101 results about "Hydraulic manipulator" patented technology

The high-voltage hot-line work robot equipment includes moving vehicle, lifting mechanism, insulated support platform, working mechanical arm, hydralic mechanical hand, isolated transformer, power generator, hydraulic pump and control box. The lifting mechanism, power generator and hydraulic pump are mounted on the chassis of vehicle, the insulated support platform is coupled with tail end of lifting mechansm, the working mechanical arm, isolated transformer and low-voltage control box are mounted on the insulated support platform. The working mechanical arm is driven by motor, the mechanicalhead is driven by hydraulic system, and computer can utilize low-voltage control device to control working mechanical arm, mechanical hand and its holding tool to implement various high-voltage hot-lint works.

The invention discloses a precise clamping rotary hydraulic manipulator. The precise clamping rotary hydraulic manipulator comprises a bearing base, a mechanical arm and a clamping manipulator; a rotating table is mounted at the top of the bearing base; the rotating table comprises a rotating motor, and a rotating disc in transmission connection with the rotating motor; a first hydraulic cylinderis mounted at the top of the rotating table; the mechanical arm is mounted at the top of the first hydraulic cylinder; a second hydraulic cylinder is fixedly mounted at one end of the mechanical arm;and a driving motor is mounted at an output end of the second hydraulic cylinder. The precise clamping rotary hydraulic manipulator can realize the rotation and extension adjustment to flexibly move to an object to be clamped so as to effectively improve the manipulator clamping precision; and through arrangement of a negative-pressure cavity and a negative-pressure sucker on a mechanical jaw, a negative-pressure absorption fixing principle is used for achieving firmer and more stable object clamping by the mechanical jaw, so that the clamping damage degree of the object is reduced, and the practicability is higher.

The invention aims at providing a small underwater hydraulic mechanical arm two-stage drive joint. The small underwater hydraulic mechanical arm two-stage drive joint comprises a gripper drive hydraulic cylinder assembly for the first-stage linear movement, a second-stage joint rotation assembly and a position detection assembly, wherein the rear end of the first-stage hydraulic cylinder assembly is connected with the front end of a second-stage wrist joint through screws, an oil way inside the first-stage hydraulic cylinder assembly is sealed through an O-shaped seal ring, and the position detection assembly is in interference fit with the rear end of the second-stage wrist joint through a supporting shaft. The wrist joint is driven by hydraulic oil at the oil inlet / outlet in the middle of a second-stage joint mechanism to rotate, and the first-stage gripper hydraulic cylinder assembly is driven to rotate together with the second-stage joint mechanism, a first-stage gripper hydraulic cylinder is driven by hydraulic oil at the oil inlet / outlet in the tail portion of the second-stage joint through the oil way in the first-stage gripper hydraulic cylinder assembly to do linear movement, and the drive torque is provided for a gripper. By means of the small underwater hydraulic mechanical arm two-stage drive joint, the interference of hydraulic connectors connected with the oil inlets and the oil outlets to an outer cylinder is avoided when a first-stage hydraulic cylinder rotates together with the wrist joint in the traditional hydraulic cylinder front and back oil inlet and outlet form.

The invention discloses a hydraulic manipulator. The hydraulic manipulator comprises a base, a swinging hydraulic cylinder and a mechanical hand, wherein the swinging hydraulic cylinder is fixed on the base; a fixing supporting arm is in sliding connection with a sliding supporting arm; a hydraulic telescopic device is arranged in the fixing supporting arm; a rotating device is arranged in a horizontal supporting arm; the other end of a horizontal rotating arm is connected with a mechanical arm; a first hydraulic telescopic device is arranged in the mechanical arm; the first hydraulic telescopic device comprises a first hydraulic cylinder and a telescopic shaft; and the telescopic shaft is connected with the mechanical hand. According to the hydraulic manipulator, the arranged swinging hydraulic cylinder enables the hydraulic manipulator to rotate on the base in the horizontal direction, the application range of the device is expanded, the arranged rotating device enables the hydraulic manipulator to rotate in the vertical direction, objects can be conveniently clamped by the mechanical hand, the arranged telescopic device enables the hydraulic manipulator to move up and down, and the range of use is further expanded.

