CN1175962C - Bionic heart-lung pump - Google Patents

Abstract

The present invention relates to a bionic heart-lung pump which comprises one heart pump, four lung cylinders and eight electromagnetic directional valves, wherein the four lung cylinders are evenly fixed to the circumference of the heart pump by screws; the eight electromagnetic directional valves are respectively fixed on the four lung cylinders; the lung cylinders are mutually communicated with hydraulic circuits of the electromagnetic directional valves.

Description

Bionic heart-lung pump

Technical field

The invention provides a kind of bionical pump housing, be meant the bionic heart-lung pump that utilizes hydraulic principle especially, its function is the adjusting device that converts fore and aft motion with rotatablely moving to.

Background technique

Utilizing hydraulic principle to control machinery action at present is seen everywhere, if any the reciprocating machinery of track linear, lathe cutter saddle, some laboratory, and the mechanism hand on the manufacturing industry production line, the control pick machine in building mine, bulldozer, a double wall, tipping bucket, auto shift automobile etc.

General hydraulic pressure, machinery action, all be by oil hydraulic cylinder, carry out mechanism hand at two-dimensional space, though shear leg is in the three dimensional space operation, but by people's operation, or in computer, rail is gone into the fixed line program, they do not possess the bigger displacement function of degrees of freedom, can displacement also be to ride instead of walk by the wheel that rotatablely moves.

Machinery under rail, the linear back and forth operation operating mode, commutation for the outer collision block mounting point of displacement, could be changed stroke by the outer collision block electric elements of bump, people, and purposes is restricted.

Along with era development, the traffic tool will have or not the ability of selecting adaptation to landform, landforms, must cause having the device appearance of walking about that the fore and aft motion formula reaches displacement.

The limb of walking about of bionic walking device one robot, finish starting at three dimensional space on request, lift leg, stretch out, land, have an effect and a series of actions program such as contraction, and again in the period of operating conditions continuously, possess break-in simultaneously, adjust the ability of main drive frequency and change stride.

Hydraulic pressure power transmission loop in the working stroke control of sequentially-operating, still rests on the state that moves outer collision block artificially at present, with existing vehicle is example, break-in, the speed change information of binary is only arranged, as for the break-in of ternary, change main drive frequency is adjusted step size, does not then have information and can look into.

For these reasons, hydraulic transmission beyond example is still adopted in robot design at present, many groups electric motor drive modes of riding instead of walk how with wheel, promptly permitted be the Honda of Japan and producer of Toyota also still in development, must not go out the open air is present situation.

Take a hint from the cardiopulmonary organ dysfunction of animal, the back and forth flexible continuous motion of periodic machinery is just needing a simulation cardio-pulmonary function device to break through.In theory directly with atmospheric pressure as the regulation and control source, with the atmosphere gaseous state, the hydraulic fluid liquid state, solid-state by Machine Design, force and work is transmitted in short its interaction, exchange, principle is not abstruse, falls under tree equally clearly just like apple, only treats development and utilization.

Summary of the invention

The objective of the invention is, propose a kind of bionic heart-lung pump, drive by means of power plant, under the continuous operating conditions of pump body, in the loop two-way working cylinder stroke in setting range, can in regulation and control or stop stroke in the arbitrary position.

A further object of the present invention is, a kind of bionic heart-lung pump is proposed, be installed in the robot, make robot effect in imitation human or animal's walking true to nature, step size is directly dominated in receiving control system instruction of the present invention, adds the adjustable-speed of power engine, the side steering of robot body design, thus a ternary difficult problem solved.

A kind of bionic heart-lung pump of the present invention, comprising: pump wholeheartedly; Four lung cylinders, these four lung cylinders with screw uniform be fixed on heart pump around; Eight solenoid directional control valves are separately fixed on four lung cylinders; The oil hydraulic circuit of this lung cylinder and solenoid directional control valve is interconnected.

Its central pump includes: two fitting seats, and there is a spindle hole at the center of this fitting seat, has four circular holes around spindle hole; Four sides of fitting seat have attachment hole and control oilhole; Four cylinder bodies, two ends are plugged on respectively in the circular hole on the fitting seat, and one end is fixed by screw with front cover in the outside of fitting seat; The other end is fixed by screw with rear end cover in the outside of fitting seat; The centre of this cylinder body has a breach; One main shaft, two ends utilize bearing hinge joint respectively in the spindle hole of fitting seat, and the centre of this main shaft is connected with the swash plate body that without exception is 45 degree, and this swash plate body is circular from the major axes orientation sight; In four cylinder bodies 1 connecting rod is arranged respectively, there is a notch centre of this connecting rod, connecting rod radially, two walls of notch have a salient point respectively, the disk body on can ccontaining main shaft between this two salient point; The two ends of this connecting rod have a piston respectively; This piston cooperates with inboard wall of cylinder block, this bionic heart-lung pump by oil supply system and by three position four-way directional control valve to lung cylinder controlling chamber, drive adjustable lever, make the reservoir of lung cylinder change volume at any time, at any time can shunt the cycle flow that flows to clutch release slave cylinder in the loop, thereby reach the action of control bionic heart-lung pump.

