CN203344063U - Hydraulic driven two-degree-of-freedom bionic spine joint module - Google Patents
Hydraulic driven two-degree-of-freedom bionic spine joint module Download PDFInfo
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- CN203344063U CN203344063U CN 201320314536 CN201320314536U CN203344063U CN 203344063 U CN203344063 U CN 203344063U CN 201320314536 CN201320314536 CN 201320314536 CN 201320314536 U CN201320314536 U CN 201320314536U CN 203344063 U CN203344063 U CN 203344063U
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- end cover
- freedom
- solenoid valve
- joint
- way solenoid
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Abstract
The utility model aims to provide a hydraulic driven two-degree-of-freedom bionic spine joint module. The hydraulic driven two-degree-of-freedom bionic spine joint module comprises an upper end cover and a lower end cover, wherein a two-degree-of-freedom cross-shaft type rigid universal joint and corrugated pipes are installed between the upper end cover and the lower end cover; the two-degree-of-freedom cross-shaft type rigid universal joint comprises a cross shaft located in the middle, universal joint forks connected with the cross shaft, and universal shaft bases connected with the end covers; a first gear pump and a first two-position four-way solenoid valve which are communicated mutually are installed on the upper end cover; a second gear pump and a second two-position four-way solenoid valve which are communicated mutually are installed on the lower end cover; the number of the corrugated pipes is four; the first two-position four-way solenoid valve is respectively communicated with the first corrugated pipe and the second corrugated pipe; the second two-position four-way solenoid valve is respectively communicated with the third corrugated pipe and the fourth corrugated pipe. The rotation of a bionic spine joint is simulated by hydraulic drive, changes of multiple degrees of freedom can be achieved, and the athletic capacity of the bionic spine joint is enhanced effectively.
Description
Technical field
The utility model relates to a kind of robot, specifically the joint of vertebral column module of robot.
Background technology
Fast development along with Robotics, demand to the specialized robot that can walk under complex environment increases day by day, than wheeled robot, legged type robot is in advancing, the environment that can better adapt to destructuring, the unknown, particularly bionical multi-foot robot, have the advantage flexible, good stability of moving, and occupies very large proportion in whole legged type robot research field.
About the research of the bionical multi-foot robot of the overwhelming majority, be all to take the rigidity trunk as model at present, the not distortion of taking into account system member.But in fact move biological muscle, tendon and ligament can store and release energy as spring, in its motion process, have plastic deformation, the dynamics complex shape.The biology of particularly running, jumping, if adopt the mechanical property that pure rigid model must the pragmatize biological motion, and rigid model, in motion process, must cause the consumption of energy larger, cause the utilization rate of energy in motion process to descend, thereby make robot there is very large limitation on the speed of walking fast and improved efficiency.
Summary of the invention
The bionical joint of vertebral column module of hydraulic-driven two degrees of freedom that the purpose of this utility model is to provide the motion mode of simulation joint of vertebral column and can realizes two rotations on free degree direction.
The purpose of this utility model is achieved in that
The bionical joint of vertebral column module of the utility model hydraulic-driven two degrees of freedom, it is characterized in that: comprise spine units, spine units comprises upper end cover, bottom end cover, two degrees of freedom cross shaft rigid universal joint and bellows are installed between upper end cover and bottom end cover, the two degrees of freedom cross shaft rigid universal joint comprises the cross axle in the middle of being positioned at, the universal-joint fork be connected with cross axle, the universal drive shaft pedestal be connected with end cap, the first gear pump be interconnected is installed on upper end cover, the first two-position four-way solenoid valve, the second gear pump be interconnected is installed on bottom end cover, the second two-position four-way solenoid valve, described bellows has four, the first two-position four-way solenoid valve is communicated with respectively first, the second bellows, the second two-position four-way solenoid valve is communicated with respectively the 3rd, the 4th bellows.
The utility model can also comprise:
1, described bellows is telescopic corrugated stainless steel tubing, and telescopic process is the plastic deformation process.
Thereby 2, the composition joint of vertebral column that is connected with bottom end cover of the upper end cover by separately between spine units.
Advantage of the present utility model is: the utility model is simulated the rotation of bionical joint of vertebral column by hydraulic-driven, can realize the variation between a plurality of frees degree, effectively strengthens the locomitivity of bionical joint of vertebral column.
The accompanying drawing explanation
Fig. 1 is stereogram of the present utility model;
Fig. 2 is structural representation of the present utility model;
The schematic diagram that Fig. 3 is the utility model subelement;
Fig. 4 is the utility model hydraulic circuit connection layout.
The specific embodiment
Below in conjunction with accompanying drawing, for example the utility model is described in more detail:
In conjunction with Fig. 1～4, the bionical joint of vertebral column module of this hydraulic-driven two degrees of freedom consists of the following components: upper end cover 1, bellows 2, bellows 3, bottom end cover 4, two-position four-way solenoid valve 5, hydraulic oil pipe 6, gear pump 7, bellows 8, bellows 9, two degrees of freedom cross shaft rigid universal joint 10, two-position four-way solenoid valve 11, gear pump 12.Wherein, the upper and lower side cap assemblies is comprised of identical upper and lower two end cap.Bellows is telescopic corrugated stainless steel tubing, and telescopic process is the plastic deformation process.Cross axle in the middle of two degrees of freedom cross shaft rigid universal joint assembly 10 comprises, the universal-joint fork be connected with cross axle, with the universal drive shaft pedestal be connected with end cap.Hydraulic package comprises gear pump 12 and two-position four-way solenoid valve 11.
