Integrated elastic hydraulic robot joint

Abstract

The invention discloses an integrated elastic hydraulic robot joint. The integrated elastic hydraulic robot joint comprises an oil supply system, a hydraulic cylinder, an upper connecting rod, a support and a rotary elastic body; the upper portion of the hydraulic cylinder is fixedly connected with the oil supply system, and the oil supply system provides oil liquid for the hydraulic cylinder; the upper portion of the hydraulic cylinder is hinged to the upper connecting rod; the rotary elastic body comprises an outer ring, an inner ring and a spring; the outer ring and the inner ring are connected through a second bearing; the two ends of the spring are connected to the outer ring and the inner ring correspondingly; the outer ring and the inner ring can rotate relatively so that the spring can deform; the upper connecting rod is connected with the inner ring through a first bearing; the support is fixedly connected to the inner ring; the hydraulic cylinder comprises a telescopic hydraulic rod located at the lower end; and the lower end of the hydraulic rod is hinged to the outer ring. According to the integrated elastic hydraulic robot joint, the connecting rod, the rotary elastic body, the hydraulic cylinder, a motor, a hydraulic pump, a hydraulic valve, a sensor, an oil tank, a controller and the like are integrated compactly, and actuation can be achieved by switching on a power source.

Description

technical field [0001] The invention relates to the technical field of robot joints, in particular to an integrated elastic hydraulic robot joint. Background technique [0002] Hydraulic drive has the advantages of high power density and large torque output. Hydraulic robot joints are often used in wearable exoskeleton robots and biped, quadruped and other legged robots. In addition, in order to increase the compliance during human-computer interaction and robot-environment interaction, elastic elements (springs) are often integrated into hydraulic robot joints, such as the elastic hydraulic robot joints disclosed in patents CN106965870B and CN107042510B. However, the current hydraulic robot joints still need to be improved in the following two aspects. First of all, it often needs to be connected to the hydraulic station through pipelines, which cause an increase in weight and volume, loss of damping energy, and increased risk of leakage; secondly, compression (or tension)...

AI Technical Summary

Problems solved by technology

First of all, it often needs to be connected to the hydraulic station through pipelines, which cause an increase in weight and volume, loss of damping energy, and increased risk of leakage; secondly, compression (or tension) in series (or parallel) with the hydraulic cylinder ) springs cause the multiplied increase in joint length or width, lack of compactness

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