Wherein the lung cylinder includes: a disjunctor seat, this disjunctor seat is a rectangle, and about on the end inferior horn place have a short slot, vertical place of quit a post and thus leave it vacant groove does not have a circular hole, forms cylinder body; The place, top and bottom of this disjunctor seat has four apertures respectively; Two cylinder barrels are connected with circular hole respectively, form holistic cylinder body; Two ends in cylinder body have the cylinder end envelope respectively; Between the two cylinder ends envelope piston is arranged, a connecting rod piston is arranged; Two fixed blocks are separately fixed at the two ends of disjunctor seat, and it is corresponding with cylinder body to have two circular holes on fixed block, and an end of cylinder end envelope stretches out the circular hole on the fixed block, and fix with screw; Having a circular hole in a side of fixed block picks out with joint.

Wherein the control oilhole on the fitting seat sidewall communicates with ring-type oil duct ring and control oil channel.

Description of drawings

In order further to understand feature of the present invention and effect, the present invention is described in further detail below in conjunction with accompanying drawing, wherein:

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is of the present invention two big assemblies, the combination schematic perspective view.

Fig. 3 is lung cylinder of the present invention (breathing cylinder) schematic perspective view.

Fig. 3-the 1st, partial schematic sectional view of the present invention, the coupled condition of demonstration oil circuit.

Fig. 4 is that lung cylinder of the present invention is analysed and observe perspective view.

Fig. 5 is heart pump main part of the present invention and heart pump stereoscopic schematic representation.

Fig. 6 A is a heart pump structure schematic representation of the present invention.

Fig. 6 B is the sectional drawing of connecting rod of the present invention.

Fig. 7 to Figure 10 is principle of the invention figure.

Figure 11 is the systematic square frame schematic representation.

Embodiment

At first see also Fig. 1.Be the equipped stereoscopic schematic representation of going up behind the annex of bionic heart-lung pump main body, comprising pump 21 wholeheartedly; Four lung cylinders 20, these four lung cylinders, 20 usefulness screws are uniform be fixed on heart pump 21 around; Eight solenoid directional control valves 10 are separately fixed on four lung cylinders 20.

1. 8 small solenoid directional control valves 10 of four groups of 3-position 4-ways (for prior art) are arranged, regulate and control a pressure cylinder respectively separately and press oil.The lead of selector valve 10 leads to switchboard, so that accept automatic control or telechirics instruction running (for prior art).

2. the oil hydraulic circuit of the small solenoid directional control valve 10 of 3-position 4-way is interconnected.

3. four groups of loops lead to the outer two-way working cylinder group of the present invention, similar artery and vein trunk as cardiopulmonary machine.

4. the main shaft 11 of band keyway is a driven shaft, by the gearbox drive (being prior art) of power system.

See also Fig. 2, Fig. 3 and Fig. 5 again, its central pump includes:

Two fitting seats 3, the center of this fitting seat 3 have a spindle hole 31, have four circular holes 32 around spindle hole 31; Four sides of fitting seat 3 have oilhole 33;

Four cylinder components 1, two ends are plugged on respectively in the circular hole 32 on the fitting seat 3, be when mounted with main shaft 11 on after swash plate body 2 coincide mutually, in the corresponding aperture of the fitting seat 3 of together packing into.Passing front cover 5 at the outside of fitting seat 3 end is fixed by nut; Passing rear end cover 6 at the outside of fitting seat 3 the other end is fixed by nut; The centre of this cylinder body 1 has a breach; Cylinder body and cylinder component are with representing with a code name 1.

One main shaft 11, two ends utilize bearing hinge joint respectively in the spindle hole 31 of fitting seat 3, and the centre of this main shaft 11 is connected with the swash plate body 2 that without exception is 45 degree, and this swash plate body 2 is circular from main shaft 11 direction sights.

One connecting rod 16 is arranged respectively in four cylinder bodies 1, and there is a notch centre of this connecting rod 16, connecting rod 16 radially, two walls of notch have a salient point 161 (transmission plug 161) respectively, the swash plate body 2 on can ccontaining main shaft 11 between this two salient point 161; The two ends of this connecting rod 16 ball respectively are connected to a piston 101; This piston 101 cooperates with cylinder body 1 inwall.