Upper end cover 1 is connected by two degrees of freedom cross shaft rigid universal joint 10 with in the middle of bottom end cover 4, and the cross axle at two degrees of freedom cross shaft rigid universal joint 10 middle parts can realize that the free degree of two rotation directions changes.Upper end cover 1 is being connected bellows 2, bellows 3, bellows 8, bellows 9 equably with the inboard of bottom end cover 4.Be fixed with set of gears pump 12 and two-position four-way solenoid valve 11 on upper end cover 1, be fixed with set of gears pump 7 and two-position four-way solenoid valve 5 on bottom end cover 4.Gear pump 12, two-position four-way solenoid valve 11, upper end cover 1, bellows 3 and bellows 8 are connected by hydraulic oil pipe 6.Gear pump 7, two-position four-way solenoid valve 5, bottom end cover 4, bellows 2 and bellows 7 also are connected by symmetrical hydraulic oil pipe 6, realize flowing of hydraulic oil.
Upper end cover 1 interacts with gear pump 12 and two-position four-way solenoid valve 11, when two-position four-way solenoid valve 11 during in the forward operating position, can be by the effect of gear pump, hydraulic oil is flowed to bellows 9 from bellows 3, bellows 3 is due to the minimizing of hydraulic oil, to shrink flexural deformation, bellows 9 is due to the increase of hydraulic oil, elongation flexural deformation will occur, thereby comprehensively cause upper end cover 1 and bottom end cover 4 to rotate along the one degree of freedom direction on two degrees of freedom cross shaft rigid universal joint 10, realize the variation of one degree of freedom.When two-position four-way solenoid valve 11, during in the negative sense operating position, this free degree rightabout is in the past rotated.
In like manner, gear pump 7 on bottom end cover and two-position four-way solenoid valve 5 interact, when two-position four-way solenoid valve 5 during in the forward operating position, can be by the effect of gear pump, hydraulic oil is flowed to bellows 8 from bellows 2, bellows 2 is due to the minimizing of hydraulic oil, to shrink flexural deformation, bellows 8 is due to the increase of hydraulic oil, elongation flexural deformation will occur, thereby comprehensively cause upper end cover 1 and bottom end cover 4 to rotate along another free degree direction on two degrees of freedom cross shaft rigid universal joint 10, realize the variation of second free degree.When two-position four-way solenoid valve 5, during in the negative sense operating position, this free degree rightabout is in the past rotated.Between the bionical joint of vertebral column module of a plurality of hydraulic-driven two degrees of freedom, have four bolts hole due to upper end cover 1 and bottom end cover 4 on all, can be bolted mode, the upper end cover of the bionical joint of vertebral column module of each cover hydraulic-driven two degrees of freedom and the bottom end cover between next set of modules are connected, and comprehensive function realizes the variation of more freedom.
Claims (3)
1. the bionical joint of vertebral column module of hydraulic-driven two degrees of freedom, it is characterized in that: comprise spine units, spine units comprises upper end cover, bottom end cover, two degrees of freedom cross shaft rigid universal joint and bellows are installed between upper end cover and bottom end cover, the two degrees of freedom cross shaft rigid universal joint comprises the cross axle in the middle of being positioned at, the universal-joint fork be connected with cross axle, the universal drive shaft pedestal be connected with end cap, the first gear pump be interconnected is installed on upper end cover, the first two-position four-way solenoid valve, the second gear pump be interconnected is installed on bottom end cover, the second two-position four-way solenoid valve, described bellows has four, the first two-position four-way solenoid valve is communicated with respectively first, the second bellows, the second two-position four-way solenoid valve is communicated with respectively the 3rd, the 4th bellows.
2. the bionical joint of vertebral column module of hydraulic-driven two degrees of freedom according to claim 1, it is characterized in that: described bellows is telescopic corrugated stainless steel tubing, telescopic process is the plastic deformation process.
3. the bionical joint of vertebral column module of hydraulic-driven two degrees of freedom according to claim 1 and 2 is characterized in that: the composition joint of vertebral column thereby the upper end cover by separately between spine units is connected with bottom end cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320314536 CN203344063U (en) | 2013-06-03 | 2013-06-03 | Hydraulic driven two-degree-of-freedom bionic spine joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320314536 CN203344063U (en) | 2013-06-03 | 2013-06-03 | Hydraulic driven two-degree-of-freedom bionic spine joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203344063U true CN203344063U (en) | 2013-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320314536 Expired - Fee Related CN203344063U (en) | 2013-06-03 | 2013-06-03 | Hydraulic driven two-degree-of-freedom bionic spine joint module |
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| CN (1) | CN203344063U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| CN103707317A (en) * | 2013-12-23 | 2014-04-09 | 哈尔滨工业大学 | Driving and driven combined connecting mechanism used for multi-section mobile robot |
| CN108621137A (en) * | 2018-06-22 | 2018-10-09 | 哈尔滨理工大学 | A kind of quadruped robot spinal device for earthquake rescue |
| CN113386166A (en) * | 2021-06-18 | 2021-09-14 | 大连理工大学 | Decoupling variable-rigidity joint suitable for super-redundant mechanical arm |
-
2013
- 2013-06-03 CN CN 201320314536 patent/CN203344063U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| CN103707317A (en) * | 2013-12-23 | 2014-04-09 | 哈尔滨工业大学 | Driving and driven combined connecting mechanism used for multi-section mobile robot |
| CN108621137A (en) * | 2018-06-22 | 2018-10-09 | 哈尔滨理工大学 | A kind of quadruped robot spinal device for earthquake rescue |
| CN113386166A (en) * | 2021-06-18 | 2021-09-14 | 大连理工大学 | Decoupling variable-rigidity joint suitable for super-redundant mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20160603 |