Miniature high-torque high-speed joint integrated hydraulic driver

Abstract

The invention discloses a miniature high-torque high-speed joint integrated hydraulic driver. The driver includes a mechanical structure body, a transmission chain unit, a torque and rotating speed sensor and a force and displacement sensor. The mechanical structure body includes an outer shell, a rear end cover, a front end cover, a rear support bearing sleeve cup, a front support bearing sleevecup, two support shaft bearings, two rack fixing frames, two rack fixing frame bearings, and a sliding ring bearing. The two support shaft bearings are assembled on the two ends of a support shaft. The transmission chain unit includes the support shaft, a hydraulic cylinder, a piston rod, a rack, a spur gear, a gear drive shaft, a small bevel gear, a sliding ring, and a large bevel gear. The microhigh-torque high-speed joint integrated hydraulic driver solves the problems of high power density, large load high frequency response, low inertia and sensing integration of a conventional rotary joint type robot joint drive. The use of the hydraulic cylinder as a driving element greatly increases the output torque and large load frequency response of the driver and improves the high acceleration following characteristics of the driver.

Description

technical field [0001] The invention relates to the field of robots, in particular to a miniature high-torque high-speed joint integrated hydraulic driver. Background technique [0002] Revolving joint robot refers to the movement of the robot through the rotating joint. Its main feature is that the two arms are connected by the rotating joint, and the relative movement between the two arms is realized by the rotating joint, and finally the target task is completed. Execution, widely used in intelligent robotic arms on automated production lines, various bionic footed robots (humanoid biped robots, quadruped robots, hexapod robots, etc.), etc. [0003] At present, the drive mechanism of the rotary joint can be divided into servo motor and hydraulic servo. The drive mechanism of the servo motor is the most widely used structural form in the rotary joint at present, but the power density of the servo motor is small, the output torque is limited, and the frequency response of t...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above-mentioned problems existing in the drive mechanism of the current rotary joint, the present invention proposes a miniature high-torque high-speed joint integrated hydraulic driver to solve the problems of high power density, large load, high frequency response, low inertia, and transmission of the current rotary joint robot joint drive. sense integration problem

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