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- output shaft
- piston
- piston rod
- end cover
- cylinder mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 239000013535 sea water Substances 0.000 claims abstract description 16
- 210000000245 forearm Anatomy 0.000 claims abstract description 13
- 230000001050 lubricating effect Effects 0.000 claims description 15
- 238000005461 lubrication Methods 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 230000002265 prevention Effects 0.000 abstract 1
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/04—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member with oscillating cylinder
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Actuator (AREA)
Abstract
The invention discloses a hydraulic swing cylinder mechanism for a deep sea manipulator, belonging to the technical field of underwater operation tools, and comprising a shell, a front end cover, a rear end cover, a piston rod and an output shaft; the piston divides the shell into a first working chamber and a second working chamber; the piston rod is connected with the piston; one end of the output shaft is arranged on the rear end cover, the output end of the output shaft sequentially penetrates through the piston rod and the front end cover and is connected with the forearm shell, the outer surface of the output shaft is meshed with the inner surface of the piston rod to form a spiral pair, seawater with different pressures is introduced into the first working cavity and the second working cavity and acts on two surfaces of the piston to form pressure difference so as to drive the piston to move axially, the piston drives the piston rod to move axially, and the axial movement of the piston rod is converted into the rotary movement of the output shaft under the meshing of the spiral pair, so that the mechanical forearm is driven to swing. The invention has the advantages of simple and compact structure, light weight, high positioning precision, strong load capacity and environmental pollution prevention by taking seawater as a working medium.
Description
Technical Field
The invention belongs to the technical field of underwater operation tools, and particularly relates to a hydraulic swing cylinder mechanism for a deep sea manipulator.
Background
The deep sea mechanical arm is important equipment for deep sea exploration, scientific investigation and development operation, and can complete different tasks such as shearing, cleaning, polishing, cutting, drilling, loading and unloading of connecting pieces and the like of underwater steel cables and flexible cables.
Under the special working condition of the deep sea environment, the seawater has certain superiority as a hydraulic working medium, such as solving the problem of oil-water mixed pollution (the degradation of the performance of hydraulic oil can be caused after the hydraulic oil is mixed with the seawater), reducing the energy loss of a hydraulic system and simplifying the structure of the hydraulic system. During underwater operation, the seawater hydraulic system can be provided with an open system without an oil tank, a cooling system and the like. However, no mechanical arm and swing joint using seawater as a working medium are available at home and abroad.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a water pressure swing cylinder mechanism for a deep sea manipulator, which aims to drive a piston rod to drive an output shaft to axially move by acting pressure difference generated by seawater with different pressures on two surfaces of the piston, so that the technical problem of environmental pollution caused by working medium leakage of the traditional transmission mechanism is solved.
In order to achieve the above object, according to one aspect of the present invention, there is provided a hydraulic swing cylinder mechanism for a deep sea robot, one end of the swing mechanism being connected to the robot through a connecting frame, the other end of the swing mechanism being connected to a forearm housing of a forearm of the robot, the mechanism including a housing, a front end cap, a rear end cap, a piston rod and an output shaft;
the front end cover and the rear end cover are respectively arranged at two ends of the shell and form a working cavity with the inner cavity of the shell;
the piston is arranged on the shell and divides the working cavity into a first working cavity and a second working cavity; the piston rod is connected with the piston, and the outer surface of one end of the piston rod is meshed with the inner surface of the shell to form a spline pair; one end of the output shaft is arranged on the rear end cover, the output end of the output shaft sequentially penetrates through the piston rod and the front end cover and is connected with the front arm shell, and the outer surface of the output shaft is meshed with the inner surface of the piston rod to form a spiral pair;
during operation, to first working chamber lets in the sea water of different pressure and acts on in with the second working chamber two surfaces of piston form the pressure differential in order to drive piston axial displacement, the piston drive the piston rod makes under the meshing effect of spiral pair along axial displacement the axial displacement of piston rod turns into the rotary motion of output shaft to the swing of drive machinery forearm.