The invention relates to an arm joint structure of a small underwater hydraulic manipulator, which comprises a first mechanical arm, a second mechanical arm and a drive mechanism, wherein the front end of the first mechanical arm is connected with the rear end of the second mechanical arm via a rotation shaft; the drive mechanism is arranged between the first mechanical arm and the second mechanical arm and comprises a hydraulic cylinder, a C-shaped plate and a straight plate; a cylinder body of the hydraulic cylinder is articulated with the first mechanical arm; a cylinder rod is articulated with the middle of the C-shaped plate; one end of the C-shaped plate is articulated with the first mechanical arm; the other end of the C-shaped plate is articulated with one end of the straight plate; and the other end of the straight plate is articulated with the second mechanical arm. The arm joint structure has the advantages of compact structure, small size, convenience in mounting, flexible joint driving and strong driving power, can achieve 180-degree rotation of a manipulator joint, and is applicable to driving the small underwater hydraulic manipulator joint.

The invention discloses equipment for paving curbstone on two sides of a road. The equipment comprises a chassis, an X shaft driving mechanism, a Y shaft driving mechanism, a Z shaft driving mechanism, a mechanical arm, a driving cabin, an engine compartment, and an electric hydraulic control box. By arranging a multi-shaft driving system and a hydraulic mechanical arm, the stones on two sides of a road can be automatically and mechanically paved, the efficiency of road construction is improved, the labor is saved, moreover the structure is reasonable, the operation is convenient, and the equipment is suitable for road construction.

The invention discloses a hydraulic manipulator paw for assembling and disassembling square articles, and belongs to the field of hydraulic manipulators. The invention adopts the technical scheme that: a paw frame connected on a hydraulic manipulator arm has a channel steel structure, and the middle part in the channel of the channel steel structure is fixedly provided with a double push rod hydraulic cylinder, push rods of which move reversely and synchronously; and the outer end of each push rod is connected with a movable paw, the upper end of the paw is vertically embedded into an intra-channel slipway of the channel steel structure, and a rubber gasket is fixedly arranged on the inner side of the paw. The hydraulic manipulator paw has simple structure, is convenient to operate, and can clamp and carry the square articles according to fixed programs to finish certain specific operations.

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.

The invention discloses a seed melon pulp digging machine which comprises a rack. Two hydraulic mechanical arms capable of axially rotating are horizontally arranged on the rack at intervals, mechanical hands are arranged at the front ends of the mechanical arms respectively, a lifting melon cutter is vertically arranged below the position, between the two mechanical hands, of the rack, the melon cutter rotates to cut a water melon held by the two mechanical hands in half, two pulp cutters are vertically arranged on a supporting frame close to the mechanical hands side by side, the contour lines of the two pulp cutters are elliptic and are matched with the shape of the outer contour line of a water melon peel, two chutes are obliquely arranged in the rack below the pulp cutters side by side, grid bar cross holes are evenly formed in the lower chute walls of the two chutes at intervals, a melon peel bucket is arranged below the lower ends of the chutes, and a melon pulp bucket is arranged below the grid bar cross holes. The machine replaces manpower to dig pulp and take seeds to make juice, and the machine is safe, reliable, high in efficiency and convenient to use and meets the requirement of food sanitation.

A loader-type heavy construction machine has a chassis and work equipment. The work equipment includes two parallel arms articulated relative to the frame, a bucket articulated relative to the arms, a set of link rods forming, with a portion of the bucket and of the arms, a deformable parallelogram, and a bucket actuator capable of being controlled to cause deformation of the deformable parallelogram so as to orient the bucket with respect to the arms. A cam is moved by a connecting bar connected at one end to the deformable parallelogram so that the position of the cam is dependent on the orientation of the bucket with respect to the chassis. The cam interfaces with an hydraulic circuit to ensure that the bucket is maintained in a position preventing it from accidentally tipping over backwards, regardless of commands exerted on an hydraulic manipulator by a driver of the machine.

The invention aims to provide a hydraulic driving type underwater emergency release device, wherein hydraulic oil or water is taken as a driving medium. The hydraulic driving type underwater emergency release device comprises a mechanical body, a signal cable release part and a power cable release part. The mechanical body is used for providing a connecting platform between an underwater aircraft and an underwater manipulator. When the underwater aircraft works normally, the device can ensure safe and reliable connection between the aircraft and the underwater manipulator. When serious failures of the underwater aircraft and the underwater manipulator occur, for example serious winding or blocking failure of each driving joint of the manipulator occurs, or an actuator at the tail end of the manipulator is wound by an underwater entanglement, conventional fault-tolerant control cannot meet the working requirement, and load rejection is necessary to ensure the safety of the underwater aircraft. A release command is given by a control system, and disengaging between a hydraulic manipulator and the underwater aircraft is quickly realized so as to ensure the safety of the aircraft. The hydraulic driving type underwater emergency release device can realize underwater release of a hydraulic manipulator body, power cables and signal cables.