Wherein lung cylinder 20 includes (Fig. 3):

One disjunctor seat 17, this disjunctor seat is a rectangle, and about on the end inferior horn place have a short slot 171,172, vertical place of quit a post and thus leave it vacant groove does not have a circular hole 173, forms cylinder body; The place, top and bottom of this disjunctor seat 17 has four apertures 174 respectively;

Two cylinder barrels 21 are connected with circular hole respectively, form holistic cylinder body; Two ends in cylinder body have cylinder end envelope 12,13 respectively; Between the two cylinder ends envelope piston 14 is arranged, a connecting rod piston 15 is arranged, be contained in the circular hole 173;

Two fixed blocks 18 are separately fixed at the two ends of disjunctor seat 17, and it is corresponding with cylinder body to have two circular holes on fixed block 18, and an end of cylinder end envelope stretches out the circular hole on the fixed block, and fix with nut; Having a circular hole in a side of fixed block 18 picks out with joint 181.

The control oilhole 34 on fitting seat 3 sidewalls communicate with ring-type oil duct ring 35 and control oil channel 36 (Fig. 3) wherein.

1. form of the present invention two big assemblies: heart pump 21 and disjunctor lung cylinder 20 are arranged, copy the lung bag heart pattern of life entity.

2. do not have ad hoc casing, 20 4 in disjunctor lung cylinder surrounds heart pump, its combination form, forms casing naturally, is equivalent to stealth, is the invisible design of casing.Dated especially, all surface of contact are done the sealing antiseepage, leakage is disposed with the rubber volume, and equalizing bed and epoxide resin glue are smeared.

3. disjunctor lung cylinder is with to breathe cylinder (having obtained patent) principle identical, and structure is different and be two parallel reversed arrangement of monomer.

Please continue to consult Fig. 4,

1. the broken section of bionic heart-lung pump of the present invention reflects its internal structure.

2. Fig. 4 analyses and observe projection signal, and the oil hydraulic circuit of control disjunctor lung cylinder is stealthy trend, and connects mutually, this form be in design adopt give put different melting points metal tube in mold, cast molding again.Foundry goods and foundry goods, encapsulation process is carried out in the oil pipe loop between foundry goods and workpiece when ensureing unimpeded process.

3. outwards draw four groups sealing working hydraulic pressure loops (solenoid directional control valve 10) are through cylinder end oil sealing hole, and the end envelope is the elbow in loop still not, also is the fastening piece of cylinder body simultaneously.Foundry goods of the present invention and main part all will be born two or more functions, make every effort to volume, and textural association compactness, specious, assembling are easily.

See also Fig. 5 and Fig. 6 again,

Profile projection signal after imitative heart pump 21 main parts of Fig. 5 and the assembling, the heart pump 21 that is assembled into, do not have main shaft of rarely seen four steel pipes of casing, be contained in the envelope dish of two tetragonal bodies, this is lung cylinder combine and assemble brace, that is to say that of the present invention two big assemblies are interdependences, lung lacks the heart, the scarce lung of the heart all is inoperable.

Fig. 6 is a structural representation.

Heart pump is oval axial piston pump, and it is different from boots dish axial piston pump, also is different from radially bent axle plunger pump.

Owing to will be applicable to bionic walking, land vertebrates mostly is four limbs, every limb more than three with upper joint.Each joint is if ordered about by a two-way working cylinder, and every limb just has one group of two-way working cylinder.Connect this group two-way working loop and be sealing by doing a loop.One-in-and-one-out circulation break-in, selected pump just should have 8 confining liquid hydraulic circuits, also just have the pump housing of 8 cylinders to cooperate with it.It is dedicated pump that the boots disc type of employing existing market supply is axially firmly filled in pump, this kind pump, advance oil expulsion channel design and can't adapt to the loop requirement of low pressure and mass flow, if adopt the radially crankshaft oil pump of 8 cylinders, add 8 the small solenoid directional control valves of 3-position 4-way and the special-purpose control loop pipeline that connect regulation and control usefulness, bulky, be not suitable for being placed in the body of bionic walking device.And consider to do traveling gear, the part material is main by Molecularly Imprinted Polymer.Here it is specified conditions that this programme will adapt to.

Fig. 6 A explanation transmission plug under the swash plate body drives, runs up in movement process, and the center contact between transmission plug and the bar head, and the bar head can not rotate with the transmission plug in other words, puts and contacts the friction minimum.