Furthermore, the invention combines the reciprocating motion of the piston, the meshing motion of the multi-head screw and the guiding motion of the spline pair, converts the axial displacement of the piston into the rotating motion of the output shaft, realizes the conversion from the linear motion to the rotating motion of the hydraulic cylinder, and provides the positioning and guiding motion by the spline pair. The machining precision of the screw pair is poor, the machining is difficult, the generated corner error is large, the machining precision of the spline pair is high, the positioning is accurate, the generated corner error is small, and the corner error formed by combining the screw pair and the spline pair is obviously lower than that of a two-stage screw pair. The mechanical efficiency of the spline pair is high, the mechanical efficiency of the spiral pair is low, and the mechanical efficiency of the combination of the spline pair and the spiral pair is obviously higher than that of a structure with two-stage spiral pairs.
Preferably, the output end of the output shaft is provided with an external spline which is connected with the internal spline of the forearm shell for transmission.
Preferably, the inner cavity of the housing and the output shaft form a lubrication cavity at the front end cover, and the spline pair and the screw pair are located in the lubrication cavity. Further, the lubrication chamber has two important friction pairs: the screw pair and the spline pair can adopt independent lubrication, reduce friction and wear and improve the working efficiency.
Preferably, the lubricating device further comprises a plurality of high-pressure adapter joints, wherein the high-pressure adapter joints are arranged on the shell and are respectively communicated with the first working cavity, the second working cavity and the lubricating cavity; the high-pressure adapter communicated with the first working cavity and the second working cavity is used for introducing seawater with different pressures into the first working cavity and the second working cavity so as to generate pressure difference between the first working cavity and the second working cavity, and the high-pressure adapter communicated with the lubricating cavity is used for introducing a lubricating medium for lubricating the screw pair and the spline pair into the lubricating cavity.
Preferably, the sensor protection shell is mounted on the rear end cover and forms a sealed cavity with the rear end cover;
the sealing cavity is internally provided with a connecting shaft, a rotary transformer and a watertight connector, one end of the connecting shaft is connected with the output shaft, the other end of the connecting shaft is connected with the rotary transformer, the rotary transformer is connected with the watertight connector, and the watertight connector is connected with an external operating platform.
Preferably, the output end face of the output shaft is provided with a mounting hole, an angle sensor is arranged in the mounting hole, and the angle sensor is used for detecting and feeding back real-time angle information of the output shaft during working.
Preferably, the output end of the output shaft is provided with a front lubricating bearing, and the front lubricating bearing is used for providing radial lubrication for the output shaft; and one end of the output shaft, which is positioned at the rear end cover, is provided with a rear sliding bearing assembly, and the rear sliding bearing assembly is used for providing axial lubrication for the output shaft. The arrangement of the front lubricating bearing and the rear sliding bearing component reduces the number of parts, simplifies the structure and lightens the weight.
Preferably, the inner rings of the front lubricating bearing and the rear sliding bearing assembly are provided with through holes, so that the effects of lubrication, heat dissipation and weight reduction are provided.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the hydraulic oscillating cylinder mechanism for the deep sea manipulator provided by the invention takes seawater in a working environment as a working medium, and compared with a traditional transmission mechanism, the hydraulic oscillating cylinder mechanism avoids environmental pollution caused by leakage of the working medium, thereby being beneficial to improving the reliability of a system; and the oil tank and the pipeline of the manipulator system are reduced, and the storage of working media is not needed, so that the structure of the manipulator system is simplified, and the weight and the volume of the manipulator system are reduced.
2. The hydraulic oscillating cylinder mechanism for the deep sea manipulator provided by the invention combines the reciprocating motion of the piston, the meshing motion of a multi-head spiral and the guiding motion of a spline pair, converts the axial displacement of the piston into the rotating motion of an output shaft, realizes the conversion from the linear motion to the rotating motion of the hydraulic cylinder, and meets the requirements of the manipulator on finishing the oscillating work under the conditions of low speed and large torque, and has high positioning precision and strong load capacity.
