Please select the most similar patent number from A, B, C and D. Which number is?
A hydraulically powered joint for a robot, comprising a hydraulic plug-in rotary direct drive valve (1) and a blade swing cylinder (2), a valve body mounting cavity (22) being prefabricated at one end of a center part of a central rotary shaft (21) of the blade swing cylinder (2), the shape of the valve body mounting cavity (22) being formed according to the shape of an insertion portion of the hydraulic plug-in rotary direct drive valve (1), the hydraulic plug-in rotary direct drive valve (1) being fitted in the valve body mounting cavity (22) in an inserted manner, and a drive motor (11) of the hydraulic plug-in rotary direct drive valve (1) being exposed out of the central rotary shaft (21). The hydraulically powered joint for a robot can satisfy the current robot development needs, and also can broaden the application range of the robot.
A: A driving joint (1). The driving joint (1) comprises a motor (10), a planetary gear reducer (20) integrated in the motor (10), and encoders (30, 40), a brake (50), driving cards (60, 70) and control cards (80, 90) integrated on the motor (10). The planetary gear reducer (20) is mounted on a motor shaft (101) of the motor (10). The motor shaft (101) comprises an input rear end (106) and an output front end (107). The input rear end (106) and the output front end (107) of the motor shaft (101) are each provided with an encoder (30, 40). The brake (50) is mounted on the input rear end (106) of the motor shaft (101). An input end face (11) and an output end face (12) of the driving joint (1) are each provided with a driving card (60, 70) and a control card (80, 90). By applying the planetary gear reducer to driving joint transmission, and by means of the integrated design of a high-performance torque motor, a servo driving controller, a brake, a torque sensor and other components, the driving joint has the advantages of high efficiency, high load to dead weight ratio, support for reverse driving, high response speed, compliant force control, and real-time bus communication. Also provided is a robot.
B: Disclosed is an adjustable rotation damper, comprising a body (1), a spindle (11) embedded in the body (1) to rotate, a first piston (2) sleeved on the periphery of the spindle (11) and driving the spindle (11) to move in the axial direction of the spindle (11), and a second piston (21) sleeved on the periphery of the first piston (2) and elastically connected to the body (1), wherein the first piston (2) separates a pressure chamber (3) from an oil storage chamber (31), and the second piston (21) is arranged in a buffer chamber (32) that is in communication with the oil storage chamber (31). The adjustable rotation damper further comprises adjusting mechanisms (4) symmetrically arranged on two sides of the spindle (11), wherein hydraulic oil in the pressure chamber (3) flows towards an adjusting mechanism (a) on one side and to the oil storage chamber (31) to form a flow channel, and the hydraulic oil in the oil storage chamber (31) flows towards an adjusting mechanism (b) on the other side and to the pressure chamber (3) to form another flow channel. The adjustable rotation damper is applied to the ankle part of an artificial limb, and can be properly adjusted according to the motion state and a change in stride of a user.
C: A hybrid rotary guiding device, comprising: a rotating shaft that rotationally drives a tool head (B), the rotating shaft including an upper shaft part (1), a lower shaft part (2) and a steerable part (3); the upper shaft part (1) and the lower shaft part (2) have a spacing distance in the direction of the rotating shaft, and the upper shaft part (1) and the lower shaft part (2) are connected by means of the steerable part in a steerable manner (3); at least three first hydraulic mechanisms installed on the upper shaft part (1); and at least three second hydraulic mechanisms installed on the lower shaft part (2); the second hydraulic mechanisms are adapted to drive a push member (9) to push against a borehole wall to guide the tool head (B); the first hydraulic mechanisms and the second hydraulic mechanisms are connected such that the first hydraulic mechanisms can drive the second hydraulic mechanisms to drive the push member (9). The guiding device combines the advantages of the directional guiding and the pushing guiding, thus, the influence of formation properties on a build-up rate is eliminated to a great extent, a higher build-up rate can be provided, and the demand for energy consumption is greatly reduced.
D: Disclosed is a threaded insertion type rotary direct-drive electro-hydraulic servo valve with a harmonic speed reducer. A direct-current brushless servo motor (1) and a harmonic speed reducer (3) are used as an electromechanical conversion part of the threaded insertion type rotary direct-drive electro-hydraulic servo valve, so that the requirement for the starting torque of the servo motor is reduced, the size of the conversion part is reduced, and the stability of the servo valve at the zero position is guaranteed. The servo valve comprises the direct-current brushless servo motor (1), a valve body assembly (2) and the harmonic speed reducer (3), wherein the valve body assembly (2) comprises a valve core (4), a valve sleeve (5), an upper end cover assembly (6) and a lower end cover assembly (7); an output shaft (33) of the direct-current brushless servo motor (1) is fixedly connected to an input shaft (31) of the harmonic speed reducer, and an output shaft (32) of the harmonic speed reducer is connected to an outwardly-protruding part of a central shaft (41) of the valve core (4); and an outer thread (61) is provided on an outer circumferential face of the upper end cover assembly (6), and the outer thread is used for installation and connection with an integrated valve block.
Answer: A