Two big member characteristic

1. central heart pump characteristics are seen Fig. 5 heart pump main part schematic representation, Fig. 6 structure sectional view.Central authorities' heart pump 21 is by the equal opening in four steel pipes (cylinder component 1) middle part, and two ends become a single cylinder cover separately, and are fixed by forward and backward two foursquare fitting seats, and is fastening by band oilhole end-blocking, and fusiformis connecting rod and piston are housed in the cylinder.Front and back fitting seat 3 central authorities have mounting hole that transmission main shaft 11 is installed.On four rectangular sides of the tetragonal body of fitting seat 3, one oilhole 33 is respectively arranged, correspondence is led to an oil cylinder, simultaneously on four sides of cuboid, one control oilhole is arranged respectively again, by two oilhole center lines on the axial opposite flank of this oilhole on same straight line, mutually vertically and again perpendicular to the spindle hole longitudinal center line.And become three main body quadratures.This oilhole all leads to the ring-type oil duct ring 35 of Fig. 4.The control oil channel 36 of other direction and lung cylinder is connected:

A. cylinder sleeve: two single cylinder disjunctors, by a cylinder sleeve intermediate openings, two ends all have internal thread and form;

B. piston: bottom indent glomeration, conveniently connect with the connection rod sphere ball, the nearly skirt section of outside piston aligns deep connecting rod chamber portion position, have the piston ring groove, in this groove, press piston circle tangent plane radially, 4 Equal rounds, the center line quadrature is opened Xiao hole, and 4 circles of can packing into draw Xiao.Make the connecting rod after assembling be in operation can not deviate from.Other has the groove O RunddichtringO of can packing into;

C. connecting rod: connecting rod is a fusiformis, and two ends are bulb, the assembly type connecting rod of middle opening, as Fig. 6 B, wherein show spherical connecting rod head 162, jump ring 164, connecting rod adapter sleeve 116, powder metallurgy core retainer plate 163---be equivalent to a mouthful interior gum, high speed plug 161---be equivalent to tooth.Link rod sleeve seat 16 is arranged in addition.Connecting rod characteristics: by tooth---high speed plug 161 is to spherical connecting rod head 162, adopts the scheme that makes zero at a high speed, is to guarantee piston in cylinder during moving linearly, and making running torque is zero, prevents corkscrew motion, has guaranteed the conventional effect of seal ring.

D. oval waist dish main shaft;

E. seal with the cylinder body end of oil groove, oilhole;

F. pump housing square, preceding fitting seat and back fitting seat 3.On central authorities' spindle hole is full ring-type oil duct ring 35 is arranged.Every non-square faces all has oilhole and threaded screw, adopts aluminum alloy or macromolecule polymer material;

G. the front-end of spindle lid 5, rear end cover 6.

All the other, standard piece, Sealing, bearing outline no longer one by one.

2. disjunctor lung cylinder characteristics.

A. disjunctor lung cylinder is called again and inhaled cylinder, and is as follows.

Disjunctor lung cylinder just two breathing cylinders is reverse, parallel disjunctor, and structure changes slightly, and disjunctor seat and front and back block adopt aluminum metal part or macromolecule polymer material.In metal Mo chamber, pack into and give the helical pitch of burying, control cylinder sleeve, and be fit into the control loop section of tubing before the casting or before moulding.Also be processed with three-position four-way valve installation dimension etc. on the disjunctor seat.

In Fig. 1 and Fig. 3, in four disjunctor lung cylinders, A ₁A ₃Be identical, disjunctor seat band shirt rim and mounting hole, A ₂A ₄Be not to be with the shirt rim and the assembling tapped hole is arranged, but A2 many oil inlet hole, A ₁Many oil drainage holes please refer to the oil connection place of image strip arrow.

B. illustrated the disjunctor seat with helical pitch from last a item, the controller cylinder barrel is given burying to the hydraulic control oil pipe on the cylinder barrel by the 3-position 4-way mounting hole and moulds or an integral body, will pack into the adjustable lever of piston again, and the adjustable side of adjustable lever passes from helical pitch.Allocate seal ring into, screw on the cylinder end envelope.Helical pitch has threaded termination to protrude from the disjunctor seat, adds the seal ring cylinder barrel of band pore on the spinning again.Insert freedom of movement lung piece (piston) and seal ring in the cylinder barrel of band pore, screw on the cylinder end envelope again again.The part of being made up of adjustable lever band gas port cylinder barrel and lung piece is called respiratory chamber.Lung piece and band oilhole end seal part branch are called accumulator.Divide by function, it is more correct that accumulator is called diffluence room.See figure, the front end and back end envelope dish of inserting the lung cylinder after above-mentioned the installing is fixed, fastening.Two potting dishes of lung cylinder are installed, and the porose hose coupling of installing in top connects oil pipe such as A by this joint ₁, B ₁A ₂, B ₂A ₃, B ₃A ₄, B ₄Deng the main that is the work loop, the pipeline that is led to each clutch release slave cylinder by the main fork is exactly a tap.