Drawings
FIG. 1 is a schematic structural view of a hydraulic swing cylinder mechanism for a deep sea robot according to the present invention;
FIG. 2 is a partial enlarged view of the hydraulic swing cylinder mechanism for the deep sea robot of the present invention;
FIG. 3 is a side view of the hydraulic swing cylinder mechanism for the deep sea robot of the present invention;
FIG. 4 is a structural sectional view of a rear end cover of a hydraulic swing cylinder mechanism for a deep sea robot according to the present invention;
FIG. 5 is a schematic view showing the connection between the output shaft and the connecting shaft in the hydraulic swing cylinder mechanism for the deep sea robot according to the present invention;
FIG. 6 is a schematic structural view of a piston rod in the hydraulic swing cylinder mechanism for the deep sea robot according to the present invention;
FIG. 7 is a schematic structural view of a piston rod in the hydraulic swing cylinder mechanism for the deep sea robot of the present invention;
FIG. 8 is a schematic structural view of a housing in the hydraulic swing cylinder mechanism for the deep sea robot of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-connecting the frame; 2-hydraulic pipelines; 3-high pressure crossover sub; 4-watertight connectors; 5-a rotary transformer; 6-sensor protective housing; 7-a connecting shaft; 8-M5 fastening screws; 9-M10 fastening screws; 10-rear end cap; 11-a swing cylinder mechanism housing; 12-a rear sliding bearing assembly; 13-a housing; 14-M35 lock nut a; 15-a piston; 16-an output shaft; 17-a piston rod; 18-front lubrication of the bearings; 19-front end cap; 20-M35 lock nut B; 21-forearm shell.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in figures 1-8, the invention provides a hydraulic swing cylinder mechanism for a deep sea manipulator, which mainly comprises three parts: the reciprocating motion of the piston, the meshing motion of the multi-head screw and the guiding motion of the spline pair.
Specifically, as shown in fig. 1 and 2, the reciprocating part of the piston includes a hydraulic cylinder part composed of an M10 fastening screw 9, a spring washer, a rear sliding bearing assembly 12, a rear end cover 10, a rear static seal ring, a high-pressure adapter 3, an M35 lock nut a14, a piston static seal, a sliding gurley ring, a piston 15, a piston rod 17, a casing gurley ring and a casing 13, a working medium of the hydraulic cylinder part is seawater, the casing 13 is divided into a first working chamber and a second working chamber, and reciprocating motion is performed by pressure difference between two surfaces of the piston 15.
Further, the housing 13 and the rear end cover 10 are fixedly mounted by M10 fastening screws 9, and the swing cylinder case 11 is mounted on the outside of the housing 13. The piston 15 is installed inside the housing 13 to separate an inner cavity of the housing into a first working cavity and a second working cavity, wherein the first working cavity and the second working cavity are sealed cavities, and the two working cavities are not communicated with each other. Specifically, the piston 15 is fixedly mounted with the piston rod 17 through the M35 lock nut a14, and the piston rod 17 is driven by the piston 15 to move along the axial direction thereof. In the invention, seawater with different pressures is respectively introduced into the first working cavity and the second working cavity through the high-pressure adapter 3 connected with the hydraulic pipeline 2, so that pressure difference is generated on two surfaces of the piston 15, and the piston 15 is driven to drive the piston rod 17 to move axially.
The meshing motion part of the multi-head spiral is composed of a piston rod 17 and an output shaft 16. As shown in fig. 1, 2, 6 and 7, the rear end of the output shaft 16 is mounted on the rear end cap 10, and the output end thereof is connected to the forearm housing 21 through the front end cap 19. In the embodiment of the present invention, the piston rod 17 is sleeved outside the output shaft 16 and is coaxially disposed with the output shaft 16, the piston rod 17 is internally provided with a thread, and the output shaft 16 is externally provided with a thread engaged with the thread to form a screw pair. As a preferred embodiment of the present invention, the screw pair is a multi-start screw, and the lead angle thereof can be set according to actual requirements. By the engagement between the piston rod 17 and the output shaft 16, the axial linear motion of the piston rod 17 can be converted into a rotational motion of the output shaft 16.
The guiding movement part of the spline pair is composed of a piston rod 17 and a shell 13. Specifically, as shown in fig. 1 and 2, an end of the piston rod 17 close to the front end cap 19 is provided with an external spline, and an end of the housing 13 close to the front end cap 19 is provided with an internal spline, so that the piston rod 17 and the housing 13 form a spline pair. The spline pair can axially guide the piston rod 17, and can limit the rotation of the piston rod 17 through the engagement with the housing 13, so that the piston rod 17 only generates axial force and transmits the axial force to the spiral pair.
