CN104858888A - Small-sized underwater hydraulic manipulator paw joint structure - Google Patents
Small-sized underwater hydraulic manipulator paw joint structure Download PDFInfo
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- CN104858888A CN104858888A CN201510166531.2A CN201510166531A CN104858888A CN 104858888 A CN104858888 A CN 104858888A CN 201510166531 A CN201510166531 A CN 201510166531A CN 104858888 A CN104858888 A CN 104858888A
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Abstract
The invention provides a small-sized underwater hydraulic manipulator paw joint structure. The small-sized underwater hydraulic manipulator paw joint structure comprises three groups of shear blade blades, three groups of shear fingers on which the shear blades are mounted, a group of catching fingers, a paw driving hydraulic cylinder, a driving connecting part and a paw base, and is an underwater manipulator end actuator for cable clamping, cable shearing and article clamping. The fingers of a manipulator adopt pivot rotary type structures, and transmit driving force through sliding chute levers; the three groups of shear blades are respectively mounted at different positions of a manipulator paw, and are used for providing different shearing force for cables in different types; meanwhile, the group of catching fingers for clamping cables and rods is provided; relative to motor driving, the paw adopts hydraulic drive to provide larger shearing force and catching force. The small-sized underwater hydraulic manipulator paw joint structure provides a manipulator end actuator structure which is used for a small-sized underwater hydraulic manipulator, skilful, compact, and suitable for driving of water and hydraulic oil, and has catching and shearing functions.
Description
Technical field
What the present invention relates to is a kind of hydraulic efficiency manipulator paw articulation structure, specifically a kind of for underwater hydraulic manipulator provide cable shear and article crawl articulation structure.
Background technology
Underwater robot is the important tool of modern marine environmental monitoring and development of resources; Along with its working range, improving constantly of job requirements, it is also proposed higher requirement to its power tool.Current autonomous is unmanned dives device (AUV) due to advantages such as its good concealment, environment for use are extensive, become the focus of research, but due to restrictions such as volume, weight and the energy, the manipulator being applicable to AUV is little, and be mostly electric manipulator, be limited to energy restriction driving moment less; So the miniaturized hydraulic efficiency manipulator being equipped on driving force on AUV stronger is especially rare.
The type of current manipulator paw mainly contains vacuum cap type, electromagnetic sucker type and manipulator claw, and wherein manipulator claw is divided into rotary type and translating type.As application number be 201320232380.2, name be called " a kind of electrical clip jaw type manipulator paw " patent document disclosed in technical scheme, reducing motor is utilized to drive screw turns, promote link motion by feed screw nut rectilinear motion, then promote the fulcrum open and close movement of clamp around fulcrum pin; Technical scheme disclosed in the patent document that application number is 201010540521.8, name is called " a kind of improved manipulator paw ", by hydraulic-driven, hydraulic-driven bar drives paw connecting rod, and realize paw when rodless cavity drives and close, when rod chamber drives, paw opens.Domestic current integrated wrist joint rotates and possesses crawl and shearing function, is applicable to fluid pressure and the hydraulically powered manipulator paw of little press water yet there are no relevant report.
Summary of the invention
The object of this invention is to provide that one has compact conformation, volume is little, joint drive is flexible, and possess cable and shear and the small underwater hydraulic efficiency manipulator paw articulation structure of the article crawl function such as crawls, bar.
The present invention seeks to realize like this:
Comprise and drive hydraulic cylinder, fulcrum swinging paw structure; Described fulcrum swinging paw structure comprises paw and installs fixed pedestal, upside hand and downside hand; Paw is installed fixed pedestal and is comprised two side plates 29, base plate 24, blade fixture 33 and base 11, side plate there is the chute slided for sliding bar 21, side plate is installed on base plate 24, base plate 24 base 11 is fixedly connected with, base 11 is fixedly connected with hydraulic cylinder end cover 10, and biside plate installs shear-blade A12 respectively by blade fixture 33; Upside finger comprises to be sheared finger A32 and captures finger A16, shear finger A32 and capture finger A16 and connect into an entirety by connecting rod 17, shear-blade D31 is arranged on and shears on finger A32, two panels shear-blade B15 is arranged on respectively and captures the finger A16 side relative with the shear-blade A12 that biside plate is installed with shearing finger A32, captures finger A16 and shear finger A32 to be arranged on biside plate by fixing steel pole A14; Downside finger comprise capture finger B18 and shear finger B, shear-blade C30 be arranged on shear finger B on, capture finger B18 and shear finger B by fix steel pole B22 be arranged on biside plate; The drive rod 7 end adapter sleeve 19 of hydraulic cylinder is driven to connect, the cylinder body afterbody 3 of hydraulic cylinder is driven to be connected with shaft coupling 2, head drives the cylinder body of hydraulic cylinder to be arranged in installation urceolus 1 by ceramic bearing, and sliding bar 21 is through in biside plate, upside finger, downside finger and adapter sleeve.
