CN208215363U - Bio-robot and its spinal device - Google Patents
Bio-robot and its spinal device Download PDFInfo
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- CN208215363U CN208215363U CN201820794892.0U CN201820794892U CN208215363U CN 208215363 U CN208215363 U CN 208215363U CN 201820794892 U CN201820794892 U CN 201820794892U CN 208215363 U CN208215363 U CN 208215363U
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Abstract
A kind of bio-robot and its spinal device are filled in inner cavity, the first disengaging liquid pipe and the second disengaging liquid pipe of cavity by magnetorheological fluid, and magnetorheological fluid is used to provide driving force to one end of piston rod, to drive axial movement of the piston rod along cavity；Since magnet exciting coil is wrapped in the first disengaging liquid pipe, controller is after providing variable current to magnet exciting coil, magnet exciting coil can be made to generate variable magnetic field in the first disengaging liquid pipe, so that magnetorheological fluid generates magnetic rheology effect, show low-flow and high viscosity, then, so that the transmission speed of piston rod is changed, show as damping characteristic, reduces the pause and transition in rhythm or melody sense of spinal device, the flexibility for improving robot, improves the bio-imitability of robot.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of bio-robot and its spinal device.
Background technique
Bio-robot under special environment using more and more extensive, adaptive capacity to environment is more and more stronger, faster, more
Quasi-, more steady completion robot special assignment, this is other than related to complicated motor neuron, and also and its trunk structure is close
It is inseparable.Axis pillar of the backbone as all mammal trunks, is activity centre and the transmitting hinge of power of biological trunk,
Motion range can be increased when running and absorb the energy of ground shock.In recent years, the bionical machine of the major part studied both at home and abroad
Device people is rigid body and passive compliance backbone, such as uses elastomer connection front and back limbs as passive backbone, but for machine
Deformation of spinal column can not carry out active control during device people turns to, runs, and face limits the operation of robot to a certain extent
Speed, and existing robot vertebra can only one direction deformation, differ greatly, be not also provided simultaneously at present more with animal backbone
The bio-robot of freedom degree vertebral column and submissive trunk.Thus the further bionical backbone of exploratory development is in bio-robot field
Using being of great significance.
It is found by current literature search, the Chinese patent of Publication No. CN106956247A discloses a kind of string and mixes
The quadruped robot active compliance vertebra of connection, including chassis, ball pair connector, rotating connector, non-dead axle interverbebral disc and several
Linear actuator, linear actuator one end be connected with non-dead axle interverbebral disc by ball pair connector, the other end passes through the company of rotation
Fitting is connected with chassis, is fixedly connected between former and later two segments of vertebra by two non-dead axle interverbebral disc dislocation.It is above-mentioned practical
It needs that fixed circadian signal could be exported to the corresponding discrete control signal of several linear actuators respectively in novel.And
The backbone of biology is the analog electric signal of neuron, also can motivate and inhibit between neuron, i.e., have coupling between neuron,
Circadian signal is exported by discrete control signal can generate certain pause and transition in rhythm or melody sense, be not easy to adjust, so above-mentioned utility model
Bio-imitability it is not strong.
Therefore, the pause and transition in rhythm or melody sense for how reducing spinal device, improves the flexibility of robot, improve the bio-imitability of robot at
For technical problem urgently to be resolved.
Utility model content
The technical problem to be solved by the present invention is to reduce the pause and transition in rhythm or melody sense of spinal device, improve the submissive of robot
Property, improve the bio-imitability of robot.
For this purpose, according in a first aspect, the utility model embodiment discloses a kind of bio-robot spinal device, comprising:
Preceding backbone chassis；Posterior spinal chassis；Multiple backbone driving devices, setting preceding backbone chassis and posterior spinal chassis it
Between, for backbone chassis before driving and/or posterior spinal bobbin movement；Backbone driving device includes: linear actuator, including cavity
And piston rod, one end of piston rod are arranged in intracavitary in cavity, piston rod is under the driving of external force along the axial reciprocating of cavity
Movement；Cavity include: the first disengaging liquid pipe and second disengaging liquid pipe, first disengaging liquid pipe and second disengaging liquid pipe respectively with cavity
Cavity fluid conducting, first disengaging liquid pipe and second disengaging liquid pipe be separately positioned on piston rod one end two sides；It is magnetorheological
Liquid, inner cavity, the first disengaging liquid pipe and the second disengaging liquid pipe, the magnetorheological fluid for being filled in cavity are used to provide to one end of piston rod
Driving force, to drive axial movement of the piston rod along cavity；Control valve connects with the first disengaging liquid pipe and the second disengaging liquid pipe respectively
It connects, for adjusting separately the flow of magnetorheological fluid in the first disengaging liquid pipe and the second disengaging liquid pipe；Magnet exciting coil is wrapped in first
Pass in and out liquid pipe；Controller is connect with magnet exciting coil and control valve respectively；Controller is used to provide to control valve for characterizing adjustment
The flow control signal of the flow of magnetorheological fluid in first disengaging liquid pipe and the second disengaging liquid pipe；Controller is also used to excitation wire
Circle provides variable current, so that magnet exciting coil generates variable magnetic field in the first disengaging liquid pipe.
