CN113276158B - Double-freedom-degree joint with built-in hydraulic flow channel - Google Patents
Double-freedom-degree joint with built-in hydraulic flow channel Download PDFInfo
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- CN113276158B CN113276158B CN202110515330.4A CN202110515330A CN113276158B CN 113276158 B CN113276158 B CN 113276158B CN 202110515330 A CN202110515330 A CN 202110515330A CN 113276158 B CN113276158 B CN 113276158B
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- circumferential groove
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Joints Allowing Movement (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a double-freedom-degree joint with a built-in hydraulic flow channel, which consists of a rotating shaft, a first rotor and a second rotor, wherein the rotating shaft, the first rotor and the second rotor are internally provided with flow channels which are matched with each other, and oil at one end of the joint is conveyed to the other end through the internal flow channels, so that hydraulic hoses can be prevented from being used for connecting hydraulic pipelines at two ends of the joint in a hydraulic driving joint, and the adverse effect of the hydraulic hoses on the performance of the joint is reduced; the joint has two rotational degrees of freedom and is driven by two actuators, and the two-degree-of-freedom joint increases the flexibility of motion and reduces the size and weight of the joint.
Description
Technical Field
The invention relates to the field of hydraulic transmission, in particular to a double-freedom-degree joint with a built-in hydraulic flow channel.
Background
The robot joint moves flexibly and has more degrees of freedom. In order to deliver oil to hydraulic actuators distributed in each joint, it is currently common to use hydraulic hoses as the main hydraulic lines. But the elasticity of the hydraulic hose can reduce the equivalent rigidity of the hydraulic system, so that the frequency response of the system is reduced; the hydraulic hose has certain resilience after being bent, and influences the dynamic characteristics of joints; meanwhile, the turning radius of the hydraulic hose is large, and in order to protect the hose from being interfered with other structures to cause abrasion and tearing, a long margin is usually designed in the design, so that the pipeline length, the system complexity and the total mass are increased. Therefore, the robot performance can be effectively improved by developing the joint with the built-in flow channel.
For the multi-degree-of-freedom joint, if a connection form of connecting a plurality of single-degree-of-freedom joints in series is adopted, the volume and the quality of the joint are increased, the reliability of a system is influenced, and meanwhile, difficulty is brought to the installation of an actuator. The two-degree-of-freedom joint can greatly reduce the volume and the mass of the joint and ensure the flexible rotation of the joint.
Disclosure of Invention
The invention provides a double-freedom-degree joint with a built-in hydraulic flow channel, aiming at the defects caused by the cross-joint oil conveying of the existing hydraulic hose and the problems of series connection of single-freedom-degree joints.
The invention is realized by the following technical scheme:
a double-freedom-degree joint with a built-in hydraulic flow channel is characterized by comprising a rotating shaft, a first rotor and a second rotor;
the rotating shaft is rotatably nested in the through hole of the first rotor, and the first rotor nested in the rotating shaft is rotatably nested in the second rotor;
a first runner and a second runner which are not communicated are arranged in the rotating shaft, a third runner and a fourth runner which are not communicated are arranged in the first rotor, and a fifth runner and a sixth runner which are not communicated are arranged in the second rotor; the first runner of the rotating shaft, the third runner of the first rotor and the fifth runner of the second rotor are communicated to form a first hydraulic flow path; and the second flow channel of the rotating shaft, the fourth flow channel of the first rotor and the sixth flow channel of the second rotor are communicated to form a second hydraulic flow channel, so that the first rotor rotates around the axis of the rotating shaft, and the second rotor rotates around the direction vertical to the axis of the rotating shaft with double degrees of freedom and simultaneously has smooth flow channels inside the joint.
Furthermore, a fifth circumferential groove located in the middle of the rotating shaft, a first axial flow channel and a second axial flow channel located on two sides of the rotating shaft are arranged in the rotating shaft, and the first axial flow channel and the second axial flow channel are not communicated; a first circumferential groove and a second circumferential groove are formed in the two sides of the fifth circumferential groove respectively; a first radial through hole communicated with the first axial flow channel is formed in the first axial flow channel and is also communicated with the first circumferential groove; and a second radial through hole communicated with the second axial flow channel is formed in the second axial flow channel and is also communicated with the second circumferential groove.
