CN110271036B - Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot - Google Patents
Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot Download PDFInfo
- Publication number
- CN110271036B CN110271036B CN201910562358.6A CN201910562358A CN110271036B CN 110271036 B CN110271036 B CN 110271036B CN 201910562358 A CN201910562358 A CN 201910562358A CN 110271036 B CN110271036 B CN 110271036B
- Authority
- CN
- China
- Prior art keywords
- hydraulic oil
- shoulder
- head
- oil circuit
- pelvis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A hoselization internal oil circuit of a hydraulic pressure wheel leg humanoid robot relates to the technical field of humanoid robots. The invention aims to solve the problems that the existing external hydraulic oil pipe is easy to wear, redundant in pipeline and inconvenient to assemble, disassemble and maintain. The head and shoulder parts, the mechanical arm, the body, the hip pelvis, the thighs and the calves are all of a framework structure with a hydraulic oil way cavity assembly, the back of the rear side of the body is provided with an oil inlet and an oil return port, the oil inlet end of the oil inlet is connected with an external hydraulic power system through a hydraulic pipeline, and the oil outlet end of the oil return port is connected with the external hydraulic power system through the hydraulic pipeline. The invention is used for the humanoid robot.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a hose-free internal oil circuit of a hydraulic wheel leg humanoid robot.
Background
The wheel leg humanoid robot is driven by hydraulic pressure, integrates the advantages of a wheel type robot and a foot type robot, solves the problems that the foot type robot is slow in movement and cannot adapt to complex terrains by adopting a wheel leg combination mode, and greatly improves the survivability and the maneuverability of the robot under the complex environment. The wheel-leg humanoid robot can play the advantage of high moving speed under the condition of good road. The robot is driven by hydraulic pressure, one type of the robot is driven by hydraulic pressure and can obtain stronger power, and the other type of the robot is driven by electro-hydraulic mixture, so that the robot integrates the advantages of flexibility of electric drive, large driving force of hydraulic drive and the like; however, the hydraulic pipeline of the hydraulic drive robot is basically arranged externally, so that the robot is large in size and not flexible enough, the hydraulic pipeline is easy to wear, and the robot is inconvenient to assemble, disassemble and maintain.
The hydraulic system of the hydraulically driven robot has the following problems: firstly, a power source is externally arranged or concentrated on a main body frame of the robot, a hydraulic power unit is required to provide hydraulic power for a hydraulic driving unit of each joint, the transmission of the hydraulic power generally depends on a hydraulic hose and various hose joints, and the hydraulic power is easily broken down due to the abrasion of the external hydraulic hose or the failure of the hose joint; secondly, the external hydraulic hose and the hose joint need to be directly connected with the main body frame of the robot, and the disassembly, assembly and maintenance are extremely inconvenient. Thirdly, the hydraulic drive unit of the robot is connected with the oil pipe to form a plurality of external pipelines, so that the robot is large in size and complex in joint pipelines, the oil pipe at the joint seriously influences the joint movement, great uncertainty is caused to the robot movement control and modeling, and optimization is needed.
Disclosure of Invention
The invention provides a hose-free internal oil circuit of a hydraulic leg humanoid robot, aiming at solving the problems that an external hydraulic oil pipe of the existing hydraulic robot is easy to wear, redundant in pipeline and inconvenient to assemble, disassemble and maintain.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a hoselization internal oil circuit of a hydraulic wheel leg humanoid robot comprises a head shoulder part, a body, a hip pelvis, two mechanical arms, two thighs, two shanks and two driving wheels, wherein the head shoulder part is connected with the body through a spinal support, two sides of the head shoulder part are respectively rotatably connected with the mechanical arms, the two mechanical arms are symmetrically arranged, the body is rotatably connected with the hip pelvis, two sides of the hip pelvis are respectively rotatably connected with the thighs, the two thighs are symmetrically arranged, the lower ends of the thighs are rotatably connected with the shanks, the lower ends of the shanks are connected with the driving wheels, an external hydraulic power system is connected with the head shoulder part through a hydraulic pipeline, the head shoulder part, the mechanical arms, the body, the hip pelvis, the thighs and the shanks are all of a frame structure with a hydraulic oil circuit cavity assembly, an oil inlet and an oil return port are arranged on the back side of the body, and the oil inlet end of the oil inlet is connected with the external hydraulic power system through the hydraulic pipeline, the oil outlet end of the oil inlet and the oil inlet end of the oil return port are respectively communicated with a hydraulic oil circuit cavity assembly of the body, the hydraulic oil circuit cavity assembly of the body is respectively communicated with a hydraulic oil circuit cavity assembly of the head shoulder and the hip pelvis, the hydraulic oil circuit cavity assembly of the head shoulder is communicated with a hydraulic oil circuit cavity assembly of the mechanical arm, the hydraulic oil circuit cavity assembly of the hip pelvis is communicated with a hydraulic oil circuit cavity assembly of the thigh, the hydraulic oil circuit cavity assembly of the thigh is communicated with the hydraulic oil circuit cavity assembly of the shank, the oil outlet end of the oil return port is connected with an external hydraulic power system through a hydraulic pipeline, a controller is arranged in the body, and the controller is connected with the external hydraulic power system.
Compared with the prior art, the invention has the following beneficial effects:
1. an oil-free hydraulic wheel leg humanoid robot structure with oil-running inside the oilless joint is adopted, a large number of hydraulic hoses are not required to be connected with hose joints, the structure is simple, and the installation and the disassembly are convenient; meanwhile, the abrasion fault of the hose is greatly reduced, the safety and the reliability of the whole machine are improved, and the service life can be prolonged by more than 30 percent;
2. the mechanical structure of all the hydraulic pipelines without oil pipes ensures that the whole robot has compact structure and light weight. Hydraulic oil flows through the mechanical framework and the interior of the joint, can provide power for the driving unit, and can effectively conduct heat transfer to dissipate heat of the robot.
Drawings
FIG. 1 is a schematic view of the overall structure of the robot of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a front view of the head-shoulder portion 1 according to the present invention;
FIG. 4 is a top view of the rear view of FIG. 3;
FIG. 5 is a sectional view taken along line N-N in FIG. 4;
FIG. 6 is a cross-sectional view taken along line P-P of FIG. 4;
FIG. 7 is a cross-sectional view taken along line M-M of FIG. 3;
FIG. 8 is a sectional view taken along line L-L in FIG. 3;
FIG. 9 is a sectional view taken along line K-K in FIG. 3;
FIG. 10 is a sectional view taken along line J-J of FIG. 3;
FIG. 11 is a top cross-sectional view of the left side of the head shoulder 1 of FIG. 3;
fig. 12 is an exploded view of the robot arm 2 of the present invention;
FIG. 13 is a front view of the large arm 22 of the present invention;
FIG. 14 is a rear view of FIG. 13;
FIG. 15 is a sectional view taken along line A-A in FIG. 13;
FIG. 16 is a sectional view taken along line B-B of FIG. 13;
FIG. 17 is a cross-sectional view taken along line C-C of FIG. 13;
FIG. 18 is a sectional view taken along line D-D of FIG. 13;
FIG. 19 is a sectional view taken along line G-G in FIG. 14;
FIG. 20 is a sectional view taken along line I-I of FIG. 14;
figure 21 is an exploded view of the hip pelvis 4 of the present invention;
figure 22 is a front view of the hip pelvis 4 of the present invention;
FIG. 23 is a left side view of FIG. 22;
FIG. 24 is a cross-sectional view taken along line Q-Q of FIG. 22;
FIG. 25 is a sectional view taken along line S-S in FIG. 22;
FIG. 26 is a sectional view taken along line R-R in FIG. 22;
FIG. 27 is a cross-sectional view taken along line T-T of FIG. 23;
figure 28 is a top cross-sectional view of the hip pelvis 4 of the present invention;
figure 29 is a front cross-sectional view of the hip pelvis 4 in the present invention;
FIG. 30 is a top cross-sectional view of the left side of the pelvis 41 in the present invention;
fig. 31 is an exploded view of the thigh 5 of the present invention;
FIG. 32 is a front view of the leg armature 51 of the present invention;
FIG. 33 is a sectional view taken along line H-H in FIG. 32;
FIG. 34 is a sectional view taken along line E-E in FIG. 32;
fig. 35 is a sectional view taken along line F-F in fig. 32.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 35, and the hoselization-free internal oil circuit of the hydraulic leg humanoid robot in the embodiment includes a head-shoulder portion 1, a body 3, a hip pelvis 4, two mechanical arms 2, two thighs 5, two calves 6 and two driving wheels 7, wherein the head-shoulder portion 1 is connected with the body 3 through a spine support, two sides of the head-shoulder portion 1 are respectively rotatably connected with the mechanical arms 2, the two mechanical arms 2 are symmetrically arranged, the body 3 is rotatably connected with the hip pelvis 4, two sides of the hip pelvis 4 are respectively rotatably connected with the thighs 5, the two calves 5 are symmetrically arranged, the lower ends of the calves 5 are rotatably connected with the calves 6, the lower ends of the calves 6 are connected with the driving wheels 7, an external hydraulic power system is connected with the head-shoulder portion 1 through hydraulic pipelines, and the head-shoulder portion 1, the mechanical arms 2, the hip pelvis 3, the body 4, the calves 5 and the calves 6 are all frame structures with hydraulic oil circuit cavity assemblies, an oil inlet 8 and an oil return opening 9 are arranged at the back of the rear side of the body 3, the oil inlet end of the oil inlet 8 is connected with an external hydraulic power system through a hydraulic pipeline, the oil outlet end of the oil inlet 8 and the oil inlet end of the oil return opening 9 are respectively communicated with a hydraulic oil circuit cavity assembly of the body 3, the hydraulic oil circuit cavity assembly of the body 3 is respectively communicated with hydraulic oil circuit cavity assemblies of the head shoulder 1 and the hip pelvis 4, the hydraulic oil circuit cavity assembly of the head shoulder 1 is communicated with a hydraulic oil circuit cavity assembly of the mechanical arm 2, the hydraulic oil circuit cavity assembly of the hip pelvis 4 is communicated with a hydraulic oil circuit cavity assembly of the thigh 5, the hydraulic oil circuit cavity assembly of the thigh 5 is communicated with a hydraulic oil circuit cavity assembly of the shank 6, the oil outlet end of the oil return opening 9 is connected with the external hydraulic power system through the hydraulic pipeline, a controller is arranged in the body 3, and the controller is connected with the external hydraulic power system.