The invention discloses a rotary hydraulic mechanical hand body of a hydraulic large-sized mechanical hand. The rotary hydraulic mechanical hand body of the hydraulic large-sized mechanical hand comprises a connecting base, a rotary oil cylinder, a mechanical hand oil cylinder outer cavity, an ear-ring type mechanical hand oil cylinder piston rod, a mechanical finger base and mechanical fingers, the connecting base is fixed to the left end of a shell of the rotary oil cylinder through screws, a rotary shaft of the rotary oil cylinder and the mechanical hand oil cylinder outer cavity are integrated, the mechanical finger base is fixed to the right end of the mechanical hand oil cylinder outer cavity, the mechanical finger base is movably connected with the middle of the mechanical fingers, the left ends of the mechanical fingers are connected with the ear-ring type mechanical hand oil cylinder piston rod, and a plurality of skid-resistant burrs are arranged on the mechanical fingers. By means of the mode, the rotary hydraulic mechanical hand body of the hydraulic large-sized mechanical hand is under pure hydraulic drive, each movable joint is large in movable torque, the rotary hydraulic mechanical hand body can be used in severe industrial environment, the requirements for protecting levels are low, the working force of the rotary hydraulic mechanical hand body is much higher than that of electrically-driven mechanical hands of the same level, and the cost of the rotary hydraulic mechanical hand body is much lower than that of the electrically-driven mechanical hands of the same level.

The invention relates to a manipulator technology, and provides a wrist rotating clamp structure for a hydraulic manipulator. The structure comprises a linear oil cylinder, a micro hydraulic motor, aspeed reducing mechanism and a pawl; the linear oil cylinder is arranged by adopting a rear mode; the micro hydraulic motor and the speed reducing mechanism are positioned between the linear oil cylinder and the pawl; an output shaft of the micro hydraulic motor is connected to the speed reducing mechanism, and is vertically staggered with a piston rod of the linear oil cylinder; a worm wheel output shaft of the speed reducing mechanism is of a hollow structure; the piston rod of the linear oil cylinder is connected to a driving mechanism of the pawl after penetrating through the worm wheel output shaft, and drives opening or closing thereof; and the micro hydraulic motor drives the pawl to realize forward-reverse rotation through the speed reducing mechanism. The structure is simple in structure, low in technical difficulty, high in reliability, excellent in maintainability and economy, easy to realize, high in speed reducing ratio, high in wrist rotating torque and low in lowest stable rotating speed, allows staggered arrangement of the hydraulic motor and the pawl to achieve more compact and flexible structure, and has self-locking characteristics on a worm wheel and a worm rod.

The invention aims to provide a driving device for underwater hydraulic mechanical arm joints. The driving device is composed of a hydraulic driving portion, a position detection portion and a front joint and rear joint connection portion. The position detection portion and the hydraulic driving portion are achieved through connection of a driving rotor output shaft. The hydraulic driving portion is composed of a driving rotor assembly and a driving stator and located through supporting of a left rolling bearing and a right sliding bearing, and a sealing O-shaped ring and a sealing Glyd ring are adopted for preventing leakage. The driving rotor assembly is composed of a driving rotation shaft, a driving rotor, a rotor sealing Glyd ring, a rotor O-shaped sealing ring and a driving rotor right end cover. The rotor is installed on the driving rotation shaft in a fastening mode. The surface, making contact with the end cover, of the rotor is painted with sealant. The inner hole of the right end cover is painted with sealant and installed on one side of the rotor, the rotation shaft, the rotor and the rotor right end cover are locked through rotor pre-tightening screws, and therefore the whole assembly is formed. The driving device is suitable for driving the joints of an underwater operation mechanical arm.

