CN103302677A - Hydraulically-driven two-freedom degree bionic spinal joint module - Google Patents
Hydraulically-driven two-freedom degree bionic spinal joint module Download PDFInfo
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- CN103302677A CN103302677A CN2013102159817A CN201310215981A CN103302677A CN 103302677 A CN103302677 A CN 103302677A CN 2013102159817 A CN2013102159817 A CN 2013102159817A CN 201310215981 A CN201310215981 A CN 201310215981A CN 103302677 A CN103302677 A CN 103302677A
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Abstract
The invention aims to provide a hydraulically-driven two-freedom degree bionic spinal joint module. The hydraulically-driven two-freedom degree bionic spinal joint module comprises an upper end cover and a lower end cover, wherein a two-freedom cross-shaft-type rigid universal joint and corrugated pipes are mounted between the upper end cover and the lower end cover; the two-freedom cross-shaft-type rigid universal joint comprises a cross shaft in the middle, universal joint forks connected with the cross shaft, and universal shaft bases connected with the end covers; a first gear pump and a first two-position four-way electromagnetic valve which are communicated with each other are mounted on the upper end cover; a second gear pump and a second two-position four-way electromagnetic valve which are communicated with each other are mounted on the lower end cover; four corrugated pipes are provided; the first two-position four-way electromagnetic valve is communicated with the first corrugated pipe and the second corrugated pipe respectively; and the second two-position four-way electromagnetic valve is communicated with the third corrugated pipe and the fourth corrugated pipe respectively. The hydraulically-driven two-freedom degree bionic spinal joint module stimulates rotation of a bionic spinal joint through hydraulic drive, so that change among a plurality of freedom degrees can be achieved and the motional capability of the bionic spinal joint is effectively improved.
Description
Technical field
What the present invention relates to is a kind of robot, specifically the joint of vertebral column module of robot.
Background technology
Fast development along with Robotics, demand to the specialized robot that can walk under complex environment increases day by day, than wheeled robot, legged type robot is in advancing, the environment that can better adapt to destructuring, the unknown, particularly bionical multi-foot robot has the advantage flexible, good stability of moving, and occupies very large proportion in whole legged type robot research field.
About the research of the bionical multi-foot robot of the overwhelming majority, all be take the rigidity trunk as model at present, the not distortion of taking into account system member.But in fact biological muscle, tendon and the ligament of motion can store and release energy as spring, has plastic deformation in its motion process, the dynamics complex shape.The biology of particularly running, jumping, if adopt the mechanical property that pure rigid model must the pragmatize biological motion, and rigid model, in motion process, must cause the consumption of energy larger, cause the utilization rate of energy in the motion process to descend, thereby make robot have very large limitation in speed and the improved efficiency of fast walking.
Summary of the invention
The object of the present invention is to provide the motion mode of simulating joint of vertebral column and the bionical joint of vertebral column module of hydraulic-driven two degrees of freedom that can realize two rotations on the free degree direction.
The object of the present invention is achieved like this:
The bionical joint of vertebral column module of hydraulic-driven two degrees of freedom of the present invention, it is characterized in that: comprise spine units, spine units comprises upper end cover, bottom end cover, two degrees of freedom cross shaft rigid universal joint and bellows are installed between upper end cover and the bottom end cover, the two degrees of freedom cross shaft rigid universal joint comprises the cross axle in the middle of being positioned at, the universal-joint fork that is connected with cross axle, the universal drive shaft pedestal that is connected with end cap, the first gear pump that is interconnected is installed on the upper end cover, the first two-position four-way solenoid valve, the second gear pump that is interconnected is installed on the bottom end cover, the second two-position four-way solenoid valve, described bellows has four, the first two-position four-way solenoid valve is communicated with respectively first, the second bellows, the second two-position four-way solenoid valve is communicated with respectively the 3rd, the 4th bellows.
The present invention can also comprise:
1, described bellows is telescopic corrugated stainless steel tubing, and telescopic process is the plastic deformation process.
Thereby 2, the composition joint of vertebral column that links to each other with bottom end cover of the upper end cover by separately between the spine units.
Advantage of the present invention is: the present invention simulates the rotation of bionical joint of vertebral column by hydraulic-driven, can realize the variation between a plurality of frees degree, effectively strengthens the locomitivity of bionical joint of vertebral column.
Description of drawings
Fig. 1 is stereogram of the present invention;
Fig. 2 is structural representation of the present invention;
Fig. 3 is the schematic diagram of subelement of the present invention;
Fig. 4 is hydraulic circuit connection layout of the present invention.