C. by 4 lung cylinder A ₁A ₂A ₃A ₄Two ends envelope dish on porose, can be installed in the block of heart pump, and to connecting, control oil hydraulic circuit pipeline and work return, the stealthy part of sternly surveying each bar loop is unimpeded.And sealing is anti-to leak.

D., the cylinder end envelope is arranged among Fig. 4, breathe cylinder rod piston 15, breathe the cylinder beam and breathe cylinder (lung cylinder) loose piece piston 14, other standard piece, fastening piece, Sealing are no longer made sign and explanation.

Six, the characteristics of bionic heart-lung pump

Comprehensive above the elaboration, bionic heart-lung pump has following characteristics.

A. initiate that barometric pressure is done regulation and control is former, be about to air as medium, driven plunger (lung piece) realizes the constant volume design, the shunting of limiting the quantity of, regulation and control operation in finishing and generally is present in clutch release slave cylinder, the piston difference of energy-storing device, in case general cylinder, device perforate, air just enters have been scrapped.

B. for the first time complete proposition, elliptic curve rotated convert to back and forth, the scheme of fore and aft motion, its comparable U.S.A utilizes the screw mandrel and the nut of helical curve, and comparable again U.S. crank throw converts circular movement to radial alignment motion, bent axle, connecting rod, piston drive.

The oiling agent of c. casing stealth, fricting couple piece is identical with loop fluid, common.

D. 8 oil hydraulic circuits that are equivalent to the artery and vein blood vessel that connect bionic heart-lung pump are lived the small solenoid directional control valve of four-way by 8 three, offer the Point of Strength of a concrete performance performance of computer and telechirics.

The working principle explanation

One, a bright for instance fact

On corner floor, room, put a cylinder steel pipe that central small hole is arranged, wear a lucky measure-alike iron bar, be fixed on two sidewalls from central small hole.When the round iron tube is a spool core when rotating with iron bar, round iron is wiped mutually with the floor, stays the straight line vestige on the floor, and the straight line dirt on the floor is considered to be worth doing and taken away by the round iron surface.Now change this cylindric steel pipe into the oval plate identical with this steel pipe radius, the centre still is installed with iron bar and is fixed on two face walls in corner.The oval plate motion of still pivoting.Be still straight line section vestige on this oval plate and the ground friction stand-down, and just be attached on the whole oval plate periphery by the dust after the friction on the ground.

It is exactly in triaxial coordinate that the above fact is expressed with mathematical linguistics, and one section cylindrical body is arranged on X, Y plane, and this cylindrical body and XY plane are tangent, and tangent line is a line segment.Cylindrical center's line is fixed.When cylindrical body is done bobbin when rotation, tangent line length invariant position when cylindrical body is used oval plate instead, equates with the cylindrical body radius that with the cylndrical surface radius of disk work as its cylindrical center's line again and be fixed on same position, oval plate is done when the axle center rotates.There are two point of contacts on two the border elliptic curves and the XY plane of this oval plate.This point of contact is a moving point.Its track is a reciprocal straightway on the XY plane.Relative is two elliptic curves on elliptic plane.

More than to be heart pump of the present invention with the elliptic curve motion rotatablely move in other words converts the principle of linear reciprocating motion to, and just elliptical shaft drives the working principle of axial piston pump.

Two, in pump housing operation process, the fluid in the loop can not increase yet and not reduce in other words in the hydraulic lock loop.The flexible acting of the connecting rod piston of heart pump, slave cylinder piston does work synchronously.This is the power merit transmission of a connected component, if want the workmanship stroke of Control work cylinder, piston.Be exactly to increase a regulatable diffluence room in the work loop, diffluence room has shunted the liquid measure that enters clutch release slave cylinder, achieves the goal with this.Please it is a working principle schematic representation of the present invention referring to Fig. 7 to Figure 10 again, owing to explain orally difficult with oval core pump drawing, so adopt crank pump to replace, 201 is the two-way working cylinder in the drawings, function is to promote the to-and-fro motion of connecting rod radial alignment at pressure oil, piston and connecting rod are linking body structures, and be fixed.202 and 204 Reciprocatory oil pump oil cylinders, its function is pressurizeed to fluid, and two end points are made straight line on the connecting rod, another makes circular movement.203 and 205 respiration type cylinders or respiration type valve, its function are regulated two-way working stroke usefulness, can absorb automatically and compensate oil mass, have gas port on the cylinder, and piston, connecting rod are self-existent two parts.Explain principle by above-mentioned three kinds of oil hydraulic cylinders on a figure, their function, structure are different, no great differentiation on the sketch, and be special here annotated, in order to the principle explanation.