An external hydraulic power system is accessed from the back of the robot through an external hydraulic pipe to carry out oil inlet and oil return on the robot; oil-free pipelining internal oil running of hydraulic oil is carried out through two routes of a trunk-shoulder-big arm and a trunk-waist-hip joint-thigh-shank of the robot, and the robot is driven to carry out corresponding actions through a hydraulic cylinder.
Hydraulic oil gets into oil inlet 8 through external hydraulic pressure power system and inserts the robot, through robot skeleton and the joint of walking oil, gets back to the oil-out 9 of robot at last, and oil return opening 9 passes through hydraulic pressure pipeline and is connected with external hydraulic pressure power system, has realized hydraulic drive's wheel leg robot's the design of not having oil pipe ization.
The second embodiment is as follows: referring to the present embodiment described with reference to fig. 1 to 35, the head-shoulder portion 1 of the present embodiment includes a shoulder support 11, two shoulder shafts 12, two shoulder joint hydraulic cylinder assemblies 13, two shoulder supports 14 and two shoulders 15,
the hydraulic oil circuit cavity assembly of the head-shoulder part 1 comprises two groups of head-shoulder hydraulic oil circuits, each group of head-shoulder hydraulic oil circuit comprises a first head-shoulder hydraulic oil circuit 101, a second head-shoulder hydraulic oil circuit 102, a third head-shoulder hydraulic oil circuit 103, a fourth head-shoulder hydraulic oil circuit 104, a fifth head-shoulder hydraulic oil circuit 105, a sixth head-shoulder hydraulic oil circuit 106, a seventh head-shoulder hydraulic oil circuit 107, an eighth head-shoulder hydraulic oil circuit 108, a ninth head-shoulder hydraulic oil circuit 109, a tenth head-shoulder hydraulic oil circuit 110, an eleventh head-shoulder hydraulic oil circuit 111, a twelfth head-shoulder hydraulic oil circuit 112, a thirteenth head-shoulder hydraulic oil circuit 113, a fourteenth head-shoulder hydraulic oil circuit 114, a fifteenth head-shoulder hydraulic oil circuit 115, a sixteenth head-shoulder hydraulic oil circuit 116, a twenty-first head-shoulder hydraulic oil circuit 121, a twenty-second head-shoulder hydraulic oil circuit 122, a twenty-third head-shoulder hydraulic oil circuit 123, a twenty-fourth head-shoulder hydraulic oil circuit 124, a twenty-fifth head-shoulder hydraulic oil circuit 125 and a twenty-sixth head-shoulder hydraulic oil circuit 126,
a first head-shoulder hydraulic oil passage 101, a second head-shoulder hydraulic oil passage 102 and a third head-shoulder hydraulic oil passage 103 are all arranged in the shoulder support 11, a fourth head-shoulder hydraulic oil passage 104 is arranged in the shoulder support 14, a fifth head-shoulder hydraulic oil passage 105 is arranged in the shoulder shaft 12, a sixth head-shoulder hydraulic oil passage 106, a seventh head-shoulder hydraulic oil passage 107, an eighth head-shoulder hydraulic oil passage 108 and a ninth head-shoulder hydraulic oil passage 109 are all arranged in the shoulder 15, a tenth head-shoulder hydraulic oil passage 110, a thirteenth head-shoulder hydraulic oil passage 113, a fourteenth head-shoulder hydraulic oil passage 114, a fifteenth head-shoulder hydraulic oil passage 115 and a sixteenth head-shoulder hydraulic oil passage 116 are all arranged in the shoulder shaft 12, an eleventh head-shoulder hydraulic oil passage 111 and a twelfth head-shoulder hydraulic oil passage 112 are all arranged in the shoulder support 11, a twenty-first head-shoulder hydraulic oil passage 121, a twenty-second head-shoulder hydraulic oil passage 122, a twenty-third head-shoulder hydraulic oil passage 123, a twenty-fourth head-shoulder hydraulic oil passage 124, The twenty-fifth head-shoulder hydraulic fluid passage 125 and the twenty-sixth head-shoulder hydraulic fluid passage 126 are both provided in the shoulder bracket 11,
one end of the first head-shoulder hydraulic oil path 101 is connected with the oil inlet 8 through a hydraulic oil path cavity assembly of the body 3, the other end of the first head-shoulder hydraulic oil path 101 is connected with one end of the second head-shoulder hydraulic oil path 102, the other end of the second head-shoulder hydraulic oil path 102 is connected with one end of the twenty-first head-shoulder hydraulic oil path 121, the other end of the twenty-first head-shoulder hydraulic oil path 121 is connected with one end of the third head-shoulder hydraulic oil path 103 through a head-shoulder servo valve, the other end of the third head-shoulder hydraulic oil path 103 is connected with one end of the fourth head-shoulder hydraulic oil path 104, the other end of the fourth head-shoulder hydraulic oil path 104 is connected with one end of the thirteenth head-shoulder hydraulic oil path 113, the other end of the thirteenth head-shoulder hydraulic oil path 113 is connected with one end of the tenth head-shoulder hydraulic oil path 110, the other end of the tenth head-shoulder hydraulic oil path 110 is connected with one end of the ninth head-shoulder hydraulic oil path 109, the other end of the ninth head-shoulder hydraulic oil path 109 is connected with one end of the eighth head-shoulder hydraulic oil path 108, the other end of the eighth head-shoulder hydraulic oil circuit 108 is connected with the mechanical arm 2 hydraulic oil circuit cavity assembly,
one end of a twelfth head-shoulder hydraulic oil path 112 is connected with the oil return port 9 through a hydraulic oil path cavity assembly of the body 3, the other end of the twelfth head-shoulder hydraulic oil path 112 is connected with one end of a twenty-second head-shoulder hydraulic oil path 122, the other end of the twenty-second head-shoulder hydraulic oil path 122 is connected with one end of an eleventh head-shoulder hydraulic oil path 111 through a head-shoulder servo valve, the other end of the eleventh head-shoulder hydraulic oil path 111 is connected with one end of a fourteenth head-shoulder hydraulic oil path 114, the other end of the fourteenth head-shoulder hydraulic oil path 114 is connected with one end of a fifteenth head-shoulder hydraulic oil path 115, the other end of the fifteenth head-shoulder hydraulic oil path 115 is connected with one end of a sixteenth head-shoulder hydraulic oil path 116, the other end of the sixteenth head-shoulder hydraulic oil path 116 is connected with one end of a fifth head-shoulder hydraulic oil path 105, the other end of the fifth head-shoulder hydraulic oil path 105 is connected with one end of a sixth head-shoulder hydraulic oil path 106, the other end of the sixth head-shoulder hydraulic oil path 106 is connected with one end of a seventh head-shoulder hydraulic oil path 107, the other end of the seventh head-shoulder hydraulic oil path 107 is connected with the mechanical arm 2 hydraulic oil path cavity assembly,
the head-shoulder servo valve is respectively connected with one ends of a twenty-third head-shoulder hydraulic oil circuit 123 and a twenty-fifth head-shoulder hydraulic oil circuit 125, the other end of the twenty-third head-shoulder hydraulic oil circuit 123 is connected with one end of a twenty-fourth head-shoulder hydraulic oil circuit 124, the other end of the twenty-fourth head-shoulder hydraulic oil circuit 124 is connected with a right chamber of the shoulder joint hydraulic cylinder assembly 13, the other end of the twenty-fifth head-shoulder hydraulic oil circuit 125 is connected with one end of a twenty-sixth head-shoulder hydraulic oil circuit 126, and the other end of the twenty-sixth head-shoulder hydraulic oil circuit 126 is connected with a left chamber of the shoulder joint hydraulic cylinder assembly 13. Other components and connection modes are the same as those of the first embodiment.
