Robot joint rotating hydraulic cylinder with torque and angle feedback functions

Abstract

The invention discloses a robot joint rotating hydraulic cylinder with torque and angle feedback functions. The robot joint rotating hydraulic cylinder comprises an open type sealed hydraulic oscillating cylinder, a torque sensing module and an angular displacement sensing module, wherein the open type sealed hydraulic oscillating cylinder comprises an oscillating cylinder output shaft, an elastic retainer ring, a bearing, a shaft sleeve, an outward leakage radial O-shaped sealing ring, an outward leakage O-shaped polytetrafluoroethylene ring, an open type cylinder cover, a leakage axial O-shaped sealing ring, a cylinder body, a fixed blade, a movable blade, an inward leakage polytetrafluoroethylene bar, an inward leakage sealing bar and an oil inlet and outlet channel connecting piece; the torque sensing module comprises an elastic shaft coupling, a torque detection shaft, a strain gauge, a torque detection signal line, a torque transmission flange, a torque transmission and support dual-purpose flange and a larger leg; the angular displacement sensing module comprises a shaft coupling, an encoder bracket, an encoder and a smaller leg. The hydraulic cylinder can provide large torques, is simple in structure, and is easy and convenient to control. Meanwhile, a modular structure is adopted, thereby realizing torque feedback and angle feedback functions.

Description

technical field [0001] The invention can be used for joint drive of various industrial, service and walking robots, and in particular relates to a robot joint rotation hydraulic cylinder with torque and angle feedback. Background technique [0002] At present, the research of robots has always been concerned by researchers at home and abroad. Industrial, service and bionic robots are all inseparable from joint drives, especially bionic robots, which require compact structure, high torque density (rated torque per unit mass of the drive) and high power density (rated power per unit mass of the drive) drive joint. In terms of joint drive of bionic robots at home and abroad, most of them use motors plus gears, synchronous belts, ropes and other deceleration transmission mechanisms. This type of drive joint has the disadvantages of small moment density ratio, large space occupation, and complex structure; some use linear motion pneumatic cylinders and hydraulic cylinders as dr...

AI Technical Summary

Problems solved by technology

This type of drive joint has the disadvantages of small moment density ratio, large space occupation, and complex structure; some use linear motion pneumatic cylinders and hydraulic cylinders as driving devices, which have the disadvantages of large overall size and strong nonlinearity

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