The invention belongs to the technical field of mechanical hand devices, and discloses a hydraulic mechanical hand device. The hydraulic mechanical hand device comprises an installation base, a standcolumn, a jacking cylinder, a transverse arm, a rotating disc, a first mechanical hand, a rotating cylinder, a hollow sleeve, a first clamping arm and a second clamping arm. The stand column is fixedly installed on the top of the installation base, and the jacking cylinder is installed inside the stand column. A jacking plate is arranged in a sliding groove of the stand column in a sliding mode through a sliding strip, and the interior of the jacking plate is fixedly connected with the top end of the jacking cylinder. The transverse arm is installed on one side of the jacking plate through aninstallation plate and screws, and a first hydraulic cylinder is installed inside one end of the transverse arm. By the adoption of the hydraulic mechanical hand device, the direction of each mechanical hand can be randomly adjusted as required, and the mechanical hands quite conveniently clamp objects in random directions; the clamping force of clamping jaws is effectively improved, and the usagesafety and the working efficiency of the mechanical hands are greatly improved; and the rotating cylinder drives a rotating rod through a bearing and drives the hollow sleeve to rotate, and thereforemulti-angle clamping operation of a hydraulic mechanical arm is achieved.

The invention discloses a hydraulic manipulator comprising a tank body; a rotating boss and an oil filling port are formed in the tank body; the rotating boss is provided with a mounting part connected with a big arm through a mounting shaft; the big arm is hinged with one end of a forearm and is fixedly provided with a big arm cylinder; and the other end of the forearm is hinged with a gripper. When being used, the hydraulic manipulator can be mounted in a required place, and a required action is set through an operation panel as required and is stored. When the hydraulic manipulator is used, only a power supply is needed to be started every time, and a set action command is selected to operate; the inner side of each of two claws is provided with two cushion blocks, so that the grasping force of the gripper can be effectively increased; and an oil tank, a motor, a gear pump and an electric control mounting region are arranged inside the tank body, so that the structure of the hydraulic manipulator is simplified, and meanwhile, the hydraulic manipulator has the characteristic of simple appearance.

The invention discloses an environmental-protection hydraulic manipulator. The environmental-protection hydraulic manipulator comprises a mechanical gripper, a rocking arm, a T-shaped connecting frame, an anti-leakage tray, a rotating arm and a connecting rod; a driven end of the rotating arm is connected with a driving end of the connecting rod; the T-shaped connecting frame is arranged on the side, far from the rotating arm, of the rocking arm; a driven end of the connecting rod is connected with a first end of the T-shaped connecting frame; a second end of the T-shaped connecting frame is hinged to the rocking arm; one end of the anti-leakage tray is fixedly connected with a third end of the T-shaped connecting frame; the first end of the T-shaped connecting frame is positioned above the second end and the third end of the T-shaped connecting frame; the anti-leakage tray is positioned under the mechanical gripper when the mechanical gripper grabs objects; the mechanical gripper canprevent garbage from falling to pollute the garbage grabbing place in the process of clamping the garbage to transfer; and in a second state, when the mechanical gripper grabs no garbage, the rotatingarm is rotated to drive rotation of the T-shaped connecting frame to shift the anti-leakage tray from the lower side of the mechanical gripper to one side of the mechanical gripper without disturbingnext garbage grabbing of the mechanical gripper.

The auxiliary hydraulic set for great tonnage press consists of floating movable platform attached to the press, platform seat and manipulator suspended over the platform seat. The auxiliary hydraulic set features that the floating movable platform is set on the tracks on the platform seat via four rollers and support springs and has one connected translation hydraulic cylinder to constitute displacing mechanism, the platform seat has one demolding stage hole and the manipulator is operated and controlled with the lifting hydraulic cylinder, pushing hydraulic cylinder and clamping hydraulic cylinder over the hole and the supporting hydraulic cylinder below the hole. The completely hydraulic structure can realize the horizontal displacement of the floating platform and the mechanical displacement and demolding of large pressed member.

The invention discloses an electronic product conveying and sorting device. The electronic product conveying and sorting device comprises a conveying device. The bottom of the conveying device is provided with a supporting leg. The conveying device comprises a conveying belt, a transmission wheel and a motor. The top of the conveying device is provided with a top plate. The bottom of the top plateis movably provided with a first air cylinder and a second air cylinder. A suction disc is arranged at the output end of the bottom of the first air cylinder. A hydraulic manipulator is arranged at the output end of the bottom of the second air cylinder. A third air cylinder is connected with one sides of the back surfaces of the first air cylinder and the second air cylinder. A first discharginggroove is formed in the bottom, corresponding to the position under the first air cylinder and the second air cylinder, of the conveying device. A second discharging groove is formed in the right side of the conveying device. The electronic product conveying and sorting device is novel in structure and convenient to operate, sorting of classification of electronic products is achieved, manpower is saved, the sorting efficiency is improved, and the high practicability is achieved.