In the embodiment of the invention, the output end of the output shaft 16 is provided with an external spline, is engaged with an internal spline of an internal connecting flange of the forearm shell 21 and is connected with a transmission, and is locked by using a locking nut M35B 20. Be equipped with a shrinkage pool on the output terminal surface of output shaft 16, be equipped with angle sensor in the shrinkage pool, angle sensor is in output shaft 16 during operation, the angle information of real-time collection angle output shaft feeds back to outside operation panel.
In the embodiment of the invention, the sensor protection shell 6 is arranged on the rear end cover 10 through an M5 fastening screw 8 and forms a sealed cavity with the rear end cover 10. Further, a connecting shaft 7, a rotary transformer 5 and a watertight connector 4 are arranged in the sealed cavity, one end of the connecting shaft 7 is connected with an output shaft 16, the other end of the connecting shaft is connected with the rotary transformer 5, the rotary transformer 5 is connected with the watertight connector 4, and the watertight connector 4 is connected with an external operating platform. According to the invention, the sensor protection cavity is a sealed cavity formed by the rear end cover 10 and the sensor protection shell 6, in order to ensure the reliability of sealing, two seals are arranged to ensure that the pressures at two ends of a sealing ring are equal, the first seal leaks high-pressure seawater in the working cavity into the environment to reduce the pressure to the environmental pressure, the cavity is compensated by hydraulic oil to ensure that the pressure in the cavity is equal to the environmental pressure, so that the pressures at two ends of the second seal are equal, no leakage occurs, and seawater is prevented from entering the sensor cavity and corroding the sensor.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A hydraulic swing cylinder mechanism for a deep sea manipulator, one end of a swing mechanism is connected with the manipulator through a connecting rack (1), and the other end of the swing mechanism is connected with a forearm shell (21) of a mechanical forearm, and the hydraulic swing cylinder mechanism is characterized by comprising a shell (13), a front end cover (19), a rear end cover (10), a piston (15), a piston rod (17) and an output shaft (16);
the front end cover (19) and the rear end cover (10) are respectively arranged at two ends of the shell (13) and form a working cavity with the inner cavity of the shell (13);
the piston (15) is arranged on the shell (13) and divides the working cavity into a first working cavity and a second working cavity; the piston rod (17) is connected with the piston (15), and the outer surface of one end of the piston rod is meshed with the inner surface of the shell (13) to form a spline pair; one end of the output shaft (16) is mounted on the rear end cover (10), the output end of the output shaft sequentially penetrates through the piston rod (17) and the front end cover (19) and is connected with the forearm shell (21), and the outer surface of the output shaft (16) is meshed with the inner surface of the piston rod (17) to form a screw pair;
during operation, to first working chamber and the interior sea water of letting in different pressure and acting on of second working chamber two surfaces formation pressure differentials of piston (15) are in order to drive piston (15) axial displacement, piston (15) drive piston rod (17) are along axial displacement, make under the meshing effect of screw pair the axial displacement of piston rod (17) converts into the rotary motion of output shaft (16) to the swing of drive machinery forearm.
2. The hydraulic oscillating cylinder mechanism for deep sea manipulators according to claim 1, characterized in that the output end of the output shaft (16) is provided with external splines in transmission with internal splines of the forearm housing (21).
3. The hydraulic oscillating cylinder mechanism for deep sea manipulators, according to claim 1, characterized in that the internal cavity of the casing (13) with the output shaft (16) forms a lubrication chamber at the front end cover (19), the spline pair and the screw pair being located in the lubrication chamber.
4. The hydraulic oscillating cylinder mechanism for deep sea manipulators according to claim 3, characterized in that it further comprises a plurality of high-pressure crossover joints (3), said high-pressure crossover joints (3) being provided in said casing (13) and communicating with said first working chamber, said second working chamber and said lubrication chamber, respectively; the high-pressure adapter (3) communicated with the first working cavity and the second working cavity is used for introducing seawater with different pressures into the first working cavity and the second working cavity so as to generate pressure difference between the first working cavity and the second working cavity, and the high-pressure adapter (3) communicated with the lubricating cavity is used for introducing a lubricating medium for lubricating the screw pair and the spline pair into the lubricating cavity.