Optionally, backbone chassis before the other end of piston rod is connected to by the first revolute pair；Cavity is far from piston rod
The side of the other end is connected to posterior spinal chassis by the second revolute pair.
Optionally, the first revolute pair is ball pair；Second revolute pair is hinge-connection pair.
Optionally, controller includes: current-limiting resistance, is connected with magnet exciting coil；Current-limiting resistance and magnet exciting coil are connected on can
The both ends of time variant voltage.
Optionally, controller further include: the first operational amplifier, it can by first between normal phase input end and output end
Power transformation resistance and the series connection of the first variable capacitance, to generate sinusoidal self-oscillation；The normal phase input end of first operational amplifier also passes through
First resistor ground connection；The inverting input terminal of first operational amplifier is grounded by the first current-limiting resistance；First operational amplifier
The first feedback resistance is also in series between inverting input terminal and output end；Second operational amplifier, normal phase input end and output
It is connected between end by the second adjustable resistance and the second variable capacitance, to generate sinusoidal self-oscillation；Second operational amplifier
Normal phase input end is also grounded by second resistance；The inverting input terminal of second operational amplifier is grounded by the second current-limiting resistance；
The second feedback resistance is also in series between the inverting input terminal and output end of second operational amplifier；First capacitor and the second electricity
Hold, one end of first capacitor is connected between the normal phase input end and first resistor of the first operational amplifier；The one of second capacitor
End is connected between the normal phase input end of second operational amplifier and second resistance；The other end of first capacitor and the second capacitor
Other end connection；Coupling resistance is connected between the other end of first capacitor and the tie point and ground of the other end of the second capacitor；
Between the tie point of the other end of the other end of first capacitor and the second capacitor and the normal phase input end of second operational amplifier
Potential difference is for providing variable voltage.
Optionally, controller further include: coupling inductance is connected with current-limiting resistance and magnet exciting coil.
Optionally, each backbone driving device is coupled respectively by respective coupling inductance.
According in a first aspect, the utility model embodiment discloses a kind of bio-robot, comprising:
Robot body；The disclosed any one bio-robot spinal device of above-mentioned first aspect, is arranged in robot sheet
On body；Liquid source, for providing magnetorheological fluid to bio-robot spinal device.
Technical solutions of the utility model have the advantages that
Bio-robot and its spinal device provided by the embodiment of the utility model, are filled in cavity by magnetorheological fluid
Inner cavity, the first disengaging liquid pipe and the second disengaging liquid pipe, magnetorheological fluid is used to provide driving force to one end of piston rod, to drive work
Axial movement of the stopper rod along cavity；Since magnet exciting coil is wrapped in the first disengaging liquid pipe, controller is can to magnet exciting coil offer
After time-dependent current, magnet exciting coil can be made to generate variable magnetic field in the first disengaging liquid pipe, so that magnetorheological fluid generation is magnetorheological
Effect shows low-flow and high viscosity, then, so that the transmission speed of piston rod is changed, shows as damping characteristic,
The pause and transition in rhythm or melody sense for reducing spinal device, improves the flexibility of robot, improves the bio-imitability of robot.