The present invention can also comprise:
1, shear-blade A to shear-blade D is installed on by screw and shears on finger or blade fixture, the nested spring providing shear-blade pretightning force on described screw.
2, urceolus is installed and is fixed on next stage manipulator part, urceolus is processed with cannelure.
The invention provides one and there is the advantages such as compact conformation, volume is little, joint drive is flexible, and possess the miniaturized underwater hydraulic manipulator paw end effector articulation structure that the article such as cable shearing and crawl, bar capture function.
Manipulator hand is grabbed joint and is comprised three groups of shear-blades and the shearing finger of installation shear-blade, one group of crawl finger, paw driving hydraulic cylinder, driving attaching parts and fixed pedestal composition; Three groups of shear-blades with shear point and one group capture to point and form whole fulcrum swinging paw structure; And being connected with paw Driven by Hydraulic Cylinder bar by the driving attaching parts (chute lever force transfer mechanism) that the chute on finger forms with support link, adapter sleeve, and transmission of drive force; Fixed pedestal is connected with hydraulic cylinder, and the manipulator paw structure be made up of above-mentioned several parts is installed urceolus by one group of ceramic bearing and manipulator and is fixedly connected with, and relative to the revolution of installation urceolus, can provide the wrist gyration of manipulator.
Fulcrum swinging paw is formed by shearing finger, crawl finger and shear-blade; Shear-blade is installed on by screw and shears on finger, and utilizes the spring be nested on screw to provide blade pretightning force, and shear-blade is fitted tightly; The shearing finger of side and crawl finger are by screw and connecting rod composition entirety, and shearing finger and the crawl finger of opposite side are a part overall processing, and are installed on fixed pedestal at revolution fulcrum place respectively by fixing steel pole.
Attaching parts are driven to be chute lever force transfer mechanism, sliding bar, adapter sleeve and the copper sheathing, the both sides abrasionproof copper sheathing composition that are nested in adapter sleeve; Sliding bar slides in finger chute, and transmission of drive force is given to shear and captured finger, and is connected with adapter sleeve by copper sheathing, adapter sleeve is threaded with Driven by Hydraulic Cylinder bar, is arranged on copper sheathing on sliding bar and both sides abrasionproof copper sheathing and all has and locate and antiwear effect.
The side plate of fixed pedestal possesses the chute of sliding bar slip, side plate, between base plate with base, screw is connected between two, and base by thread is connected to and drives on hydraulic cylinder, and on biside plate, by blade fixture, the small blade two pieces of small blades and finger relevant position installed is installed forms two groups of shear-blades.
Paw drives hydraulic cylinder structure to be traditional form, and its material is the 3Cr13 of water corrosion resistant, and movable sealing is selected Glais ring and adopted little seal clearance, makes hydraulic cylinder be applicable to hydraulic oil within 5Mpa and water-driven; Driven by Hydraulic Cylinder boom end is threaded and is threaded with adapter sleeve, afterbody is connected with shaft coupling, head-tail cylinder body is fixed on outer tube inner wall by ceramic bearing, drives shaft coupling that hydraulic cylinder can be made to drive paw section to realize wrist gyration relative to installation urceolus.
Urceolus is installed and is fixed on next stage manipulator part, cannelure processed by urceolus so that hydraulic cylinder pipe joint rotates.
Beneficial effect of the present invention is:
1, by by the Miniaturization Design in manipulator paw joint, manipulator paw joint is made to have the advantages such as compact conformation, volume weight is little, driving force is strong.
2, manipulator paw has three groups of shear-blades, and shear-blade is positioned at diverse location, can be provided the shearing force varied in size by Calculating Torque during Rotary, and blade rapidoprint is different, so that be applicable to the shearing of variety classes cable.
