A robot joint for serpentine hydraulic fire extinguishing

Abstract

The invention relates to a robot joint for snake-like hydraulic fire extinguishing. Its technical scheme is: the first single-blade hydraulic self-servo rotary valve single-blade hydraulic self-servo rotary valve (3) and the second single-blade hydraulic self-servo rotary valve single-blade hydraulic self-servo rotary valve (16) correspondingly Fixed on the inner wall directly above and directly behind the center of the left housing (4), the third single-blade hydraulic self-servo rotary valve single-blade hydraulic self-servo rotary valve (13) and the fourth single-blade hydraulic self-servo rotary valve are single The blade water pressure self-servo rotary valve (21) is correspondingly fixed on the inner wall directly below and directly ahead of the center of the right housing (9). The first large bevel gear (1), the second large bevel gear (8), the third large bevel gear (15) and the fourth large bevel gear (19) and the corresponding first small bevel gear (2), the second small bevel gear The bevel gear (5), the third bevel pinion (14) and the fourth bevel pinion (20) are meshed. The second gear shaft (7) and the third gear shaft (6) are fixedly connected in a "ten" shape. The invention has the characteristics of flexible and changeable movement, good reconfigurability, simple structure, balanced force on joints and convenient processing.

Description

Technical field [0001] The present invention is a robotic joint technology field, which involves a robotic joint that specializes in snake -shaped water. Background technique [0002] The snake -shaped hydrostatic robotic joint energy converts the torque of the water pressure self -proclaimed swinging cylinder into its own deflection motion, thereby providing the driving force required for the forward of the snake -shaped robot. [0003] At present, Zhang Lingling from Dalian Institute of Technology has studied a two-degree-of-freedom snake-shaped robot joint (Zhang Lingling et al.: Snake-shaped robotic institutional design and motion analysis. Mechanical Engineering 2012,29 (5): 512-515.) Technology, greatly greatThe maintenance of snake -shaped robots has been improved, but this driving method has obvious insufficiency, that is, the torque output of the unit itself is small. [0004] The Shenyang Institute of Automation of the Chinese Academy of Sciences has designed a snake-sh...

AI Technical Summary

Problems solved by technology

[0004] Ma Shugen, Shenyang Institute of Automation, Chinese Academy of Sciences, etc. designed a snake-like robot joint (Ma Shugen et al. Development of a 3D snake-like robot patroller, Chinese Journal of Mechanical Engineering, 2005, 45 (5): 128-133.), which has stronger motion ability than traditional robots, but because the interior of this joint is relatively complex, the rotation angle between joints is limited, and the force on joints is uneven, which has certain limitations

[0005]In addition, the eight-joint three-movement rod snake-shaped robot joint designed by He Haidong of Shanghai Jiaotong University (He Haidong et al. He Haidong, Wang Guangrong, Cao Zhikui. Eight joints and three movements Motion simulation of a rod-snake robot[J]. DRIVE SYSTEM TECHNI QUE,2004(12):31~34.), because the robot is a spatial link mechanism with a complex structure, the spatial motion capability of the robot is not flexible enough and heavy Poor structure and complex control

Images