Hydraulic actuator for robot

Abstract

The invention discloses a hydraulic actuator for a robot. The hydraulic actuator comprises a blade type swing hydraulic motor, a rotary encoder, a servo valve, a high-speed three-position four-way electromagnetic reversing valve, a pressure reducing valve, a one-way valve, an energy accumulator and two pressure sensors, wherein the blade type swing hydraulic motor comprises an output shaft and twoindependently sealed cylinder bodies, the upper half portion of the interior of each cylinder body in the radial direction is a containing cavity, the lower half portion of the interior of each cylinder body is a stator integrated with the cylinder body, the output shaft is rotationally connected with grooves in the surfaces of the stators in the axial centers of the two cylinder bodies, a bladeis arranged in each cylinder body, the end faces of the blades make contact with the inner walls of the cylinder bodies in an attached mode, the radial surfaces of the blades can make contact with thesurfaces of the stators, and the output shaft is fixedly connected with the two blades. According to the hydraulic actuator, the energy consumption is greatly reduced, the instantaneous output is increased, and a swing joint can instantaneously obtain a higher movement speed.

Description

Technical field[0001]The invention specifically relates to a hydraulic actuator for a robot.Background technique[0002]The swing joint is derived from bionics, which provides connection support for the rods with relative motion and drives the two connected rods to move relative to each other, which is similar to the movement of human arms, legs and feet. Swing joints are widely used in the field of robotics, such as robotic arms on assembly lines, various legged walking robots (biped robots, quadruped robots, etc.). Swing joints are the most basic drive unit of the above-mentioned robots, and their performance is direct. It determines the motion performance of the motion system, as the robot develops toward higher speed motion, greater load bearing, higher motion accuracy, higher anti-interference, and higher endurance. The basic requirement of higher speed movement and greater load bearing on the swing joint is high power density, that is, a higher power output can be achieved under...

AI Technical Summary

Problems solved by technology

[0004] Based on the above deficiencies, the purpose of the present invention is to provide a hydraulic actuator for robots to solve the problems that the current swing joint drive cannot realize impact buffering, impact energy absorption and storage, impact energy controllable release, and force burst. and achieve higher power density

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