Furthermore, a first step through hole located in the middle of the first rotor, a third circumferential groove and a fourth circumferential groove located on two sides of the first rotor, a fourth runner and a third runner located on one side wall of the first step through hole and communicated with each other, and a sixth runner and a fifth runner located on the other side wall of the first step through hole and communicated with each other are arranged in the first rotor; the third runner is further communicated with a third circumferential groove, and the fifth runner is further communicated with a fourth circumferential groove.
Furthermore, a stepped counter bore, a second stepped through hole and a third stepped through hole which are positioned on two sides of the stepped counter bore, a seventh runner communicated with the second stepped through hole and an eighth runner communicated with the third stepped through hole are arranged in the second rotor.
Further, the rotating shaft is nested in the first stepped through hole of the first rotor, the second radial through hole is communicated with the fourth runner, and the first radial through hole is communicated with the sixth runner;
the first rotor is nested in the stepped counter bore of the second rotor, two ends of the first rotor are respectively located in the second stepped through hole and the third stepped through hole, a third flow passage of the first rotor is communicated with a seventh flow passage of the second rotor, a fifth flow passage of the first rotor is communicated with an eighth flow passage of the second rotor, and therefore a first oil port of the second rotor is communicated with a third oil port of the rotating shaft through the seventh flow passage, the third circumferential groove, the third flow passage, the fourth flow passage, the second circumferential groove, the second radial through hole and the second axial flow passage; and a second oil port of the second rotor is communicated with a fourth oil port through an eighth flow passage, a fourth circumferential groove, a fifth flow passage, a sixth flow passage, a first circumferential groove, a first radial through hole and a first axial flow passage.
Further, a first sealing element is arranged in the fifth circumferential groove and used for separating the first circumferential groove and the second circumferential groove of the rotating shaft; second sealing pieces are symmetrically arranged on the left side and the right side of the first stepped through hole of the first rotor and used for sealing oil in the first circumferential groove and the second circumferential groove together with the first sealing pieces; and a third sealing element and a fourth sealing element are arranged in the second step through hole and the third step through hole of the second rotor and used for sealing oil in the third circumferential groove and the fourth circumferential groove.
Furthermore, a first check ring, a first supporting part and a first gland are symmetrically arranged on the left side and the right side in the first step through hole, the first check ring compresses and fixes the second sealing element, the first supporting part is used for supporting the rotating shaft and the first rotor and providing rotational freedom, and the first gland is used for compressing and fixing the first supporting part;
a second retainer ring, a second supporting piece and a second gland are further sequentially mounted above the third sealing piece in the second stepped through hole, the second retainer ring compresses and fixes the third sealing piece, the second supporting piece is used for supporting the first rotor and the second rotor and providing rotational freedom, and the second gland is used for compressing and fixing the second supporting piece; a third retainer ring is arranged below the fourth sealing element and used for compressing and fixing the fourth sealing element; all elements in the third step through hole and the second step through hole are symmetrically arranged and have the same effect.
Furthermore, the rotating shaft is fixedly connected to the first limb part, and the second rotor is fixedly connected to the second limb part; one end of the first actuator is hinged on the first limb part, and the other end of the first actuator is hinged on the first rotor; one end of the second actuator is hinged on the first limb part, and the other end of the second actuator is hinged on the second rotor; the first actuator drives the second limb part to rotate around the rotating shaft relative to the first limb part, and the second actuator drives the second limb part to rotate around the axis of the second step through hole relative to the first limb part.
Compared with the prior art, the invention has the following beneficial effects:
the two-degree-of-freedom joint with the built-in hydraulic flow channel can avoid using a hydraulic hose to connect hydraulic pipelines at two ends of the joint in a hydraulic drive robot, and avoid adverse effects of the hydraulic hose on the performance of the robot. The double-freedom-degree joint increases the flexibility of the robot motion and reduces the size and the weight of the joint.
Drawings
Fig. 1 is a schematic sectional structure of the present invention.
Fig. 2 is a schematic structural view of the rotating shaft, wherein fig. 2(a) is a sectional view and (b) is a perspective view.
FIG. 3 is a schematic view of the structure of the first rotor; fig. 3(a) is a sectional view, and (b) is a perspective view.
Fig. 4 is a schematic view of the structure of the second rotor.
Fig. 5 is a schematic view of the external structure of the present invention, in which the second rotor is rotated by 90 ° based on the position of fig. 1.