1.202 and 204 and 201 when connecting, and do not exist if having 203 and 205, poor by the instantaneous trace of 202 and 204 generations, its integral value can cause the whole system formula self-locking that suffocates.

2. use _LRepresent 201 pistons left side maximum volume, _RExpression piston right side volume.They and 202,203; 204,205 volume has the following relationship formula:

_L＝202＝203。 _R＝204＝205。In 201 because the linking body structure of piston rod, _L≠ _ROptional according to this inclined to one side main part is formed and is used the loop.

3. oil storage.

Oil storage is meant by 201 left sides; 202,203; 201 right sides, 204,205 are communicated with in two oil circuits of sealing composition, change the desired oil mass of running.

Relation: 201 left sides+202+203=3 _L

201 right sides+204+205=3 _RMaximum space.

But 201 left sides, oil storage is by 1 1/2 in 202,203 loops _L+ δ _LProvide.

201 right sides, oil storage is by 1 1/2 in 204,205 loops _R+ δ _RProvide.

In 201, δ _L, δ _RBe the piston both sides required additional amount of rest point desired location on request, δ _L, δ _RA.A is that constant is by _L=a _RProvide.

a＝1-(?)

0≤δ _L≤1/2 _L；0≤δ _L≤1/2 _R。

δ _L=a δ _RWork as δ _R=0 o'clock δ _L=0 o'clock (wherein R is 201 inner carrier leading threads, and r is the connecting rod radius)

The example: when selected rest point in mid point, promptly given δ _R=0 o'clock δ _LArticle=0 two, the oil storage in loop just is respectively 1 1/2 _RWith 1 1/2 _L

This moment, rest point was at 201 mid point.

Please see Figure 7 again and provide in Fig. 7 that 201 piston stops at mid point, 203 pistons also stop at mid point, 205 pistons midpoint area (to be analyzed relocating).202 and 204 inner carrier positions are located synchronously by crankshaft-link rod.Be dead point 201 with the mid point in our the selected loop.δ _R＝0?δ _L＝0。Article two, the oil circuit oil storage is respectively 1 1/2 _LWith 1 1/2 _R

1. known 201 be 1/2 now in the given oil mass of side _L, also given oil mass is 1/2 in 203 _L(mid point is a rest point).

2. consult Fig. 7 by bent axle, connecting rod relation.202 pistons are at the mid point of cylinder, have determined 204 piston position at the Q point.DQ＞DP。

3. 201 _R, three of 204,205 are held in the oily space, hold oil jointly and be given as 1 1/2 _R, present known 201 _ROil mass 1/2 is arranged _R, calculating 204 oil masses is DQ amount＞1/2 _RSo draw oil mass in 205＜1/2 _R, its piston departs from mid point a PQ value.

Under the crankshaft operation operating mode, 202 internal volumes are changed to 0 → _L

204 internal volumes are changed to _R→ 0.

The oil content that extrusion sucks is not made a return journey continuous owing to circulating in 201 the piston left and right sides, and 201 piston is just back and forth continuous.When that is to say work, 202,204 alternate reciprocating motion, the oil of extrusion can't be 1/2 by saturated 203 and 205 the oily space of holding _LWith 1/2 _R

202,204 under the machine operation situation, when making compression stroke, and each time will _LOr _RAmount all discharge, this amount also has only 201 piston both sides to absorb, and promotes the piston acting.

Notice among Fig. 7 that the P point is a piston, the Q point is 204 pistons again.Give the mid point and the bent axle rotation mid point O that make 202 and 204 cylinders equidistant by pump.

In whole operation process, OP and OQ's is exactly that the instantaneous trace of two cylinders is poor.

Note that whenever 202 sucking oil at extrusion oil, 204,205 inner carriers will leave the screw rod contact by the poor relation of instantaneous trace.Lung activity that Here it is also kindred circumstances can appear, in the piston in 203 when 204 press oily 202 oil suctions again.

If want the piston scope in 201 is limited to the left side or the right of comprising mid point (rest point) and makes reciprocal operation stroke, position that one of need only adjusting screw rod is pulled out and is moved to lower and get final product.