As optional technical solution, the first operational amplifier and second operational amplifier are coupled by coupling resistance, the
Electricity between the tie point of the other end of the other end of one capacitor and the second capacitor and the normal phase input end of second operational amplifier
Potential difference for providing variable voltage, compared with the existing technology in give the corresponding discrete control signal of several linear actuators respectively
Mode, the program realizes the oscillator signal generated using central pattern generator (cpg) as control signal, which is
Analog signals simulate the backbone rhythm and pace of moving things kinetic characteristic of mammal well.And pass through series-parallel resistance, capacitor,
So that the oscillator signal of controller output is adjustable.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of bio-robot spinal device structural schematic diagram disclosed in the utility model embodiment；
Fig. 2 is a kind of backbone driving device schematic illustration disclosed in the utility model embodiment；
Fig. 3 is a kind of multiple backbone driving device coupled structure schematic diagrams of the utility model embodiment signal；
Fig. 4 is a kind of variable voltage formation circuit structure schematic diagram disclosed in the utility model embodiment.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can also be the connection inside two elements, can be wireless connection, be also possible to wired connection.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not constituting conflict can be combined with each other.
In order to reduce the pause and transition in rhythm or melody sense of spinal device, improves the flexibility of robot, improve the bio-imitability of robot, this implementation
Example discloses a kind of bio-robot spinal device, please refers to Fig. 1 and Fig. 2, wherein Fig. 1 is that one kind disclosed in the present embodiment is imitative
Raw robot spinal device structural schematic diagram, Fig. 2 are a kind of backbone driving device schematic illustration disclosed in the present embodiment, this reality
Apply backbone chassis 1 before a kind of bio-robot spinal device disclosed in example includes:, posterior spinal chassis 2 and multiple backbones driving dress
Set 3, in which:
Preceding backbone chassis 1 and posterior spinal chassis 2 can be realized using existing backbone chassis structure.
Multiple backbone driving devices 3 are arranged between preceding backbone chassis 1 and posterior spinal chassis 2, for backbone bottom before driving
Disk 1 and/or posterior spinal chassis 2 move.In a particular embodiment, each backbone driving device 3 is under the different displacement of movement, because
There are displacement difference between each backbone driving device 3, certain angle occurs for backbone chassis 1 and/or posterior spinal chassis 2 before can driving
The deflection of degree, or translation.
In a particular embodiment, referring to FIG. 2, backbone driving device includes: linear actuator 31, magnetorheological fluid 32, control
Valve 33, magnet exciting coil 34 and controller processed, in which:
Linear actuator 31 includes cavity 311 and piston rod 312, and the inner cavity of cavity 311 is arranged in one end of piston rod 312
Interior, piston rod 312 is under the driving of external force along the axially reciprocating of cavity 311.
In the present embodiment, cavity 311 includes: the first disengaging liquid pipe 313 and the second disengaging liquid pipe 314, the first disengaging liquid pipe
313 and second disengaging liquid pipe 314 be connected respectively with the cavity fluid of cavity, first disengaging liquid pipe 313 and second passes in and out liquid pipe 314
It is separately positioned on the two sides of one end of piston rod 312.
Magnetorheological fluid 32 is filled in the inner cavity of cavity 311, the first disengaging liquid pipe 313 and the second disengaging liquid pipe 314, magnetorheological
Liquid 32 is used to provide driving force to one end of piston rod 312, to drive piston rod 312 along the axial movement of cavity 311.Specifically
Ground, there are when fluid pressure difference between the first disengaging liquid pipe 313 and the second disengaging liquid pipe 314, the big side of pressure can drive work
Stopper rod 312 is mobile to the small side of pressure.
Control valve 33 respectively with first disengaging liquid pipe 313 and second disengaging liquid pipe 314 connect, for adjust separately first into
The flow of magnetorheological fluid in outlet tube 313 and the second disengaging liquid pipe 314.In a particular embodiment, control valve 33 can pass through section
The valve bodies such as stream valve, solenoid valve and/or multidigit various way solenoid valve realize, adjust separately first by being switched on and off for valve body
Pass in and out the flow of magnetorheological fluid in liquid pipe 313 and the second disengaging liquid pipe 314.
Magnet exciting coil 34 is wrapped in the first disengaging liquid pipe 313, and in the present embodiment, magnet exciting coil 34 is used in variable current
Variable magnetic field is provided to the first disengaging liquid pipe 313 under excitation.It should be noted that in other alternate embodiments, excitation wire
Circle 34, which also can wind, passes in and out liquid pipe 314 second, it will be understood that the direct replacement of this programme customary means, also falls into the program
Protection scope in.
Controller (appended drawing reference is not shown in the figure) is connect with magnet exciting coil 34 and control valve 33 respectively；Controller be used for
Control valve 33 provides the stream for characterizing the flow of magnetorheological fluid in the first disengaging liquid pipe 313 of adjustment and the second disengaging liquid pipe 314
Amount control signal, controller is also used to provide variable current to magnet exciting coil 34, so that magnet exciting coil 34 passes in and out liquid pipe first
313 generate variable magnetic field.
