CN211590162U - Self-adaptive clamping mechanism of underwater hydraulic manipulator - Google Patents
Self-adaptive clamping mechanism of underwater hydraulic manipulator Download PDFInfo
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- CN211590162U CN211590162U CN201922452874.1U CN201922452874U CN211590162U CN 211590162 U CN211590162 U CN 211590162U CN 201922452874 U CN201922452874 U CN 201922452874U CN 211590162 U CN211590162 U CN 211590162U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 210000000078 claw Anatomy 0.000 claims abstract description 59
- 238000007789 sealing Methods 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 9
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Abstract
The utility model belongs to the field of robot engineering, in particular to an underwater hydraulic manipulator self-adaptive clamping mechanism, a clamp base is arranged on a clamp piston cylinder, a piston end of a clamp piston rod is accommodated in the clamp piston cylinder, and the other end of the clamp piston rod passes through the clamp base and is connected with a clamp driving block; one end of the clamp push rod is hinged with the clamp driving block through a clamp push rod short pin shaft, the other end of the clamp push rod is hinged with the clamp claw through a push rod long pin shaft, clamp connecting rods are symmetrically arranged on two sides of the clamp claw, one end of each clamp connecting rod is hinged with the clamp base through a clamp connecting rod long pin shaft, and the other end of each clamp connecting rod is hinged with the clamp claw through a clamp connecting rod long pin shaft; the clamp connecting rod long pin shaft hinged with the clamp claw and the clamp connecting rod is provided with a double torsion spring, two ends of the double torsion spring are respectively inserted with the clamp connecting rods on two sides of the clamp claw, and the middle part of the double torsion spring is abutted with the clamp claw. The utility model has the advantages of compact structure, can realize that target object profile self-adaptation centre gripping, clamping-force are big, the fault rate is low.
Description
Technical Field
The utility model belongs to robot engineering field, specifically speaking are hydraulic pressure manipulator self-adaptation fixture under water.
Background
At present, hydraulic manipulator is adopted in the majority of underwater operation occasions, hydraulic manipulator end effector's performance has very important effect to the wholeness ability of manipulator, and more occasions need fixture to have to by the self-adaptation ability of centre gripping thing outline, realize stablizing closed centre gripping, and the most structure complicacy of current self-adaptation fixture is heavy, and the practicality is relatively poor, develops the stable performance, and compact structure's hydraulic manipulator self-adaptation fixture has become the problem of treating promptly to solve.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a hydraulic pressure manipulator self-adaptation fixture under water. The self-adaptive clamping mechanism can be applied to the tail end actuating mechanism of the hydraulic manipulator in the land and ocean fields, and can realize self-adaptive clamping of the outer contour of the clamped object.
The purpose of the utility model is realized through the following technical scheme:
the utility model comprises a clamp piston cylinder, a clamp base, a clamp piston rod, a clamp driving block and a clamping component, wherein the clamp base is arranged on the clamp piston cylinder, the piston end of the clamp piston rod is accommodated in the clamp piston cylinder, and the other end of the clamp piston rod is passed through by the clamp base and is connected with the clamp driving block; the clamp driving block is provided with a clamp driving block, the clamp; a clamp connecting rod long pin shaft hinged with the clamp claws and the clamp connecting rod is provided with a double torsion spring, two ends of the double torsion spring are respectively inserted with the clamp connecting rods on two sides of the clamp claws, and the middle parts of the double torsion springs are abutted with the clamp claws; the clamp piston cylinder drives a clamp piston rod to stretch, the clamp piston rod drives a clamp push rod through a clamp driving block, and a clamp claw and a clamp connecting rod are driven to realize clamping action or opening action; in the clamping process, the clamp claws rotate relative to the clamp connecting rod by overcoming the elasticity of the double torsion springs, and reset through the double torsion springs after clamping is finished.
Wherein: the clamp base, the clamp connecting rods, the clamp claws, the clamp push rods, the clamp driving blocks and the clamp piston rods form a slider five-link mechanism, and the clamp push rods in the clamping assemblies on each side are located between the clamp connecting rods on the two sides.