FIG. 6 is a schematic illustration of a two degree of freedom joint application of the present invention incorporating hydraulic flow channels.
In the figure: 1. second gland, 2, second support, 3, second retainer, 4, third seal, 5, second rotor, 6, first rotor, 7, fourth seal, 8, third retainer, 9, shaft, 10, first seal, 11, first gland, 12, first support, 13, first retainer, 14, second seal, 21, first limb member, 22, first actuator, 23, second limb member, 24, second actuator, 501, first port, 502, seventh flow passage, 503, third orifice, 504, second stepped through-hole, 505, second port, 506, eighth flow passage, 507, fourth orifice, 508, third stepped through-hole, 509, stepped counterbore 601, third circumferential groove, 602, third flow passage, 603, fourth flow passage, 604, second orifice, 605, first stepped through-hole, 606, first orifice, 607, sixth flow passage, 608, fifth flow passage, 609. a fourth circumferential groove, 901, a fourth port, 902, a first circumferential groove, 903, a fifth circumferential groove, 904, a second circumferential groove, 905, a third port, 906, a first axial flow passage, 907, a first radial through hole, 908, a second radial through hole, 909, a second axial flow passage.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments so that the objects and effects of the invention will become more apparent, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
As shown in figure 1, the two-degree-of-freedom joint with the built-in hydraulic flow channel comprises a rotating shaft 9, a first rotor 6 and a second rotor 5.
As shown in fig. 2, a fifth circumferential groove 903 located in the middle of the rotating shaft 9, and a first axial flow channel 906 and a second axial flow channel 909 located at two sides of the rotating shaft 9 are arranged in the rotating shaft 9, and the first axial flow channel 906 and the second axial flow channel 909 are not communicated; a first circumferential groove 902 and a second circumferential groove 904 are respectively formed in two sides of the fifth circumferential groove 903; the first axial runner 906 is also internally provided with a first radial through hole 907 communicated with the first axial runner, the first radial through hole 907 is also communicated with the first circumferential groove 902, the number of the first radial through holes 907 is at least 1, and a plurality of through holes can be arranged under the condition that the strength of the rotating shaft 9 allows, so that the throttling effect is reduced; the diameter of the first radial through hole 907 is not greater than the width of the first circumferential groove 902 to ensure that the circumferential widths of the first circumferential groove 902 are equal; a second radial through hole 908 communicated with the second axial flow passage 909 is formed in the second axial flow passage 909, the second radial through hole 908 is also communicated with the second circumferential groove 904, the number of the second radial through holes 908 is at least 1, and a plurality of through holes can be formed under the condition that the strength of the rotating shaft 9 allows, so that the throttling effect is reduced; the diameter of the second radial through hole 908 is not larger than the width of the second circumferential groove 904, so as to ensure that the circumferential widths of the second circumferential grooves 904 are equal; the first circumferential groove 902 and the second circumferential groove 904 can ensure that the oil passage communication can be realized no matter which angle the rotating shaft 9 rotates.
As shown in fig. 3, a first step through hole 605 located in the middle, a third circumferential groove 601 and a fourth circumferential groove 609 located on both sides, a fourth flow channel 603 and a third flow channel 602 located on one sidewall of the first step through hole 605 and communicated with each other, and a sixth flow channel 607 and a fifth flow channel 608 located on the other sidewall of the first step through hole 605 and communicated with each other are provided in the first rotor 6; the third flow passage 602 is also communicated with the third circumferential groove 601, and the fifth flow passage 608 is also communicated with the fourth circumferential groove 609; the diameter of the third flow passage 602 is not more than the width of the third circumferential groove 601, and the diameter of the fifth flow passage 608 is not more than the width of the fourth circumferential groove 609, so as to ensure that the circumferential widths of the third circumferential groove 601 and the fourth circumferential groove 609 are equal; the diameters of the fourth and sixth flow passages 603, 607 are not greater than the widths of the second and first circumferential grooves 904, 902, respectively, so that the second and first orifices 604, 606 are not covered by the shaft 9; the fourth flow channel 603 and the third flow channel 602 can also be processed into 1 curved hole by processing methods such as additive manufacturing, and the two ends of the hole are respectively communicated with the first stepped through hole 605 and the third circumferential groove 601; the sixth flow channel 607 and the fifth flow channel 608 can also be processed into 1 curved hole by processing methods such as additive manufacturing, and the two ends of the hole are respectively communicated with the first stepped through hole 605 and the fourth circumferential groove 609; the third circumferential groove 601 and the fourth circumferential groove 609 ensure that oil passage communication can be achieved no matter which angle the second rotor 5 rotates.