3, by manipulator paw being driven the improvement of hydraulic cylinder, while making manipulator paw meet hydraulic oil driving, be applicable to little pressure (below 5MPa) water hydraulic drive, avoid oily hydraulic-driven to drive the problems such as delay to the pollution of experimental situation and the low discharge that causes because hydraulic oil viscosity is comparatively large.
4, manipulator paw possesses the large function of crawl two of the article such as cable shearing and bar, is mounted on simultaneously and utilizes next stage drive unit, can realize hand manipulator paw end effector revolute function by urceolus.
Accompanying drawing explanation
Fig. 1 is the overall profile 1 in small underwater hydraulic efficiency manipulator paw joint;
Fig. 2 is the overall profile 2 in small underwater hydraulic efficiency manipulator paw joint;
Fig. 3 is the closed figure in small underwater hydraulic efficiency manipulator paw joint;
Fig. 4 is that figure is opened in small underwater hydraulic efficiency manipulator paw joint;
Fig. 5 (a), Fig. 5 (b) are underwater hydraulic manipulator paw finger assembly 1 unitary side view;
Fig. 6 is underwater hydraulic manipulator paw finger assembly 2 unitary side view;
Fig. 7 is that underwater hydraulic manipulator shear-blade C, shear-blade D install sectional view;
Fig. 8 is the A-A sectional view of the finger of underwater hydraulic manipulator shown in Fig. 5 (b) assembly 1;
Fig. 9 is that underwater hydraulic manipulator installs urceolus External Shape figure;
Figure 10 is underwater hydraulic manipulator paw sketch.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
Small underwater hydraulic efficiency manipulator paw articulation structure of the present invention drives hydraulic cylinder, driving attaching parts and fixed pedestal to form by three groups of shear-blades and the shearing finger of installation shear-blade, one group of crawl finger, paw; Paw drives hydraulic cylinder, adopts chute lever force transfer mechanism between driving attaching parts and paw, and paw adopts fulcrum rotary structure to be also mounted on paw pedestal.
Three groups of shear-blades with shear point and one group capture to point and form whole fulcrum swinging paw structure; And being connected with paw Driven by Hydraulic Cylinder bar by the driving attaching parts (chute lever force transfer mechanism) that the chute on finger forms with sliding bar, adapter sleeve, and transmission of drive force; Fixed pedestal is connected with hydraulic cylinder, and the manipulator paw structure be made up of above-mentioned several parts is installed urceolus by one group of ceramic bearing and manipulator and is fixedly connected with, and relative to the revolution of installation urceolus, can provide the wrist gyration of manipulator.
Fulcrum swinging paw is formed by shearing finger, crawl finger and the shear-blade be arranged on finger; Be arranged on the shear-blade (shear-blade C, shear-blade D) sheared on finger, connected by soket head cap screw, and on screw nested springs, spring action is in blade and shear finger binding face, in order to provide the pretightning force of blade, when making shearing, two panels blade can ensure to fit tightly, and better completes shearing work; Shear finger on the upside of Fig. 4 and capture finger and be mounted to an entirety by screw and connecting rod, the shearing of downside is pointed and captured finger is a part overall processing, and is installed on fixed pedestal at revolution fulcrum place respectively by fixing steel pole.
Drive attaching parts by chute lever force transfer mechanism, sliding bar, adapter sleeve and be nested in copper sheathing in adapter sleeve, both sides abrasionproof copper sheathing forms; Sliding bar slides in finger chute and side plate chute, transmission of drive force is given to shear and is captured finger, and be connected with adapter sleeve through the copper sheathing of interference fit in adapter sleeve endoporus, adapter sleeve is threaded with Driven by Hydraulic Cylinder bar, is arranged on the effect that copper sheathing on sliding bar and both sides abrasionproof copper sheathing all have location and abrasionproof.
Be made up of biside plate, base plate, blade fixture and base; Side plate possesses the chute that sliding bar slides, and be installed on base plate by three groups of screws, base plate is by being connected with base screw, and base by thread is connected to and drives on hydraulic cylinder, and on biside plate, by blade fixture, the blade (shear-blade B) two pieces of blades (shear-blade A) and finger relevant position installed is installed forms two groups of clipped position points.