Referring to FIG. 1, in a particular embodiment, the other end of piston rod 312 is connected to preceding ridge by the first revolute pair 41
Column chassis 1；The side of the other end of the cavity 311 far from piston rod 312 is connected to posterior spinal chassis 2 by the second revolute pair 42.
Specifically, the first revolute pair 41 is ball pair, and the second revolute pair 42 is hinge-connection pair.
In an alternate embodiment of the invention, referring to FIG. 3, illustrating multiple backbone driving device coupled structure schematic diagrams, this reality
Applying each controller disclosed in example includes: current-limiting resistance Rw1, current-limiting resistance Rw1It connects with magnet exciting coil 34, current-limiting resistance Rw1With
Magnet exciting coil 34 is connected on the both ends of variable voltage U.It, can by the generation of variable voltage U excitation coil 34 in the present embodiment
Varying magnetic field.
In an alternate embodiment of the invention, referring to FIG. 4, illustrating variable voltage forms circuit structure, each controller is also wrapped
It includes: the first operational amplifier T1, second operational amplifier T2, first capacitor C1With the second capacitor C2And coupling resistance r, in which:
Pass through the first variable resistance R between first operational amplifier T1 normal phase input end and output endf1It can power transformation with first
Hold Cf1Series connection, to generate sinusoidal self-oscillation.In the present embodiment, the normal phase input end of the first operational amplifier T1 also passes through first
Resistance R1The inverting input terminal of ground connection, the first operational amplifier T1 passes through the first current-limiting resistance Rs1Ground connection, the first operational amplifier
The first feedback resistance R is also in series between the inverting input terminal and output end of T1fw1.In a particular embodiment, the first operation amplifier
Device T1 can be powered by the included power management module of external power supply or controller, by way of example, the first operation is put
Big device T1 can be powered by ± 12V power supply.It should be noted that being not intended to limit the first operational amplifier in the present embodiment
The size of T1 power supply can specifically be determined according to the first specific operating voltage of operational amplifier T1.
Pass through the second adjustable resistance R between second operational amplifier T2 normal phase input end and output endf2It can power transformation with second
Hold Cf2Series connection, to generate sinusoidal self-oscillation.In the present embodiment, the normal phase input end of second operational amplifier T2 also passes through second
Resistance R2The inverting input terminal of ground connection, second operational amplifier T2 passes through the second current-limiting resistance Rs2Ground connection, second operational amplifier
The second feedback resistance R is also in series between the inverting input terminal and output end of T2fw2.In a particular embodiment, the second operation amplifier
Device T2 can be powered by the included power management module of external power supply or controller, by way of example, the second operation is put
Big device T2 can be powered by ± 12V power supply.It should be noted that being not intended to limit second operational amplifier in the present embodiment
The size of T2 power supply can specifically be determined according to the specific operating voltage of second operational amplifier T2.
In a particular embodiment, first capacitor C1One end be connected to the normal phase input end and of the first operational amplifier T1
One resistance R1Between；Second capacitor C2One end be connected to the normal phase input end and second resistance R of second operational amplifier T22It
Between；First capacitor C1The other end and the second capacitor C2The other end connection.In the present embodiment, coupling resistance r is connected to first
Capacitor C1The other end and the second capacitor C2The other end tie point and ground between, first capacitor C as a result,1The other end and
Two capacitor C2The tie point A of the other end and the normal phase input end B of second operational amplifier between potential difference for provide can
Time variant voltage U, in the present embodiment, variable voltage U is sinusoidal oscillator signal.
In technical solution disclosed in the present embodiment, by respectively by the first operational amplifier T1 and second operational amplifier T2
The two RC circuits realized, which couple, to form central pattern generator (cpg) to provide variable voltage U, can by change once in a while resistance r come
Change two RC oscillating circuit stiffness of couplings；By changing the first operational amplifier T1 and the input of second operational amplifier T2 positive
The product of the resistance and capacitor of holding branch road is the frequency of changeable oscillator, i.e., by adjusting the first variable resistance Rf1With first
Variable capacitance Cf1Product and/or adjustment the second adjustable resistance Rf2With the second variable capacitance Cf2Product adjust oscillator
Frequency；By adjusting the first variable resistance Rf1And/or the second adjustable resistance Rf2The adjustable oscillator signal amplitude of size.Section
The variable voltage U exported between point A and B is a sine-wave oscillation signal, the starting condition for oscillation difference of RC hardware oscillating circuit
Meet Rfw1> 2Rs1> 2r and Rfw2> 2Rs2> 2r.
