High-compactness electric static pressure actuator for robot joints

Abstract

The invention discloses a high-compactness electric static pressure actuator for robot joints. The high-compactness electric static pressure actuator for the robot joints comprises an integrated shell, a knee joint part connecting block, a hip joint part connecting block, a motor pump assembly, an actuator cylinder assembly and a hydraulic accessory, wherein the knee joint part connecting block and the hip joint part connecting block are respectively arranged at the two ends of the integrated shell; the knee joint part connecting block is provided with a knee joint part connecting port; the hip joint part connecting block is provided with a hip joint part connecting port; the motor pump assembly and the actuator cylinder assembly are arranged in the integrated shell; the hydraulic accessory is installed in the hip joint part connecting block; the motor pump assembly provides power for the movement of the actuator cylinder assembly; and the actuator cylinder assembly makes a knee jointpart to move through the retraction of a piston rod and the driving of a connecting rod. According to the high-compactness electric static pressure actuator for the robot joints, the integrated hydraulic and electromechanical are adopted, a servo motor and a hydraulic pump are coaxially connected in series, and the actuator and a motor pump are arranged in parallel to be integrated with a joint part supporting structure and directly used as a femoral joint part, so that the whole structure is highly integrated and compact.

Description

technical field [0001] The invention relates to an electrostatic pressure actuator, belonging to the mechanical field. Background technique [0002] With the promotion and application of exoskeleton-assisted robots in logistics, medical, military and other fields, actuators with exquisite structure, stable control, high reliability and convenient maintenance are the future development trend. [0003] Existing exoskeleton robot joint actuators are mainly pneumatic, hydraulic, electromechanical, etc., and the actuator is only used as the actuator for joint motion, which requires a certain auxiliary energy device. Pneumatic or hydraulic energy devices and actuating actuators usually adopt a split installation structure, and air pipes or oil pipes are needed to connect in the middle. Although the electromechanical motor power source can be integrated with the actuator, it is generally not used as a load-bearing component. Existing actuators are generally not used as a part of t...

AI Technical Summary

Problems solved by technology

The existing actuators are generally not used as part of the joints, which increases the installation space and overall weight of the robot equipment

[0004] At the same time, the pneumatic actuator has poor transmission stability and low precision due to large changes in gas density; the traditional hydraulic actuator has the risk of clogging the servo valve spray baffle, and has low work efficiency and serious heat generation; the electromechanical actuator is resistant to load impact due to rigid transmission The ability is poor, and there is a risk of failure of the transmission part that is easy to get stuck

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