As shown in fig. 4, a stepped counter bore 509, a second stepped through hole 504 and a third stepped through hole 508 located at both sides of the stepped counter bore 509 are provided in the second rotor 5, and a seventh flow passage 502 communicated with the second stepped through hole 504 and an eighth flow passage 506 communicated with the third stepped through hole 508; the seventh flow channel 502 and the eighth flow channel 506 can also be processed into holes with any shape by a processing method such as additive manufacturing and the like so as to facilitate the installation of the joint and reduce the liquid resistance; the seventh flow passage 502 communicates the first oil port 501 with the second stepped through hole 504, and the eighth flow passage 506 communicates the second oil port 505 with the third stepped through hole 508.
As shown in fig. 1 and 5, the rotating shaft 9 is nested in the first stepped through hole 605 of the first rotor 6, the second radial through hole 908 is communicated with the fourth flow passage 603, and the first radial through hole 907 is communicated with the sixth flow passage 607; the first rotor 6 is nested in the stepped counter bore 509 of the second rotor 5, and two ends of the first rotor 6 are respectively located in the second stepped through hole 504 and the third stepped through hole 508, and the third flow passage 602 of the first rotor 6 is communicated with the seventh flow passage 502 of the second rotor 5, and the fifth flow passage 608 of the first rotor 6 is communicated with the eighth flow passage 506 of the second rotor 5, so that the first oil port 501 of the second rotor 5 is communicated with the third oil port 905 of the rotating shaft 9 through the seventh flow passage 502, the third circumferential groove 601, the third flow passage 602, the fourth flow passage 603, the second circumferential groove 904, the second radial through hole 908 and the second axial flow passage 909; the second oil port 505 of the second rotor 5 is communicated with the fourth oil port 901 through the eighth flow passage 506, the fourth circumferential groove 609, the fifth flow passage 608, the sixth flow passage 607, the first circumferential groove 902, the first radial through hole 907 and the first axial flow passage 906.
As shown in fig. 5, the two-degree-of-freedom joint with a built-in hydraulic channel of the present invention has two degrees of freedom, in which the first rotor 6 is rotatable about the rotation shaft 9, and the second rotor 5 is rotatable about the axis of the second stepped through hole 504.
The following provides a specific application scenario of the two-degree-of-freedom joint with the built-in hydraulic flow channel.
Specifically, as shown in fig. 6, taking a robot hip joint as an example, when the present invention is used, the rotating shaft 9 is fixed on the body of the robot, and the high-pressure oil supply pipe and the low-pressure oil return pipe of the hydraulic power source are respectively connected to the fourth oil port 901 and the third oil port 905 of the rotating shaft 9. One end of the first actuator 22 is hinged on the robot trunk, and the other end is hinged on the first rotor 6; one end of the second actuator 24 is hinged on the trunk, and the other end is hinged on the second rotor 5. The end of the second rotor 5 is fixedly connected with a thigh, and the first oil port 501 and the second oil port 505 of the second rotor 5 are communicated with a thigh hydraulic pipeline to supply oil to the thigh and a hydraulic actuator below the thigh.
When the thigh is turned inside and outside, the piston rod of the first actuator 22 extends or retracts, and the second actuator 24 acts to follow the position change of the hinge point of the second rotor 5 and the second actuator 24, so that the thigh is turned. When the thigh deflects left and right, the piston rod of the second actuator 24 extends or retracts, and the first actuator 22 acts to follow the position change of the hinge point of the first rotor 5 and the first actuator 22, so that the thigh completes yawing action.
Claims (8)
1. A double-freedom-degree joint with a built-in hydraulic flow channel is characterized by comprising a rotating shaft, a first rotor and a second rotor;
the rotating shaft is rotatably nested in the through hole of the first rotor, and the first rotor nested in the rotating shaft is rotatably nested in the second rotor;
a first runner and a second runner which are not communicated are arranged in the rotating shaft, a third runner and a fourth runner which are not communicated are arranged in the first rotor, and a fifth runner and a sixth runner which are not communicated are arranged in the second rotor; a first flow channel of the rotating shaft, a third flow channel of the first rotor and a fifth flow channel of the second rotor are communicated to form a first hydraulic flow path; and the second flow channel of the rotating shaft, the fourth flow channel of the first rotor and the sixth flow channel of the second rotor are communicated to form a second hydraulic flow channel, so that the first rotor rotates around the axis of the rotating shaft, and the second rotor rotates around the direction vertical to the axis of the rotating shaft with double degrees of freedom while the flow channel in the joint is smooth.