In an alternate embodiment of the invention, in spinal device using multiple backbone driving devices to drive when, each controller can
To intercouple.Specifically, referring to FIG. 3, each controller further include: coupling inductance L1, coupling inductance L1 and current-limiting resistance
Rw1And magnet exciting coil 34 is connected.In a particular embodiment, each backbone driving device distinguishes coupling by respective coupling inductance
It closes, referring to FIG. 3, illustrating the situation of three backbone driving devices coupling.
Magnetorheological fluid be it is a kind of by high magnetic permeability, that low hysteresis small magnetic-particle and non-magnetic mix is outstanding
Floating body.Magnetic rheology effect can be generated under magnetic fields, this suspended substance shows the newton of low viscosity under zero magnetic field condition
Fluid behaviour；And under strong magnetic field action, then show the Bingham bulk properties of high viscosity, low-flow.
By taking 3 backbone driving devices as an example, Fig. 1, Fig. 2 and Fig. 3 are please referred to, bio-robot backbone disclosed in the present embodiment
The device course of work are as follows: the control valves 33 such as throttle valve, solenoid valve are first controlled, so that linear actuator 3 generates at the uniform velocity back and forth movement,
In this way in backbone on the basis of doing at the uniform velocity back and forth movement；The oscillator signal that oscillating circuit in respective controller generates is (variable
Voltage U) it is separately connected the magnet exciting coil 34 above the disengaging liquid pipe 313 of linear actuator first, flow through the variable of magnet exciting coil 34
Electric current generates magnetic field in 34 inside of magnet exciting coil and nearby, and the electric current of variation generates changing magnetic field, since magnetorheological fluid is strong
Low-flow and high viscosity are shown under magnetic fields, changing magnetic field changes magnetorheological fluid viscosity therewith, and first into
The flow of magnetorheological fluid reduces with the increase of its viscosity in outlet tube 313, and changes in flow rate leads to piston in linear actuator
312 transmission speed changes, and shows as damping characteristic, realizes Shared control.
The present embodiment also discloses a kind of bio-robot, comprising: bionical machine disclosed in robot body, above-described embodiment
Device people spinal device and liquid source, wherein bio-robot spinal device is arranged on robot body, and liquid source is used for bionical machine
Device people's spinal device provides magnetorheological fluid.
Bio-robot and its spinal device disclosed in the present embodiment, by magnetorheological fluid be filled in cavity inner cavity,
One disengaging liquid pipe and the second disengaging liquid pipe, magnetorheological fluid is used to provide driving force to one end of piston rod, to drive piston rod edge
The axial movement of cavity；Since magnet exciting coil is wrapped in the first disengaging liquid pipe, controller is providing variable current to magnet exciting coil
Afterwards, magnet exciting coil can be made to generate variable magnetic field in the first disengaging liquid pipe, so that magnetorheological fluid generates magnetic rheology effect, table
Reveal low-flow and high viscosity, then, so that the transmission speed of piston rod is changed, show as damping characteristic, reduce
The pause and transition in rhythm or melody sense of spinal device, improves the flexibility of robot, improves the bio-imitability of robot.
