Distributed Electro-Hydraulic Finger Actuator for Compact Robot Hands
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Solution Overview
Problem
Current robot hands face limitations in grasping force, flexibility, and volume due to rigid connections and centralized hydraulic systems, which restrict their practical applications, especially in bionic and quadruped robots.
Innovation Solution
A micro electro-hydraulic linear actuator with a distributed hydraulic source, integrating a spherical pump and motor, provides power to each finger joint through modular design, allowing flexible movement and increased grasping force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If a centralized hydraulic source is used to drive multiple hydraulic actuators, then the driving force and flexibility of the system are improved, but the volume, weight, and complexity of the hardware pipelines increase significantly
Solution Approach 1:
The patent divides the centralized hydraulic source into multiple distributed micro hydraulic actuators, each containing its own miniaturized pump and motor. This segmentation eliminates the need for complex centralized pipelines while maintaining hydraulic driving capability at each joint.
Solution Approach 2:
The patent integrates the pump, motor, and hydraulic cylinder into a single integrated micro hydraulic actuator module. This merging of components reduces the number of separate hardware parts and simplifies the overall system structure.
2Power
If a centralized hydraulic source is used to drive multiple hydraulic actuators, then the driving force and flexibility of the system are improved, but the volume of the system increases
Solution Approach 1:
The patent segments the hydraulic power system into distributed micro actuators that can be placed at each joint, eliminating the need for large centralized hydraulic reservoirs and pipelines, thus reducing overall system volume.
Solution Approach 2:
The patent employs nested integration where the pump and motor are housed within the cylinder assembly, with components arranged concentrically and in compact configurations to minimize the actuator volume.
3Power
If a centralized hydraulic source is used to drive multiple hydraulic actuators, then the driving force and flexibility of the system are improved, but the weight of the system increases
Solution Approach 1:
The patent divides the heavy centralized hydraulic system into multiple lightweight micro actuators distributed throughout the robot body, reducing the concentration of weight and allowing for more efficient structural support.
4Measurement precision
If a motor scheme with rigid connection structure is used, then the control precision is improved, but the impact resistance is poor and the maximum grasping force is very small
Solution Approach 1:
The patent replaces the rigid mechanical connection of motor schemes with hydraulic connection through flexible hoses, allowing for better impact absorption while maintaining control precision through hydraulic feedback.
5Measurement precision
If the robot hand is designed with traditional motor drive, then the control precision is improved, but the power density is low and the grasping force is insufficient
Solution Approach 1:
The patent uses hydraulic drive with high-pressure fluid power to achieve much higher power density compared to motor drive, enabling the robot hand to generate sufficient grasping force while maintaining control through hydraulic valve regulation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves high power density, flexibility, and impact resistance with reduced volume and weight, enhancing the functionality of robot hands.
Implementation Method 1
Spherical pump is a newly invented power machine in recent years, which can realize ultra miniaturization and high pressure
Implementation Method 2
a reciprocating piston mechanism; the reciprocating piston mechanism being provided in the hydraulic cylinder
Data Source
AI summary
Disclosed are a micro electro-hydraulic linear actuator and a hand of an electro-hydraulic driving robot, comprising an actuator base, a spherical pump unit and a reciprocating piston mechanism encapsulated in a closed elastic leather bag. The actuator base is provided with a hydraulic cylinder and a cylinder liner, both of which are cylindrical chambers with an open at one end. An open end of the hydraulic cylinder is provided with an end cover of the hydraulic cylinder, an open end of the cylinder liner is provided with an end cover of the motor, the reciprocating piston mechanism is provided in the hydraulic cylinder, and the spherical pump and motor are integrated in the cylinder liner to form a spherical pump unit; the present application adopts a distributed hydraulic source as the driving force and does not need a directional valve.