And one end of the clamp connecting rod, which is hinged with the clamp claws, is provided with a limiting bulge for limiting the maximum opening angle of the clamp claws relative to the clamp connecting rod.
One end of the clamp base is inserted into the clamp piston cylinder, the other end of the clamp base is provided with a pin shaft mounting hole which is hinged with the clamp connecting rod through a clamp connecting rod long pin shaft, and a sliding bearing is mounted in the mounting hole; the clamp base is connected with the clamp piston rod in a sealing mode, a piston hole for the clamp piston rod to penetrate through is formed in the middle of the clamp base, a mounting groove for containing a Stent seal, a guide belt and a dust ring is formed in the hole wall of the piston hole, and a mounting groove for containing an O-shaped sealing ring is formed in the outer surface of one end, located in the clamp piston cylinder, of the clamp base.
The clamp base is fixed on the clamp piston cylinder through a bolt, and a threaded hole convenient for mounting a sacrificial anode is formed in the clamp base; two ends of the long pin shaft of the clamp connecting rod are locked through locking nuts, and a gasket sleeved on the long pin shaft of the clamp connecting rod is arranged between the locking nuts and the clamp connecting rod.
The clamp driving block is arranged on the outer surface of the clamp piston rod, the clamp piston rod is connected with the inner wall of the clamp piston cylinder in a sealing mode, an installation groove for containing the GREEN ring and the guide belt is formed in the outer surface of the piston end of the clamp piston rod, and a threaded hole facilitating installation of the clamp driving block is formed in the other end of the clamp piston rod.
The clamp driving block is fixedly connected with the clamp piston rod through a countersunk head bolt, and a through hole for the countersunk head bolt to pass through is formed in the middle of the clamp driving block and is a counter bore; and pin shaft holes which are hinged with the clamp push rod through a clamp push rod short pin shaft are respectively formed in two sides above the through hole of the clamp driving block, and sliding bearings are installed in the pin shaft holes.
Two ends of the short pin shaft of the clamp push rod are locked through locking nuts, and a gasket sleeved on the short pin shaft of the clamp push rod is arranged between the locking nuts and the clamp driving block.
The bottom of the clamp claw is provided with a pin shaft hole hinged with the clamp connecting rod, and a sliding bearing is arranged in the pin shaft hole.
The inner sides of the clamping claws for clamping are respectively provided with an anti-skidding groove and a cross groove, and the outer sides of the clamping claws are provided with reinforcing ribs.
The utility model discloses an advantage does with positive effect:
1. self-adaptive clamping can be realized; compare parallel clamp or open type clamp, the utility model discloses can realize the envelope centre gripping according to the outline self-adaptation centre gripping by the centre gripping thing, the centre gripping effect is more stable, effectively avoids the centre gripping thing to drop, can prevent that the too big destruction of clamping-force is by the centre gripping thing simultaneously.
2. The clamping force is large; the utility model discloses a flexible centre gripping is realized to self-adaptation mechanism, and spare part all adopts the metal material of relative high strength, compares the self-adaptation fixture that adopts flexible clamping jaw and has advantages such as the clamping-force is big, load capacity is strong, maintainability is good.