As optional embodiment, the first operational amplifier and second operational amplifier are coupled by coupling resistance, first
Current potential between the tie point of the other end of the other end of capacitor and the second capacitor and the normal phase input end of second operational amplifier
Difference for providing variable voltage, compared with the existing technology in respectively to the corresponding discrete control signal of several linear actuators
Mode, the program realize the oscillator signal generated using central pattern generator (cpg) as control signal, which is mould
Analog quantity signal simulates the backbone rhythm and pace of moving things kinetic characteristic of mammal well.And by series-parallel resistance, capacitor, make
The oscillator signal for obtaining controller output is adjustable.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (8)
1. a kind of bio-robot spinal device characterized by comprising
Preceding backbone chassis；
Posterior spinal chassis；
Multiple backbone driving devices, be arranged between the preceding backbone chassis and the posterior spinal chassis, for drive it is described before
Backbone chassis and/or the posterior spinal bobbin movement；
The backbone driving device includes:
Intracavitary in the cavity, the work is arranged in linear actuator, including cavity and piston rod, one end of the piston rod
The axially reciprocating of stopper rod cavity described in the driving lower edge of external force；
The cavity includes: the first disengaging liquid pipe and the second disengaging liquid pipe, and the first disengaging liquid pipe and the second disengaging liquid pipe are divided
It is not connected with the cavity fluid of the cavity, the first disengaging liquid pipe and the second disengaging liquid pipe are separately positioned on the piston rod
One end two sides；
Magnetorheological fluid is filled in inner cavity, the first disengaging liquid pipe and the second disengaging liquid pipe of the cavity, the magnetic current
Become liquid to be used to provide driving force to one end of the piston rod, to drive the piston rod along the axial movement of the cavity；
Control valve is connect, for adjusting separately described first respectively with the first disengaging liquid pipe and the second disengaging liquid pipe
Pass in and out the flow of magnetorheological fluid in liquid pipe and the second disengaging liquid pipe；
Magnet exciting coil is wrapped in the first disengaging liquid pipe；
Controller is connect with the magnet exciting coil and the control valve respectively；The controller is used to provide to the control valve
For characterizing the flow control signal for adjusting the flow of magnetorheological fluid in the first disengaging liquid pipe and the second disengaging liquid pipe；
The controller is also used to provide variable current to the magnet exciting coil, so that the magnet exciting coil is in the first disengaging liquid pipe
Generate variable magnetic field.
2. spinal device as described in claim 1, which is characterized in that the other end of the piston rod is connected by the first revolute pair
It is connected to the preceding backbone chassis；The side of the other end of the cavity far from the piston rod is connected to institute by the second revolute pair
State posterior spinal chassis.
3. spinal device as claimed in claim 2, which is characterized in that first revolute pair is ball pair；Second rotation
Pair is hinge-connection pair.
4. spinal device as claimed in any one of claims 1-3, which is characterized in that the controller includes: current-limiting resistance,
It connects with the magnet exciting coil；The current-limiting resistance and the magnet exciting coil are connected on the both ends of variable voltage.
5. spinal device as claimed in claim 4, which is characterized in that the controller further include:
First operational amplifier passes through the first variable resistance and the first variable capacitance string between normal phase input end and output end
Connection, to generate sinusoidal self-oscillation；The normal phase input end of first operational amplifier is also grounded by first resistor；Described
The inverting input terminal of one operational amplifier is grounded by the first current-limiting resistance；The inverting input terminal of first operational amplifier and
The first feedback resistance is also in series between output end；
Second operational amplifier passes through the second adjustable resistance and the second variable capacitance string between normal phase input end and output end
Connection, to generate sinusoidal self-oscillation；The normal phase input end of the second operational amplifier is also grounded by second resistance；Described
The inverting input terminal of two operational amplifiers is grounded by the second current-limiting resistance；The inverting input terminal of the second operational amplifier and
The second feedback resistance is also in series between output end；
First capacitor and the second capacitor, one end of the first capacitor are connected to the normal phase input end of first operational amplifier
Between first resistor；One end of second capacitor is connected to the normal phase input end and the second electricity of the second operational amplifier
Between resistance；The other end of the first capacitor is connected with the other end of second capacitor；
Coupling resistance is connected to the tie point and ground of the other end of the first capacitor and the other end of second capacitor
Between；
The tie point of the other end of the other end of the first capacitor and second capacitor and the second operational amplifier
Potential difference between normal phase input end is for providing variable voltage.
6. spinal device as claimed in claim 4, which is characterized in that the controller further include:
Coupling inductance is connected with the current-limiting resistance and the magnet exciting coil.
7. spinal device as claimed in claim 6, which is characterized in that each backbone driving device passes through respective coupling inductance
It couples respectively.
8. a kind of bio-robot characterized by comprising
Robot body；
Bio-robot spinal device as described in claim 1-7 any one is arranged on the robot body；
Liquid source, for providing magnetorheological fluid to the bio-robot spinal device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820794892.0U CN208215363U (en) | 2018-05-21 | 2018-05-21 | Bio-robot and its spinal device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820794892.0U CN208215363U (en) | 2018-05-21 | 2018-05-21 | Bio-robot and its spinal device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208215363U true CN208215363U (en) | 2018-12-11 |
Family
ID=64506137
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820794892.0U Expired - Fee Related CN208215363U (en) | 2018-05-21 | 2018-05-21 | Bio-robot and its spinal device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208215363U (en) |
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2018
- 2018-05-21 CN CN201820794892.0U patent/CN208215363U/en not_active Expired - Fee Related
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