See also Fig. 8, the piston of wherein breathing cylinder 203 is in point midway, and the screw position in 205 has been withdrawn into minimum point, and under the running operating mode, because the drive of bent axle, 202 oil that extrude all enter 201 inner carriers left side, 204 inspiration simultaneously _RFluid, 201 right sides are promoted by piston, no longer exist and hold oily space, promptly holding oil is 0.1/2 _ROil mass only be present in 205.Because 205 screw rod is at low level, this moment piston and screw rod to disengage the space of causing be 1/2 _RValue, bent axle is rotated further, and has extruded whole whens oil at down stroke when 204, these have the oil of pressure, it at first a little less than pressure regional center flow because the back side of 205 pistons is atmosphere, just promotes piston and contact with screw rod, 205 interior oil masses just are 1 _RRemaining 1/2 _RGauging is pressed towards 201 right sides.201 inner carriers are passed to meta.This moment 202 be oil-absorbing process finally, the oil of 201 piston side is 1/2 _L, do not have oil in the old friend 203,203 inner screws were not transferred, be remain on meta, when piston is attracted to highest order like this, with meta screw rod separated space be exactly 1/2 _RThis space is filled by atmosphere.

See also Fig. 9, the screw rod of the breathing cylinder 203,205 in Fig. 9 all withdraws to minimum point, cause 203 and 205 can reach the design volume be _LAnd _RSituation.This moment is when driving 202 and 204 cylinder workings by axle, and the fluid in 202 moves towards the little place of pressure under pressure promotes, so enter 203 entirely, saturated conditions just is pressed on the left of 201 inner carriers in 203, but is enough to hold the oil mass that enters in 203 _L, and 1/2 _LBe present in again in the 201 tides left side, and under the kindred circumstances, 204 fluid can only debouch in 205.And 1/2 is just arranged on 201 piston right sides _RAmount exists.In such cases, pump extrudes the oil that absorbs and makes a return journey in 203 and 205 in continuous running, makes 201 piston both sides fluid relatively stable, so the piston transfixion.

See also Figure 10 again, modulated the moving back with minimum point of 203 screw position has one apart from the K place in Figure 10, and 205 piston position appears at peak has one apart from the K place, the loop that the former reason 201,202,203 that causes is formed illustrates that 202 under bent axle drives, the piston arrives upper dead center has extruded _LOil, pressure oil is introduced in 203,203 pistons are pushed to screw rod and contact, and have then charged into (1-K) in 203 _LOil, remaining (1/2+K) _ROil is present in 201 inner carriers left side, and the right side of 201 inner carriers then is (1/2-K) _RBy chance 204 under piston drives, arrive lower dead centre, sucked _RThe oil of amount.So remaining K _ROil is present in 205, and 205 piston point upper dead centers just have a K value to exist in this way.

The oil mass in 201 pistons left side is (1/2+K) back again _L, this also illustrates the right side of piston position at 201 mid points, with the distance of the K value of mid point.

In like manner, 205 inner screws are also transferred to move back with minimum point a K ₁Value, notes can cause 201 inner carriers toward moving to left, and with mid point a K are arranged in 201 mid points left side ₁Value exists, 203 and 205 screw rods that immobilize then, and such 201 pistons are turned left through mid point and are walked to K ₁Point is later turned right through mid point again and is arrived the K point, more later back and forth, so stroke is K+K ₁K≤1/2，K ₁≤1/2。(1 is the piston design maximum stroke in 201) K, K ₁Be arbitrary value.K+K ₁＜1。

Conclusion has proved the interior regulation and control that realized piston stroke.Before proved that can select oil storage reaches the selection rest point, select can under selected rest point, to realize comprising the regulation and control of rest point in stroke in 201 cylinders again.Just under the drive oil pump operation that power does not stop, realize the clutch release slave cylinder inner carrier is stopped at the arbitrary position on request, and regulate and control its stroke value, this regulation and control are interior accent.

Blanket says, this interior control method is a shunting in form.Its principle is that atmosphere is used as the former method of regulation and control, and its preceding topic is in the oil hydraulic circuit of sealing, and is just in the cards.

Also illustrated by last, adopted difference in functionality, the combination of varying number oil hydraulic cylinder, can interiorly transfer stroke and specify rest point, this is under lung cylinder (breathing cylinder) operation, finishes.