The two ends of the shoulder support 11 are respectively connected with a shoulder shaft 12, the outer end of the shoulder shaft 12 is connected with a shoulder 15 through a shoulder support 14, the lower end of the shoulder support 14 is connected with the shoulder support 11, one end of a shoulder joint hydraulic cylinder assembly 13 is connected with the shoulder shaft 12, the other end of the shoulder joint hydraulic cylinder assembly is connected with the shoulder support 11, a displacement sensor is arranged in the shoulder joint hydraulic cylinder assembly 13 and feeds back the displacement sensor, and therefore closed-loop control over the swinging of the mechanical arm 2 is achieved, and the movement precision is guaranteed. An external hydraulic power system is connected into a hydraulic interface of a shoulder support 11 of a head shoulder 1 through an external hydraulic pipeline, hydraulic oil enters the interior of the shoulder support 11 and flows through a left shoulder support 14, a right shoulder support 14 and a shoulder shaft 12 to achieve hydraulic drive oil-free tube, a left shoulder joint hydraulic cylinder assembly 13 and a right shoulder joint hydraulic cylinder assembly 13 are driven to drive racks fixed on the left shoulder joint hydraulic cylinder assembly and the right shoulder joint hydraulic cylinder assembly to move back and forth, left and right shoulder joint gears meshed with the racks correspondingly rotate, and the inner shoulder shaft 12 of the left shoulder joint hydraulic cylinder assembly and the right shoulder joint hydraulic cylinder assembly drives a machine arm 2 to swing back and forth.
A hydraulic oil circuit is arranged in a shoulder support 11 of the head-shoulder part 1, oil flows through a left shoulder support 14, a right shoulder support 14 and a shoulder shaft 12, hydraulic drive is realized without oil pipes, a left shoulder joint hydraulic cylinder assembly 13 and a right shoulder joint hydraulic cylinder assembly 13 drive racks fixed on the shoulder shaft 12 to move back and forth, a left shoulder gear and a right shoulder gear which are meshed with the shoulder shaft 12 are arranged on the shoulder shaft 12 to rotate correspondingly, and the inner shoulder shaft 12 drives the machine arm 2 to swing back and forth.
The path of the head-shoulder hydraulic oil circuit is as follows: head-shoulder low-pressure oil passages: hydraulic oil enters a first head shoulder hydraulic oil path 101 through a hydraulic oil path cavity assembly of the body 3, enters a T port of a head shoulder servo valve through a second head shoulder hydraulic oil path 102 and a twenty-first head shoulder hydraulic oil path 121, then enters a third head shoulder hydraulic oil path 103, a fourth head shoulder hydraulic oil path 104, a thirteenth head shoulder hydraulic oil path 113, a tenth head shoulder hydraulic oil path 110, a ninth head shoulder hydraulic oil path 109 and an eighth head shoulder hydraulic oil path 108, and finally enters a hydraulic oil path cavity assembly of the mechanical arm 2; head-shoulder high-pressure oil path: hydraulic oil enters the twelfth head-shoulder hydraulic oil path 112 and the twenty-second head-shoulder hydraulic oil path 122 through the hydraulic oil path cavity assembly of the body 3, then enters the port P of the head-shoulder servo valve, and finally enters the hydraulic oil path cavity assembly of the mechanical arm 2 through the connection of one ends of the eleventh head-shoulder hydraulic oil path 111 and the fourteenth head-shoulder hydraulic oil path 114, the fifteenth head-shoulder hydraulic oil path 115, the sixteenth head-shoulder hydraulic oil path 116, the fifth head-shoulder hydraulic oil path 105, the sixth head-shoulder hydraulic oil path 106 and the seventh head-shoulder hydraulic oil path 107. The port A of the head shoulder servo valve is connected with a twenty-third head shoulder hydraulic oil path 123 and enters a right chamber of the shoulder joint hydraulic cylinder assembly 13 through a twenty-fourth head shoulder hydraulic oil path 124; the port B of the head shoulder servo valve is connected with a twenty-fifth head shoulder hydraulic oil path 125, and enters a left chamber of the shoulder joint hydraulic cylinder assembly 13 through a twenty-sixth head shoulder hydraulic oil path 126.
The third concrete implementation mode: referring to the present embodiment described with reference to fig. 1 to 35, the robot arm 2 of the present embodiment includes a small arm 21, a large arm 22, a large arm servo valve 23, a small arm hydraulic cylinder assembly 24, a large arm hydraulic cylinder assembly 25, and a shoulder support 26,
the hydraulic oil circuit cavity assembly of the mechanical arm 2 is arranged in the large arm 22, the hydraulic oil circuit cavity assembly of the mechanical arm 2 comprises a first arm hydraulic oil circuit 201, a second arm hydraulic oil circuit 202, a third arm hydraulic oil circuit 203, a fourth arm hydraulic oil circuit 204, a fifth arm hydraulic oil circuit 205, a sixth arm hydraulic oil circuit 206, a seventh arm hydraulic oil circuit 207, an eighth arm hydraulic oil circuit 208, a ninth arm hydraulic oil circuit 209, a tenth arm hydraulic oil circuit 210, an eleventh arm hydraulic oil circuit 211, a twelfth arm hydraulic oil circuit 212, a thirteenth arm hydraulic oil circuit 213, a fourteenth arm hydraulic oil circuit 214, a fifteenth arm hydraulic oil circuit 215, a sixteenth arm hydraulic oil circuit 216, a seventeenth arm hydraulic oil circuit 217, an eighteenth arm hydraulic oil circuit 218, a nineteenth arm hydraulic oil circuit 219, a twentieth arm hydraulic oil circuit 220 and a twenty-first arm hydraulic oil circuit 221,
one end of the first arm hydraulic oil passage 201 is connected to the other end of the seventh head-shoulder hydraulic oil passage 107, the other end of the first arm hydraulic oil passage 201 is connected to one end of the second arm hydraulic oil passage 202, the other end of the second arm hydraulic oil passage 202 is connected to one end of the third arm hydraulic oil passage 203, the fourth arm hydraulic oil passage 204, the eighth arm hydraulic oil passage 208, the thirteenth arm hydraulic oil passage 213, the eighteenth arm hydraulic oil passage 218, the nineteenth arm hydraulic oil passage 219, the twentieth arm hydraulic oil passage 220, and the twenty-first arm hydraulic oil passage 221, respectively, through the large arm servo valve 23,
the other end of the fourth arm hydraulic oil path 204 is connected to one end of a fifth arm hydraulic oil path 205, the other end of the fifth arm hydraulic oil path 205 is connected to one end of a sixth arm hydraulic oil path 206, the other end of the sixth arm hydraulic oil path 206 is connected to one end of a seventh arm hydraulic oil path 207, the other end of the seventh arm hydraulic oil path 207 is connected to the other end of an eighth shoulder hydraulic oil path 108, the other end of an eighth arm hydraulic oil path 208 is connected to one end of a ninth arm hydraulic oil path 209, the other end of the ninth arm hydraulic oil path 209 is connected to one end of a tenth arm hydraulic oil path 210, the other end of the tenth arm hydraulic oil path 210 is connected to one end of an eleventh arm hydraulic oil path 211, the other end of the eleventh arm hydraulic oil path 211 is connected to one end of a twelfth arm hydraulic oil path 212, the other end of the twelfth arm hydraulic oil path 212 is connected to a rodless chamber of the large arm hydraulic cylinder assembly 25, the other end of a thirteenth arm hydraulic oil path 213 is connected to one end of a fourteenth arm hydraulic oil path 214, the other end of the fourteenth arm hydraulic passage 214 is connected to one end of the fifteenth arm hydraulic passage 215, the other end of the fifteenth arm hydraulic passage 215 is connected to one end of the sixteenth arm hydraulic passage 216, the other end of the sixteenth arm hydraulic passage 216 is connected to one end of the seventeenth arm hydraulic passage 217, the other end of the seventeenth arm hydraulic passage 217 is connected to the rod chamber of the large arm hydraulic cylinder assembly 25,
the other end of nineteenth arm hydraulic passage 219 is connected to fifth arm hydraulic passage 205, the other end of twentieth arm hydraulic passage 220 is connected to the rodless chamber of arm cylinder assembly 24, and the other end of twenty-first arm hydraulic passage 221 is connected to the rod chamber of arm cylinder assembly 24. Other components and connection modes are the same as those of the second embodiment.
The large arm 22 is connected with a shoulder bracket 26 through a large arm hydraulic cylinder assembly 25, and the small arm 21 is connected with the large arm 22 through a small arm hydraulic cylinder assembly 24.