The specific embodiment
For example the present invention is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～4, the bionical joint of vertebral column module of this hydraulic-driven two degrees of freedom consists of the following components: upper end cover 1, bellows 2, bellows 3, bottom end cover 4, two-position four-way solenoid valve 5, hydraulic oil pipe 6, gear pump 7, bellows 8, bellows 9, two degrees of freedom cross shaft rigid universal joint 10, two-position four-way solenoid valve 11, gear pump 12.Wherein, the upper and lower side cap assemblies is comprised of identical up and down two end cap.Bellows is telescopic corrugated stainless steel tubing, and telescopic process is the plastic deformation process.Cross axle in the middle of two degrees of freedom cross shaft rigid universal joint assembly 10 comprises, the universal-joint fork that is connected with cross axle is with the universal drive shaft pedestal that is connected with end cap.Hydraulic package comprises gear pump 12 and two-position four-way solenoid valve 11.
In like manner, gear pump 7 on the bottom end cover and two-position four-way solenoid valve 5 interact, when two-position four-way solenoid valve 5 during in the forward operating position, can be by the effect of gear pump, hydraulic oil is flowed to bellows 8 from bellows 2, bellows 2 is because the minimizing of hydraulic oil, to shrink flexural deformation, bellows 8 is because the increase of hydraulic oil, elongation flexural deformation will occur, thereby comprehensively cause upper end cover 1 and bottom end cover 4 to rotate along another free degree direction on the two degrees of freedom cross shaft rigid universal joint 10, realize the variation of second free degree.When two-position four-way solenoid valve 5 during in the negative sense operating position, this free degree in the past rightabout is rotated.Between the bionical joint of vertebral column module of a plurality of hydraulic-driven two degrees of freedom, because upper end cover 1 and bottom end cover 4 have four bolts hole on all, can be bolted mode, the upper end cover of the bionical joint of vertebral column module of each cover hydraulic-driven two degrees of freedom and the bottom end cover between next set of modules are connected, and comprehensive function realizes the variation of more freedom.
Claims (3)
1. the bionical joint of vertebral column module of hydraulic-driven two degrees of freedom, it is characterized in that: comprise spine units, spine units comprises upper end cover, bottom end cover, two degrees of freedom cross shaft rigid universal joint and bellows are installed between upper end cover and the bottom end cover, the two degrees of freedom cross shaft rigid universal joint comprises the cross axle in the middle of being positioned at, the universal-joint fork that is connected with cross axle, the universal drive shaft pedestal that is connected with end cap, the first gear pump that is interconnected is installed on the upper end cover, the first two-position four-way solenoid valve, the second gear pump that is interconnected is installed on the bottom end cover, the second two-position four-way solenoid valve, described bellows has four, the first two-position four-way solenoid valve is communicated with respectively first, the second bellows, the second two-position four-way solenoid valve is communicated with respectively the 3rd, the 4th bellows.
2. the bionical joint of vertebral column module of hydraulic-driven two degrees of freedom according to claim 1, it is characterized in that: described bellows is telescopic corrugated stainless steel tubing, telescopic process is the plastic deformation process.
3. the bionical joint of vertebral column module of hydraulic-driven two degrees of freedom according to claim 1 and 2 is characterized in that: the composition joint of vertebral column thereby the upper end cover by separately between the spine units links to each other with bottom end cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102159817A CN103302677A (en) | 2013-06-03 | 2013-06-03 | Hydraulically-driven two-freedom degree bionic spinal joint module |
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| CN2013102159817A CN103302677A (en) | 2013-06-03 | 2013-06-03 | Hydraulically-driven two-freedom degree bionic spinal joint module |
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| CN103302677A true CN103302677A (en) | 2013-09-18 |
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| CN2013102159817A Pending CN103302677A (en) | 2013-06-03 | 2013-06-03 | Hydraulically-driven two-freedom degree bionic spinal joint module |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN104552332A (en) * | 2015-01-22 | 2015-04-29 | 中国计量学院 | Bionic spine motion segment |
| CN105216007A (en) * | 2015-11-10 | 2016-01-06 | 方勇 | Robot limited flex wrist joint and its implementation |
| CN106217354A (en) * | 2016-08-18 | 2016-12-14 | 中国科学院合肥物质科学研究院 | A kind of anthropomorphic robot multi-segmental bionical multiple degrees of freedom spinal structure |
| CN106272531A (en) * | 2016-10-16 | 2017-01-04 | 福州幻科机电科技有限公司 | A kind of joint of vertebral column assembly of artificial intelligence robot |
| CN108657306A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
| CN109940582A (en) * | 2019-02-19 | 2019-06-28 | 北京交通大学 | A kind of main passive matrix parallel flexible backbone mechanism of two degrees of freedom |
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
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| CN108657306A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
| CN108657306B (en) * | 2018-06-19 | 2023-11-21 | 昆明理工大学 | Four-foot robot with parallel flexible waist structure |
| CN109940582A (en) * | 2019-02-19 | 2019-06-28 | 北京交通大学 | A kind of main passive matrix parallel flexible backbone mechanism of two degrees of freedom |
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN110238873B (en) * | 2019-04-25 | 2023-12-08 | 浙江师范大学 | Orthogonal piezoelectric joint mechanism and control method thereof |
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Application publication date: 20130918 |