Skeleton diagram when seeing also Figure 11 and being for the present invention is used for power transmission, wherein prime mover is connected with hydraulic gearbox, and hydraulic gearbox is connected with bionic heart-lung pump of the present invention.Hydraulic gearbox comprises, the high gear pump, low speed oil motor and fuel tank, high gear oil pump feed reach outside (0 → 400 rev/min) for the low speed oil motor, but still fuel feeding through each three position four-way directional control valve to lung cylinder controlling chamber, drive adjustable lever.Make the reservoir of lung cylinder change volume at any time, can shunt the cycle flow that flows to clutch release slave cylinder in the loop at any time.Shunt manyly, the liquid measure that enters clutch release slave cylinder is few, and working stroke is just short, and vice versa.The low speed oil motor of hydraulic gearbox drives the main shaft of cardiopulmonary cylinder.The reservoir of disjunctor lung cylinder (diffluence room) wherein.The maximum pump discharge of each single cylinder of central authorities' heart pump, and the clutch release slave cylinder group maximum capacity (connected part) in same loop is mutually etc., equivalance in twos.

Bionic heart-lung pump of the present invention has 8 loops, and 4 groups are equivalent to bionical artery and vein blood vessel, and the cycle is supplied recovery fluid in proper order.Be installed on the robot four limbs, can not find existing machine and compare.It is former to do regulation and control with atmosphere, all is initiative with the elliptic curve transmission.Principle is simple and clear, feasibility, reliability, practicability are all high, rational in infrastructure, applied range.

Annotate:

1. selected rest point with investigating bar in the lung cylinder, transfers to low level, opens the redundant mesh of two loops that are communicated with 201 clutch release slave cylinders.Special cylinder handle with this redundant mesh moves to left or moves to right, and piston position is wherein changed, and allows its absorption and disengage S _LAnd S _RAfter close redundant mesh, so 1 the sealing oil mass be (1+1/2) D _L± S _LAnother is (1+1/2) D _R± S _R, just set up and selected, S in 201 _L=π R ²L, S _R=π R ²(1-r ²/ R ²) L.Redundant mesh is additional when the design robot four limbs, does not discuss at this.

2. the oval plate axial piston pump does not have the trace difference of bent axle or radial plunger pump to exist.

Claims (3)

1. a bionic heart-lung pump is characterized in that, comprising:

Pump wholeheartedly, heart pump includes:

Two fitting seats, there is a spindle hole at the center of this fitting seat, has four circular holes around spindle hole; Four sides of fitting seat have attachment hole and control oilhole;

Four cylinder bodies, two ends are plugged on respectively in the circular hole on the fitting seat, and one end is fixed by screw with front cover in the outside of fitting seat; The other end is fixed by screw with rear end cover in the outside of fitting seat; The centre of this cylinder body has a breach;

One main shaft, two ends utilize bearing hinge joint respectively in the spindle hole of fitting seat, and the centre of this main shaft is connected with the swash plate body that without exception is 45 degree, and this swash plate body is circular from the major axes orientation sight;

In four cylinder bodies 1 connecting rod is arranged respectively, there is a notch centre of this connecting rod, connecting rod radially, two walls of notch have a salient point respectively, the disk body on can ccontaining main shaft between this two salient point; The two ends of this connecting rod have a piston respectively; This piston cooperates with inboard wall of cylinder block;

Four lung cylinders, these four lung cylinders with screw uniform be fixed on heart pump around;

Eight solenoid directional control valves are separately fixed on four lung cylinders;

The oil hydraulic circuit of this lung cylinder and solenoid directional control valve is interconnected;

This bionic heart-lung pump by oil supply system and by three position four-way directional control valve to lung cylinder controlling chamber, drive adjustable lever, make the reservoir of lung cylinder change volume at any time, can shunt the cycle flow that flows to clutch release slave cylinder in the loop at any time, thereby reach the action of control bionic heart-lung pump.

2. a kind of bionic heart-lung pump according to claim 1 is characterized in that, wherein the lung cylinder includes:

One disjunctor seat, this disjunctor seat is a rectangle, and about on the end inferior horn place have a short slot, vertical place of quit a post and thus leave it vacant groove does not have a circular hole, forms cylinder body; The place, top and bottom of this disjunctor seat has four apertures respectively;

Two cylinder barrels are connected with circular hole respectively, form holistic cylinder body; Two ends in cylinder body have the cylinder end envelope respectively; Between the two cylinder ends envelope piston is arranged, a connecting rod piston is arranged;

Two fixed blocks are separately fixed at the two ends of disjunctor seat, and it is corresponding with cylinder body to have two circular holes on fixed block, and an end of cylinder end envelope stretches out the circular hole on the fixed block, and fix with screw; Having a circular hole in a side of fixed block picks out with joint.

3. a kind of bionic heart-lung pump according to claim 1 is characterized in that, wherein the control oilhole on the fitting seat sidewall communicates with ring-type oil duct ring and control oil channel.

Images