The section of the framework of the mechanical arm 2 is provided with an oil inlet and return path without an oil pipe: the oil path of the large-arm hydraulic cylinder assembly 25 is as follows: hydraulic oil sequentially enters the other end of the first arm hydraulic oil path 201 and the second arm hydraulic oil path 202 through a hydraulic oil outlet end port of the shoulder joint, then enters the large arm servo valve 23, enters the third arm hydraulic oil path 203 through a servo valve P port, enters the fourth arm hydraulic oil path 204 through a servo valve T port, finally returns to an oil return path inside the shoulder joint through the fifth arm hydraulic oil path 205, the sixth arm hydraulic oil path 206 and the seventh arm hydraulic oil path 207, finally enters a rodless cavity of the large arm hydraulic cylinder assembly 25 through the eighth arm hydraulic oil path 208, the ninth arm hydraulic oil path 209, the tenth arm hydraulic oil path 210, the eleventh arm hydraulic oil path 211 and the twelfth arm hydraulic oil path 212 through a servo valve A port, and finally enters a rod cavity of the large arm hydraulic cylinder assembly 25 through the thirteenth arm hydraulic oil path 213, the fourteenth arm hydraulic oil path 214, the fifteenth arm hydraulic oil path 215, the sixteenth arm hydraulic oil path 216 and the seventeenth arm hydraulic oil path 217, the lateral opening and closing movement of the mechanical arm is realized; the oil path of the small arm hydraulic cylinder assembly 24 is as follows: hydraulic oil enters an eighteenth arm hydraulic oil path 218 connected with a port P of the servo valve through the second arm hydraulic oil path 202, enters a nineteenth arm hydraulic oil path 219 through a port T of the servo valve, finally returns to an oil return path inside the shoulder joint through a fifth arm hydraulic oil path 205, a sixth arm hydraulic oil path 206 and a seventh arm hydraulic oil path 207, a port A of the servo valve enters a rodless cavity of the small arm hydraulic cylinder assembly 24 through a port Ttwentieth arm hydraulic oil path 220, and a port B of the servo valve enters a rod cavity of the small arm hydraulic cylinder assembly 24 through a port Ttwenty first arm hydraulic oil path 221, so that the bending motion of the small arm is realized.
The fourth concrete implementation mode: referring to the present embodiment described in conjunction with fig. 1 to 35, the hip pelvis 4 of the present embodiment comprises a pelvis 41, a pelvis cylinder assembly 42 and two pelvis supports 43,
the hydraulic oil circuit cavity component of the hip pelvis 4 comprises a first pelvis hydraulic oil circuit 401, a second pelvis hydraulic oil circuit 402, a third pelvis hydraulic oil circuit 403, a fourth pelvis hydraulic oil circuit 404, a fifth pelvis hydraulic oil circuit 405, a sixth pelvis hydraulic oil circuit 406, a seventh pelvis hydraulic oil circuit 407, an eighth pelvis hydraulic oil circuit 408, a ninth pelvis hydraulic oil circuit 409, a tenth pelvis hydraulic oil circuit 410, a thirty-first pelvis hydraulic oil circuit 431, a thirty-second pelvis hydraulic oil circuit 432, a thirty-third pelvis hydraulic oil circuit 433, a thirty-fourth pelvis hydraulic oil circuit 434, a thirty-fifth pelvis hydraulic oil circuit 435 and a thirty-sixth pelvis hydraulic oil circuit 436,
a first pelvis hydraulic oil circuit 401, a second pelvis hydraulic oil circuit 402, a third pelvis hydraulic oil circuit 403 and a fourth pelvis hydraulic oil circuit 404 are all arranged in the pelvis 41, a fifth pelvis hydraulic oil circuit 405 and a sixth pelvis hydraulic oil circuit 406 are arranged in the pelvis support 43, a seventh pelvis hydraulic oil circuit 407, an eighth pelvis hydraulic oil circuit 408, a ninth pelvis hydraulic oil circuit 409, a tenth pelvis hydraulic oil circuit 410, a eleventh pelvis hydraulic oil circuit 431, a thirty-second pelvis hydraulic oil circuit 432, a thirty-third pelvis hydraulic oil circuit 433, a thirty-fourth pelvis hydraulic oil circuit 434, a thirty-fifth pelvis hydraulic oil circuit 435 and a thirty-sixth pelvis hydraulic oil circuit 436 are all arranged in the pelvis 41,
the first pelvis hydraulic oil loop 401 is connected with the oil inlet 8 through a hydraulic oil path cavity assembly of the body 3, the first pelvis hydraulic oil loop 401 is connected with a second pelvis hydraulic oil path 402, the second pelvis hydraulic oil path 402 is connected with one end of a sixth pelvis hydraulic oil path 406, the other end of the sixth pelvis hydraulic oil path 406 is connected with one end of a seventh pelvis hydraulic oil path 407, the other end of the seventh pelvis hydraulic oil path 407 is connected with one end of a thirty-one-tenth pelvis hydraulic oil path 431, the other end of the thirty-one pelvis hydraulic oil path 431 is connected with one end of a ninth pelvis hydraulic oil path 409 through a pelvis servo valve, the other end of the ninth pelvis hydraulic oil path 409 is connected with a hydraulic oil path cavity assembly of the thigh 5,
the third pelvis hydraulic oil loop 403 is connected with the oil return port 9 through a hydraulic oil path cavity assembly of the body 3, the third pelvis hydraulic oil loop 403 is connected with one end of a fourth pelvis hydraulic oil path 404, the other end of the fourth pelvis hydraulic oil path 404 is connected with one end of a fifth pelvis hydraulic oil path 405, the other end of the fifth pelvis hydraulic oil path 405 is connected with one end of an eighth pelvis hydraulic oil path 408, the other end of the eighth pelvis hydraulic oil path 408 is connected with one end of a thirty-second pelvis hydraulic oil path 432, the other end of the thirty-second pelvis hydraulic oil path 432 is connected with one end of a tenth pelvis hydraulic oil path 410 through a pelvis servo valve, the other end of the tenth pelvis hydraulic oil path 410 is connected with a hydraulic oil path cavity assembly of the thigh 5,
the pelvis servo valve is respectively connected with one end of a thirty-fourth pelvis hydraulic oil circuit 434 and one end of a thirty-fifth pelvis hydraulic oil circuit 435, the other end of the thirty-fourth pelvis hydraulic oil circuit 434 is connected with one end of a thirty-third pelvis hydraulic oil circuit 433, the other end of the thirty-third pelvis hydraulic oil circuit 433 is connected with a left chamber of the pelvis hydraulic cylinder assembly 42, the other end of the thirty-fifth pelvis hydraulic oil circuit 435 is connected with one end of a thirty-sixth pelvis hydraulic oil circuit 436, and the other end of the thirty-sixth pelvis hydraulic oil circuit 436 is connected with a right chamber of the pelvis hydraulic cylinder assembly 42. The other components and the connection mode are the same as those of the first embodiment, the second embodiment or the third embodiment.
The pelvis hydraulic cylinder assembly 42 is arranged in the middle of the upper end of the pelvis 41, the pelvis supporting pieces 43 are arranged on two sides of the pelvis hydraulic cylinder assembly 42, and the pelvis 41 is connected with the body 3 through the pelvis supporting pieces 43.
The head and shoulder parts 1 and the backbone of the body 3 and the waist frame are connected to the hip pelvis 4 through internal hydraulic oil paths to carry out internal oil-free hydraulic oil feeding, hydraulic oil enters the pelvis servo valve to control the pelvis hydraulic cylinder assembly 42 on the hip pelvis 4 to drive the rack connected with the pelvis hydraulic cylinder assembly to move back and forth, and the gear meshed with the pelvis hydraulic cylinder assembly rotates through the shaft of the waist support part to further drive the upper body to carry out stooping action. And an oil-free tubular oil path in the hip pelvis 4 supplies oil to the hydraulic cylinder of the thigh by oil flowing in the joint, so that the front and back pitching actions of the thigh are realized, and the hydraulic cylinder is subjected to closed-loop control by a displacement sensor.
The hydraulic oil enters the hydraulic oil path cavity assembly of the body 3 through the oil inlet 8, then enters the oil ring of the first pelvis hydraulic oil loop 401, enters the port P of the pelvis servo valve through the second pelvis hydraulic oil path 402, the sixth pelvis hydraulic oil path 406, the seventh pelvis hydraulic oil path 407 and the thirty-one pelvis hydraulic oil path 431, and then enters the hydraulic oil path cavity assembly of the thigh 5 through the ninth pelvis hydraulic oil path 409; hydraulic oil enters the hydraulic oil path cavity assembly of the body 3 through the oil return port 9, then enters the third pelvis hydraulic oil loop 403, enters the opening T of the pelvis servo valve through the fourth pelvis hydraulic oil path 404, the fifth pelvis hydraulic oil path 405, the eighth pelvis hydraulic oil path 408 and the thirty second pelvis hydraulic oil path 432, and then enters the hydraulic oil path cavity assembly of the thigh 5 through the tenth pelvis hydraulic oil path 410; the port A of the pelvis servo valve is connected with a thirty-fourth pelvis hydraulic oil path 434 and enters a left chamber of the pelvis hydraulic cylinder assembly 42 through a thirty-third pelvis hydraulic oil path 433; the opening B of the pelvis servo valve is connected with a thirty-fifth pelvis hydraulic oil path 435 and enters a right chamber of the pelvis hydraulic cylinder assembly 42 through a thirty-sixteenth pelvis hydraulic oil path 436.