Hydraulic cylinder structure is traditional form, and movable sealing is selected Glais ring and adopted little seal clearance, is applicable to the hydraulic oil within 5Mpa and water-driven; Driven by Hydraulic Cylinder boom end is threaded and is threaded with adapter sleeve, afterbody is connected with shaft coupling, head-tail cylinder body is fixed on outer tube inner wall by ceramic bearing, drives shaft coupling that hydraulic cylinder can be made to drive paw section to realize wrist gyration relative to installation urceolus.
Urceolus is installed and is fixed on next stage manipulator part, cannelure processed by urceolus so that hydraulic cylinder pipe joint rotates.
Underwater hydraulic manipulator paw structure is equally applicable to land manipulator.
The parts that the present invention includes have: install urceolus 1, shaft coupling 2, hydraulic cylinder afterbody 3, ceramic bearing 4, O RunddichtringO 5, Barrel of Hydraulic Cylinders 6, Driven by Hydraulic Cylinder bar 7, Glais ring 8, hydraulic cylinder drive end bearing bracket 9, hydraulic cylinder end cover 10, base 11, shear-blade A12, copper sheathing A13, fixing steel pole A14, shear-blade B15, capture finger A16, connecting rod 17, finger B18, adapter sleeve 19, copper sheathing 20, sliding bar 21, fixing steel pole B22, copper sheathing B23, base plate 24, dust ring 25, side plate A26, abrasionproof copper sheathing A27, abrasionproof copper sheathing B28, side plate B29, shear-blade C30, shear-blade D31, shear finger A32, blade fixture 33, support tube 34, spring 35.
Composition graphs 1, underwater small hydraulic efficiency manipulator paw articulation structure major advantage of the present invention is that water or hydraulic oil can be utilized to drive paw to provide to be sheared and capture function, and can produce manipulator paw gyration by the driving of next stage driving joint.Manipulator paw opening and closing are by paw Driven by Hydraulic Cylinder, hydraulic cylinder is fixed on by two ceramic bearings 4 and installs on urceolus 1 simultaneously, hydraulic cylinder afterbody 3 is connected with next stage joint drive by shaft coupling 2, urceolus 1 and next stage arthrodesis are installed simultaneously, meet paw and realize revolute function relative to installation urceolus 1.Mechanical hand hydraulic cylinder is traditional form, is made up of hydraulic cylinder afterbody 3, O RunddichtringO 5, Barrel of Hydraulic Cylinders 6, Driven by Hydraulic Cylinder bar 7, Glais ring 8, hydraulic cylinder drive end bearing bracket 9, hydraulic cylinder end cover 10; Its material is the 3Cr13 of water corrosion resistant, movable sealing is selected Glais ring 8 and is adopted little seal clearance, static seal adopts the end face seal of O RunddichtringO 5, hydraulic cylinder is made to be applicable to hydraulic oil within 5Mpa and water-driven, Driven by Hydraulic Cylinder bar 7 end is threaded and is threaded with adapter sleeve 19, hydraulic cylinder afterbody 3 is connected with shaft coupling 2, head-tail cylinder body is fixed on by ceramic bearing 4 to be installed on urceolus 1 inwall, drives shaft coupling 2 that hydraulic cylinder can be made to drive paw section to realize wrist gyration relative to installation urceolus 1.Paw is installed fixed pedestal and is made up of biside plate, base plate 24, blade fixture 33 and base 11; Side plate possesses the chute that sliding bar 21 slides, and be installed on base plate 24 by three groups of screws, base plate 24 is by being connected with base 11 screw, base 11 is threaded with hydraulic cylinder end cover 10, and on biside plate, installs two pieces of shear-blade A12 by blade fixture 33 install shear-blade B15 form clipped position point with finger relevant position.
Robot drives attaching parts are chute lever force transfer mechanism, sliding bar 21, adapter sleeve 19 and the copper sheathing 20, both sides abrasionproof copper sheathing (abrasionproof copper sheathing A27, the abrasionproof copper sheathing B28) composition that are nested in adapter sleeve; Sliding bar 21 slides in finger chute and biside plate (side plate A26, side plate B29), transmission of drive force is given to shear and is captured finger, and be connected with adapter sleeve 19 through the copper sheathing 20 of interference fit in adapter sleeve 19 endoporus, adapter sleeve 19 is threaded with Driven by Hydraulic Cylinder bar 7, is arranged on the effect that copper sheathing 20 on sliding bar 21 and both sides abrasionproof copper sheathing (abrasionproof copper sheathing A27, abrasionproof copper sheathing B28) all have location and abrasionproof.