5. The hydraulic swing cylinder mechanism for deep sea manipulators as claimed in claim 1, characterized by further comprising a sensor protective housing (6), said sensor protective housing (6) being mounted to said rear end cover (10) and forming a sealed cavity therewith;
be equipped with connecting axle (7), rotary transformer (5) and watertight connector (4) in the sealed intracavity, the one end of connecting axle (7) connect in output shaft (16), the other end with rotary transformer (5) link to each other, rotary transformer (5) with watertight connector (4) are connected, watertight connector (4) link to each other with outside operation panel.
6. The deep sea manipulator hydraulic oscillating cylinder mechanism according to claim 1, characterized in that a mounting hole is formed in the output end face of the output shaft (16), an angle sensor is arranged in the mounting hole, and the angle sensor is used for detecting and feeding back real-time angle information of the output shaft (16) during operation.
7. The hydraulic swing cylinder mechanism for deep sea manipulators according to claim 1, characterized in that the output end of the output shaft (16) is provided with a front lubricated bearing (18), the front lubricated bearing (18) being used to provide radial lubrication of the output shaft (16); and one end of the output shaft (16) positioned at the rear end cover (10) is provided with a rear sliding bearing assembly (12), and the rear sliding bearing assembly (12) is used for providing axial lubrication for the output shaft (16).
8. Hydraulic oscillating cylinder mechanism for deep sea manipulators according to claim 7, characterized in that the inner rings of the front lubricating bearing (18) and the rear sliding bearing assembly (12) are provided with through holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110693196.7A CN113357219A (en) | 2021-06-22 | 2021-06-22 | Hydraulic swing cylinder mechanism for deep-sea manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110693196.7A CN113357219A (en) | 2021-06-22 | 2021-06-22 | Hydraulic swing cylinder mechanism for deep-sea manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN113357219A true CN113357219A (en) | 2021-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110693196.7A Pending CN113357219A (en) | 2021-06-22 | 2021-06-22 | Hydraulic swing cylinder mechanism for deep-sea manipulator |
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| Country | Link |
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| CN (1) | CN113357219A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935643A (en) * | 2011-08-15 | 2013-02-20 | 中国科学院沈阳自动化研究所 | Underwater hydraulic manipulator swinging joint structure |
| CN203098138U (en) * | 2013-02-06 | 2013-07-31 | 刘福芬 | Hydraulic swing motor used for large diameter valve switch |
| CN105465093A (en) * | 2015-12-31 | 2016-04-06 | 上海盾克机械有限公司 | Spiral swing hydraulic cylinder |
| CN108098826A (en) * | 2017-12-13 | 2018-06-01 | 同济大学 | A kind of large scale industry robot hydraulic servo-joint |
| CN211117905U (en) * | 2019-10-29 | 2020-07-28 | 江苏宏泰石化机械有限公司 | Economical and practical hydraulic driving mechanism for plug valve |
-
2021
- 2021-06-22 CN CN202110693196.7A patent/CN113357219A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935643A (en) * | 2011-08-15 | 2013-02-20 | 中国科学院沈阳自动化研究所 | Underwater hydraulic manipulator swinging joint structure |
| CN203098138U (en) * | 2013-02-06 | 2013-07-31 | 刘福芬 | Hydraulic swing motor used for large diameter valve switch |
| CN105465093A (en) * | 2015-12-31 | 2016-04-06 | 上海盾克机械有限公司 | Spiral swing hydraulic cylinder |
| CN108098826A (en) * | 2017-12-13 | 2018-06-01 | 同济大学 | A kind of large scale industry robot hydraulic servo-joint |
| CN211117905U (en) * | 2019-10-29 | 2020-07-28 | 江苏宏泰石化机械有限公司 | Economical and practical hydraulic driving mechanism for plug valve |
Non-Patent Citations (1)
| Title |
|---|
| 唐群国等: "《水液压传动技术》", 30 November 2013, 华中科技大学出版社, pages: 152 - 156 * |
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Application publication date: 20210907 |