The fifth concrete implementation mode: in the present embodiment, the thigh 5 includes a leg frame 51, a thigh hydraulic cylinder assembly 52, and a leg servo valve 53, and the hydraulic oil path chamber assembly of the thigh 5 includes a leg frame hydraulic oil path, and the leg frame hydraulic oil path is provided in the leg frame 51, as described with reference to fig. 1 to 35. The other components and the connection mode are the same as those of the fourth embodiment.
The thigh hydraulic cylinder assembly 52 is disposed inside the leg frame 51. The hydraulic oil flows through the hip pelvis 4 and the thigh 5, drives the thigh hydraulic cylinder assembly 52 on the thigh 5 to push the slide block connecting piece arranged on the guide rail of the hip pelvis 4 to drive the two-force rod to enable the thigh 5 to rotate around the axis of the pelvis 41, and therefore the front and back bending movement of the thigh 5 is achieved.
The hydraulic oil enters a leg framework hydraulic oil path, is controlled by a leg servo valve 53 to drive a thigh hydraulic cylinder assembly 52 to perform pitching action, returns oil through the leg servo valve 53, finally reaches an oil return port 9 at the upper right part of the shoulder through a hydraulic oil path cavity assembly of the body 3, and returns to an external hydraulic power system through a hydraulic pipeline.
The sixth specific implementation mode: in the present embodiment, the upper leg hydraulic cylinder assembly 52 according to the present embodiment includes a bottom hydraulic cylinder and a front hydraulic cylinder, the leg skeleton hydraulic oil passages include a first leg hydraulic oil passage 501, a second leg hydraulic oil passage 502, a third leg hydraulic oil passage 503, a fourth leg hydraulic oil passage 504, a fifth leg hydraulic oil passage 505, a sixth leg hydraulic oil passage 506, a seventh leg hydraulic oil passage 507, an eighth leg hydraulic oil passage 508, a ninth leg hydraulic oil passage 509, a tenth leg hydraulic oil passage 510, an eleventh leg hydraulic oil passage 511, a twelfth leg hydraulic oil passage 512, a thirteenth leg hydraulic oil passage 513, a fourteenth leg hydraulic oil passage 514, a fifteenth leg hydraulic oil passage 515, a sixteenth leg hydraulic oil passage 516, a seventeenth leg hydraulic oil passage 517, an eighteenth leg hydraulic oil passage 518, a nineteenth leg hydraulic oil passage 519, a twentieth leg hydraulic oil passage 520, a twenty-first leg hydraulic oil passage 521, and a twenty-second leg hydraulic oil passage 522,
one end of a first leg hydraulic oil path 501 is connected with a hydraulic oil path cavity assembly of the hip pelvis 4, the other end of the first leg hydraulic oil path 501 is connected with one end of a second leg hydraulic oil path 502, the other end of the second leg hydraulic oil path 502 is respectively connected with one end of a third leg hydraulic oil path 503, a fourth leg hydraulic oil path 504, a ninth leg hydraulic oil path 509 and a tenth leg hydraulic oil path 510 through a leg servo valve 53, the other end of the fourth leg hydraulic oil path 504 is connected with one end of a fifth leg hydraulic oil path 505, the other end of the fifth leg hydraulic oil path 505 is connected with one end of a sixth leg hydraulic oil path 506, the other end of the sixth leg hydraulic oil path 506 is connected with one end of a seventh leg hydraulic oil path 507, the other end of the seventh leg hydraulic oil path 507 is connected with one end of an eighth leg hydraulic oil path 508, the other end of the eighth leg hydraulic oil path 508 is connected with an eighth pelvis hydraulic oil path 408, the other end of the tenth leg hydraulic oil path 510 is connected with one end of an eleventh leg hydraulic oil path 511, the other end of the eleventh leg hydraulic oil path 511 is connected to one end of the twelfth leg hydraulic oil path 512, the other end of the twelfth leg hydraulic oil path 512 is connected to the rod chamber of the bottom hydraulic cylinder of the thigh hydraulic cylinder assembly 52, the other end of the ninth leg hydraulic oil path 509 is connected to the rodless chamber of the bottom hydraulic cylinder of the thigh hydraulic cylinder assembly 52,
one end of a thirteenth-leg hydraulic oil path 513 is connected to the first-leg hydraulic oil path 501, the other end of the thirteenth-leg hydraulic oil path 513 is connected to one ends of a fourteenth-leg hydraulic oil path 514, a fifteenth-leg hydraulic oil path 515, a nineteenth-leg hydraulic oil path 519, and a twentieth-leg hydraulic oil path 520 through a leg servo valve 53, the other end of the fifteenth-leg hydraulic oil path 515 is connected to one end of a sixteenth-leg hydraulic oil path 516, the other end of the sixteenth-leg hydraulic oil path 516 is connected to one end of a seventeenth-leg hydraulic oil path 517, the other end of the seventeenth-leg hydraulic oil path 517 is connected to one end of an eighteenth-leg hydraulic oil path 518, the other end of the eighteenth-leg hydraulic oil path 518 is connected to the eighth-leg hydraulic oil path 508, the other end of the nineteenth-leg hydraulic oil path 519 is connected to a rodless chamber of a front hydraulic cylinder of the thigh hydraulic cylinder block 52, the other end of the twentieth-leg hydraulic oil path 520 is connected to one end of a twenty-first-leg hydraulic oil path 521, the other end of the twenty-first leg hydraulic oil passage 521 is connected to one end of the twenty-second leg hydraulic oil passage 522, and the other end of the twenty-twelfth leg hydraulic oil passage 522 is connected to the rod chamber of the front hydraulic cylinder of the thigh hydraulic cylinder assembly 52. The other components and the connection mode are the same as the fifth embodiment mode.
The thigh hydraulic cylinder assembly 52 includes a bottom hydraulic cylinder and a front hydraulic cylinder, wherein the thigh bottom hydraulic cylinder oil path is: hydraulic oil enters a first leg hydraulic oil path 501 through a ninth pelvic hydraulic oil path 409, enters a third leg hydraulic oil path 503 connected with a port P of the leg servo valve 53 through a second leg hydraulic oil path 502, enters a fourth leg hydraulic oil path 504 through a port T of the leg servo valve 53, returns to a sixth leg hydraulic oil path 506 through a fifth leg hydraulic oil path 505, returns to a main oil return eighth leg hydraulic oil path 508 through a seventh leg hydraulic oil path 507, and finally returns to an oil return path of a tenth pelvic hydraulic oil path 410, a port A of the leg servo valve 53 enters a rodless cavity of the bottom hydraulic cylinder through the ninth leg hydraulic oil path, and a port B of the leg servo valve 53 enters a rod cavity of the bottom hydraulic cylinder through a tenth leg hydraulic oil path 510, an eleventh leg hydraulic oil path 511 and a twelfth leg hydraulic oil path 512, so that the bending and extending actions of the lower leg 6 are realized; wherein the oil path of the hydraulic cylinder at the front part of the thigh is as follows: hydraulic oil enters a fourteenth leg hydraulic oil path 514 connected with a port P of the leg servo valve 53 through a first leg hydraulic oil path 501 and a thirteenth leg hydraulic oil path 513, enters a fifteenth leg hydraulic oil path 515 through a port T of the leg servo valve 53, returns to a seventeenth leg hydraulic oil path 517 through a sixteenth leg hydraulic oil path 516, returns to a main oil return eighth leg hydraulic oil path 508 through an eighteenth leg hydraulic oil path 518, and finally returns to an oil return path of the eighth pelvic hydraulic oil path 408, a port A of the leg servo valve 53 enters a rodless cavity of the front hydraulic cylinder through a nineteenth leg hydraulic oil path 519, and a port B of the leg servo valve 53 enters a rod cavity of the front hydraulic cylinder through a twentieth leg hydraulic oil path 520, a twenty-first leg hydraulic oil path 521 and a twenty-second leg hydraulic oil path 522, so that the front and back movements of the thigh 5 are realized.