2. The double-freedom-degree joint with the built-in hydraulic flow channel as claimed in claim 1, wherein a fifth circumferential groove (903) located in the middle of the rotating shaft (9), a first axial flow channel (906) and a second axial flow channel (909) located on two sides of the rotating shaft (9) are arranged in the rotating shaft (9), and the first axial flow channel (906) and the second axial flow channel (909) are not communicated; a first circumferential groove (902) and a second circumferential groove (904) are further formed in the two sides of the fifth circumferential groove (903) respectively; a first radial through hole (907) communicated with the first axial flow passage (906) is formed in the first axial flow passage, and the first radial through hole (907) is also communicated with the first circumferential groove (902); and a second radial through hole (908) communicated with the second axial flow passage (909) is formed in the second axial flow passage, and the second radial through hole (908) is also communicated with the second circumferential groove (904).
3. The joint with two degrees of freedom of built-in hydraulic flow channels according to claim 2, characterized in that a first step through hole (605) located in the middle, a third circumferential groove (601) and a fourth circumferential groove (609) located on both sides, respectively, a fourth flow channel (603) and a third flow channel (602) located on one side wall of the first step through hole (605) and communicated with each other, and a sixth flow channel (607) and a fifth flow channel (608) located on the other side wall of the first step through hole (605) and communicated with each other are arranged in the first rotor (6); the third flow passage (602) is also communicated with the third circumferential groove (601), and the fifth flow passage (608) is also communicated with the fourth circumferential groove (609).
4. The two-degree-of-freedom joint with built-in hydraulic flow channels as claimed in claim 3, wherein a stepped counter bore (509), a second stepped through hole (504) and a third stepped through hole (508) are arranged in the second rotor (5), and a seventh flow channel (502) communicated with the second stepped through hole (504) and an eighth flow channel (506) communicated with the third stepped through hole (508) are arranged in the second rotor.
5. The joint with two degrees of freedom and built-in hydraulic flow channels as claimed in claim 4, characterized in that the rotating shaft (9) is nested in the first stepped through hole (605) of the first rotor (6), the second radial through hole (908) is communicated with the fourth flow channel (603), and the first radial through hole (907) is communicated with the sixth flow channel (607);
the first rotor (6) is nested in a stepped counter bore (509) of the second rotor (5), two ends of the first rotor (6) are respectively located in the second stepped through hole (504) and the third stepped through hole (508), a third flow passage (602) of the first rotor (6) is communicated with a seventh flow passage (502) of the second rotor (5), a fifth flow passage (608) of the first rotor (6) is communicated with an eighth flow passage (506) of the second rotor (5), and therefore a first oil port (501) of the second rotor (5) is communicated with a third oil port (905) of the rotating shaft (9) through the seventh flow passage (502), a third circumferential groove (601), a third flow passage (602), a fourth flow passage (603), a second circumferential groove (904), a second radial through hole (908) and a second axial flow passage (909); and a second oil port (505) of the second rotor (5) is communicated with a fourth oil port (901) through an eighth flow passage (506), a fourth circumferential groove (609), a fifth flow passage (608), a sixth flow passage (607), a first circumferential groove (902), a first radial through hole (907) and a first axial flow passage (906).
6. The two-degree-of-freedom joint with a built-in hydraulic flow passage according to claim 5, wherein a first seal (10) is installed in the fifth circumferential groove (903) and is used for separating a first circumferential groove (902) and a second circumferential groove (904) of a rotating shaft (9); second sealing elements (14) are symmetrically arranged on the left side and the right side of the first stepped through hole (605) of the first rotor (6) and are used for sealing oil in the first circumferential groove (902) and the second circumferential groove (904) together with the first sealing element (10); and a third sealing element (4) and a fourth sealing element (7) are arranged in the second stepped through hole (504) and the third stepped through hole (508) of the second rotor (5) and are used for sealing oil in the third circumferential groove (601) and the fourth circumferential groove (609).