Composition graphs 4 to Fig. 8, manipulator paw is pointed by two parts and is formed.The finger of upside shown in Fig. 4 is by shearing finger A32 and capture finger A16, and by screw and two connecting rods 17 by shearing finger A32 with capture finger A16 and form a whole (as Suo Shi Fig. 5 (a)-Fig. 5 (b)), this part by copper sheathing A13, shear-blade B15, capture finger A16, connecting rod 17, shear-blade D31, shear point A32, support tube 34, spring 35 form; Shear-blade D31 is arranged on by soket head cap screw and shears the upper of finger A32, and the screw counter sink mounting spring 35 shearing finger A32 coating surface is nested on soket head cap screw, spring 35 is adjacent to power in order to provide shear-blade D31 and shear-blade C30, be conducive to completing of shearing work, shear-blade and shearing finger mounted cross section are as shown in Figure 7; Two panels shear-blade B15 screw is arranged on simultaneously and captures finger A16 and shear finger A32 and biside plate (side plate A26, side plate B29) that above installing shear-blade B15 forms clipped position point; Two copper sheathing A13 point A32 interference fit and install with capturing point A16 and shears, fix steel pole A14 and pass copper sheathing A13 and support tube 34 endoporus, be arranged on biside plate.On the downside of Fig. 4, finger is the paw of part shown in Fig. 6, finger B18, copper sheathing B23, shear-blade C30, spring 35 form, shear-blade C30, spring 35 are consistent with above-mentioned finger with soket head cap screw installation method, copper sheathing B23 and finger B18 interference fit, fixing steel pole B22 is arranged on biside plate through copper sheathing B23 endoporus.
As Fig. 3, Fig. 4 are respectively the schematic diagram that manipulator paw closes and open, manipulator paw possesses crawl and shearing function, capture function by capturing finger A16, finger B18 close, mainly for capturing the article such as bar, cable.Manipulator paw clipped position has two, a clipped position is made up of shear-blade C30, shear-blade D31, another clipped position is made up of shear-blade A12, shear-blade B15, the shearing moment of two place's shearing point is different, the shearing force provided varies in size, and is applicable to the shearing of variety classes cable; The design of shear-blade as shown in Figure 7, when the shear-blade being designed to C shape can ensure that two panels blade closes, bit afterbody first closes, and cable is enclosed in two C type blades composition intra-zones, prevents cable from skidding off knife cut region and the shearing failure that causes.
As shown in Figure 10, manipulator paw two place clipped position, shearing force size is F
1and F
2, Driven by Hydraulic Cylinder power is F, and its force analysis as shown in Figure 10, can be obtained by dynamic balance formula:
F
3＝F
4＝F/2cosθ
2
Manipulator finger can obtain giving directions out stress balance:
Release
In like manner
In formula: F is Driven by Hydraulic Cylinder power, F
1and F
2for pointing the shearing force of two clipped position, F
3and F
4the driving component on finger is used in, θ for Driven by Hydraulic Cylinder masterpiece
1for sliding bar 21 and finger turn round the angle of fulcrum line and base plate 24, θ
1for sliding bar 21 and finger turn round fulcrum line and directed force F angle, a is that driving force F direction is to turning round pivot distance, h and h
1be respectively shearing force F
1and F
2opplied moment.
From above-mentioned (1) and (2) two formulas, the shearing force F of manipulator two clipped position points
1and F
2difference, manipulator can provide the shearing force varied in size to be applicable to the shearing of variety classes cable, and due to moment h>h
1, shearing moment F
1<F
2.