In the hydraulic oil circuit cavity assembly of the head and shoulder part 1, the mechanical arm 2, the body 3, the hip pelvis 4, the thigh 5 and the shank 6, oil inlet and return oil circuits of a joint shaft of the shoulder shaft 12, the shoulder 15, the pelvis supporting part 43 and the pelvis 41 are respectively provided with a built-in ring groove at two sides of a hinged part, so that an oil circuit over-rotation joint is realized, in order to achieve a good sealing effect, two GRELI rings are arranged inside and outside a hinged part for sealing, the end part is prevented from oil leakage, and a good sealing effect is achieved.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (5)
1. A hoselization internal oil circuit of a hydraulic wheel leg humanoid robot comprises a head and a shoulder part (1), a body (3) and a hip pelvis (4), two arms (2), two thighs (5), two shank (6) and two drive wheels (7), shoulder (1) is connected with body (3) through spinal support, the both sides of shoulder (1) rotate with arm (2) respectively and are connected, two arms (2) symmetry set up, body (3) rotate with hip pelvis (4) and are connected, the both sides of hip pelvis (4) rotate with thigh (5) respectively and are connected, two thighs (5) symmetry set up, the lower extreme and shank (6) of thigh (5) rotate and are connected, the lower extreme and the drive wheel (7) of shank (6) are connected, external hydraulic power system passes through hydraulic line and is connected with shoulder (1), its characterized in that: the head shoulder part (1), the mechanical arm (2), the body (3), the hip pelvis (4), the thigh (5) and the shank (6) are all of a frame structure with a hydraulic oil circuit cavity assembly, the back of the rear side of the body (3) is provided with an oil inlet (8) and an oil return port (9), the oil inlet end of the oil inlet (8) is connected with an external hydraulic power system through a hydraulic pipeline, the oil outlet end of the oil inlet (8) and the oil inlet end of the oil return port (9) are respectively communicated with the hydraulic oil circuit cavity assembly of the body (3), the hydraulic oil circuit cavity assembly of the body (3) is respectively communicated with the hydraulic oil circuit cavity assemblies of the head shoulder part (1) and the hip pelvis (4), the hydraulic oil circuit cavity assembly of the head shoulder part (1) is communicated with the hydraulic oil circuit cavity assembly of the mechanical arm (2), the hydraulic oil circuit cavity assembly of the hip pelvis (4) is communicated with the hydraulic oil circuit cavity assembly of the thigh (5), the hydraulic oil way cavity assembly of the thigh (5) is communicated with the hydraulic oil way cavity assembly of the shank (6), the oil outlet end of the oil return port (9) is connected with an external hydraulic power system through a hydraulic pipeline, a controller is arranged in the body (3), and the controller is connected with the external hydraulic power system;
the head and shoulder part (1) comprises a shoulder bracket (11), two shoulder shafts (12), two shoulder joint hydraulic cylinder assemblies (13), two shoulder supports (14) and two shoulders (15),
the hydraulic oil circuit cavity assembly of the head-shoulder part (1) comprises two groups of head-shoulder hydraulic oil circuits, wherein each group of head-shoulder hydraulic oil circuit comprises a first head-shoulder hydraulic oil circuit (101), a second head-shoulder hydraulic oil circuit (102), a third head-shoulder hydraulic oil circuit (103), a fourth head-shoulder hydraulic oil circuit (104), a fifth head-shoulder hydraulic oil circuit (105), a sixth head-shoulder hydraulic oil circuit (106), a seventh head-shoulder hydraulic oil circuit (107), an eighth head-shoulder hydraulic oil circuit (108), a ninth head-shoulder hydraulic oil circuit (109), a tenth head-shoulder hydraulic oil circuit (110), an eleventh head-shoulder hydraulic oil circuit (111), a twelfth head-shoulder hydraulic oil circuit (112), a thirteenth head-shoulder hydraulic oil circuit (113), a fourteenth head-shoulder hydraulic oil circuit (114), a fifteenth head-shoulder hydraulic oil circuit (115), a sixteenth head-shoulder hydraulic oil circuit (116), a twenty-first head-shoulder hydraulic oil circuit (121), a twenty-second head-shoulder hydraulic oil circuit (122), A twenty-third head-shoulder hydraulic oil circuit (123), a twenty-fourth head-shoulder hydraulic oil circuit (124), a twenty-fifth head-shoulder hydraulic oil circuit (125) and a twenty-sixth head-shoulder hydraulic oil circuit (126),
a first head shoulder hydraulic oil path (101), a second head shoulder hydraulic oil path (102) and a third head shoulder hydraulic oil path (103) are all arranged in a shoulder support (11), a fourth head shoulder hydraulic oil path (104) is arranged in a shoulder support (14), a fifth head shoulder hydraulic oil path (105) is arranged in a shoulder shaft (12), a sixth head shoulder hydraulic oil path (106), a seventh head shoulder hydraulic oil path (107), an eighth head shoulder hydraulic oil path (108) and a ninth head shoulder hydraulic oil path (109) are all arranged in a shoulder (15), a tenth head shoulder hydraulic oil path (110), a thirteenth head shoulder hydraulic oil path (113), a fourteenth head shoulder hydraulic oil path (114), a fifteenth head shoulder hydraulic oil path (115) and a sixteenth head shoulder hydraulic oil path (116) are all arranged in the shoulder shaft (12), an eleventh head shoulder hydraulic oil path (111) and a twelfth shoulder hydraulic oil path (112) are all arranged in the shoulder support (11), a twenty-first head-shoulder hydraulic oil circuit (121), a twenty-second head-shoulder hydraulic oil circuit (122), a twenty-third head-shoulder hydraulic oil circuit (123), a twenty-fourth head-shoulder hydraulic oil circuit (124), a twenty-fifth head-shoulder hydraulic oil circuit (125) and a twenty-sixth head-shoulder hydraulic oil circuit (126) are all arranged in the shoulder support (11),
one end of a first head-shoulder hydraulic oil path (101) is connected with an oil inlet (8) through a hydraulic oil path cavity assembly of a body (3), the other end of the first head-shoulder hydraulic oil path (101) is connected with one end of a second head-shoulder hydraulic oil path (102), the other end of the second head-shoulder hydraulic oil path (102) is connected with one end of a twenty-first head-shoulder hydraulic oil path (121), the other end of the twenty-first head-shoulder hydraulic oil path (121) is connected with one end of a third head-shoulder hydraulic oil path (103) through a head-shoulder servo valve, the other end of the third head-shoulder hydraulic oil path (103) is connected with one end of a fourth head-shoulder hydraulic oil path (104), the other end of the fourth head-shoulder hydraulic oil path (104) is connected with one end of a thirteenth head-shoulder hydraulic oil path (113), the other end of the thirteenth head-shoulder hydraulic oil path (113) is connected with one end of a tenth head-shoulder hydraulic oil path (110), and the other end of the tenth head-shoulder hydraulic oil path (110) is connected with one end of a ninth head-shoulder hydraulic oil path (109), the other end of the ninth head-shoulder hydraulic oil circuit (109) is connected with one end of the eighth head-shoulder hydraulic oil circuit (108), the other end of the eighth head-shoulder hydraulic oil circuit (108) is connected with the hydraulic oil circuit cavity assembly of the mechanical arm (2),
one end of a twelfth head-shoulder hydraulic oil path (112) is connected with the oil return port (9) through a hydraulic oil path cavity assembly of the body (3), the other end of the twelfth head-shoulder hydraulic oil path (112) is connected with one end of a twenty-second head-shoulder hydraulic oil path (122), the other end of the twenty-second head-shoulder hydraulic oil path (122) is connected with one end of an eleventh head-shoulder hydraulic oil path (111) through a head-shoulder servo valve, the other end of the eleventh head-shoulder hydraulic oil path (111) is connected with one end of a fourteenth head-shoulder hydraulic oil path (114), the other end of the fourteenth head-shoulder hydraulic oil path (114) is connected with one end of a fifteenth head-shoulder hydraulic oil path (115), the other end of the fifteenth head-shoulder hydraulic oil path (115) is connected with one end of a sixteenth head-shoulder hydraulic oil path (116), the other end of the sixteenth head-shoulder hydraulic oil path (116) is connected with one end of a fifth head-shoulder hydraulic oil path (105), the other end of the fifth head-shoulder hydraulic oil way (105) is connected with one end of a sixth head-shoulder hydraulic oil way (106), the other end of the sixth head-shoulder hydraulic oil way (106) is connected with one end of a seventh head-shoulder hydraulic oil way (107), the other end of the seventh head-shoulder hydraulic oil way (107) is connected with a hydraulic oil way cavity assembly of the mechanical arm (2),
the head-shoulder servo valve is respectively connected with one ends of a twenty-third head-shoulder hydraulic oil circuit (123) and a twenty-fifth head-shoulder hydraulic oil circuit (125), the other end of the twenty-third head-shoulder hydraulic oil circuit (123) is connected with one end of a twenty-fourth head-shoulder hydraulic oil circuit (124), the other end of the twenty-fourth head-shoulder hydraulic oil circuit (124) is connected with a right chamber of the shoulder joint hydraulic cylinder assembly (13), the other end of the twenty-fifth head-shoulder hydraulic oil circuit (125) is connected with one end of a twenty-sixth head-shoulder hydraulic oil circuit (126), and the other end of the twenty-sixth head-shoulder hydraulic oil circuit (126) is connected with a left chamber of the shoulder joint hydraulic cylinder assembly (13).