3. Reliable performance and long service life; the utility model provides a relative pivoted spare part adopts the articulated formula of taking slide bearing to connect, adopts sliding gasket between the spare part of plane contact, and this kind of design has reduced the frictional force between the spare part, has also avoided the friction loss between the metal simultaneously, has improved reliability and life greatly.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a side cross-sectional view of FIG. 1;
FIG. 3 is a schematic structural view of the hinged end of the clamp connecting rod and the clamp jaw of the present invention;
FIG. 4 is a schematic structural view of the closed state of the clamping jaws of the present invention;
FIG. 5 is a schematic structural view of the open state of the clamping jaws of the present invention;
FIG. 6 is a diagram of the self-adaptive clamping operation of the present invention for clamping an object with irregular outer contour;
FIG. 7 is a diagram of the clamping operation of the present invention for clamping objects with regular outer contours;
wherein: the clamp comprises a clamp piston cylinder 1, a clamp base 2, a clamp piston rod 3, a clamp driving block 4, a clamp push rod 5, a clamp jaw retaining connecting rod 6, a clamp jaw 7, a clamp connecting rod long pin shaft 8, a clamp push rod short pin shaft 9, a lock nut 10, a sliding bearing 11, a gasket 12, an O-shaped sealing ring 13, a countersunk head bolt 14, a reinforcing rib 15, an anti-skidding groove 16, a cross groove 17, an oil inlet/outlet 18, a rodless cavity 19, a rod cavity 20, a double torsion spring 21, a push rod long pin shaft 22 and a limiting protrusion 23.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention comprises a clamp piston cylinder 1, a clamp base 2, a clamp piston rod 3, a clamp driving block 4 and a clamping assembly, wherein the clamp base 2 is mounted on the clamp piston cylinder 1, and the clamp piston rod 3 pushes a clamp push rod 5 through the clamp driving block 4, so as to drive a clamping or opening action of a clamp claw 7; a sliding bearing 11 is arranged between every two parts matched with the shaft holes, a gasket 12 is arranged between the parts matched with the surface in a fitting manner, and the gasket 12 is arranged at the position of plane contact of every two parts and is used for adjusting the gap and avoiding hard friction between metals; the parts are hinged through a clamp connecting rod long pin shaft 8, a clamp push rod short pin shaft 9 and a push rod long pin shaft 22, and two ends of the pin shaft are locked through locking nuts 10; the sealing between the clamp piston rod 3 and the clamp base 2 is realized by matching a Stent seal with a guide belt and a dust ring, and the sealing between the clamp piston rod 3 and the clamp piston cylinder 1 is realized by a Glare ring and the guide belt.
The clamp base 2 is provided with four through holes and is fixed on the clamp piston cylinder 1 through four bolts; one end of the clamp base 2 is inserted into the clamp piston cylinder 1, the other end of the clamp base is U-shaped, pin shaft mounting holes are respectively formed in two sides of the U-shaped, and sliding bearings 11 are arranged in the pin shaft mounting holes. A piston hole is formed in the middle of the clamp base 2, mounting grooves for containing a Stent seal, a guide belt and a dust ring are formed in the wall of the piston hole, and a mounting groove for containing an O-shaped sealing ring 13 is formed in the outer surface of one end, located in the clamp piston cylinder 1, of the clamp base 2. The clamp base 2 is also provided with a threaded hole for conveniently installing the sacrificial anode.
The piston end of the clamp piston rod 3 is accommodated in the clamp piston cylinder 1 and is hermetically connected with the inner wall of the clamp piston cylinder 1, and the outer surface of the piston end of the clamp piston rod 3 is provided with an installation groove for accommodating a GREEN ring and a guide belt; the other end of the clamp piston rod 3 passes through a piston hole in the middle of the clamp base 2, and a threaded hole is formed in the other end of the clamp piston rod 3 along the axial direction so as to install a clamp driving block 4.
A through hole for a countersunk head bolt 14 to pass through is formed in the middle of the clamp driving block 4, and the through hole is a countersunk hole; the clamp driving block 4 is fixedly connected with the clamp piston rod 3 through a countersunk head bolt 14, and the countersunk head bolt 14 passes through a through hole in the middle of the clamp driving block 4 and is in threaded connection with a threaded hole at the other end of the clamp piston rod 3. Two sides above the through hole of the clamp driving block 4 are respectively provided with a pin shaft hole, and a sliding bearing 11 is arranged in the pin shaft hole.