The operation principle of this embodiment is:
It is that hydraulic-driven medium (water or hydraulic oil) enters from the hydraulic cylinder A point shown in Fig. 1 that manipulator hand grabs operation principle, hydraulic drive cylinder rodless cavity oil-feed process, drive Driven by Hydraulic Cylinder bar 7 at the inner straight forward movement of Barrel of Hydraulic Cylinders 6, drive adapter sleeve 19 rectilinear motion be threaded with Driven by Hydraulic Cylinder bar 7, promote sliding bar 21 to slide in biside plate (side plate A26, side plate B29) and finger chute, drive fulcrum swinging paw round the fulcrum at fixing steel pole A14, fixing steel pole B22 place, paw is opened; In like manner, when hydraulic oil enters from B point, hydraulic drive cylinder rod chamber oil-feed process, drives Driven by Hydraulic Cylinder bar 7 rectilinear motion backward, and paw is closed, and completes manipulator paw and captures or shearing function.Meanwhile, paw can be installed urceolus 1 and be arranged on next stage driving joint, driver part is connected with shaft coupling 2 thus drives hydraulic cylinder and paw relative to installing urceolus 1 gyration.
Claims (3)
1. a small underwater hydraulic efficiency manipulator paw articulation structure, comprises and drives hydraulic cylinder, fulcrum swinging paw structure; It is characterized in that: described fulcrum swinging paw structure comprises paw and installs fixed pedestal, upside hand and downside hand; Paw is installed fixed pedestal and is comprised two side plates (29), base plate (24), blade fixture (33) and base (11), side plate there is the chute slided for sliding bar (21), side plate is installed on base plate (24), base plate (24) base (11) is fixedly connected with, base (11) is fixedly connected with hydraulic cylinder end cover (10), and biside plate installs shear-blade A (12) respectively by blade fixture (33); Upside finger comprises to be sheared finger A (32) and captures finger A (16), shear finger A (32) and capture finger A (16) and connect into an entirety by connecting rod (17), shear-blade D (31) is arranged on and shears on finger A (32), two panels shear-blade B (15) is arranged on respectively and captures finger A (16) side relative with the shear-blade A (12) that biside plate is installed with shearing finger A (32), captures finger A (16) and shear finger A (32) to be arranged on biside plate by fixing steel pole A (14); Downside finger comprise capture finger B (18) and shear finger B, shear-blade C (30) be arranged on shear finger B on, capture finger B (18) and shear finger B pass through fix steel pole B (22 are arranged on biside plate; Drive drive rod (7 end adapter sleeves (19 connections of hydraulic cylinder, the cylinder body afterbody (3) of hydraulic cylinder is driven to be connected with shaft coupling (2), head drives the cylinder body of hydraulic cylinder to be arranged in installation urceolus (1) by ceramic bearing, and sliding bar (21) is through in biside plate, upside finger, downside finger and adapter sleeve.
2. small underwater hydraulic efficiency manipulator paw articulation structure according to claim 1, is characterized in that: shear-blade A to shear-blade D is installed on by screw and shears on finger or blade fixture, the nested spring providing shear-blade pretightning force on described screw.
3. small underwater hydraulic efficiency manipulator paw articulation structure according to claim 1 and 2, is characterized in that: install urceolus and be fixed on next stage manipulator part, urceolus is processed with cannelure.
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| CN201510166531.2A CN104858888B (en) | 2015-06-12 | 2015-06-12 | Small underwater hydraulic efficiency manipulator paw articulation structure |
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|---|---|---|---|
| CN201510166531.2A CN104858888B (en) | 2015-06-12 | 2015-06-12 | Small underwater hydraulic efficiency manipulator paw articulation structure |
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| CN104858888B CN104858888B (en) | 2016-08-03 |
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| CN107914267A (en) * | 2018-01-05 | 2018-04-17 | 北京章鱼智控科技有限公司 | A kind of underwater hydraulic rotating mechanism and underwater hydraulic manipulator |
| CN108748221A (en) * | 2018-05-22 | 2018-11-06 | 董杰 | A kind of industrial machinery handgrip |
| CN108994867A (en) * | 2018-07-27 | 2018-12-14 | 浙江优勝科技有限公司 | A kind of fastener grabbing device |
| CN110531464A (en) * | 2019-08-28 | 2019-12-03 | 国网湖北省电力有限公司宜昌供电公司 | Optical cable cutting implement and operating method |
| CN112809717A (en) * | 2021-01-26 | 2021-05-18 | 华中科技大学 | Water pressure drive integrated form manipulator end effector |
| CN113001532A (en) * | 2021-04-27 | 2021-06-22 | 南京华研动密封科技有限公司 | Electro-hydraulic hybrid driven underwater multifunctional mechanical arm |
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| CN115026861B (en) * | 2022-06-17 | 2024-06-25 | 福州大学 | Multifunctional steel coil grabbing end effector |
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