The invention relates to a hydraulic mechanical arm and aims at providing a full sea deep hydraulic mechanical wrist joint. A wrist motor in the product comprises multi-acting inner curve radial piston type hydraulic motor housings and motor end face flow distribution plates. The axial section of a motor output shaft is T-shaped, a disc-shaped outer end of the motor output shaft is located betweenmotor rear end covers and gripper bases, and a shaft part penetrates through the motor rear end covers, the motor housings, the motor end face flow distribution plates, motor front end covers and lock nut pressure plates; two flow distribution channels are formed in the inner side of the motor output shaft, and a cavity is formed in an axis of the outer side of the motor output shaft to serve asa cylinder body of a gripper cylinder. A very mature ordinary multi-acting inner curve radial piston type hydraulic semi-motor is subjected to structural modification, so that the structure is complete, the function of angle detection and the function of distributing flow for the gripper cylinder are achieved, the cost is greatly reduced, and the reliability is remarkably improved. The full sea deep hydraulic mechanical wrist joint has the advantages of being small in structural size, light in weight, high in integration degree, low in cost, high in reliability, high in output torque, low in minimum stable rotation speed and wide in application range.

The invention discloses an integrated high-temperature pressure balance workover rig which has the advantages of being high in integrity and work efficiency and convenient to operate. The integrated high-temperature pressure balance workover rig comprises a traction vehicle, a trailer, a work platform, a derrick translation system, a framewok type derrick system, a forced lifting system, a hydraulic system, manipulator systems and the like. The work platform is arranged on the trailer, a control chamber and a hydraulic work station are sequentially arranged on the front portion of the work platform, the derrick translation system is arranged on the tail portion of the work platform, the framework type derrick system provided with an anti-blowout system and bases is hinged to the tail portion of the work platform, one end of each of two derrick turning oil cylinders is arranged on the framework type derrick system, the other end of each of the two derrick turning oil cylinders is installed on the work platform, the forced lifting system provided with a guide supporting frame on the upper portion is arranged on the framework type derrick system, and the two sets of the manipulators are connected with the framework type derrick system and the work platform respectively. All the systems are integrated on a vehicle body system, devices are convenient to transport and use, work cost is low, auxiliary work time is little, and the safety degree is high.

The invention discloses a rotating type hydraulic manipulator. The rotating type hydraulic manipulator comprises a base, a rotating base, a first mechanical arm, a second mechanical arm and a clampingplier body; the rotating base is arranged at the upper end of the base in a relative rotating manner; a lifting hydraulic cylinder is fixed to the upper end face of the rotating base; a lifting loopbar is installed on the upper end face of the lifting hydraulic cylinder, and a lifting sliding rod is arranged in the lifting loop bar in a sliding sleeved manner; a stand column is vertically fixedto the upper end face of the lifting sliding rod; a rotating shaft is arranged between the first mechanical arm and the stand column for rotational connection; the first mechanical arm and the secondmechanical arm are rotationally connected through a rotational connection piece; a hydraulic pump is fixed to the outer surface of one side of the clamping plier body, and is connected with a hydraulic cylinder arranged in the clamping plier body; hydraulic loop bars are uniformly installed on the hydraulic cylinder; and hydraulic sliding rods are installed in the hydraulic loop bars in a slidingsleeved manner. According to the rotating type hydraulic manipulator, height adjusting and firm grabbing on articles, especially large articles, can be achieved through a hydraulic principle.

The invention discloses a hydraulic manipulator. The hydraulic manipulator comprises a base, a rack arranged on the top of the base, a mechanical arm component connected with the rack and a clamping mechanism connected with the mechanical arm component through a fixing plate, wherein the mechanical arm component comprises a first mechanical arm and a second mechanical arm; the first mechanical arm is rotatably matched with the rack; and the second mechanical arm is rotatably matched with the first mechanical arm. The hydraulic manipulator is convenient to use; the whole structure is simple; the work efficiency is high; and the hydraulic manipulator is flexible and reliable while clamping workpieces.