7. The two-degree-of-freedom joint with the built-in hydraulic flow channel as claimed in claim 6, wherein the first stepped through hole (605) is further symmetrically provided with a first retainer ring (13), a first support member (12) and a first gland (11) at left and right sides, the first retainer ring (13) compresses and fixes the second sealing member (14), the first support member (12) is used for supporting the rotating shaft (9) and the first rotor (6) and providing a rotational degree of freedom, and the first gland (11) is used for compressing and fixing the first support member (12);
in the second stepped through hole (504), a second retainer ring (3), a second supporting piece (2) and a second gland (1) are further sequentially mounted above the third sealing piece (4), the second retainer ring (3) compresses and fixes the third sealing piece (4), the second supporting piece (2) is used for supporting the first rotor (6) and the second rotor (5) and providing rotational freedom, and the second gland (1) is used for compressing and fixing the second supporting piece (2); a third retainer ring (8) is arranged below the fourth sealing element (7) and used for compressing and fixing the fourth sealing element (7); all elements in the third stepped through hole (508) and the second stepped through hole (504) are symmetrically arranged and have the same function.
8. The two-degree-of-freedom joint with the built-in hydraulic flow channel as claimed in any one of claims 5 to 7, wherein the rotating shaft (9) is fixedly connected to the first limb part (21), and the second rotor (5) is fixedly connected to the second limb part (23); one end of the first actuator (22) is hinged on the first limb part (21), and the other end is hinged on the first rotor (6); one end of the second actuator (24) is hinged on the first limb part (21), and the other end is hinged on the second rotor (5); the first actuator (22) drives the second limb part (23) to rotate around the rotating shaft (9) relative to the first limb part (21), and the second actuator (24) drives the second limb part (23) to rotate around the axis of the second stepped through hole (504) relative to the first limb part (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110515330.4A CN113276158B (en) | 2021-05-12 | 2021-05-12 | Double-freedom-degree joint with built-in hydraulic flow channel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110515330.4A CN113276158B (en) | 2021-05-12 | 2021-05-12 | Double-freedom-degree joint with built-in hydraulic flow channel |
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| Publication Number | Publication Date |
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| CN113276158A CN113276158A (en) | 2021-08-20 |
| CN113276158B true CN113276158B (en) | 2022-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110515330.4A Active CN113276158B (en) | 2021-05-12 | 2021-05-12 | Double-freedom-degree joint with built-in hydraulic flow channel |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5159988A (en) * | 1989-12-14 | 1992-11-03 | Honda Giken Kogyo Kabushiki Kaisha | Articulated structure for legged walking robot |
| CN101016912A (en) * | 2007-03-14 | 2007-08-15 | 北京航天发射技术研究所 | Universal hydraulic coupler |
| KR20120104742A (en) * | 2011-03-14 | 2012-09-24 | 현대로템 주식회사 | Coxa structure for wearable exoskeleton robot |
| CN103213629A (en) * | 2013-04-22 | 2013-07-24 | 西北工业大学 | Hydraulic power device of bear-loading hopping robot |
| CN109849049A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint connected using crossed joint |
| CN110271036A (en) * | 2019-06-26 | 2019-09-24 | 哈尔滨工业大学 | A kind of hydraulic wheel leg anthropomorphic robot without hose internal oil passages |
-
2021
- 2021-05-12 CN CN202110515330.4A patent/CN113276158B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5159988A (en) * | 1989-12-14 | 1992-11-03 | Honda Giken Kogyo Kabushiki Kaisha | Articulated structure for legged walking robot |
| CN101016912A (en) * | 2007-03-14 | 2007-08-15 | 北京航天发射技术研究所 | Universal hydraulic coupler |
| KR20120104742A (en) * | 2011-03-14 | 2012-09-24 | 현대로템 주식회사 | Coxa structure for wearable exoskeleton robot |
| CN103213629A (en) * | 2013-04-22 | 2013-07-24 | 西北工业大学 | Hydraulic power device of bear-loading hopping robot |
| CN109849049A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint connected using crossed joint |
| CN110271036A (en) * | 2019-06-26 | 2019-09-24 | 哈尔滨工业大学 | A kind of hydraulic wheel leg anthropomorphic robot without hose internal oil passages |
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| Publication number | Publication date |
|---|---|
| CN113276158A (en) | 2021-08-20 |
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