WO2021078183A1 - 微型电液直线作动器及电液驱动机器人灵巧手 - Google Patents

微型电液直线作动器及电液驱动机器人灵巧手 Download PDF

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Publication number
WO2021078183A1
WO2021078183A1 PCT/CN2020/122674 CN2020122674W WO2021078183A1 WO 2021078183 A1 WO2021078183 A1 WO 2021078183A1 CN 2020122674 W CN2020122674 W CN 2020122674W WO 2021078183 A1 WO2021078183 A1 WO 2021078183A1
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WO
WIPO (PCT)
Prior art keywords
knuckle
linear actuator
palm
thumb
hydraulic linear
Prior art date
Application number
PCT/CN2020/122674
Other languages
English (en)
French (fr)
Inventor
王陆一
郭永正
谈耀文
Original Assignee
深圳市中安动力科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201911006603.1A external-priority patent/CN110685970A/zh
Priority claimed from CN201911006793.7A external-priority patent/CN110640773A/zh
Application filed by 深圳市中安动力科技有限公司 filed Critical 深圳市中安动力科技有限公司
Priority to EP20879973.4A priority Critical patent/EP4039987A4/en
Priority to JP2022600053U priority patent/JP3239174U/ja
Priority to KR2020227000021U priority patent/KR20220001460U/ko
Publication of WO2021078183A1 publication Critical patent/WO2021078183A1/zh
Priority to US17/725,753 priority patent/US20220241986A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/005—With rotary or crank input
    • F15B7/006—Rotary pump input
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/06—Details
    • F15B7/08—Input units; Master units
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/18—Combined units comprising both motor and pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F15B2211/7054—Having equal piston areas