The invention relates to a manned submersible seven-degree-of-freedom hydraulic manipulator throwing device. The manned submersible seven-degree-of-freedom hydraulic manipulator throwing device comprises a cutting module and a manipulator mounting module which are connected. The manned submersible seven-degree-of-freedom hydraulic manipulator throwing device is simple in structure and convenient to use and achieves movement of a tool rest inside a guide rail through an oil cylinder so that an oil tube cutter and a bolt cutter can complete cutting of oil tubes, wire tubes and a manipulator to achieve separation of the manipulator mounting module and the cutting module. According to the manned submersible seven-degree-of-freedom hydraulic manipulator throwing device, gaps are formed betweenthe oil tube cutter and oil tube mounting holes as well as wire tube mounting holes to prevent woven wire layers inside the oil tubes from being jammed inside seams when the oil tube cutter cuts off the oil tubes. The manned submersible seven-degree-of-freedom hydraulic manipulator throwing device can reduce thrust of the oil cylinder through a segmented cutting mode, thereby reducing the size ofthe oil cylinder.

The invention discloses a hydraulic manipulator. The hydraulic manipulator comprises a base, a joint connecting piece set, a first mechanical arm, a second mechanical arm, a manipulator body, a firsthydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder and a hydraulic pump, wherein the base is connected with the first mechanical arm through the joint connecting piece set, the first mechanical arm, the second mechanical arm and the manipulator body are sequentially connected into a whole, the first mechanical arm and the second mechanical arm are hinged in a staggered mode, and the hydraulic pump is correspondingly connected with the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder through pipelines to provide liquid pressure todrive the first mechanical arm, the second mechanical arm and the manipulator body to rotate. According to the hydraulic manipulator, the first mechanical arm is connected with the base through the joint connecting piece set, a first gear is meshed with a second gear, so that 360-degree rotation of the first mechanical arm on the base is achieved; and in addition, the first mechanical arm is in dislocation connection with the second mechanical arm, so that the adjustable range of the second mechanical arm is increased, the manipulator body is driven to increase the grabbing range, and the action flexibility is enhanced.

The invention discloses a master-slave type artificial muscle joint system with position / force two-way feedback. The system is composed of a master joint system with a pneumatic artificial muscle driving mode and a slave joint system with a hydraulic artificial muscle driving mode. A positional voltage signal of the master joint system can be fed back to the input terminal of the slave joint system, so that the slave joint system tracks the positional voltage signal to carry out corresponding rotation angle action; meanwhile, a torque voltage signal of the slave joint system can be fed back tothe input terminal of the master joint system, so that the master joint system tracks the torque voltage signal to make action. When the master-slave type artificial muscle joint system works, compatibility with the seawater environment during operation is high; no environmental pollution is caused. With the master and slave controlling, a hydraulic manipulator can move with the operator's arm synchronously, so that the operation becomes simple. The stress of the driven hydraulic artificial muscle joint can be fed back to the driving pneumatic artificial muscle joint, so that the operator hasthe intuitive experience of the stress on the artificial muscle joint.

The present invention provides a hydraulic manipulator of a rolling mill, and relates to a centering apparatus for use in front and rear of the rolling mill. The hydraulic manipulator of the rolling mill comprises two pushing units provided on two sides of a rolling line, and each pushing unit comprises a push plate. A moving frame is in a horizontal state and comprises two push rods and at least one connecting beam, and one end of each push rod is connected to the other end of the push plate and extends in a direction perpendicular to the rolling line and away from the rolling line. Space is reserved between the push rods. The connecting beam is connected between the two push rods, each of which is provided with at least one guide means. The guide means at least comprises a guide wheel support, the guide wheel support is a box body having a mounting cavity, the push rods penetrate a mounting chamber in the horizontal direction, a wheel and a side guide wheel are installed in the mounting chamber, the wheel is in rolling contact with the bottom surfaces of the push rods, the side guide wheel is in rolling contact with the outer sides of the push rods. A hydraulic cylinder is arranged between the two push rods. The hydraulic cylinder drives the moving frame to reciprocate.

The invention relates to a hydraulic manipulator. The invention is characterized in that the hydraulic manipulator comprises a working portion, a hydraulic cylinder, a piston rod, an arm, a base, a hydraulic pump and a pipeline, wherein the working portion is hinged with the piston rod, the piston rod is arranged inside the hydraulic cylinder, the arm is hinged with the hydraulic cylinder, and the hydraulic cylinder is connected with the hydraulic pump arranged in the base by virtue of the pipeline. The hydraulic manipulator provided by the invention has the advantages of simple structure, high action positional precision and wide market prospect.