The clamping components are symmetrically arranged on two sides of the clamp driving block 4, each clamping component comprises a clamp push rod 5, a clamp connecting rod 6 and a clamp claw 7, the inner sides, used for clamping, of the clamp claws 7 in the clamping components on the two sides are respectively provided with an anti-skidding groove 16 and a cross groove 17, and the outer sides are respectively provided with a reinforcing rib 15. The two sides of each clamping jaw 7 are symmetrically provided with a clamping connecting rod 6, one end of each clamping connecting rod 6 is hinged with the clamping base 2 through a clamping connecting rod long pin shaft 8, and the other end of each clamping connecting rod 6 is hinged with the clamping jaw 7 through the clamping connecting rod long pin shaft 8. The bottom of the clamp claw 7 is provided with a pin shaft hole, and a sliding bearing 11 is arranged in the pin shaft hole; the other end of the clamp connecting rod 6 is hinged with the clamp claw 7 through a clamp connecting rod long pin shaft 8, the clamp connecting rod long pin shaft 8 penetrates through a pin shaft hole formed in the bottom of the clamp claw 7, two ends of the clamp connecting rod long pin shaft are locked through locking nuts 10, and a gasket 12 sleeved on the clamp connecting rod long pin shaft 8 is arranged between the locking nuts 10 and the clamp connecting rod 6. One end of the clamp connecting rod 6 is hinged with the clamp base 2 through a clamp connecting rod long pin shaft 8, the clamp connecting rod long pin shaft 8 penetrates through a pin shaft mounting hole formed in the clamp base 2, two ends of the clamp connecting rod long pin shaft are locked through locking nuts 10, and a gasket 12 sleeved on the clamp connecting rod long pin shaft 8 is arranged between the locking nuts 10 and the clamp connecting rod 6.
Each clamping jaw 7 is hinged with the clamp driving block 4 through a clamp push rod 5, and the clamp push rods 5 are positioned on the outer sides between the clamp connecting rods 6 on the two sides of the clamping jaw 7. One end of a clamp push rod 5 is hinged with a clamp driving block 4 through a clamp push rod short pin shaft 9, the clamp push rod short pin shaft 9 penetrates through a pin shaft hole formed in the clamp driving block 4, the other end of the clamp push rod 5 is hinged with a clamp claw 7 through a push rod long pin shaft 22, and the clamp claw 7 is in interference fit with the push rod long pin shaft 22; the clamp connecting rod long pin shaft 8 of the clamp claw 7 hinged with the clamp connecting rod 6 is provided with a double torsion spring 21, the double torsion spring 21 is positioned in the middle of the clamp connecting rod 6 on two sides of the clamp claw 7, two ends of the double torsion spring 21 are respectively inserted with the clamp connecting rod 6 on two sides of the clamp claw 7, and the middle part of the double torsion spring 21 is abutted with the clamp claw 7. The clamp base 2, the clamp connecting rod 6, the clamp claw 7, the clamp push rod 5, the clamp driving block 4 and the clamp piston rod 3 form a slide block five-link mechanism which is an unstable mechanism and can change the clamping posture according to the outer contour of the clamped object until clamping.
As shown in fig. 3, the end of the clamp link 6 hinged to the clamp claw 7 of the present embodiment is provided with a limiting protrusion 23 for limiting the maximum opening angle of the clamp claw 7 relative to the clamp link 6.
The utility model discloses a theory of operation does:
the clamp piston cylinder 1 drives a clamp piston rod 3 to stretch, the clamp piston rod 3 drives a clamp push rod 5 through a clamp driving block 4, and then a clamp claw 7 and a clamp connecting rod 6 are driven to open and close. During the clamping process, the clamp claw 7 overcomes the elasticity of the double torsion spring 21 and rotates relative to the clamp connecting rod 6, and is reset through the double torsion spring 21 after the clamping is finished. The method specifically comprises the following steps:
when the clamp is in work, a hydraulic pipeline is connected to an oil inlet and outlet 18 on a clamp piston cylinder 1, when high-pressure oil enters a rodless cavity 19, a clamp piston rod 3 extends out, a clamp push rod 5 is pushed through a clamp driving block 4, the clamp claw 7 is driven to open relative to a clamp connecting rod 6 by combining a double-torsion spring 21, and the clamp claw 7 can be preferentially driven to clamp or open relative to the clamp connecting rod 6 in an opening posture at the same time when no load exists; when the clamp connecting rod 6 meets an object, the clamp claw 7 stops acting, the clamp claw 7 is continuously closed relative to the clamp connecting rod 6, and finally profile self-adaptive clamping is achieved (as shown in figures 4-7). When high-pressure oil enters the rod cavity 20, the clamp piston rod 3 retracts, the double torsion springs 21 are combined to drive the clamp claws 7 to keep the connecting rod 6 to be opened relative to the clamp claws, the opening motion of the clamp claws 7 relative to the clamp connecting rod 6 is driven in a limited mode, and the clamp claws are completely unfolded finally, and the limiting protrusions 23 are arranged at the hinged ends of the clamp connecting rod 6 and the clamp claws 7 to limit the maximum opening angle of the clamp claws 7 relative to the clamp connecting rod 6.
