Electro-hydraulic actuator of spherical pump for robot

Abstract

Disclosed is an electro-hydraulic actuator of a spherical pump for a robot. Two oil feeding and discharging openings (121) for oil feeding and discharging are formed in a cylinder cover (101) of the spherical pump (1). When the spherical pump (1) rotates in the forward direction, high-pressure oil is discharged through one oil feeding and discharging opening (121) formed in the cylinder cover (101) and enters a working cylinder of a double-piston-rod cylinder, oil in a non-working cylinder of the double-piston-rod cylinder flows back to the other oil feeding and discharging opening (121) formed in the cylinder cover (101), and double piston rods (7) stretch out to do work. When the spherical pump (1) rotates in the reverse direction, an oil circuit is reverse, and the double piston rods (7) are drawn back. Oil flowing from an overflowing channel (111) of the spherical pump (1) is communicated to an elastic oil reservoir (19), and is communicated to an oil discharging channel and an oil return channel of a main oil circuit through two check valves (15). The electro-hydraulic actuator has the advantages of being small in size, light in weight, high in running efficiency and low in energy consumption, and being capable of being used in exoskeleton suits and autonomous walking robots.

Description

technical field [0001] The patent of the present invention relates to a spherical pump electro-hydraulic actuator for a robot. Background technique [0002] The robot industry has developed by leaps and bounds in the world. China is the largest market for robots, but China's robot industry is large but not strong. In order to promote the healthy and orderly development of the robot market, the Ministry of Industry and Information Technology has formulated the "13th Five-Year Development Plan for the Robot Industry", which will vigorously promote the application demonstration of industrial robots, skeleton suits and autonomous walking robots. [0003] Skeleton suits and autonomous walking robots have very important application prospects in key areas such as individual soldiers and outdoor operations, helping the elderly and the disabled, consumer services, and medical care. They will become another wave of technological and industrial development after computers. [0004] Sk...

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Problems solved by technology

[0006] The use of spherical pumps in robot power systems has many advantages, which can reduce the size, weight, and energy consumption of robot power systems; To drive the reciprocating movement of the hydraulic piston telescopic rod, so that the skeleton suit and the autonomous walking robot can realize the reciprocating movement, so the spherical pump does not have a fixed high-pressure oil discharge port and a fixed low-pressure oil inlet, but uses two oil inlet and outlet ports Alternate oil intake and discharge, so that when the spherical pump is working, due to the existence of leakage, the hydraulic oil leaked from the spherical pump cylinder and the turntable matching part will collect into the cylinder seat, the space between the cylinder and the main shaft to form overflow oil If the oil in the overflow oil pool is not discharged, it will inevitably cause high pressure in the overflow oil pool space due to continuous leakage, so that the axial seal of the main shaft must be strengthened to prevent the overflow from leaking from the axial direction to the motor end , and the enhanced axial seal will inevitably lead to an increase in the rotation resistance of the main shaft and an increase in energy consumption during rotation. Therefore, the structure design of the spherical pump must meet the timely discharge of the oil accumulated in the overflow oil pool so as not to cause the overflow oil pool The pressure in the space rises; however, since the spherical pump does not have a fixed low-pressure oil suction chamber at this time, it cannot simply discharge the oil accumulated in the overflow oil pool to the low-pressure oil suction chamber; so the hydraulic pressure of the spherical pump actuator must be used for the robot. The oil circuit is specially designed to meet the requirements of discharging the oil accumulated in the overflow oil pool

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