2. The hoselization internal oil circuit of the hydraulic leg humanoid robot of claim 1, characterized in that: the mechanical arm (2) comprises a small arm (21), a large arm (22), a large arm servo valve (23), a small arm hydraulic cylinder assembly (24), a large arm hydraulic cylinder assembly (25) and a shoulder bracket (26),
the hydraulic oil circuit cavity assembly of the mechanical arm (2) is arranged in the large arm (22), and comprises a first arm hydraulic oil circuit (201), a second arm hydraulic oil circuit (202), a third arm hydraulic oil circuit (203), a fourth arm hydraulic oil circuit (204), a fifth arm hydraulic oil circuit (205), a sixth arm hydraulic oil circuit (206), a seventh arm hydraulic oil circuit (207), an eighth arm hydraulic oil circuit (208), a ninth arm hydraulic oil circuit (209), a tenth arm hydraulic oil circuit (210), an eleventh arm hydraulic oil circuit (211), a twelfth arm hydraulic oil circuit (212), a thirteenth arm hydraulic oil circuit (213), a fourteenth arm hydraulic oil circuit (214), a fifteenth arm hydraulic oil circuit (215), a sixteenth arm hydraulic oil circuit (216), a seventeenth arm hydraulic oil circuit (217), an eighteenth arm hydraulic oil circuit (218), a nineteenth arm hydraulic oil circuit (219), A twentieth arm hydraulic oil path (220) and a twenty-first arm hydraulic oil path (221),
one end of a first arm hydraulic oil circuit (201) is connected with the other end of a seventh head shoulder hydraulic oil circuit (107), the other end of the first arm hydraulic oil circuit (201) is connected with one end of a second arm hydraulic oil circuit (202), the other end of the second arm hydraulic oil circuit (202) is respectively connected with one end of a third arm hydraulic oil circuit (203), a fourth arm hydraulic oil circuit (204), an eighth arm hydraulic oil circuit (208), a thirteenth arm hydraulic oil circuit (213), an eighteenth arm hydraulic oil circuit (218), a nineteenth arm hydraulic oil circuit (219), a twentieth arm hydraulic oil circuit (220) and a twenty-first arm hydraulic oil circuit (221) through a large arm servo valve (23),
the other end of the fourth arm hydraulic oil path (204) is connected with one end of a fifth arm hydraulic oil path (205), the other end of the fifth arm hydraulic oil path (205) is connected with one end of a sixth arm hydraulic oil path (206), the other end of the sixth arm hydraulic oil path (206) is connected with one end of a seventh arm hydraulic oil path (207), the other end of the seventh arm hydraulic oil path (207) is connected with the other end of an eighth head shoulder hydraulic oil path (108), the other end of an eighth arm hydraulic oil path (208) is connected with one end of a ninth arm hydraulic oil path (209), the other end of the ninth arm hydraulic oil path (209) is connected with one end of a tenth arm hydraulic oil path (210), the other end of the tenth arm hydraulic oil path (210) is connected with one end of an eleventh arm hydraulic oil path (211), the other end of the eleventh arm hydraulic oil path (211) is connected with one end of a twelfth arm hydraulic oil path (212), and the other end of the twelfth arm hydraulic oil path (212) is connected with a rodless cavity of a large arm hydraulic cylinder assembly (25), the other end of the thirteenth arm hydraulic oil path (213) is connected with one end of a fourteenth arm hydraulic oil path (214), the other end of the fourteenth arm hydraulic oil path (214) is connected with one end of a fifteenth arm hydraulic oil path (215), the other end of the fifteenth arm hydraulic oil path (215) is connected with one end of a sixteenth arm hydraulic oil path (216), the other end of the sixteenth arm hydraulic oil path (216) is connected with one end of a seventeenth arm hydraulic oil path (217), the other end of the seventeenth arm hydraulic oil path (217) is connected with a rod cavity of the large arm hydraulic cylinder assembly (25),
the other end of a nineteenth arm hydraulic oil circuit (219) is connected with a fifth arm hydraulic oil circuit (205), the other end of a twentieth arm hydraulic oil circuit (220) is connected with a rodless cavity of a small arm hydraulic cylinder assembly (24), and the other end of a twenty-first arm hydraulic oil circuit (221) is connected with a rod cavity of the small arm hydraulic cylinder assembly (24).
3. The hoselization internal oil circuit of hydraulic leg humanoid robot of claim 1 or 2, characterized in that: the hip pelvis (4) comprises a pelvis (41), a pelvis hydraulic cylinder assembly (42) and two pelvis supporting members (43),
the hydraulic oil circuit cavity component of the hip pelvis (4) comprises a first pelvis hydraulic oil loop (401), a second pelvis hydraulic oil circuit (402), a third pelvis hydraulic oil loop (403), a fourth pelvis hydraulic oil circuit (404), a fifth pelvis hydraulic oil circuit (405), a sixth pelvis hydraulic oil circuit (406), a seventh pelvis hydraulic oil circuit (407), an eighth pelvis hydraulic oil circuit (408), a ninth pelvis hydraulic oil circuit (409), a tenth pelvis hydraulic oil circuit (410), a thirty-first pelvis hydraulic oil circuit (431), a thirty-second pelvis hydraulic oil circuit (432), a thirty-third pelvis hydraulic oil circuit (433), a thirty-fourth pelvis hydraulic oil circuit (434), a thirty-fifth pelvis hydraulic oil circuit (435) and a thirty-sixth pelvis hydraulic oil circuit (436),
a first pelvis hydraulic oil circuit (401), a second pelvis hydraulic oil circuit (402), a third pelvis hydraulic oil circuit (403) and a fourth pelvis hydraulic oil circuit (404) are all arranged in a pelvis (41), a fifth pelvis hydraulic oil circuit (405) and a sixth pelvis hydraulic oil circuit (406) are arranged in a pelvis support (43), a seventh pelvis hydraulic oil circuit (407), an eighth pelvis hydraulic oil circuit (408), a ninth pelvis hydraulic oil circuit (409), a tenth pelvis hydraulic oil circuit (410), a thirty-first pelvis hydraulic oil circuit (431), a thirty-second pelvis hydraulic oil circuit (432), a thirty-third pelvis hydraulic oil circuit (433), a thirty-fourth pelvis hydraulic oil circuit (434), a thirty-fifth pelvis hydraulic oil circuit (435) and a thirty-sixth pelvis hydraulic oil circuit (436) are all arranged in the pelvis (41),
the first pelvis hydraulic oil loop (401) is connected with the oil inlet (8) through a hydraulic oil path cavity assembly of the body (3), the first pelvis hydraulic oil loop (401) is connected with a second pelvis hydraulic oil path (402), the second pelvis hydraulic oil path (402) is connected with one end of a sixth pelvis hydraulic oil path (406), the other end of the sixth pelvis hydraulic oil path (406) is connected with one end of a seventh pelvis hydraulic oil path (407), the other end of the seventh pelvis hydraulic oil path (407) is connected with one end of a thirty-one pelvis hydraulic oil path (431), the other end of the thirty-one pelvis hydraulic oil path (431) is connected with one end of a ninth pelvis hydraulic oil path (409) through a pelvis servo valve, the other end of the ninth pelvis hydraulic oil path (409) is connected with a hydraulic oil path cavity assembly of the thigh (5),
a third pelvis hydraulic oil loop (403) is connected with the oil return port (9) through a hydraulic oil path cavity assembly of the body (3), the third pelvis hydraulic oil loop (403) is connected with one end of a fourth pelvis hydraulic oil path (404), the other end of the fourth pelvis hydraulic oil path (404) is connected with one end of a fifth pelvis hydraulic oil path (405), the other end of the fifth pelvis hydraulic oil path (405) is connected with one end of an eighth pelvis hydraulic oil path (408), the other end of the eighth pelvis hydraulic oil path (408) is connected with one end of a thirty-second pelvis hydraulic oil path (432), the other end of the thirty-second pelvis hydraulic oil path (432) is connected with one end of a tenth pelvis hydraulic oil path (410) through a pelvis servo valve, the other end of the tenth pelvis hydraulic oil path (410) is connected with a hydraulic oil path cavity assembly of a thigh (5),
the pelvis servo valve is respectively connected with one end of a thirty-fourth pelvis hydraulic oil circuit (434) and one end of a thirty-fifth pelvis hydraulic oil circuit (435), the other end of the thirty-fourth pelvis hydraulic oil circuit (434) is connected with one end of a thirty-third pelvis hydraulic oil circuit (433), the other end of the thirty-third pelvis hydraulic oil circuit (433) is connected with a left chamber of the pelvis hydraulic cylinder assembly (42), the other end of the thirty-fifth pelvis hydraulic oil circuit (435) is connected with one end of a thirty-sixth pelvis hydraulic oil circuit (436), and the other end of the thirty-sixth pelvis hydraulic oil circuit (436) is connected with a right chamber of the pelvis hydraulic cylinder assembly (42).
4. The hoselization internal oil circuit of the hydraulic leg humanoid robot of claim 3, characterized in that: the thigh (5) comprises a leg framework (51), a thigh hydraulic cylinder assembly (52) and a leg servo valve (53), the hydraulic oil way cavity assembly of the thigh (5) comprises a leg framework hydraulic oil way, and the leg framework hydraulic oil way is arranged in the leg framework (51).