To sum up, the utility model provides an underwater hydraulic pressure manipulator self-adaptation fixture, it has a great deal of advantages such as can realize self-adaptation centre gripping, clamping-force are big, dependable performance, longe-lived, is a reliable and stable end actuating mechanism.
Claims (10)
1. The utility model provides an underwater hydraulic pressure manipulator self-adaptation fixture which characterized in that: the clamp device comprises a clamp piston cylinder (1), a clamp base (2), a clamp piston rod (3), a clamp driving block (4) and a clamping assembly, wherein the clamp base (2) is installed on the clamp piston cylinder (1), the piston end of the clamp piston rod (3) is accommodated in the clamp piston cylinder (1), and the other end of the clamp piston rod penetrates through the clamp base (2) and is connected with the clamp driving block (4); the clamp comprises a clamp driving block (4), clamp connecting rods (6) and clamp claws (7), wherein the clamp driving block (4) is symmetrically provided with clamping components at two sides, each clamping component at each side comprises a clamp push rod (5), a clamp connecting rod (6) and a clamp claw (7), one end of each clamp push rod (5) is hinged with the clamp driving block (4) through a clamp push rod short pin shaft (9), the other end of each clamp push rod is hinged with the clamp claw (7) through a push rod long pin shaft (22), the clamp connecting rods (6) are symmetrically arranged at two sides of the clamp claw (7), one end of each clamp connecting rod (6) is hinged with a clamp base (2) through a clamp connecting rod long pin shaft (8), and the other end of each clamp connecting rod (6) is hinged with; a clamp connecting rod long pin shaft (8) hinged with the clamp claws (7) and the clamp connecting rod (6) is provided with a double torsion spring (21), two ends of the double torsion spring (21) are respectively inserted with the clamp connecting rods (6) on two sides of the clamp claws (7), and the middle part of the double torsion spring (21) is abutted to the clamp claws (7); the clamp piston cylinder (1) drives a clamp piston rod (3) to stretch, the clamp piston rod (3) drives a clamp push rod (5) through a clamp driving block (4) to drive a clamp claw (7) and a clamp connecting rod (6) to realize clamping action or opening action; in the clamping process, the clamp claws (7) overcome the elasticity of the double torsion springs (21) to rotate relative to the clamp connecting rod (6), and reset through the double torsion springs (21) after clamping is finished.
2. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 1, wherein: the clamp base (2), the clamp connecting rods (6), the clamp claws (7), the clamp push rods (5), the clamp driving blocks (4) and the clamp piston rods (3) form a slider five-link mechanism, and the clamp push rods (5) in the clamping assembly on each side are positioned between the clamp connecting rods (6) on two sides.
3. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 1, wherein: and one end of the clamp connecting rod (6) hinged to the clamp claw (7) is provided with a limiting bulge (23) for limiting the maximum opening angle of the clamp claw (7) relative to the clamp connecting rod (6).
4. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 1, wherein: one end of the clamp base (2) is inserted into the clamp piston cylinder (1), the other end of the clamp base is provided with a pin shaft mounting hole which is hinged with the clamp connecting rod (6) through a clamp connecting rod long pin shaft (8), and a sliding bearing (11) is mounted in the mounting hole; the clamp is characterized in that the clamp base (2) is connected with the clamp piston rod (3) in a sealing mode, a piston hole for the clamp piston rod (3) to penetrate through is formed in the middle of the clamp base (2), a mounting groove for containing a Stent seal, a guide belt and a dust ring is formed in the hole wall of the piston hole, and a mounting groove for containing an O-shaped sealing ring (13) is formed in the outer surface of one end, located in the clamp piston cylinder (1), of the clamp base (2).
5. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 4, wherein: the clamp base (2) is fixed on the clamp piston cylinder (1) through a bolt, and a threaded hole convenient for mounting a sacrificial anode is formed in the clamp base (2); the clamp connecting rod long pin shaft (8) is locked at two ends through locking nuts (10), and a gasket (12) sleeved on the clamp connecting rod long pin shaft (8) is arranged between the locking nuts (10) and the clamp connecting rod (6).
6. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 1, wherein: the clamp is characterized in that the clamp piston rod (3) is connected with the inner wall of the clamp piston cylinder (1) in a sealing mode, an installation groove for containing the GREEN ring and the guide belt is formed in the outer surface of the piston end of the clamp piston rod (3), and a threaded hole facilitating installation of the clamp driving block (4) is formed in the other end of the clamp piston rod (3).
7. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 1, wherein: the clamp driving block (4) is fixedly connected with the clamp piston rod (3) through a countersunk head bolt (14), and a through hole for the countersunk head bolt (14) to pass through is formed in the middle of the clamp driving block (4) and is a counter bore; and pin shaft holes which are hinged with the clamp push rod (5) through a clamp push rod short pin shaft (9) are respectively formed in two sides above the through hole of the clamp driving block (4), and sliding bearings (11) are installed in the pin shaft holes.
8. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 7, wherein: two ends of the clamp push rod short pin shaft (9) are locked through locking nuts (10), and a gasket (12) sleeved on the clamp push rod short pin shaft (9) is arranged between the locking nuts (10) and the clamp driving block (4).
9. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 1, wherein: the bottom of the clamp claw (7) is provided with a pin shaft hole hinged with the clamp connecting rod (6), and a sliding bearing (11) is arranged in the pin shaft hole.
10. The adaptive clamping mechanism of the underwater hydraulic manipulator of claim 1, wherein: the inner sides of the clamping claws (7) for clamping are respectively provided with an anti-skidding groove (16) and a cross groove (17), and the outer sides of the clamping claws (7) are provided with reinforcing ribs (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922452874.1U CN211590162U (en) | 2019-12-30 | 2019-12-30 | Self-adaptive clamping mechanism of underwater hydraulic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922452874.1U CN211590162U (en) | 2019-12-30 | 2019-12-30 | Self-adaptive clamping mechanism of underwater hydraulic manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN211590162U true CN211590162U (en) | 2020-09-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922452874.1U Withdrawn - After Issue CN211590162U (en) | 2019-12-30 | 2019-12-30 | Self-adaptive clamping mechanism of underwater hydraulic manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN211590162U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112670783A (en) * | 2020-12-10 | 2021-04-16 | 广东电网有限责任公司 | Earth connection dismouting device |
| CN113119147A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Self-adaptive clamping mechanism of underwater hydraulic manipulator |
-
2019
- 2019-12-30 CN CN201922452874.1U patent/CN211590162U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119147A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Self-adaptive clamping mechanism of underwater hydraulic manipulator |
| CN113119147B (en) * | 2019-12-30 | 2024-03-15 | 中国科学院沈阳自动化研究所 | Self-adaptive clamping mechanism of underwater hydraulic manipulator |
| CN112670783A (en) * | 2020-12-10 | 2021-04-16 | 广东电网有限责任公司 | Earth connection dismouting device |
| CN112670783B (en) * | 2020-12-10 | 2023-02-21 | 广东电网有限责任公司 | Earth connection dismouting device |
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Granted publication date: 20200929 Effective date of abandoning: 20240315 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200929 Effective date of abandoning: 20240315 |
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