Foot-type robot knee joint with embedded integrated electro-hydraulic actuator

Abstract

The invention discloses a foot-type robot knee joint with an embedded integrated electro-hydraulic actuator. An electro-hydraulic actuator, a piston rod, a p spring and a connecting rod are included;the integrated electro-hydraulic actuator is installed on a thigh rod, the hydraulic cylinder of the electro-hydraulic actuator is embedded in the upper portion of the thigh rod as an upper cavity, acavity is formed in the lower hollow portion of the thigh rod as a lower cavity, the piston rod is installed in the thigh rod, the upper end of the piston rod is located in the upper cavity, and the lower end of the piston rod is located in the lower cavity; the lower end of the connecting rod is hinged to a calf rod, the upper end of the connecting rod is hinged to the thigh rod through a circular boss. The controlling of the knee joint is convenient through simple mechanisms and cooperation, adjustable variable speed can be achieved, the piston rod can be prevented from bending moment damageand linear movement jamming, and the spring has a buffering effect and can prevent a robot body from being violently impacted.

Description

technical field [0001] The invention relates to a footed robot knee joint, in particular to a footed robot knee joint embedded with an integrated electro-hydraulic actuator, which can be applied to the fields of biped robots, exoskeleton robots, and the like. Background technique [0002] Footed robot is a kind of intelligent bionic mobile robot. With the advancement of science and technology, legged robot is more and more widely used. The knee joint of the legged robot is an important part of the legged robot, which bears most of the weight of the legged robot and is one of the key structures of the robot's lower limbs. The structure of the knee joint of a legged robot is an important guarantee for the smooth and smooth movement of the robot. [0003] At present, the knee joints of most legged robots adopt the structure and drive form of thigh rod + hydraulic cylinder + calf rod. This kind of structure is bulky, with large moment of inertia and inconvenient to control. T...

AI Technical Summary

Problems solved by technology

[0003] At present, the knee joints of most legged robots adopt the structure and drive form of thigh rod + hydraulic cylinder + calf rod. This kind of structure is bulky, with large moment of inertia and inconvenient to control. These shortcomings are more prominent when moving

In addition, many legged robot knee joints are only for a certain working condition, and their transmission ratio cannot be changed according to the demand, resulting in poor control of the output movement speed and increased energy consumption

In addition, most legged robots today have not considered the compatibility of the machine and the environment well, considering the impact damage to the robot body caused by excessive movement of the mechanism or emergency stop

Images