5. The hoselization internal oil circuit of hydraulic leg humanoid robot of claim 4, characterized in that: the thigh hydraulic cylinder assembly (52) comprises a bottom hydraulic cylinder and a front hydraulic cylinder, and the leg skeleton hydraulic oil paths comprise a first leg hydraulic oil path (501), a second leg hydraulic oil path (502), a third leg hydraulic oil path (503), a fourth leg hydraulic oil path (504), a fifth leg hydraulic oil path (505), a sixth leg hydraulic oil path (506), a seventh leg hydraulic oil path (507), an eighth leg hydraulic oil path (508), a ninth leg hydraulic oil path (509), a tenth leg hydraulic oil path (510), an eleventh leg hydraulic oil path (511), a twelfth leg hydraulic oil path (512), a thirteenth leg hydraulic oil path (513), a fourteenth leg hydraulic oil path (514), a fifteenth leg hydraulic oil path (515), a sixteenth leg hydraulic oil path (516), a seventeenth leg hydraulic oil path (517), an eighteenth leg hydraulic oil path (518), a nineteenth leg hydraulic oil path (519), a twentieth leg hydraulic oil path (520), A twenty-first leg hydraulic oil passage (521) and a twenty-second leg hydraulic oil passage (522),
one end of a first leg hydraulic oil path (501) is connected with a hydraulic oil path cavity assembly of a hip pelvis (4), the other end of the first leg hydraulic oil path (501) is connected with one end of a second leg hydraulic oil path (502), the other end of the second leg hydraulic oil path (502) is respectively connected with one end of a third leg hydraulic oil path (503), a fourth leg hydraulic oil path (504), a ninth leg hydraulic oil path (509) and a tenth leg hydraulic oil path (510) through a leg servo valve (53), the other end of the fourth leg hydraulic oil path (504) is connected with one end of a fifth leg hydraulic oil path (505), the other end of the fifth leg hydraulic oil path (505) is connected with one end of a sixth leg hydraulic oil path (506), the other end of the sixth leg hydraulic oil path (506) is connected with one end of a seventh leg hydraulic oil path (507), the other end of the seventh leg hydraulic oil path (507) is connected with one end of an eighth leg hydraulic oil path (508), the other end of the eighth leg hydraulic oil circuit (508) is connected with the eighth pelvis hydraulic oil circuit (408), the other end of the tenth leg hydraulic oil circuit (510) is connected with one end of the eleventh leg hydraulic oil circuit (511), the other end of the eleventh leg hydraulic oil circuit (511) is connected with one end of the twelfth leg hydraulic oil circuit (512), the other end of the twelfth leg hydraulic oil circuit (512) is connected with a rod cavity of the bottom hydraulic cylinder of the thigh hydraulic cylinder assembly (52), the other end of the ninth leg hydraulic oil circuit (509) is connected with a rodless cavity of the bottom hydraulic cylinder of the thigh hydraulic cylinder assembly (52),
one end of a thirteenth leg hydraulic oil circuit (513) is connected with the first leg hydraulic oil circuit (501), the other end of the thirteenth leg hydraulic oil circuit (513) is connected with one end of a fourteenth leg hydraulic oil circuit (514), a fifteenth leg hydraulic oil circuit (515), a nineteenth leg hydraulic oil circuit (519) and a twentieth leg hydraulic oil circuit (520) through a leg servo valve (53), the other end of the fifteenth leg hydraulic oil circuit (515) is connected with one end of a sixteenth leg hydraulic oil circuit (516), the other end of the sixteenth leg hydraulic oil circuit (516) is connected with one end of a seventeenth leg hydraulic oil circuit (517), the other end of the seventeenth leg hydraulic oil circuit (517) is connected with one end of an eighteenth leg hydraulic oil circuit (518), the other end of the eighteenth leg hydraulic oil circuit (518) is connected with an eighth leg hydraulic oil circuit (508), the other end of the nineteenth leg hydraulic oil circuit (519) is connected with a rodless cavity of a front hydraulic cylinder of a thigh hydraulic assembly (52), the other end of the twentieth-leg hydraulic oil path (520) is connected with one end of the twenty-first-leg hydraulic oil path (521), the other end of the twenty-first-leg hydraulic oil path (521) is connected with one end of the twenty-second-leg hydraulic oil path (522), and the other end of the twenty-twelfth-leg hydraulic oil path (522) is connected with a rod cavity of a front hydraulic cylinder of the thigh hydraulic cylinder assembly (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910562358.6A CN110271036B (en) | 2019-06-26 | 2019-06-26 | Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910562358.6A CN110271036B (en) | 2019-06-26 | 2019-06-26 | Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110271036A CN110271036A (en) | 2019-09-24 |
| CN110271036B true CN110271036B (en) | 2022-03-29 |
Family
ID=67963331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910562358.6A Active CN110271036B (en) | 2019-06-26 | 2019-06-26 | Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110271036B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110816707A (en) * | 2019-11-19 | 2020-02-21 | 山东大学 | Structure integrated leg of driving, sensing and pipeline of hydraulic driving foot type robot |
| CN113276158B (en) * | 2021-05-12 | 2022-08-23 | 之江实验室 | Double-freedom-degree joint with built-in hydraulic flow channel |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101502965A (en) * | 2009-03-19 | 2009-08-12 | 哈尔滨工程大学 | Hydraulic driving mechanical wrist part structure |
| WO2014141356A1 (en) * | 2013-03-11 | 2014-09-18 | 株式会社日立製作所 | Moving body |
| CN107351118A (en) * | 2017-08-22 | 2017-11-17 | 重庆蓝略路新科技有限公司 | A kind of light and handy flexible hydraulic manipulator rotational structure |
| CN108216412A (en) * | 2017-12-26 | 2018-06-29 | 杭州欢乐飞机器人科技股份有限公司 | A kind of leg-wheel robot |
| CN109849050A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of hydraulic manipulator two degree-of-freedom joint based on double cruciform shaft cooperation |
-
2019
- 2019-06-26 CN CN201910562358.6A patent/CN110271036B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101502965A (en) * | 2009-03-19 | 2009-08-12 | 哈尔滨工程大学 | Hydraulic driving mechanical wrist part structure |
| WO2014141356A1 (en) * | 2013-03-11 | 2014-09-18 | 株式会社日立製作所 | Moving body |
| CN107351118A (en) * | 2017-08-22 | 2017-11-17 | 重庆蓝略路新科技有限公司 | A kind of light and handy flexible hydraulic manipulator rotational structure |
| CN108216412A (en) * | 2017-12-26 | 2018-06-29 | 杭州欢乐飞机器人科技股份有限公司 | A kind of leg-wheel robot |
| CN109849050A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of hydraulic manipulator two degree-of-freedom joint based on double cruciform shaft cooperation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110271036A (en) | 2019-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110271036B (en) | Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot | |
| CN110217308B (en) | Wheel-leg type humanoid robot with oil flowing inside | |
| CN104627265B (en) | Biped robot lower limb mechanism driven hydraulically | |
| JP2019522558A (en) | Single-drive bidirectional peristaltic piping cleaning robot | |
| CN108453705B (en) | A kind of human emulated robot system based on cylinder | |
| CN111846003B (en) | Multi-foot walking robot and hydraulic drive system for leg flexion and extension and control method thereof | |
| CN107314191A (en) | A kind of pipe robot based on fluid and motor composite flooding | |
| CN113443041B (en) | Composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot | |
| CN108302090A (en) | A kind of multilayer core pipe two-stage hydraulic cylinder and crane | |
| CN111197675A (en) | Bionic six-foot pipeline robot | |
| CN110132557A (en) | A kind of bionic leg formula spring experimental provision | |
| CN108980139A (en) | Double compact integrated steering centering hydraulic cylinders of rod-type out | |
| CN113199458B (en) | Wearable robot controller for follow-up control | |
| CN203228227U (en) | Parallel- series connection industrial robot structure | |
| CN113212584A (en) | Flexible multi-foot cooperative operation climbing robot | |
| CN110816707A (en) | Structure integrated leg of driving, sensing and pipeline of hydraulic driving foot type robot | |
| FI87171C (en) | SVAENGARM | |
| CN110962156B (en) | Oil-feeding swing cylinder integrated joint | |
| CN211902060U (en) | Bionic six-foot pipeline robot | |
| CN208715330U (en) | Integrated hydraulic system robot leg | |
| CN209743287U (en) | servo spiral oscillating cylinder controlled by high-speed switch valve | |
| CN208788636U (en) | A kind of lubricating arrangement of robot | |
| RS52358B (en) | Cushioning system for a swivel joint, in particular an articulated vehicle | |
| CN216555975U (en) | Self-balancing self-adaptive robot for cleaning underground pipeline | |
| CN117124344A (en) | Tubeless pelvis structure and biped hydraulic drive robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |