A robotic actuator with autonomous feedback and rapid deformation

Abstract

This invention discloses a robot actuator with autonomous feedback and rapid deformation. It includes actuators mounted on the legs at the bottom of the robot. When the robot lands on a landing platform, the actuators adjust the tilt and shorten / extend of the legs to achieve a smooth landing. The actuator comprises a housing, tilt adjustment structures, shortening adjustment structures, extension adjustment structures, and front and rear transmission rods and adjustment plates. The transmission rods contact and output applied pressure and sense the shape of the external contact surface, transmitting pressure changes to the tilt, shortening, and extension adjustment structures. This invention can automatically sense and feedback the shape and pressure of the external contact surface, automatically deform, and adapt to the tilt of the external contact surface, solving the problems of lack of sensing and difficulty in adaptation between the robot and the external contact surface.

Description

Technical Field

[0001] This invention belongs to the field of external sensing feedback and automatic adjustment of robot actuators, specifically relating to a robot actuator with autonomous feedback and rapid deformation. Background Technology

[0002] Robotic actuators are a crucial component of robots, acting as their "arms" for operation. During operation, robots typically utilize vision sensors for external perception and then use actuators to complete tasks. The robot's performance is highly dependent on sensor feedback. However, this approach has drawbacks. For instance, in situations requiring tactile feedback, vision sensors often struggle to provide accurate information. For example, when a robot actuator needs to sense the tilt of an external contact surface or whether its stroke is aligned, vision sensors often fail to provide effective information. These issues significantly limit the application of robots. Summary of the Invention

[0003] To address the problems existing in the background art, this invention provides a robot actuator with autonomous feedback and rapid deformation. The actuator can autonomously sense and provide feedback on the shape and contact pressure of the contact surface, thereby achieving conformal operation to the shape of the contact surface, and can also autonomously adjust its working stroke. When used in robot operations, it provides real-time feedback on the shape and contact pressure of the robot's external contact surface, and automatically changes the shape of the actuator accordingly, automatically conforming to the shape of the external contact surface, and can also automatically adjust the actuator's working stroke. This effectively solves the problem of limited tactile perception during robot operations.

[0004] To solve the above problems, the technical solution of the present invention is: the robot of the present invention includes an actuator installed at the end of the arm, the actuator being used to sense and provide feedback on the pressure and shape of external contact during robot arm operation, and automatically shorten / extend, thereby enabling the robot to operate more accurately.

[0005] The actuator includes a housing, a tilt adjustment structure, a shortening adjustment structure, an elongation adjustment structure located within the housing, and transmission rods and adjustment plates located at the front and rear ends of the housing, respectively. An adjustment cavity is provided in the rear part of the housing, and the rear end of the adjustment cavity communicates with the outside atmosphere through a through hole on the rear end face of the housing. Multiple cylindrical holes and a guide hole are provided in the front part of the housing. The guide hole is located at the center, and the multiple cylindrical holes are located around the guide hole and are evenly distributed circumferentially. The multiple cylindrical holes are divided into multiple pairs, with each pair consisting of two cylindrical holes symmetrically arranged on both sides of the central axis of the housing. The front ends of both the cylindrical holes and the guide hole extend through the front end face of the housing, and the rear ends of the cylindrical holes communicate with the adjustment cavity. The adjustment cavity is equipped with, from front to back, the following components: Equipped with a tilt adjustment structure and an adjustment plate, the front end of the tilt adjustment structure extends into each cylindrical hole, and the adjustment plate can only move axially within the adjustment cavity and cannot rotate. A central cavity is provided in the middle of the housing, and the rear end of the central cavity is connected to the adjustment cavity. A shortening adjustment structure and an elongation adjustment structure are installed in the central cavity. One end of the shortening adjustment structure and the elongation adjustment structure extends out of the central cavity and then passes through the tilt adjustment structure before connecting to the adjustment plate. A transmission rod is located at the front end of the housing to contact the output pressure, and a part of the transmission rod extends into the cylindrical hole and the guide hole and moves axially, thereby driving the pressure change in the cylindrical hole to be transmitted to the tilt adjustment structure, the shortening adjustment structure, and the elongation adjustment structure.

[0006] The transmission rod includes an impact disk, multiple transmission columns, multiple isolation columns, guide columns, and multiple guide magnets. The front end face of the impact disk is used to contact the external action surface and sense the inclination of the receiving external action surface. The center of the rear end face of the impact disk is hinged to the front end of the guide column, and the rear end of the guide column is axially movable and sealed into the guide hole. The front end of each transmission column is in contact with the rear end face of the impact disk, and the front end of each transmission column is embedded with a guide magnet for magnetic adsorption with the magnetic material of the impact disk. The rear end of each transmission column is axially movable and sealed into its corresponding cylindrical hole, and the middle part of each cylindrical hole is axially movable and sealed. The device includes an isolation column with a blind hole on its forward-facing front surface serving as its inner cavity. The outer circumferential surfaces of the tilt adjustment structure and adjustment plate are sealed to the cavity wall, dividing the adjustment cavity from front to back into an air cavity, a pressure cavity, and a free cavity. The outer circumferential surface of the isolation column is sealed to the cylindrical hole wall, dividing the cylindrical hole into a front compression cavity and a rear transmission cavity. When the shortening and elongation adjustment structures are installed in the central cavity, they form a relative seal with the rear cavity wall, creating a relatively independent motion cavity at the front end of the central cavity. In this invention, the guide hole, motion cavity, air cavity, and free cavity are all connected to the outside atmosphere; the compression cavity, transmission cavity, and pressure cavity are not connected to the outside atmosphere and are relatively closed cavities. The compression cavity is filled with compressible gas, while the transmission cavity and pressure cavity are filled with oil.

[0007] The tilt adjustment structure includes a sliding shell and at least one switch push rod pressure relief mechanism. The sliding shell is sealed in the adjustment cavity with one end extending into a cylindrical hole. The switch push rod pressure relief mechanism is installed in the sliding shell. The sliding shell mainly consists of a sliding shell disc and sliding shell columns. Multiple sliding shell columns are fixedly connected to the front end face of the sliding shell disc. The multiple sliding shell columns are divided into multiple pairs, with each pair consisting of two sliding shell columns symmetrically arranged on both sides of the center of the front end face of the sliding shell disc. The sliding shell disc is axially movable and sealed in the adjustment cavity. The sliding shell cylinders are axially movable and sealed in various cylindrical holes of the shell. Each sliding shell cylinder has an inner cavity, the front end of which extends through the cylinder and communicates with the cylindrical hole. At least one switch push rod pressure relief mechanism is installed inside the sliding shell disc. Each switch push rod pressure relief mechanism includes a switch push rod assembly and a sealing cavity and a vacuum cavity formed on the sliding shell disc. The sealing cavity and vacuum cavity are arranged sequentially from front to back along the axial direction of the sliding shell disc and are interconnected. The switch push rod assembly is installed... Mounted in a sealed cavity, each switch push rod assembly includes a switch shaft and push rods located on both sides of the switch shaft. Both ends of the switch shaft are rotatably mounted in the sealed cavity via bearings. A thin shaft section and a sealing shaft section are sequentially arranged between the two ends of the switch shaft from front to rear. The outer circumferential surface of the sealing shaft section and the inner wall of the sealed cavity form a sealing fit. An annular cavity exists between the outer circumferential surface of the thin shaft section and the inner wall of the sealed cavity. A radially arranged swing rod is fixedly connected to one side of the outer circumference of the thin shaft section. The swing rod can swing within the annular cavity as the thin shaft section of the switch shaft rotates. The swing rod swings on both sides... Each sliding shell disc has a strip-shaped motion channel inside, with two strip-shaped motion channels arranged in parallel. Each strip-shaped motion channel has a push rod sealed and installed in it. One end of each strip-shaped motion channel is connected to the annular cavity, and the other end is connected to the rear end of the inner cavity of the sliding shell cylinder through its corresponding internal channel. The push rod can slide in the strip-shaped motion channel, thereby pushing the swing rod to swing. In the switch push rod pressure relief mechanism, the strip-shaped motion channels on both sides of the swing rod in the switch push rod assembly are respectively connected to the rear end of the inner cavity of the sliding shell cylinder of each pair of sliding shell cylinders.

[0008] The switch shaft of the aforementioned switch push rod assembly is equipped with a pre-warning pressure relief structure that cooperates with the vacuum cavity of the sliding housing. The pre-warning pressure relief structure includes a pressure relief channel opened inside the sliding housing and a switch shaft inner cavity and a switch hole set on the sealing shaft section of the switch shaft. The sealing shaft section of the switch shaft has a switch shaft inner cavity opened on the end face facing the vacuum cavity, and the switch shaft inner cavity is directly connected to the vacuum cavity. Multiple switch holes are evenly distributed along the same circumference on the middle side wall of the sealing shaft section of the switch shaft. The inner end of each switch hole is connected to the switch shaft inner cavity, and the outer end of each switch hole is sealed by the sealing cavity wall of the sliding housing. A pressure relief channel communicating with the vacuum cavity is opened on the sealing cavity wall at any point on the circumference where the multiple switch holes are located.

[0009] The shortening adjustment structure includes an adjustment shaft and a shortening assembly. The adjustment shaft is located on the central axis of the housing. One end of the adjustment shaft extends into the central cavity, and the other end extends out of the central cavity into the adjustment cavity and then passes through the central hole of the tilt adjustment structure and the adjustment plate, where it is threadedly connected. The middle part of the adjustment shaft is sealed to the inner wall of the rear end of the central cavity when passing through it, and is rotatably supported by a bearing, so that the front part of the central cavity forms a relatively closed motion cavity. The shortening assembly is installed inside the adjustment shaft in the motion cavity. A radial fluid hole is opened on the outer peripheral wall of the adjustment shaft in the pressure cavity between the tilt adjustment structure and the adjustment plate. A central fluid channel is opened in the central axis inside the adjustment shaft. The rear end of the central fluid channel is connected to the pressure cavity through the fluid hole, and the front end is connected to the shortening assembly, which drives the shortening assembly to drive the adjustment shaft to rotate, thereby driving the adjustment plate and the transmission rod to move to the rear end to achieve shortening.

[0010] The regulating shaft has a stepped shaft structure and is divided into five sections from front to rear: end section, clutch section, valve shaft section, long shaft section, and threaded section. The threaded section has external threads, which are threaded into the central hole of the regulating plate. The front part of the long shaft section is rotatably fitted into the rear end of the central cavity through a bearing. A central fluid channel is axially opened inside the long shaft section, and a fluid hole is opened at the rear end of the long shaft section near the threaded section. The valve shaft section is sealed in the central cavity. The valve shaft section has an inner cavity and flow channel that communicate with the front end of the central fluid channel. The clutch section has a strip groove near the rear end of the valve shaft section. The shortening component is installed in the inner cavity and flow channel of the valve shaft section and the strip groove of the clutch section.

[0011] The shortening assembly includes a large one-way valve, a small one-way valve, and a lever sleeve; the valve shaft section of the adjusting shaft has a small cavity and a large cavity sequentially formed along the axial direction from the front end to the rear end, the small cavity and the large cavity are coaxially connected, and the large cavity is connected to the central fluid channel; the clutch section of the adjusting shaft has a vertically penetrating strip groove in the middle of the rear end near the valve shaft section, a large one-way valve that only allows flow from back to front is installed in the space formed by the strip groove, the small cavity, and the large cavity, and a small one-way valve that only allows flow from front to back is installed inside the large one-way valve, and the clutch section is in... Near the end section, an outer flange is provided. A lever sleeve is movably fitted on the clutch section between the outer flange and the strip-shaped groove. When in close contact, the rear stepped surface of the outer flange and the front end face of the lever sleeve form a coaxial rotating meshing connection. The large one-way valve includes a large T-valve and a large spring. The small end of the large T-valve is installed in the small cavity and the large cavity. The large end of the large T-valve is installed in the strip-shaped groove and can only move axially along the strip-shaped groove. The very end of the small end of the large T-valve is fixedly provided with an annular flange. Between the stepped surface and the annular flange between the small cavity and the large cavity... A large spring is connected to the large T-valve, and the large spring is also fitted onto the small end of the large T-valve. Inside the large T-valve, a small valve chamber and an axial channel are sequentially formed along the axial direction from the front to the rear. The small valve chamber and the axial channel are connected, and the axial channel and the central fluid channel are coaxially and directly connected. A small check valve is installed inside the small valve chamber. A right-angle channel is provided inside the large T-valve at the front end of the small valve chamber. One end of the right-angle channel is connected to the small valve chamber, and the other end is bent at a right angle and extends through the side wall of the large T-valve. The small check valve includes a small T-valve and a small spring. The large end of the small T-valve is installed in the axial channel, and the large end of the small T-valve is installed in the small valve cavity and plugged to the connection between the front end face of the small valve cavity and the right-angle channel. A small spring is connected between the stepped surface between the large end and the small end of the small T-valve and the rear end face of the small valve cavity. The small spring is also fitted outside the small end of the small T-valve. A one-way valve cavity is provided inside the small end of the small T-valve. A radial fluid hole is opened on the side wall of the small end of the small T-valve near the large end. The rear end of the one-way valve cavity is coaxially and directly connected to the axial channel. The front end of the one-way valve cavity is connected to the small valve cavity through the fluid hole.

[0012] The aforementioned lever sleeve mainly consists of an annular portion and a lever fixedly connected to one side of the annular portion. The lever is magnetic. The annular portion is fitted onto the clutch section of the adjusting shaft. An arc-shaped lever space is provided on one side of the motion cavity surrounding the lever for the rotation of the lever sleeve and the swinging of the lever. An arc-shaped shortening motion channel is provided on the other side of the motion cavity. An arc-shaped push rod is sealed in the middle of the shortening motion channel. The shortening motion channel connects directly to the lever space at one end near the lever, and the other end connects to the large cavity and the right-angle channel. Furthermore, on both sides of the shortening motion channel near the lever end... The valve shaft section is internally fitted with two lever magnets for magnetically adsorbing the lever on the lever sleeve; at the same time, the valve shaft section has a radial fluid channel and a transition fluid channel. The other end of the right-angle channel of the large T-shaped valve in the small cavity is connected to one end of the radial fluid channel. The rear end of the large cavity is connected to the middle of the transition fluid channel and the radial fluid channel. The other end of the radial fluid channel extends through the outer wall of the valve shaft section. An annular cavity is formed on the inner circumferential surface of the central cavity where the port of the radial fluid channel extends through the outer wall of the valve shaft section. The annular cavity is connected to the other end of the shortened connecting channel and the shortened movement channel formed inside the housing.

[0013] The elongation adjustment structure includes an adjustment shaft and an adjustment assembly. The adjustment shaft is located on the central axis of the housing. One end of the adjustment shaft extends into the central cavity, and the other end extends out of the central cavity into the adjustment cavity and then passes through the inclined adjustment structure and the central hole of the adjustment plate for threaded connection. The middle part of the adjustment shaft is sealed to the inner wall of the rear end of the central cavity when passing through it, and is rotatably supported by a bearing, so that the front part of the central cavity forms a relatively closed motion cavity. The adjustment assembly is installed at the front end of the adjustment shaft in the motion cavity. The isolation column is also provided with a connecting cavity and a connecting channel. The pressure of the cylindrical hole is transmitted to the motion cavity through the connecting cavity and the connecting channel, thereby driving the adjustment assembly to drive the adjustment shaft to rotate, which in turn drives the adjustment plate and the transmission rod to move towards the front end to achieve elongation.

[0014] The length adjustment assembly includes a ring sleeve, a shaped rod made of magnetic material, a ring magnet, a pull rod mechanism, and a stop. The ring sleeve is axially movable and rotatably fitted onto the end section. The ring magnet is fixedly fitted onto the end of the end section of the adjustment shaft. A radially upward-arranged shaped rod is fixedly arranged on the top circumference of the ring sleeve. A stop is fixedly provided on one side of the top of the motion cavity at the end of the end section of the adjustment shaft. The shaped rod is located on the side of the stop. A pull rod space is provided on the other side for the arrangement and movement of the pull rod mechanism. The pull rod mechanism is arranged inside the pull rod space, and one end of the pull rod mechanism is movably inserted. The housing is connected to the cylindrical hole via a connecting cavity and a connecting channel; the end face of the baffle facing the pull rod mechanism and the pull rod space is set as a vertical plane, and a square magnet is set inside the baffle for magnetically repelling the pull rod mechanism and magnetically adsorbing the irregular rod; the diameter of the clutch section of the adjusting shaft is larger than the diameter of the end section, and a stepped surface is formed between the end section and the clutch section of the adjusting shaft. The stepped surface and the rear end face of the ring sleeve are provided with a clutch surface that engages and disengages with each other, so that the stepped surface and the rear end face of the ring sleeve form a coaxial rotational meshing connection when they are in close contact with each other.

[0015] The pull rod mechanism includes a reciprocating rod, a magnet block, a first pawl, a second pawl, and a flat magnet. A magnet block for magnetically attracting the first pawl is fixedly installed at one end of the reciprocating rod. The first pawl is hinged to one end of the reciprocating rod via a horizontal pin, allowing the first pawl to swing and rotate up and down. A second pawl is hinged to one side of the first pawl via a vertical pin, forming a pawl clamping structure. The second pawl can swing and rotate horizontally left and right. A flat magnet for magnetic repulsion with the square magnet is embedded inside the first pawl. A reset magnet for resetting the pull rod mechanism is embedded beside the housing into which the reciprocating rod extends. The root of the second pawl is hinged to the first pawl, and a support lug is fixedly connected to one end of the second pawl near its root. The other end of the supporting lug is connected to the middle of the first jaw via a spring, so that under the action of the spring, the other end of the supporting lug abuts against the side of the first jaw, thereby the second jaw moves towards the first jaw to maintain a clamping posture under normal conditions; under normal conditions, there is a clamping gap between the second jaw and the first jaw, the width of which is smaller than the outer diameter of the irregular rod, for clamping the irregular rod; the corner of the end of the first jaw near the second jaw is formed by beveling to form a wedge surface, which is used to cooperate with and contact the irregular rod and drive the irregular rod to move backward; the root of the first jaw is hinged to the reciprocating rod, and a local magnetic element or magnetic material is provided at the root of the first jaw near the magnet block. The magnetic element or magnetic material and the magnet block attract each other to provide the overall swinging and rotating restoring force of the first jaw and the second jaw.

[0016] The aforementioned pull rod space has an elongation movement channel on the wall of the moving cavity on the side away from the stop. The reciprocating rod of the pull rod mechanism is axially movable and inserted into one end of the elongation movement channel. The other end of the elongation movement channel is connected to the cylindrical hole via the connecting cavity and connecting channel on the isolation column. The connecting cavity and connecting channel on the isolation column specifically include an elongation connecting cavity, an air hole, and an elongation connecting channel. The cylindrical hole wall at the isolation column is also provided with an annular elongation connecting cavity. The isolation column has an air hole on the inner wall of the isolation column, so that the inner cavity of the isolation column is connected to the elongation connecting cavity via the air hole. The elongation connecting cavity is connected to one end of the elongation movement channel through the elongation connecting channel opened inside the shell. The other end of the elongation movement channel is connected to the pull rod space.

[0017] The irregularly shaped rod mainly consists of a thick rod, a thin rod, and a positioning block. The thick rod and the thin rod are arranged coaxially at the top and bottom, respectively. The thick rod is used to cooperate with the pull rod mechanism and be driven to move. The lower end of the thin rod is fixed to the ring sleeve. A radially arranged positioning block is fixed between the bottom end of the thick rod and the thin rod. In the pull rod mechanism, the second claw has a through groove machined near the root as a square empty slot, which is used to cooperate with the positioning block of the irregularly shaped rod.

[0018] This invention, through the ingenious design and coordination of mechanical structure, cavity, gas, and fluid, enables robots to achieve the following functions, including the following beneficial effects: (1) When the external contact surface is slightly tilted, the actuator can automatically adjust and conform to its tilt; (2) When the external contact surface is severely tilted, the actuator is equipped with a rapid depressurization and rapid collapse deformation function; (3) When the actuator is too long, the mechanical structure can automatically shorten the length of the actuator; (4) When the actuator is too short, the mechanical structure can automatically lengthen the length of the actuator. This invention can automatically adjust the length of each actuator, automatically shortening, automatically lengthening, and automatically adapting to the tilt of the platform; effectively solving the problem of robot landing on tilted platforms in dim environments. All adjustment functions of this invention are automatically realized by the mechanical structure, relying entirely on a mechanical solution, requiring no manual intervention or external power source, with independent structure and strong applicability. Attached Figure Description

[0019] Figure 1 This is a structural diagram of a robot containing an actuator according to the present invention, wherein (a) represents a three-dimensional view of the robot and (b) represents a schematic diagram of the robot with the actuator installed.

[0020] Figure 2 This is a cross-sectional view of the overall structure of the actuator of the present invention;

[0021] Figure 3 This is a cross-sectional view of the actuator housing structure;

[0022] Figure 4 A diagram showing the chamber layout and structural relationship of the transmission rods in the actuator;

[0023] Figure 5 The figures are a perspective view and a sectional view of the transmission rod, where (a) represents the perspective view of the transmission rod and (b) represents the sectional view of the transmission rod.

[0024] Figure 6 A three-dimensional view of the tilt adjustment structure;

[0025] Figure 7 A three-dimensional view of the sliding shell in the tilt adjustment structure;

[0026] Figure 8 This is a cross-sectional view of the tilt adjustment structure;

[0027] Figure 9 A 3D view of the switch shaft in the tilt adjustment structure;

[0028] Figure 10 for Figure 8 GG cross-sectional view;

[0029] Figure 11 for Figure 8 HH sectional view;

[0030] Figure 12 This is a schematic diagram showing the assembly motion relationship of the switch push rod assembly in the tilt adjustment structure.

[0031] Figure 13 This is a schematic diagram of the pressure relief state of the early warning and pressure relief structure in the tilt adjustment structure;

[0032] Figure 14 This is a general structural diagram of the shortening adjustment structure of the present invention;

[0033] Figure 15 Diagram of the internal cavity structure of the adjusting shaft to shorten the adjustment structure;

[0034] Figure 16 A structural diagram of a large one-way valve for shortening the regulating structure;

[0035] Figure 17 A diagram of a small one-way valve for shortening the regulating structure;

[0036] Figure 18 To shorten the structural assembly section view of the adjustment structure;

[0037] Figure 19 A schematic diagram illustrating the movement of the lever bushing and the large T-valve in the adjustment structure;

[0038] Figure 20 To shorten the flow relationship diagram of the working state and the return state in the adjustment structure, (a) represents the flow relationship diagram of the working state and (b) represents the flow relationship diagram of the return state.

[0039] Figure 21 To shorten the flow channel relationship structure diagram of the adjustment structure in the working state, (a) represents the flow channel relationship sectional view in the working state, (b) represents the CC sectional view of (a) and (c) represents the DD sectional view of (a).

[0040] Figure 22 To shorten the flow channel relationship structure diagram of the adjustment structure in the return state, (a) represents the flow channel relationship sectional view in the return state, and (b) represents the CC sectional view of diagram (a).

[0041] Figure 23 A schematic diagram illustrating the final shortening motion of the adjustment structure;

[0042] Figure 24 Three-dimensional and sectional views of the elongation adjustment structure;

[0043] Figure 25 This is a structural diagram of the tie rod mechanism in the elongation adjustment structure;

[0044] Figure 26 This is a diagram showing the engagement relationship between the two jaws in the lever mechanism;

[0045] Figure 27 This is a diagram showing the magnetic adsorption motion relationship of the magnet block in the lever mechanism;

[0046] Figure 28 A schematic diagram of the connecting cavity and connecting channel on the isolation column of the elongation adjustment structure;

[0047] Figure 29 This is one of the schematic diagrams showing the initial state of the tie rod mechanism driving the irregular rod in the elongation adjustment structure.

[0048] Figure 30 This is the second schematic diagram showing the initial state of the tie rod mechanism driving the irregular rod in the elongation adjustment structure.

[0049] Figure 31 This is one of the schematic diagrams showing the final state of the tie rod mechanism driving the irregular rod in the elongation adjustment structure.

[0050] Figure 32 This is the second schematic diagram showing the final state of the pull rod mechanism driving the irregular rod in the elongation adjustment structure.

[0051] Figure 33 A diagram showing the state changes during the complete process of the tie rod mechanism driving the irregular rod in the elongation adjustment structure.

[0052] Figure 34 A schematic diagram of the square slot fitting in a non-shaped rod and tie rod mechanism;

[0053] Figure 35The diagram shows the state changes during the complete process of the irregular rod moving through the square vacant slot under extreme conditions.

[0054] Figure 36 This is a schematic diagram of the final elongation movement of the elongation adjustment structure.

[0055] In the diagram: 0. Actuator; 1. Housing: 101 Adjustment cavity, 102 Cylindrical hole, 103 Guide hole, 104 Central cavity, 105 Annular cavity, 106 Lever space, 107 Shortened connecting channel, 108 Pull rod space, 109 Shortened motion channel, 110 Extended connecting cavity, 111 Extended connecting channel; 2. Tilt adjustment structure: 21 Sliding shell, 22 Switch shaft, 23 Push rod; 201 Sliding shell disc, 202 Sliding shell cylinder, S202 Sliding shell cylinder inner cavity, 203 Through hole, 204 Internal channel, 205 Pressure relief channel, 206 Vacuum cavity, 207 Sealed cavity 221 Thin shaft section, 222 Swing rod, 223 Sealed shaft section, 224 Switch shaft inner cavity, 225 Switch hole; 3 Shortening adjustment structure: 31 Adjusting shaft, 32 Bearing, 33 Shortening assembly; 3101 End section, 3102 Clutch section, 3103 Valve shaft section, 3104 Long shaft section, 3105 Threaded section; 3106 Small cavity, 3107 Large cavity, 3108 Central fluid channel, 3109 Fluid hole, 3110 Strip groove, 3111 Radial fluid channel, 3112 Transition fluid channel; 3301 Lever bushing, 3302 Arc-shaped push rod, 3303 Large T 3304 Large T-valve, 3305 Ball bearing, 3306 Small T-valve, 3307 Small spring, 3308 Bushing magnet, 3309 Check valve inner cavity, 3310 Fluid orifice, 3311 Right-angle channel, 3312 Small valve cavity, 3313 Axial channel, 3314 Lever magnet; 4 Transmission rods: 401 Impact disc, 402 Transmission column, 403 Isolation column, 404 Guide column, 405 Guide magnet, 406 Air hole, 407 Isolation column inner cavity; 5 Adjusting plates: S1 Compression chamber, S2 Transmission chamber, S3 Motion chamber, S4 Air chamber, S5 Pressure chamber, S6 Self-adjusting plate. 6. Extension adjustment structure: 31 Adjustment shaft, 32 Bearing, 61 Extension adjustment assembly: 611 Ring bushing, 612 Irregular rod, 613 Square magnet, 614 Ring magnet, 615 Pull rod mechanism, 616 Stop, 617 Reset magnet; 6151 Reciprocating rod, 6152 Magnet block, 6153 First chuck, 6154 Second chuck, 6155 Spring, 6156 Flat magnet, 6157 Square slot, 6158 Support lug, 6159 Inclined wedge surface; 6121 Thick rod, 6122 Thin rod, 6123 Fixing block; 10. Square-type robot.

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, a detailed description is provided below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific examples described herein are merely illustrative and not intended to limit the scope of the invention.

[0057] like Figure 1 As shown, the robot 10 includes actuators 0 mounted on the feet at the end of the robot. The actuators 0 are used to adjust the robot's tilt and shorten / extend when it contacts the external working surface, thus correcting its posture and achieving smooth contact between the robot and the external working surface. In specific implementations, the external working surface is usually uneven, not horizontal, and often tilted. This invention uses actuators 0 to adaptively and closely transmit pressure to the external working surface.

[0058] like Figure 2 As shown, the actuator 0 includes a housing 1, a tilt adjustment structure 2, a shortening adjustment structure 3, an elongation adjustment structure 6 located inside the housing 1, and a transmission rod 4 and an adjustment plate 5 located at the front and rear ends of the housing 1, respectively.

[0059] like Figure 3 As shown, an adjustment cavity 101 is provided in the rear part of the housing 1. The rear end of the adjustment cavity 101 is connected to the outside atmosphere through a through hole on the rear end face of the housing 1. A plurality of cylindrical holes 102 and a guide hole 103 are provided in the front part of the housing 1. The guide hole 103 is located at the center. The plurality of cylindrical holes 102 are located around the guide hole 103 and are evenly distributed circumferentially. The plurality of cylindrical holes 102 are divided into multiple pairs, with each pair consisting of two cylindrical holes 102 symmetrically arranged on both sides of the central axis of the housing 1. The front ends of both the cylindrical holes 102 and the guide hole 103 extend through the front end face of the housing 1. The rear ends of the cylindrical holes 102 are connected to the adjustment cavity 101, while the rear ends of the guide holes 103 are not connected to the adjustment cavity 101. Specifically, the number of cylindrical holes 102 is an even number. An inclined adjustment structure 2 and an adjustment plate 5 are installed sequentially from front to back within the adjustment cavity 101. The front end of the inclined adjustment structure 2 extends into each cylindrical hole 102. The adjustment plate 5 can only move axially within the adjustment cavity 101 and cannot rotate. In a specific implementation, a cylindrical boss can be fixedly provided at the rear end of the adjustment plate 5. The cylindrical boss of the adjustment plate 5 can be axially movably inserted into the through hole at the rear end of the housing 1, allowing the adjustment plate 5 to move freely along the axial direction of the housing 1 without rotating. A relatively independent central cavity 104 is provided in the middle of the housing 1. The rear end of the central cavity 104 is connected to the adjustment cavity 101. A shortening adjustment structure 3 and an elongation adjustment structure 6 are installed in the central cavity 104. One end of the shortening adjustment structure 3 and the elongation adjustment structure 6 extends out of the central cavity 104, passes through the inclined adjustment structure 2, and then extends into the adjustment cavity 101, where it is connected to the adjustment plate 5 by a thread.

[0060] The transmission rod 4 is located at the front end of the housing 1 to contact the output pressure, and a part of the transmission rod 4 extends into the cylindrical hole 102 and the guide hole 103 for axial movement, thereby driving the pressure change in the cylindrical hole 102 to be transmitted to the tilt adjustment structure 2, the shortening adjustment structure 3, and the lengthening adjustment structure 6. The rear end face of the housing 1 is used to receive the external pressure.

[0061] like Figure 4 and Figure 5 As shown, the transmission rod 4 includes an impact disk 401, multiple transmission columns 402, multiple isolation columns 403, a guide column 404, and multiple guide magnets 405. The impact disk 401 is made of magnetic material. The front end face of the impact disk 401 is used to contact the external action surface and sense and receive the inclination of the external action surface. The center of the rear end face of the impact disk 401 is ball-jointed with the front end of the guide column 404. The rear end of the guide column 404 is axially movable and sealed into the guide hole 103.

[0062] The number of transmission pillars 402, isolation pillars 403, and cylindrical holes 102 are the same and correspond one-to-one. The front end of each transmission pillar 402 is in contact with the rear end face of the impact disk 401. The front end of each transmission pillar 402 is embedded with a guide magnet 405 for magnetic adsorption with the impact disk 401 of magnetic material. The rear end of each transmission pillar 402 is axially movable and sealed into its corresponding cylindrical hole 102. The middle part of each cylindrical hole 102 is axially movable and sealed with an isolation pillar 403. The isolation pillar 403 has a blind hole on its front end face facing forward as an isolation pillar cavity 407.

[0063] like Figure 4 As shown, the outer peripheral surfaces of the tilt adjustment structure 2 and the adjustment plate 5 are sealed to the cavity wall of the adjustment cavity 101. The adjustment cavity 101 is divided from front to back into an air cavity S4, a pressure cavity S5, and a free cavity S6 by the tilt adjustment structure 2 and the adjustment plate 5. The outer peripheral surface of the isolation column 403 is sealed to the wall of the cylindrical hole 102. The cylindrical hole 102 is divided into a front compression cavity S1 and a rear transmission cavity S2 by the isolation column 403. When the shortening adjustment structure 3 and the elongation adjustment structure 6 are installed in the central cavity 104, they form a relative seal with the rear cavity wall of the central cavity 104, so that the front cavity space of the central cavity 104 forms a relatively independent and relatively closed motion cavity S3. The elongation adjustment structure 6 is completely installed in the motion cavity S3. In this invention, the guide hole 103, the motion cavity S3, the air cavity S4, the free cavity S6, etc. are all connected to the outside atmosphere; the compression cavity S1, the transmission cavity S2, and the pressure cavity S5 are not connected to the outside atmosphere and are relatively closed cavities. The compression cavity S1 is filled with compressible gas and is an air cavity, while the transmission cavity S2 and the pressure cavity S5 are filled with oil and are oil cavities.

[0064] like Figure 6 As shown, the tilt adjustment structure 2 includes a sliding shell 21 and at least one switch push rod pressure relief mechanism. The sliding shell 21 is sealed in the adjustment cavity 101 and one end extends into the cylindrical hole 102. The switch push rod pressure relief mechanism is installed in the sliding shell 21 and can be passively selected to communicate with the cylindrical hole 102 and the pressure cavity S5.

[0065] like Figure 7 As shown, the sliding shell 21 is mainly composed of a sliding shell disc 201 and a sliding shell column 202. The front end face of the sliding shell disc 201 is fixedly connected to multiple sliding shell columns 202. The multiple sliding shell columns 202 are divided into multiple pairs, with each pair consisting of two sliding shell columns 202 symmetrically arranged on both sides of the center of the front end face of the sliding shell disc 201. The number of sliding shell columns 202 is the same as the number of cylindrical holes 102 and they are distributed in the same position. The sliding shell disc 201 is axially movable and sealed in the adjustment cavity 101. The multiple sliding shell columns 202 are axially movable and sealed in their respective corresponding cylindrical holes 102 in the shell 1. Each sliding shell column 202 has an inner cavity S202. The front end of the inner cavity S202 extends through the sliding shell column 202 and communicates with the cylindrical hole 102 / transmission cavity S2. The rear end of the inner cavity S202 communicates with the interior of the sliding shell disc 201. The sliding housing 201 is equipped with at least one switch push rod pressure relief mechanism. Each switch push rod pressure relief mechanism includes a switch push rod assembly and a sealing cavity 207 and a vacuum cavity 206 opened on the sliding housing 201. The sealing cavity 207 and the vacuum cavity 206 are arranged sequentially from front to back along the axial direction of the sliding housing 201 and are interconnected.

[0066] like Figure 5 , Figure 8 and Figure 12 As shown, the switch push rod assembly is installed on the sealed cavity 207. Each switch push rod assembly includes a switch shaft 22 and push rods 23 located on both sides of the switch shaft 22. The switch shaft 22 is a rotatable combined shaft. The switch shaft 22 is installed in the sealed cavity 207 with a matching shape. Both ends of the switch shaft 22 are rotatably installed in the sealed cavity 207 through bearings.

[0067] like Figure 9 As shown, a thin shaft section 221 and a sealing shaft section 223 are sequentially arranged between the two ends of the switch shaft 22 from the front end to the rear end. The outer peripheral surface of the sealing shaft section 223 and the inner wall of the sealing cavity 207 are sealed together. There is an annular cavity between the outer peripheral surface of the thin shaft section 221 and the inner wall of the sealing cavity 207. A radially arranged swing rod 222 is fixedly connected to one side of the outer periphery of the thin shaft section 221. The swing rod 222 can rotate and swing with the thin shaft section 221 of the switch shaft 22 within the annular cavity. In a specific implementation, the annular cavity can also be an arc-shaped cavity.

[0068] like Figure 10As shown, each of the sliding shell discs 201 on both sides of the swing rod 222 has a strip-shaped motion channel. The two strip-shaped motion channels are arranged parallel to each other. Each strip-shaped motion channel has a push rod 23 sealed and installed in it. One end of each strip-shaped motion channel is connected to the annular cavity, and the other end is connected to the rear end of the inner cavity S202 of the sliding shell cylinder through the corresponding internal channel 204 opened inside the sliding shell disc 201. The push rod 23 can slide in the strip-shaped motion channel, thereby pushing the swing rod 222 to swing. The pressure in the cylindrical hole 102 is transmitted to the strip-shaped motion channel through the inner cavity S202 and the internal channel 204 of the sliding shell cylinder, thereby pushing the push rod 23 to slide in the strip-shaped motion channel, and then pushing the swing rod 222 to swing, as shown. Figure 12 As shown. In each switch push rod pressure relief mechanism, the strip-shaped motion channels on both sides of the swing rod 222 in the switch push rod assembly are respectively connected to the rear end of the inner cavity S202 of each pair of sliding shell cylinders 202.

[0069] The automatic tilt deformation adjustment process of the present invention is as follows: When the impact disk 401 senses the tilt of the receiving external surface, the impact disk 401 tilts. The tilted impact disk 401 causes the symmetrically arranged pair of transmission columns 402 to enter the cylindrical hole 102 at different depths. This is then transmitted through the isolation column 403 to the cylindrical hole 102 / transmission cavity S2 on its rear end side, and then to the inner cavity S202 of the sliding shell column. This results in different pressures in the inner cavities S202 of the symmetrically arranged pair of sliding shell columns 202. Since the inner cavities S202 of the pair of sliding shell columns 202 are both connected to the strip-shaped motion channels on both sides of the same swing rod 222, the push rods 23 on both sides of the same swing rod 222 push the swing rod 222 to a balanced swing posture corresponding to the tilt of the impact disk 401. This balances the different pressures in the pair of cylindrical holes 102 inside the housing 1, thus adapting to the tilt of the impact disk 401. It should be noted that the entire process described above is automatically adjusted by the system.

[0070] like Figure 8 and Figure 11As shown, the switch shafts 22 of the switch push rod assembly are all equipped with a warning pressure relief structure that cooperates with the vacuum chamber 206 of the sliding housing 201. The warning pressure relief structure includes a pressure relief channel 205 opened inside the sliding housing 201, and a switch shaft inner cavity 224 and a switch hole 225 provided on the sealing shaft section 223 of the switch shaft 22. The sealing shaft section 223 of the switch shaft 22 has a switch shaft inner cavity 224 on the end face facing the vacuum chamber 206. The switch shaft inner cavity 224 and the vacuum chamber 206 are directly connected. The middle part of the sealing shaft section 223 of the switch shaft 22 The side wall has multiple switch holes 225 evenly distributed along the same circumference. The inner end of each switch hole 225 is connected to the inner cavity 224 of the switch shaft. The outer end of each switch hole 225 is sealed by the wall of the sealing cavity 207 of the sliding shell 201. A pressure relief channel 205 communicating with the vacuum cavity 206 is opened on the wall of the sealing cavity 207 at any point on the circumference where the multiple switch holes 225 are located. This allows one of the multiple switch holes 225 to communicate with the vacuum cavity 206 through the pressure relief channel 205 when the switch shaft 22 rotates beyond a preset angle threshold β.

[0071] Initially, the vacuum chamber 206 contains no air and remains in a vacuum state. When the impact disk 401 is not tilted initially, i.e., when the swing rod 222 is in the swinging midpoint (the pushers 23 on both sides have the same thrust), no switch hole 225 is connected to the vacuum chamber 206 via the pressure relief channel 205, and the vacuum chamber 206 remains in a vacuum state. When the impact disk 401 is tilted too much, i.e., when the swing angle of the swing rod 222 exceeds the preset angle threshold β, after the swing angle of the swing rod 222 exceeds the preset angle threshold β, one of the switch holes 225 will be directly aligned with the pressure relief channel 205 on the wall of the sealed cavity 207, so that one switch hole 225 will be connected to the vacuum chamber 206 via the pressure relief channel 205, such as... Figure 13 As shown, the oil in the pressure chamber S5 flows into the vacuum chamber 206 after passing through the pressure relief channel 205, the switch hole 225, and the inner cavity of the switch shaft 224, thereby achieving pressure relief. The pressure in the pressure chamber S5 is quickly released, thus avoiding the situation where the impact plate 401 tilts too much, ensuring work safety and reliability.

[0072] The effect achieved above is:

[0073] When the end face contacted by the impact disc 401 is slightly damaged and slightly tilted, the actuator can adjust the amount of liquid in the two symmetrical transmission chambers S2 by slightly rotating the swing rod 222 through the flow of internal liquid. This allows the impact disc 401 to tilt and adapt to the tilt of the end face, increasing the force-bearing area of ​​the end face, thereby increasing the contact area and friction, avoiding sliding and impact, and preventing further damage to the end face contacted by the impact disc 401 and the impact disc 401.

[0074] When the end face contacted by the impact disk 401 is severely damaged, its end face tilts significantly. The actuator, through the internal fluid flow, drives the swing rod 222 to rotate at a large angle, thereby connecting the switch hole 225 and the pressure relief channel 205. This allows the oil and other fluids in the pressure chamber S5 to be depressurized into the vacuum chamber 206. After the pressure chamber S5 is depressurized, referring to the diagram, the entire tilt adjustment structure moves rearward (to the right) and the transmission rod moves rearward (to the right) in the diagram. The entire actuator shortens rapidly, cutting off the transmission of impact force and achieving a rapid reduction in the length of the support, preventing a violent collision between the robot and the target object, thus avoiding further damage to the robot's support legs.

[0075] In specific implementation, the center of the sliding shell disk 201 of the sliding shell 21 is provided with a through hole 203 for the adjustment shaft 31 of the shortening adjustment structure 3 / extension adjustment structure 6 to pass through, and the adjustment shaft 31 and the through hole 203 are sealed together.

[0076] like Figure 14 As shown, the shortening adjustment structure 3 includes an adjustment shaft 31 and a shortening assembly 33. The adjustment shaft 31 is located on the central axis of the housing 1. One end of the adjustment shaft 31 extends into the central cavity 104, and the other end of the adjustment shaft 31 passes through the central cavity 104 and extends into the adjustment cavity 101, and then passes through the inclined adjustment structure 2 and the central hole of the adjustment plate 5 for threaded connection. The middle part of the adjustment shaft 31 is sealed to the inner wall of the rear end of the central cavity 104 when passing through it, and is rotatably supported by the bearing 32, so that the front part of the central cavity 104 forms a relatively closed motion cavity S3. The shortening assembly 33 is installed inside the adjustment shaft 31 in the motion cavity S3 in front of the bearing 32. The bearing 32 is a double row angular contact ball bearing.

[0077] A radial fluid hole 3109 is provided on the outer peripheral wall of the adjusting shaft 31 located in the pressure chamber S5 between the tilting adjustment structure 2 and the adjusting plate 5. A central fluid channel 3108 is provided in the center of the adjusting shaft 31. The rear end of the central fluid channel 3108 is connected to the pressure chamber S5 through the fluid hole 3109, and the front end is connected to the shortening component 33, thereby driving the shortening component 33 to drive the adjusting shaft 31 to rotate, thereby driving the adjusting plate 5 and the transmission rod 4 to move to the rear end to achieve shortening.

[0078] When the transmission rod 4 extends too far out of the housing 1, the pressure is transmitted to the pressure chamber S5 each time the transmission rod 4 squeezes into the housing 1. Then, the pressure is transmitted to the shortening component 33 through the central fluid channel 3108. The shortening component 33 is connected and drives the adjustment shaft 31 to rotate. The rotation of the adjustment shaft 31 drives the adjustment plate 5 to move axially to the rear end through the threaded sliding pair, thereby expanding the pressure chamber S5. After the pressure in the pressure chamber S5 decreases, the pressure is transmitted and finally causes the transmission rod 4 to move to the rear end, thus completing the adaptive retraction movement.

[0079] like Figure 14 As shown, the adjusting shaft 31 has a stepped shaft structure and is divided into five sections from the front end to the rear end: an end section 3101, a clutch section 3102, a valve shaft section 3103, a long shaft section 3104, and a threaded section 3105. The threaded section 3105 is provided with external threads, which are threaded into the central hole of the adjusting plate 5. The front part of the long shaft section 3104 is rotatably fitted into the rear end of the central cavity 104 through a bearing 32. A central fluid channel 3108 is axially opened in the center of the long shaft section 3104, near the threaded section 3105. The long shaft section 3104 has a fluid hole 3109 at its rear end, and the central fluid channel 3108 is connected to the fluid hole 3109; the valve shaft section 3103 is sealed and fitted in the middle of the central cavity 104, and the valve shaft section 3103 has an inner cavity and flow channel that are connected to the front end of the central fluid channel 3108; the clutch section 3102 has a strip-shaped through groove near the rear end of the valve shaft section 3103, and the shortening component 33 is installed in the inner cavity and flow channel of the valve shaft section 3103 and the strip-shaped through groove of the clutch section 3102; the end section 3101 is used to install the elongation adjustment structure 6.

[0080] like Figure 14 As shown, the shortening assembly 33 includes a large one-way valve, a small one-way valve, and a lever sleeve 3301. (As...) Figure 15 As shown, the valve shaft section 3103 of the regulating shaft 31 has a small cavity 3106 and a large cavity 3107 sequentially opened along the axial direction from the front end to the rear end. The small cavity 3106 and the large cavity 3107 are coaxially connected. A step is formed between the small cavity 3106 and the large cavity 3107 due to the difference in their inner diameters. The large cavity 3107 is connected to the central fluid channel 3108 through a conical surface. The clutch section 3102 of the adjusting shaft 31 has a vertically extending slot 3110 in the middle of the rear end near the valve shaft section 3103. A large one-way valve that allows only forward movement is installed in the space formed by the slot 3110, the small cavity 3106, and the large cavity 3107. A small one-way valve that allows only forward movement is installed inside the large one-way valve. The clutch section 3102 has an outer flange at the end near the end section 3101. A lever sleeve 3301 is movably fitted on the clutch section 3102 between the outer flange and the slot 3110. The rear stepped surface of the outer flange and the front end face of the lever sleeve 3301 each have a clutch surface. When in close contact, the rear stepped surface of the outer flange and the front end face of the lever sleeve 3301 form a coaxially rotating meshing connection.

[0081] like Figure 16 and Figure 18As shown, the large one-way valve includes a large T-shaped valve 3303 and a large spring 3304. The large T-shaped valve 3303 is an irregularly shaped valve body. The small end of the large T-shaped valve 3303 is installed in the small cavity 3106 and the large cavity 3107. The large end of the large T-shaped valve 3303 is installed in the strip groove 3110 and can only move axially along the strip groove 3110 and cannot rotate. The very end of the small end of the large T-shaped valve 3303 is fixedly provided with an annular flange. The large spring 3304 is connected between the stepped surface between the small cavity 3106 and the large cavity 3107 and the annular flange. The large spring 3304 is also fitted outside the small end of the large T-shaped valve 3303 between the stepped surface between the small cavity 3106 and the large cavity 3107 and the annular flange. The large T-shaped valve 3303 has a small valve chamber 3312 and an axial channel 3313 sequentially opened along the axial direction from the front end to the rear end. The small valve chamber 3312 and the axial channel 3313 are connected. The axial channel 3313 is coaxially and directly connected to the central fluid channel 3108. A small check valve is installed in the small valve chamber 3312. A right-angle channel 3311 is provided in the large T-shaped valve 3303 on the front end face of the small valve chamber 3312. One end of the right-angle channel 3311 is connected to the small valve chamber 3312, and the other end is bent at a right angle and passes through the small end side wall of the large T-shaped valve 3303.

[0082] like Figure 17 and Figure 18 As shown, the small one-way valve includes a small T-shaped valve 3306 and a small spring 3307. The small end of the small T-shaped valve 3306 is installed in the axial channel 3313, and the large end of the small T-shaped valve 3306 is installed in the small valve cavity 3312 and plugs the connection between the front end face of the small valve cavity 3312 and the right-angle channel 3311. The small spring 3307 is connected between the stepped surface between the large end and the small end of the small T-shaped valve 3306 and the rear end face of the small valve cavity 3312. The small spring 3307 is also fitted on the small end of the small T-shaped valve 3306 between the stepped surface between the large end and the small end of the small T-shaped valve 3306 and the rear end face of the small valve cavity 3312. The small T-valve 3306 has a one-way valve cavity 3309 inside its small end. The small end of the small T-valve 3306 has a radial fluid hole 3310 on the side wall near the large end. The rear end of the one-way valve cavity 3309 is coaxially and directly connected to the axial channel 3313. The front end of the one-way valve cavity 3309 is connected to the small valve cavity 3312 through the fluid hole 3310.

[0083] The lever sleeve 3301 has a sleeve magnet 3308 embedded in its rear face near the large T-valve 3303 for magnetic attraction with the magnetic material of the large T-valve 3303. The large T-valve 3303 has a ball bearing 3305 embedded in its front face near the lever sleeve 3301 for rolling connection with the end face of the lever sleeve 3301. The front face of the large T-valve 3303 and the rear face of the lever sleeve 3301 are connected by the ball bearing 3305. This structure allows the lever sleeve 3301 to rotate and move axially around the clutch section 3102 of the adjusting shaft 31. Figure 19 As shown, the large T-valve 3303 can only move axially along the adjusting shaft 31 and cannot rotate, while the lever sleeve 3301 and the large T-valve 3303 can rotate relative to each other.

[0084] like Figure 20 As shown in (a), for the large one-way valve: Under normal conditions, the rear end face of the large T-valve 3303 is pressed by the large spring 3304 to the end face of the connection between the large cavity 3107 and the central fluid channel 3108, preventing the oil in the central fluid channel 3108 from flowing into the large cavity 3107. When the pressure in the central fluid channel 3108 is greater than the pressure in the large cavity 3107 and the right-angle channel 3311, and the pressure difference is greater than the spring force of the large spring 3304, the large one-way valve will open, pushing the large T-valve 3303 against the spring force of the large spring 3304 towards the front end. A gap is created between the front end face of the large T-valve 3303 and the connection, allowing the oil in the central fluid channel 3108 to flow into the large cavity 3107 through the gap, achieving conduction from back to front.

[0085] like Figure 20 As shown in (b), for the small check valve: Under normal conditions, the front end face of the small T-valve 3306 is pressed against the front end face of the small valve chamber 3312 by the small spring 3307, blocking the connection between the right-angle channel 3311 and the small valve chamber 3312, preventing the oil in the right-angle channel 3311 from flowing into the small valve chamber 3312. When the pressure difference between the right-angle channel 3311 and the small valve chamber 3312 is greater than the spring force of the small spring 3307, the small check valve will open, pushing the small T-valve 3306 against the spring force of the small spring 3307 to the rear end. A gap is created between the front end face of the small T-valve 3306 and the connection point, allowing the oil in the right-angle channel 3311 to flow into the small valve chamber 3312 through the gap, achieving front-to-back conduction.

[0086] like Figure 16 , Figure 21 and Figure 22As shown, the lever sleeve 3301 mainly consists of an annular part and a lever fixedly connected to one side of the annular part. The lever is magnetic and can be attracted. The annular part is fitted onto the clutch section 3102 of the adjusting shaft 31. A limited arc-shaped lever space 106 is provided on one side of the motion cavity S3 around the lever for the rotation of the lever sleeve 3301 and the swing of the lever. The lever space 106 is essentially an arc-shaped rotation space for the lever to swing within a limited range. An arc-shaped shortening motion channel 109 is provided on the other side of the motion cavity S3. The shortening motion channel 109 and the lever space 106 should be located on both sides of the lever. An arc-shaped push rod 3302 is sealed in the middle of the shortening motion channel 109. The shortening motion channel 109 is directly connected to the lever space 106 at one end near the lever, and the other end is used to connect to the large cavity 3107 and the right-angle channel 3311. Specifically, it is connected to the annular cavity 105 through the shortening connecting channel 107. Two lever magnets 3314 for magnetically adsorbing the lever of the lever bushing 3301 are embedded in the clutch section 3102 on both sides of the shortening motion channel 109 near the lever. Meanwhile, a radial fluid channel 3111 and a transition fluid channel 3112 are opened inside the valve shaft section 3103. The other end of the right-angle channel 3311 of the large T-shaped valve 3303 in the small cavity 3106 is connected to one end of the radial fluid channel 3111. The rear end side of the large cavity 3107 is connected to the middle part of the radial fluid channel 3111 via the transition fluid channel 3112. The other end of the radial fluid channel 3111 passes through the outer wall of the valve shaft section 3103. An annular cavity 105 is opened on the inner circumferential surface of the central cavity 104 where the port of the radial fluid channel 3111 passes through the outer wall of the valve shaft section 3103 is located. The annular cavity 105 is connected to the other end of the shortened connecting channel 107 and the shortened movement channel 109 opened inside the housing 1. This structure allows the shortened motion channel 109 to pass through the shortened connecting channel 107, and then through the radial fluid channel 3111 and the transition fluid channel 3112 to the right-angle channel 3311 and the large cavity 3107, thereby cooperating with the drive valves of different sizes.

[0087] Whenever the length of the transmission rod 4 extending beyond the housing 1 is too long, the following adjustment to reduce the extension length is performed. The specific shortening process is as follows:

[0088] like Figure 21As shown, in operation: each time the transmission rod 4 presses into the housing 1, the pressure is transmitted to the pressure chamber S5 through the cylindrical hole 102. The pressure in the pressure chamber S5 increases, and then the pressure is transmitted through the central fluid channel 3108 to the axial channel 3313 of the shortening component 33 and the inner cavity 3309 of the one-way valve. The pressure in the inner cavity 3309 of the one-way valve is then transmitted to the small valve chamber 3312 through the fluid hole 3310. At this time, since the pressure in the small one-way valve and the spring force of the small spring 3307 are in the same direction, the small one-way valve cannot open. However, the pressure in the overall cavity formed by the small valve chamber 3312, the inner cavity 3309 of the one-way valve, and the axial channel 3313 is greater than the pressure in the right-angle channel 3311, causing the large T-shaped valve 3303 to move forward.

[0089] On the one hand, after the large T-shaped valve 3303 moves forward, it will push the front end face of the lever sleeve 3301 to press against the outer flange of the clutch section 3102, forming a coaxial rotating meshing connection, that is, the lever sleeve 3301 and the adjusting shaft 31 rotate coaxially.

[0090] On the other hand, as the large T-valve 3303 moves forward, the large one-way valve also opens. The oil in the central fluid channel 3108 flows through the gap into the large cavity 3107, then through the transition fluid channel 3112 and the radial fluid channel 3111, and finally into the shortened connecting channel 107. After passing through the shortened connecting channel 107, it flows into the shortened movement channel 109, driving the arc-shaped push rod 3302 in the shortened movement channel 109 to push the lever sleeve 3301 in the lever space 106. This causes the lever of the lever sleeve 3301 to overcome the magnetic force between itself and the lever magnet 3314 and swing within the lever space 106. As a result, the swinging of the lever sleeve 3301 drives the adjusting shaft 31 to rotate. Then, the rotation of the adjusting shaft 31 drives the adjusting plate 5 to move axially to the rear end via the threaded sliding pair, thereby expanding the pressure chamber S5. After the pressure in the pressure chamber S5 decreases, the pressure is transmitted through the cylindrical hole 102, ultimately causing the transmission rod 4 to move to the rear end. Figure 23 As shown, the total length LX of actuator 0 becomes shorter, thereby completing the adaptive retraction motion. Therefore, the thread direction relationship between adjusting shaft 31 and adjusting plate 5 should be such that when adjusting shaft 31 is pushed forward by arc-shaped push rod 3302 to rotate with lever sleeve 3301, adjusting plate 5 is limited and cannot rotate, but can move backward.

[0091] like Figure 20 (b) and Figure 22As shown, in the return state: each time the transmission rod 4 moves outward from the housing 1 without pressing, the process is basically the opposite of the above. The pressure in the pressure chamber S5 is released, and the pressure in the overall cavity formed by the small valve chamber 3312, the one-way valve inner cavity 3309, and the axial channel 3313 is also released, and the pressure is greatly reduced. The pressure in the overall cavity formed by the small valve chamber 3312, the one-way valve inner cavity 3309, and the axial channel 3313 is greater than the pressure in the right-angle channel 3311, and the large T-valve 33... 03 moves backward, and under the action of the large spring 3304, the large check valve closes rapidly. However, because the oil in the integral cavity formed by the right-angle channel 3311, the transition fluid channel 3112, the radial fluid channel 3111, and the large cavity 3107 cannot be discharged, the pressure in the integral cavity formed by the right-angle channel 3311, the transition fluid channel 3112, the radial fluid channel 3111, and the large cavity 3107 will be greater than the pressure in the small valve cavity 3312 and the inner cavity 3307 after the large check valve closes rapidly. The pressure within the integral cavity formed by 9 and the axial channel 3313 will push the small T-valve 3306 backward, causing the small check valve to open. After the small check valve opens, due to the magnetic force of the lever magnet 3314 on the lever sleeve 3301, the lever sleeve 3301 returns to its original position under the magnetic force of the lever magnet 3314, returning to the position close to the stepped surface between the lever space 106 and the shortening movement channel 109, thereby retracting the arc-shaped push rod 3302. 02 The retraction will push the oil in the shortened motion channel 109 and the shortened connecting channel 107 back into the overall cavity composed of the right-angle channel 3311, the transition fluid channel 3112, the radial fluid channel 3111 and the large cavity 3107. Then the oil in the right-angle channel 3311 flows into the small valve cavity 3312 through the gap. The oil in the small valve cavity 3312 then flows into the central fluid channel 3108 through the one-way valve inner cavity 3309 and the axial channel 3313, and finally returns to the pressure chamber S5.

[0092] It should be noted that the entire process described above is automatically adjusted by the system.

[0093] like Figure 14As shown, the elongation adjustment structure 6 includes an adjustment shaft 31 and an adjustment assembly 61. The adjustment shaft 31 is located on the central axis of the housing 1. One end of the adjustment shaft 31 extends into the central cavity 104, and the other end of the adjustment shaft 31 passes through the central cavity 104 and extends into the adjustment cavity 101, and then passes through the tilt adjustment structure 2 and the central hole of the adjustment plate 5 for threaded connection. The middle part of the adjustment shaft 31 is sealed to the inner wall of the rear end of the central cavity 104 when passing through it, and is rotatably supported by the bearing 32, so that the front part of the central cavity 104 forms a relatively closed motion cavity S3. The adjustment assembly 61 is installed at the front end of the adjustment shaft 31 in the motion cavity S3 in front of the bearing 32; the bearing 32 is a double row angular contact ball bearing. The isolation column 403 is also provided with a connecting cavity and a connecting channel. The pressure of the inner cavity 407 of the isolation column of the cylindrical hole 102 is transmitted to the motion cavity S3 through the connecting cavity and the connecting channel, thereby driving the length adjustment component 61 to drive the adjustment shaft 31 to rotate, thereby driving the adjustment plate 5 and the transmission rod 4 to move towards the front end to achieve elongation.

[0094] When the length of the transmission rod 4 extending out of the housing 1 is too short, each time the transmission rod 4 presses into the housing 1, the pressure is transmitted to the cylindrical hole 102, and then transmitted to the length adjustment component 61 through the connecting cavity and connecting channel on the isolation column 403. This drives the length adjustment component 61 to move and rotate the adjustment shaft 31. The rotation of the adjustment shaft 31 then drives the adjustment plate 5 to move axially towards the front end through the threaded sliding pair, thereby reducing the volume of the pressure chamber S5. After the pressure in the pressure chamber S5 increases, the pressure is transmitted and finally causes the transmission rod 4 to move towards the front end, thus completing the adaptive elongation movement.

[0095] like Figure 24As shown, the length adjustment assembly 61 includes a ring sleeve 611, a shaped rod 612 made of magnetic material, a ring magnet 614, a pull rod mechanism 615, and a stop 616. The ring sleeve 611 is axially movable and rotatably fitted onto the end section 3101 near its end. The ring magnet 614 is fixedly fitted onto the end of the end section 3101 of the adjustment shaft 31. The ring sleeve 611 is located between the ring magnet 614 and the clutch section 3102. A radially upward-arranged shaped rod 612 is fixedly provided on the top circumferential surface of the ring sleeve 611. The shaped rod 612 and the ring sleeve 611 move together in a fixed manner. A baffle 616 is fixedly provided on one side of the top of the motion cavity S3 at the end of the end section 3101 of the adjusting shaft 31. The irregular rod 612 is located on the side of the baffle 616. The baffle 616 is fixed to the housing 1. A pull rod space 108 is provided on the other side for the arrangement and movement of the pull rod mechanism 615. The pull rod mechanism 615 is arranged inside the pull rod space 108. One end of the pull rod mechanism 615 is movably inserted into the housing 1 and is connected to the inner cavity 407 of the isolation column of the cylindrical hole 102 through a connecting cavity and a connecting channel. The side end face of the baffle 616 facing the pull rod mechanism 615 and the pull rod space 108 is set as a vertical plane. A square magnet 613 is provided inside the baffle 616 for magnetically repelling the internal structure of the pull rod mechanism 615 and magnetically adsorbing the irregular rod 612.

[0096] The square magnet 613 of this invention has two functions: one is to magnetically attract the irregularly shaped rod 612, and the other is to magnetically repel the flat magnet 6156 in the pull rod mechanism 615, thus achieving a dual function and effect. Under normal conditions, the irregularly shaped rod 612 is attracted by the square magnet 613 and pressed tightly against the vertical plane of the baffle 616.

[0097] The diameter of the clutch section 3102 of the adjusting shaft 31 is larger than the diameter of the end section 3101. A stepped surface is formed between the end section 3101 and the clutch section 3102 of the adjusting shaft 31. The stepped surface and the rear end face of the ring sleeve 611 are provided with a clutch surface that engages and disengages with each other, so that the stepped surface and the rear end face of the ring sleeve 611 form a coaxial rotational meshing connection when they are in close contact with each other, that is, the ring sleeve 611 and the adjusting shaft 31 rotate coaxially.

[0098] like Figure 25 and Figure 26As shown, the lever mechanism 615 includes a reciprocating lever 6151, a magnet block 6152, a first pawl 6153, a second pawl 6154, and a flat magnet 6156. One end of the reciprocating lever 6151 is fixedly fitted with a magnet block 6152 for magnetically attracting the first pawl 6153 to return it to its horizontal position. The other end of the reciprocating lever 6151 is inserted into the housing 1 of the lever space 108. One end of the reciprocating lever 6151 is hinged to the first pawl 6153 via a horizontal pin, allowing the first pawl 6153 to swing and rotate up and down around the horizontal pin. A second pawl 6154 is hinged to one side of the first pawl 6153 via a vertical pin, forming a scissor-like clamping structure. The second pawl 6154 can swing and rotate horizontally left and right around the vertical pin. A flat magnet 6156 is embedded inside the first pawl 6153 for magnetically repelling engagement with the square magnet 613. A reset magnet 617 for resetting the pull rod mechanism 615 is embedded beside the housing 1 into which the reciprocating rod 6151 of the pull rod mechanism 615 extends. In a specific implementation, a reset magnet 617 for providing reset power is also provided, and the reset magnet 617 can be installed in... Figure 5 The marked location. The function of the reset magnet 617 is: when the pressure in the elongated connecting channel 111, the elongated connecting cavity 110, and the inner cavity 407 of the isolation column decreases, the reset magnet 617 attracts the magnet block 6152, thereby driving the entire pull rod mechanism 615 to reset. The magnet block 6152 also has two functions, enabling it to be used for multiple purposes.

[0099] The second claw 6154 is hinged to the first claw 6153 at its root, and one end of the second claw 6154 is fixedly connected to the support lug 6158 near its root. The other end of the support lug 6158 is connected to the middle of the first claw 6153 via a spring 6155, so that under the action of the spring 6155, the other end of the support lug 6158 abuts against the side of the first claw 6153, so that the second claw 6154 moves toward the first claw 6153 to maintain a clamping posture under normal conditions. Under normal conditions, there is a clamping gap between the second claw 6154 and the first claw 6153 with a width smaller than the outer diameter of the shaped rod 612 for clamping the shaped rod 612.

[0100] like Figure 26 As shown, the corner of the outer end of the first jaw 6153 near the second jaw 6154 is formed by beveling to create a wedge surface 6159. The wedge surface 6159 is used to engage with and contact the irregular rod 612, and to drive the irregular rod 612 to move backward. Figure 27As shown, the root of the first jaw 6153 is hinged to the reciprocating rod 6151. A localized magnetic element or material is provided at the root of the first jaw 6153 near the magnet block 6152. The magnetic element or material attracts the magnet block 6152, providing the first jaw 6153 and the second jaw 6154 with an overall swing-rotational reset force. This allows the magnet block 6152 to magnetically attract the magnetic element or material, ensuring that the first jaw 6153 and the second jaw 6154 return to a horizontal position after swinging and rotating. In the initial state, under the action of the magnet block 6152, both the first jaw 6153 and the second jaw 6154 remain horizontal with the reciprocating rod 6151.

[0101] like Figure 24 As shown, the pull rod space 108 has an elongation movement channel on the wall of the motion cavity S3 on the side away from the stop 616. The reciprocating rod 6151 of the pull rod mechanism 615 is axially movable and sealed in one end of the elongation movement channel. The other end of the elongation movement channel is connected to the inner cavity 407 of the isolation column of the cylindrical hole 102 through the connecting cavity and the connecting channel on the isolation column 403.

[0102] like Figure 28 As shown, the connecting cavity and connecting channel on the isolation column 403 specifically include an elongated connecting cavity 110, an air hole 406, and an elongated connecting channel 111. An annular elongated connecting cavity 110 is also provided on the wall of the cylindrical hole 102 at the isolation column 403. At least one isolation column 403 has an air hole 406 on at least one side wall of its inner cavity 407, allowing the inner cavity 407 to connect with the elongated connecting cavity 110 via the air hole 406. The elongated connecting cavity 110 is connected to one end of the elongated moving channel via the elongated connecting channel 111 inside the housing 1, and the other end of the elongated moving channel connects to the pull rod space 108. This allows the gas pressure inside the inner cavity 407 of the isolation column to be transmitted sequentially through the air hole 406, the elongated connecting cavity 110, and the elongated connecting channel 111 to the elongated moving channel, pushing the reciprocating rod 6151 in the elongated moving channel towards the irregular rod 612 and the baffle 616. When the reciprocating rod 6151 moves toward the irregular rod 612, the stop blocks the irregular rod 612, and the ring sleeve 611 does not rotate.

[0103] like Figure 34As shown, the irregular rod 612 is mainly composed of a thick rod 6121, a thin rod 6122, and a positioning block 6123. The thick rod 6121 and the thin rod 6122 are arranged coaxially at the top and bottom respectively. The thick rod 6121 is used to cooperate with the pull rod mechanism 615 and be driven to move. The lower end of the thick rod 6121 and the upper end of the thin rod 6122 are coaxially connected. The lower end of the thin rod 6122 is fixed on the ring sleeve 611. A positioning block 6123 is fixedly installed between the bottom end of the thick rod 6121 and the thin rod 6122, and is arranged radially perpendicular to the thick rod 6121 and the thin rod 6122. The positioning block 6123 is used to cooperate with the square empty slot 6157 in the pull rod mechanism 615. The size of the positioning block 6123 is slightly smaller than the size of the square empty slot 6157. The lower plane of the positioning block 6123 coincides with the lower plane of the thick rod 6121. The positioning block 6123 is used to abut the claws of the pull rod mechanism 615 at the appropriate time. The function of the positioning block 6123 is: when the square magnet 613 and the flat magnet 6156 generate repulsive force, the first claw 6153 and the second claw 6154 tend to rotate downward. The positioning block 6123 is used to abut the second claw 6154, thereby preventing the two claws from rotating downward at an inappropriate time.

[0104] During operation, the thick rod 6121 is positioned in the gap between the second jaw 6154 and the first jaw 6153, and is clamped and driven by the second jaw 6154 and the first jaw 6153. In the lever mechanism 615, the second jaw 6154 has a vertically through-groove near its root, serving as a square slot 6157. This square slot 6157 is used to engage with the positioning block 6123 of the irregular rod 612. Specifically, when the lever mechanism 615 is radially pushed to its limit and moves close to the irregular rod 612 and the stop 616, the square magnet 613 magnetically repels the flat magnet 6156, causing the first jaw 6153 and the second jaw 6154 to swing downwards as a whole. This allows the positioning block 6123 of the irregular rod 612 to freely pass through the square slot 6157 without being obstructed from passing through the second jaw 6154.

[0105] Whenever the length of the transmission rod 4 extending out of the housing 1 is too short, the following extension length adjustment is performed. The specific extension process is as follows: In the original state, the ring sleeve 611 and the irregular rod 612 are magnetically attracted and fixed by the annular magnet 614 at the front end of the adjusting shaft 31. At the same time, the irregular rod 612 of magnetic material is magnetically attracted and pressed tightly against the side of the baffle 616 by the square magnet 613 inside the baffle 616. The magnet block 6152 of the pull rod mechanism 615 will magnetically attract the root of the first claw 6153, so that the first claw 6153 and the second claw 6154 cannot rotate and remain horizontally arranged.

[0106] like Figure 33As shown, the working state is as follows: Each time the transmission rod 4 presses into the housing 1, the pressure is transmitted through the cylindrical hole 102 to the inner cavity 407 of the isolation column 403. The gas pressure in the inner cavity 407 is transmitted sequentially through the air hole 406, the elongation connecting cavity 110, and the elongation connecting channel 111 to the elongation movement channel, pushing the reciprocating rod 6151 and the overall tie rod mechanism 615 in the elongation movement channel towards the irregular rod 612 and the stop 616. If the tie rod mechanism 615 moves towards the irregular rod 612, the irregular rod 612 first contacts the inclined wedge surface 6159 of the first pawl in the tie rod mechanism 615. Figure 29 and Figure 30 As shown, it slides into the clamping gap between the first jaw 6153 and the second jaw 6154 and is clamped by the jaws, and then pulled by the clamping gap. The specific process is as follows:

[0107] First, the wedge surface 6159 pushes the irregular rod 612 towards the rear end. The irregular rod 612 and its ring sleeve 611, as a whole, overcome the magnetic attraction force of the ring magnet 614 and move towards the rear end until they mesh and engage with the stepped surface of the clutch section 3102 of the adjusting shaft 31. Figure 31 and Figure 32 As shown, the ring sleeve 611 and the adjusting shaft 31 are connected to rotate synchronously;

[0108] Then, with the ring sleeve 611 and the adjusting shaft 31 maintaining an engaged connection, the shaped rod 612 has slid into the clamping gap between the first jaw 6153 and the second jaw 6154 and is clamped by the jaws. The pull rod mechanism 615 continues to move towards the shaped rod 612, and the shaped rod 612 continues to move horizontally deeper into the clamping gap. At this time, the shaped rod 612 overcomes friction in the clamping gap and is blocked by the stop 616, preventing it from moving, thus keeping the ring sleeve 611 stationary. At this time, the first jaw 6153 and the second jaw 6154 maintain a horizontal posture, and the positioning block 6123 of the shaped rod 612 will always remain below the second jaw 6154.

[0109] like Figure 33 As shown, the return state:

[0110] When the transmission rod 4 returns to its original position outside the housing 1, the pressure in the cylindrical hole 102 and the inner cavity 407 of the isolation column decreases significantly and is released. Under the magnetic attraction of the magnet block 6152 of the pull rod mechanism 615 by the reset magnet 617, the pull rod mechanism 615 moves back to its original position. The pressure in the extension movement channel is relatively high. After passing through the extension connecting channel 111, the extension connecting cavity 110, and the air hole 406, it returns to the inner cavity 407 of the isolation column and is lowered and released, thereby driving the reciprocating rod 6151 to perform a return movement, so that the pull rod mechanism 615 is pulled back.

[0111] When the pull rod mechanism 615 is returned to its original position, the irregular rod 612 remains clamped within the clamping gap and maintains a certain horizontal depth. Since there are no obstructions such as the stop 616, the return of the pull rod mechanism 615 will also pull the irregular rod 612 away from the stop 616 and closer to the pull rod space 108. At this time, the movement of the irregular rod 612 drives the overall rotation of the irregular rod 612 and the ring sleeve 611, thereby driving the adjusting shaft 31 to rotate synchronously. Then, the rotation of the adjusting shaft 31 drives the adjusting plate 5 to move axially towards the front end via the threaded sliding pair, realizing the reduction of the pressure chamber S5. After the pressure in the pressure chamber S5 increases, the pressure is transmitted through the cylindrical hole 102, ultimately causing the transmission rod 4 to move towards the front end. Figure 36 As shown, the total length LX of actuator 0 increases, thereby completing the adaptive elongation motion. Therefore, the thread direction relationship between adjusting shaft 31 and adjusting plate 5 should be such that when adjusting shaft 31 is rotated by ring sleeve 611, adjusting plate 5 is limited and cannot rotate, but can move forward.

[0112] Then, when the shaped rod 612 overcomes the frictional force of the clamping gap and disengages from the clamping gap, it is released from the clamping gap. Once the shaped rod 612 is released, the shaped rod 612 and the ring sleeve 611 are magnetically attracted in two directions by the square magnet 613 and the ring magnet 614 inside the stop 616, respectively. At the same time, the ring sleeve 611 disengages from the step surface of the clutch section 3102 of the adjusting shaft 31, and the shaped rod 612 is attracted to the side of the stop 616 and returns to its position for the next operation.

[0113] It should be noted that the entire process described above is automatically adjusted by the system. Repeating the above actions multiple times allows for multiple adjustments to the actuator length.

[0114] like Figure 35 As shown, the limiting state:

[0115] When the transmission rod 4 presses into the housing 1 each time, if the pressure transmitted to the cylindrical hole 102 via the impact disc 401 and the transmission column 402 is too high, the excessive pressure in the cylindrical hole 102 will be transmitted sequentially through the inner cavity 407 of the isolation column, the air hole 406, the elongation connecting cavity 110, and the elongation connecting channel 111 to the elongation movement channel. This will push the reciprocating rod 6151 and the overall tie rod mechanism 615 in the elongation movement channel to move towards the extreme position close to the irregular rod 612 and the stop 616. That is, the irregularly shaped rod 612 extends horizontally into the innermost part of the clamping gap. In this case, the flat magnet 6156 inside the first claw 6153 of the pull rod mechanism 615 is located directly below the square magnet 613 inside the stop 616, and the fixed square magnet 613 will generate a repulsive force on the flat magnet 6156. This causes the first claw 6153 and the second claw 6154 to overcome the magnetic force of the magnet block 6152 and swing rapidly downward in the pull rod mechanism 615. During the swinging process,

[0116] The positioning block 6123 on the irregular rod 612 will pass through the square slot 6157 on the second claw 6154. After the positioning block 6123 passes through the square slot 6157, the pull rod mechanism 615 will return to its original position. During the return motion of the lever mechanism 615, the positioning block 6123 will always remain on the second jaw 6154. This prevents the thicker part 6121 of the shaped rod 612 from being in the clamping gap between the first jaw 6153 and the second jaw 6154. Meanwhile, the diameter of the thinner part 6122 of the shaped rod 612 is smaller than the initial gap between the first jaw 6153 and the jaw 6154. Therefore, the shaped rod 612 cannot be clamped and moved. As a result, when the pressure in the cylindrical hole 102 is too high, the shaped rod 612 and the ring sleeve 611 cannot be rotated, and the adjusting plate 5 cannot be moved axially to the front end. This prevents the pressure in the pressure chamber S5 from continuously increasing, ensuring work safety and effectively solving the pressure problem in the ultimate state.

[0117] The effect achieved under the above extreme conditions is that when the length of the actuator is appropriate, although the lever mechanism 615 still reciprocates, it will not clamp the irregular rod 612 to rotate, and therefore will not drive the adjusting shaft 31 to rotate, and thus will not adjust the length of the actuator.

[0118] In specific implementation, the adjustment shaft 31 of the elongation adjustment structure 6 and the adjustment shaft 31 of the shortening adjustment structure 3 use the same shaft. The shortening adjustment structure 3 and the elongation adjustment structure 6 can work together. Generally, each time the transmission rod 4 presses into the housing 1, the elongation adjustment structure 6 works once to perform an elongation movement. During this period, the elongation adjustment structure 6 performs multiple elongation movements. Then, when the elongation reaches a certain extent and the pressure in the pressure chamber S5 is sufficiently high, the shortening adjustment structure 3 works once to perform a shortening movement. Then, the elongation adjustment structure 6 performs multiple elongation movements, thereby continuously and adaptively adjusting the elongation of the transmission rod 4 in real time to adapt to the internal pressure and improve the life of the device.

[0119] In specific implementation, the elongation adjustment structure 6 can work once to perform an elongation movement, and then the shortening adjustment structure 3 can work once to perform a shortening movement. The shortening adjustment structure 3 and the elongation adjustment structure 6 can work once each to perform a continuous cycle for real-time adaptive adjustment, thereby adjusting and balancing the internal pressure and improving the lifespan of the device.

Claims

1. A robot actuator with autonomous feedback and rapid deformation, characterized in that: The actuator (0) includes a housing (1), a tilt adjustment structure (2), a shortening adjustment structure (3), an elongation adjustment structure (6) located within the housing (1), and transmission rods (4) and adjustment plates (5) located at the front and rear ends of the housing (1), respectively; an adjustment cavity (101) is provided in the rear part of the housing (1), and the rear end of the adjustment cavity (101) is connected to the outside atmosphere through a through hole on the rear end face of the housing (1); a plurality of cylindrical holes (102) and A guide hole (103) is located at the center, and multiple cylindrical holes (102) are located around the guide hole (103) and are evenly distributed along the circumferential direction. The multiple cylindrical holes (102) are divided into multiple pairs, with each pair consisting of two cylindrical holes (102) symmetrically arranged on both sides of the central axis of the housing (1). The front ends of both the cylindrical holes (102) and the guide hole (103) extend through the front end face of the housing (1), and the rear end of the cylindrical holes (102) is connected to the adjustment cavity (101). An inclined adjustment structure (2) and an adjustment plate (5) are installed sequentially from front to back inside the adjustment cavity (101). The front end of the inclined adjustment structure (2) extends into each cylindrical hole (102). The adjustment plate (5) can only move axially within the adjustment cavity (101) and cannot rotate. A central cavity (104) is provided in the middle of the housing (1). The rear end of the central cavity (104) is connected to the adjustment cavity (101). A shortening adjustment structure (3) and an elongation adjustment structure (6) are installed in the central cavity (104). The shortening adjustment... One end of structure (3) and elongation adjustment structure (6) extends out of the central cavity (104) and then passes through the tilt adjustment structure (2) and connects to the adjustment plate (5); the transmission rod (4) is located at the front end of the housing (1) to contact the output pressure, and a part of the transmission rod (4) extends into the cylindrical hole (102) and the guide hole (103) for axial movement, thereby driving the pressure change in the cylindrical hole (102) to be transmitted to the tilt adjustment structure (2), the shortening adjustment structure (3), and the elongation adjustment structure (6).

2. The robot actuator with autonomous feedback and rapid deformation according to claim 1, characterized in that: The transmission rod (4) includes an impact disc (401), multiple transmission columns (402), multiple isolation columns (403), a guide column (404), and multiple guide magnets (405); the front end face of the impact disc (401) is used to contact the external action surface and sense the inclination of the receiving external action surface; the center of the rear end face of the impact disc (401) is hinged to the front end of the guide column (404), and the rear end of the guide column (404) is axially movable and sealed into the guide hole (103); the front end of each transmission column (402) The front end of each transmission column (402) is fitted with a guide magnet (405) for magnetic adsorption with the impact disk (401) of magnetic material. The rear end of each transmission column (402) is axially movable and sealed into its corresponding cylindrical hole (102). The middle part of each cylindrical hole (102) is axially movable and sealed with an isolation column (403). The isolation column (403) has a blind hole on its front end face facing forward as the inner cavity (407) of the isolation column. The outer peripheral surfaces of the tilt adjustment structure (2) and the adjustment plate (5) are sealed to the cavity wall of the adjustment cavity (101). The adjustment cavity (101) is divided into an air cavity (S4), a pressure cavity (S5), and a free cavity (S6) from front to back by the tilt adjustment structure (2) and the adjustment plate (5). The outer peripheral surface of the isolation column (403) is sealed to the wall of the cylindrical hole (102). The cylindrical hole (102) is divided into a front compression cavity (S1) and a rear transmission cavity (S2) by the isolation column (403). When the shortening adjustment structure (3) and the elongation adjustment structure (6) are installed in the central cavity (104), they form a relative seal between themselves and the rear cavity wall of the central cavity (104), so that the front cavity space of the central cavity (104) forms a relatively independent motion cavity (S3).

3. The robot actuator with autonomous feedback and rapid deformation according to claim 1, characterized in that: The tilt adjustment structure (2) includes a sliding shell (21) and at least one switch push rod pressure relief mechanism. The sliding shell (21) is sealed in the adjustment cavity (101) and one end extends into the cylindrical hole (102). The switch push rod pressure relief mechanism is installed in the sliding shell (21). The sliding shell (21) is composed of a sliding shell disc (201) and a sliding shell column (202). Multiple sliding shell columns (202) are fixedly connected to the front end face of the sliding shell disc (201). The multiple sliding shell columns (202) are symmetrically arranged in pairs on the sliding shell. The sliding shell cylinders (202) on both sides of the center of the front end face of the shell disc (201) are divided into multiple pairs. The sliding shell disc (201) is axially movable and sealed in the adjustment cavity (101). The multiple sliding shell cylinders (202) are axially movable and sealed in each cylindrical hole (102) of the shell (1). Each sliding shell cylinder (202) has a sliding shell cylinder inner cavity (S202). The front end of the sliding shell cylinder inner cavity (S202) extends through the sliding shell cylinder (202) and communicates with the cylindrical hole (102). At least one switch push rod pressure relief mechanism is installed inside the sliding housing (201). Each switch push rod pressure relief mechanism includes a switch push rod assembly and a sealed cavity (207) and a vacuum cavity (206) opened on the sliding housing (201). The sealed cavity (207) and the vacuum cavity (206) are arranged sequentially from front to back along the axial direction of the sliding housing (201) and are interconnected. The switch push rod assembly is installed on the sealed cavity (207). Each switch push rod assembly includes a switch shaft (22) and push rods (23) located on both sides of the switch shaft (22). Both ends of the switch shaft (22) are rotatably mounted in the sealing cavity (207) via bearings; a thin shaft section (221) and a sealing shaft section (223) are arranged sequentially from the front end to the rear end between the two ends of the switch shaft (22); the outer circumferential surface of the sealing shaft section (223) and the inner wall of the sealing cavity (207) are sealed together; there is an annular cavity between the outer circumferential surface of the thin shaft section (221) and the inner wall of the sealing cavity (207); a radially arranged swing rod (222) is fixedly connected to one side of the outer circumference of the thin shaft section (221); the swing rod (222) can rotate and swing with the thin shaft section (221) of the switch shaft (22) in the annular cavity; The sliding shell discs (201) on both sides of the swing rod (222) are each provided with a strip-shaped motion channel. The two strip-shaped motion channels are arranged in parallel. Each strip-shaped motion channel is sealed with a push rod (23). One end of each strip-shaped motion channel is connected to the annular cavity, and the other end is connected to the rear end of the inner cavity (S202) of the sliding shell column through its corresponding internal channel (204). The push rod (23) can slide in the strip-shaped motion channel and thus push the swing rod (222) to swing. The strip-shaped motion channels on both sides of the swing rod (222) in the switch push rod assembly of each switch push rod pressure relief mechanism are respectively connected to the rear end of the inner cavity (S202) of the sliding shell column of each pair of sliding shell columns (202). The switch shaft (22) of the switch push rod assembly is provided with a warning pressure relief structure that cooperates with the vacuum cavity (206) of the sliding shell plate (201). The warning pressure relief structure includes a pressure relief channel (205) opened inside the sliding shell plate (201) and a switch shaft inner cavity (224) and a switch hole (225) provided on the sealing shaft section (223) of the switch shaft (22). The sealing shaft section (223) of the switch shaft (22) has a switch shaft inner cavity (224) on the end face facing the vacuum cavity (206). 224) and vacuum chamber (206) are directly connected. The middle side wall of the sealing shaft section (223) of the switch shaft (22) is provided with multiple switch holes (225) evenly distributed along the same circumference. The inner end of each switch hole (225) is connected to the inner cavity (224) of the switch shaft. The outer end of each switch hole (225) is sealed by the wall of the sealing cavity (207) of the sliding shell disc (201). A pressure relief channel (205) connected to the vacuum chamber (206) is opened on the wall of the sealing cavity (207) at any point on the circumference where the multiple switch holes (225) are located.

4. The robot actuator with autonomous feedback and rapid deformation according to claim 1, characterized in that: The shortening adjustment structure (3) includes an adjustment shaft (31) and a shortening component (33). The adjustment shaft (31) is located on the central axis of the housing (1). One end of the adjustment shaft (31) extends into the central cavity (104), and the other end of the adjustment shaft (31) passes through the central cavity (104) and extends into the adjustment cavity (101), and then passes through the inclined adjustment structure (2) and the central hole of the adjustment plate (5) for threaded connection. When the middle part of the adjustment shaft (31) passes through the central cavity (104), it is sealed and connected to the inner wall of the rear end of the central cavity (104), and is rotatably supported by a bearing (32), so that the front part of the central cavity (104) forms a relatively closed motion cavity (S3). The adjusting shaft (31) inside the motion chamber (S3) is equipped with a shortening component (33); the adjusting shaft (31) located in the pressure chamber (S5) between the tilt adjustment structure (2) and the adjusting plate (5) has a radial first fluid hole (3109) on its outer peripheral wall, and a central fluid channel (3108) is axially opened in the center of the adjusting shaft (31). The rear end of the central fluid channel (3108) is connected to the pressure chamber (S5) through the first fluid hole (3109), and the front end is connected to the shortening component (33), thereby driving the shortening component (33) to drive the adjusting shaft (31) to rotate, thereby driving the adjusting plate (5) and the transmission rod (4) to move to the rear end to achieve shortening.

5. The robot actuator with autonomous feedback and rapid deformation according to claim 4, characterized in that: The adjusting shaft (31) has a stepped shaft structure and is divided into five sections from the front end to the rear end: end section (3101), clutch section (3102), valve shaft section (3103), long shaft section (3104), and threaded section (3105). The threaded section (3105) is provided with external threads, and the external threads of the threaded section (3105) are threaded into the center hole of the adjusting plate (5). The front part of the long shaft section (3104) is rotatably fitted into the rear end of the central cavity (104) through a bearing (32), and the center axis of the long shaft section (3104) is axially opened. The fluid channel (3108) has a first fluid hole (3109) at the rear end of the long shaft section (3104) near the threaded section (3105); the valve shaft section (3103) is sealed in the central cavity (104), and the valve shaft section (3103) has an inner cavity and flow channel that communicate with the front end of the central fluid channel (3108). The clutch section (3102) has a strip groove near the rear end of the valve shaft section (3103), and the shortening component (33) is installed in the inner cavity and flow channel of the valve shaft section (3103) and the strip groove of the clutch section (3102).

6. The robot actuator with autonomous feedback and rapid deformation according to claim 4, characterized in that: The shortening assembly (33) includes a large one-way valve, a small one-way valve, and a lever sleeve (3301); the valve shaft section (3103) of the regulating shaft (31) has a small cavity (3106) and a large cavity (3107) sequentially opened along the axial direction from the front end to the rear end, the small cavity (3106) and the large cavity (3107) are coaxially connected, and the large cavity (3107) is connected to the central fluid channel (3108); the clutch section (3102) of the regulating shaft (31) has a vertically penetrating strip groove (3110) in the middle of the rear end near the valve shaft section (3103). A large one-way valve that allows only forward passage is installed in the space formed by the strip-shaped through groove (3110), the small cavity (3106), and the large cavity (3107). A small one-way valve that allows only forward passage is installed in the large one-way valve. The clutch section (3102) has an outer flange at the end near the end section (3101). A lever sleeve (3301) is movably fitted on the clutch section (3102) between the outer flange and the strip-shaped through groove (3110). When the rear step surface of the outer flange and the front end surface of the lever sleeve (3301) are in close contact, they form a coaxial rotational meshing connection. The large one-way valve includes a large T-shaped valve (3303) and a large spring (3304). The small end of the large T-shaped valve (3303) is installed in the small cavity (3106) and the large cavity (3107). The large end of the large T-shaped valve (3303) is installed in the strip groove (3110) and can only move axially along the strip groove (3110). The very end of the small end of the large T-shaped valve (3303) is fixedly provided with an annular flange. The large spring (3304) is connected between the stepped surface between the small cavity (3106) and the large cavity (3107) and the annular flange. The large spring (3304) is also fitted outside the small end of the large T-shaped valve (3303). (3303) The interior center is provided with a small valve chamber (3312) and an axial channel (3313) in sequence from the front end to the rear end along the axial direction. The small valve chamber (3312) and the axial channel (3313) are connected. The axial channel (3313) and the central fluid channel (3108) are coaxially and directly connected. A small check valve is installed in the small valve chamber (3312). A right-angle channel (3311) is provided in the large T-shaped valve (3303) on the front end face of the small valve chamber (3312). One end of the right-angle channel (3311) is connected to the small valve chamber (3312), and the other end is bent at a right angle and passes through the side wall of the large T-shaped valve (3303). The small one-way valve includes a small T-valve (3306) and a small spring (3307). The small end of the small T-valve (3306) is installed in the axial channel (3313), and the large end of the small T-valve (3306) is installed in the small valve cavity (3312) and plugs the connection between the front end face of the small valve cavity (3312) and the right-angle channel (3311). A small spring (3307) is connected between the stepped surface between the large end and the small end of the small T-valve (3306) and the rear end face of the small valve cavity (3312). 07), the small spring (3307) is also fitted outside the small end of the small T-valve (3306); the small end of the small T-valve (3306) is provided with a one-way valve cavity (3309), and the small end of the small T-valve (3306) has a radial second fluid hole (3310) on the side wall near the large end. The rear end of the one-way valve cavity (3309) and the axial channel (3313) are coaxially and directly connected. The front end of the one-way valve cavity (3309) is connected to the small valve cavity (3312) through the second fluid hole (3310); The lever sleeve (3301) consists of an annular portion and a lever fixedly connected to one side of the annular portion. The lever is magnetic. The annular portion is fitted onto the clutch section (3102) of the adjusting shaft (31). An arc-shaped lever space (106) for the rotation of the lever sleeve (3301) and the swinging of the lever is provided on one side of the motion cavity (S3) surrounding the lever. An arc-shaped shortening motion channel (109) is provided on the other side of the motion cavity (S3). (109) An arc-shaped push rod (3302) is installed in the middle with a sealed interior. The shortened motion channel (109) is directly connected to the lever space (106) at one end near the lever, and the other end is used to connect to the large cavity (3107) and the right-angle channel (3311). Two lever magnets (3314) for magnetically adsorbing the lever on the lever bushing (3301) are embedded in the clutch section (3102) on both sides of the shortened motion channel (109) near the lever. Meanwhile, a radial fluid channel (3111) and a transition fluid channel (3112) are opened inside the valve shaft section (3103). The other end of the right-angle channel (3311) of the large T-shaped valve (3303) in the small cavity (3106) is connected to one end of the radial fluid channel (3111). The rear end of the large cavity (3107) is connected to the middle of the transition fluid channel (3112) and the radial fluid channel (3111). The other end of the radial fluid channel (3111) passes through the outer wall of the valve shaft section (3103). An annular cavity (105) is opened on the inner circumferential surface of the central cavity (104) where the port of the radial fluid channel (3111) passes through the outer wall of the valve shaft section (3103). The annular cavity (105) is connected to the other end of the shortened connecting channel (107) and the shortened moving channel (109) opened inside the shell (1).

7. A robot actuator with autonomous feedback and rapid deformation according to claim 1 or 6, characterized in that: The elongation adjustment structure (6) includes an adjustment shaft (31) and an adjustment assembly (61); the adjustment shaft (31) is located on the central axis of the housing (1), one end of the adjustment shaft (31) extends into the central cavity (104), and the other end of the adjustment shaft (31) passes through the central cavity (104) and extends into the adjustment cavity (101), and is threadedly connected through the central hole of the tilt adjustment structure (2) and the adjustment plate (5); the middle part of the adjustment shaft (31) is sealed to the inner wall of the rear end of the central cavity (104) when it passes through the central cavity (104), and passes through... The bearing (32) is rotatably supported and connected, so that the front part of the central cavity (104) forms a relatively closed motion cavity (S3). The front end of the adjusting shaft (31) in the motion cavity (S3) is equipped with an adjusting component (61). The isolation column (403) is also provided with a connecting cavity and a connecting channel. The pressure of the cylindrical hole (102) is transmitted to the motion cavity (S3) through the connecting cavity and the connecting channel, thereby driving the adjusting component (61) to drive the adjusting shaft (31) to rotate, thereby driving the adjusting plate (5) and the transmission rod (4) to move towards the front end to achieve elongation.

8. The robot actuator with autonomous feedback and rapid deformation according to claim 7, characterized in that: The length adjustment assembly (61) includes a ring sleeve (611), a shaped rod (612) of magnetic material, a ring magnet (614), a pull rod mechanism (615), and a stop (616). The ring sleeve (611) is axially movable and rotatably fitted onto the end section (3101). The ring magnet (614) is fixedly fitted onto the end of the end section (3101) of the adjustment shaft (31). A shaped rod (612) arranged radially upward is fixedly provided on the top circumference of the ring sleeve (611). A stop (616) is fixedly provided on one side of the top of the motion cavity (S3) at the end of the end section (3101) of the adjustment shaft (31). The shaped rod (612) is located on the side of the baffle (616), and the other side is provided with a rod space (108) for the arrangement and movement of the rod mechanism (615). The rod mechanism (615) is arranged inside the rod space (108). One end of the rod mechanism (615) is movably inserted into the housing (1) and connected to the cylindrical hole (102) through the connecting cavity and the connecting channel. The side end face of the baffle (616) facing the rod mechanism (615) and the rod space (108) is set as a vertical plane. The baffle (616) is provided with a square magnet (613) for magnetically repelling the rod mechanism (615) and magnetically adsorbing the shaped rod (612). The diameter of the clutch section (3102) of the adjusting shaft (31) is larger than the diameter of the end section (3101). A stepped surface is formed between the end section (3101) and the clutch section (3102) of the adjusting shaft (31). The stepped surface and the rear end surface of the ring sleeve (611) are provided with a clutch surface that engages with each other, so that the stepped surface and the rear end surface of the ring sleeve (611) form a coaxial rotational meshing connection when they are in close contact with each other.

9. A robot actuator with autonomous feedback and rapid deformation according to claim 8, characterized in that: The aforementioned lever mechanism (615) includes a reciprocating rod (6151), a magnet (6152), a first pawl (6153), a second pawl (6154), and a flat magnet (6156). A magnet (6152) for magnetically attracting the first pawl (6153) is fixedly mounted at one end of the reciprocating rod (6151), and the first pawl (6153) is hinged to the other end of the reciprocating rod (6151) via a horizontal pin, allowing the first pawl (6153) to swing and rotate up and down. One side of the first pawl (6153) is connected via... A second pawl (6154) is hinged to a vertical pin shaft. A pawl clamping structure is formed between the first pawl (6153) and the second pawl (6154). The second pawl (6154) can swing and rotate horizontally. A flat magnet (6156) for magnetic repulsion engagement with a square magnet (613) is embedded inside the first pawl (6153). A reset magnet (617) for resetting the pull rod mechanism (615) is embedded next to the housing (1) into which the reciprocating rod (6151) of the pull rod mechanism (615) extends. The second claw (6154) is hinged to the first claw (6153) at its root, and one end of the support lug (6158) is fixedly connected to the second claw (6154) near its root. The other end of the support lug (6158) is connected to the middle of the first claw (6153) via a spring (6155), so that under the action of the spring (6155), the other end of the support lug (6158) abuts against the side of the first claw (6153), so that under normal conditions, the second claw (6154) moves closer to the first claw (6153) to maintain a clamping posture; under normal conditions, there is a clamping gap between the second claw (6154) and the first claw (6153) with a width smaller than the outer diameter of the shaped rod (612) for clamping the shaped rod (612); The corner of the end of the first claw (6153) near the second claw (6154) is formed by beveling to form a wedge surface (6159). The wedge surface (6159) is used to engage with and contact the shaped rod (612) and drive the shaped rod (612) to move backward. The root of the first claw (6153) is hinged to the reciprocating rod (6151). The root of the first claw (6153) is provided with a local magnetic component or magnetic material near the magnet block (6152). The magnetic component or magnetic material and the magnet block (6152) attract each other to provide the overall swing rotation and reset force of the first claw (6153) and the second claw (6154). The irregular rod (612) consists of a thick rod (6121), a thin rod (6122), and a positioning block (6123). The thick rod (6121) and the thin rod (6122) are arranged coaxially at the top and bottom respectively. The thick rod (6121) is used to cooperate with the pull rod mechanism (615) and be driven to move. The lower end of the thin rod (6122) is fixed on the ring sleeve (611). A radially arranged positioning block (6123) is fixed between the bottom end of the thick rod (6121) and the thin rod (6122). The second claw (6154) of the pull rod mechanism (615) has a through groove near the root as a square empty slot (6157). The square empty slot (6157) is used to cooperate with the positioning block (6123) of the irregular rod (612).

10. A robot actuator with autonomous feedback and rapid deformation according to claim 9, characterized in that: The pull rod space (108) has an elongation movement channel on the wall of the motion cavity (S3) on the side away from the stop (616). The reciprocating rod (6151) of the pull rod mechanism (615) is axially and movably inserted into one end of the elongation movement channel. The other end of the elongation movement channel is connected to the cylindrical hole (102) through the connecting cavity and connecting channel on the isolation column (403). The connecting cavity and connecting channel on the isolation column (403) specifically include an elongated connecting cavity (110), an air hole (406) and an elongated connecting channel (111). The cylindrical hole (102) at the isolation column (403) is also provided with an annular elongated connecting cavity (110). The isolation column (403) has an air hole (406) on the side wall of the inner cavity (407) of the isolation column, so that the inner cavity (407) of the isolation column is connected to the elongated connecting cavity (110) through the air hole (406). The elongated connecting cavity (110) is connected to one end of the elongated connecting channel (111) opened inside the shell (1) and the elongated movement channel. The other end of the elongated movement channel is connected to the pull rod space (108).

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