Definitions

  • the current robot power system mainly includes a motor scheme composed of a servo motor and a precision reducer, and a hydraulic drive scheme.
  • the application of the motor scheme is the current mainstream application, which drives the fingers for grasping actions through steel wire, tendon rope, and connecting rod transmission.
  • the maximum gripping force that the fingertip can provide is very small, usually less than 10N, and the application is limited.
  • the system lacks flexibility and the motor power density is low.
  • the core components of the hydraulic drive scheme are the oil pump, servo valve, and cylinder connected by the oil pipeline.
  • the hydraulic power drive can increase the flexibility of the system and greatly increase the driving force of the system, especially the fingertips.
  • the current hydraulic drive method generally uses a centralized hydraulic source.
  • the main power pump drives more than ten hydraulic actuators for centralized energy supply, which is large and large. Heavy weight and complicated hardware pipelines.
  • After the robot loads hydraulic parts there is almost no excessive load capacity for effective scene applications, especially in applications such as bionic robots, quadruped robots, robot joints, robot fingers, etc., because the driving force has to be overcome
  • Self-weight resistance causes the robot hand to be bulky, weight increased, and power loss is large, and its application is greatly restricted.
  • the effective grasping force on the fingertip is very small, or even impossible to apply. .
  • the spherical pump is a newly invented power machine in recent years, which can achieve ultra-miniaturization and high pressure. It can be directly driven in series in the field of robot dexterous hands. Compared with the traditional linear drive and push rod motor drive, it has high torque and resistance. With the characteristics of impact and ultra-miniaturization, the use of spherical pumps as the power source of robot dexterous hands has a good application prospect.
  • One purpose of the present invention is to design a miniature electro-hydraulic linear actuator, which integrates a pump, a motor and a hydraulic piston, adopts a modular design, and serves as a distributed hydraulic source to provide power for the robot.
  • Another purpose of the present invention is to design an electro-hydraulic robot dexterous hand, which adopts a spherical pump electro-hydraulic integrated modular ultra-micro electro-hydraulic linear driver, a sensor is set on the finger, and an ultra-micro electro-hydraulic device is set on the knuckle of each finger.
  • the hydraulic linear actuator adopts a distributed hydraulic source to directly drive in series, so as to realize the flexible movement of the fingers of the robot's dexterous hand, increase the grasping force of the fingertips, and can withstand impact loads and facilitate control.
  • the end of the piston rod of the reciprocating piston mechanism at the bottom of the hydraulic cylinder is provided with a piston rod hinge hole, the hydraulic cylinder end cover is provided with an actuator hinge hole; the open end of the cylinder sleeve is provided with a motor end cover ,
  • the spherical pump unit includes a spherical pump and a motor, the spherical pump and the motor are integrated in the cylinder liner; the first inlet and outlet holes and the second inlet and outlet holes of the spherical pump are respectively connected with the hydraulic pressure of the reciprocating piston mechanism
  • the two working chambers in the cylinder are in communication; the miniature electro-hydraulic linear actuator is encapsulated in a closed elastic skin, and the end of the piston rod protrudes from the elastic skin.
  • the present invention also provides an electro-hydraulic-driven robot dexterous hand, wherein the electro-hydraulic-driven robot dexterous hand includes a palm, a thumb, an index finger, a middle finger, a ring finger and a little finger, and the index finger, the middle finger, the ring finger and the little finger have the same structure And each includes a first knuckle, a second knuckle, and a third knuckle that are sequentially hinged.
  • the first knuckle is hinged on the palm through a knuckle swing bracket; the first knuckle, the second knuckle, and the Each of the third knuckles is provided with a knuckle micro electro-hydraulic linear actuator, the piston rod of the knuckle micro electro-hydraulic linear actuator in the third knuckle is hinged with the second knuckle, and the second finger
  • the piston rod of the knuckle micro electro-hydraulic linear actuator in the knuckle is hinged with the first knuckle, and the piston rod of the knuckle micro electro-hydraulic linear actuator in the first knuckle is hinged with the knuckle swing bracket,
  • a link mechanism is formed to transmit power.
  • the thumb includes a thumb base, a first knuckle of the thumb, and a second knuckle of the thumb that are sequentially hinged.
  • the first knuckle of the thumb is hinged on the base of the thumb through a thumb swing bracket.
  • a thumb micro electro-hydraulic linear actuator is respectively arranged in the second knuckle of the thumb.
  • the piston rod of the thumb micro electro-hydraulic linear actuator in the second knuckle of the thumb is hinged with the first knuckle of the thumb.
  • the piston rod of the thumb micro electro-hydraulic linear actuator in the first knuckle is hinged with the thumb base through the thumb swing bracket to form a linkage mechanism to transmit power.
  • Each of the first knuckle of the thumb and the second knuckle of the thumb When the piston rod of the thumb micro electro-hydraulic linear actuator expands and contracts, the corresponding knuckles are driven to bend and extend back and forth.
  • the piston rod of the thumb micro electro-hydraulic linear actuator in the thumb base expands and contracts, the thumb is in the palm of the hand. Swing left and right in the plane;
  • the five palm micro electro-hydraulic linear actuators are the first palm micro electro-hydraulic linear actuator and the second palm micro electro-hydraulic linear actuator.
  • the action of the thumb base, the thumb base is hinged on the palm, and the piston rod of the first palm micro electrohydraulic linear actuator in the palm is hinged with the thumb base to form a linkage mechanism to transmit power.
  • the first palm micro electrohydraulic The piston rod of the linear actuator drives the thumb to rotate back and forth toward the palm of the palm; the second palm micro electro-hydraulic linear actuator, the third palm micro electro-hydraulic linear actuator, and the fourth palm micro electro-hydraulic linear actuator
  • the hydraulic linear actuator and the fifth palm micro electro-hydraulic linear actuator are respectively used to control the actions of the index finger, the middle finger, the ring finger and the little finger; the second palm micro electro-hydraulic linear actuator, the third palm
  • the piston rods of the palm miniature electro-hydraulic linear actuator, the fourth palm miniature electro-hydraulic linear actuator and the fifth palm miniature electro-hydraulic linear actuator are respectively hinged with a palm swing support, and each palm swing support
  • the first knuckles of the index finger, the middle finger, the ring finger and the little finger are hinged to form a linkage mechanism to transmit power.
  • micro electro-hydraulic linear actuator in the second palm and the micro electro-hydraulic linear actuator in the third palm
  • the fourth palm miniature electro-hydraulic linear actuator and the fifth palm miniature electro-hydraulic linear actuator expand and contract, they drive the corresponding index finger, the middle finger, the ring finger and the articulated
  • Sensors are arranged on the fingertips of the third knuckle and the second knuckle of the thumb, and each sensor and each knuckle micro electro-hydraulic linear actuator, each thumb micro electro-hydraulic linear actuator and Each of the palm miniature electro-hydraulic linear actuators is electrically connected to the robot controller;
  • the knuckle micro electro-hydraulic linear actuator, the thumb micro electro-hydraulic linear actuator and the palm micro electro-hydraulic linear actuator are all the micro electro-hydraulic as claimed in any one of claims 1 to 8.
  • Linear actuator, the knuckle swing support, the thumb swing support and the palm swing support have the same structure.
  • the present invention further provides an electro-hydraulic-driven robot dexterous hand, wherein the electro-hydraulic-driven robot dexterous hand includes a palm, a thumb, an index finger, a middle finger, a ring finger and a little finger, and the index finger, the middle finger, the ring finger and the little finger have the same structure And each includes a first knuckle, a second knuckle, and a third knuckle that are sequentially hinged.
  • the first knuckle is hinged on the palm through a knuckle swing bracket; the first knuckle, the second knuckle, and the Each of the third knuckles is provided with a knuckle micro electro-hydraulic linear actuator, the piston rod of the knuckle micro electro-hydraulic linear actuator in the third knuckle is hinged with the second knuckle, and the second finger
  • the piston rod of the knuckle micro electro-hydraulic linear actuator in the knuckle is hinged with the first knuckle, and the piston rod of the knuckle micro electro-hydraulic linear actuator in the first knuckle is hinged with the knuckle swing bracket,
  • a link mechanism is formed to transmit power.
  • the thumb includes a thumb base, a first knuckle of the thumb, and a second knuckle of the thumb that are sequentially hinged.
  • the first knuckle of the thumb is hinged on the base of the thumb through a thumb swing bracket.
  • a thumb micro electro-hydraulic linear actuator is respectively arranged in the second knuckle of the thumb.
  • the piston rod of the thumb micro electro-hydraulic linear actuator in the second knuckle of the thumb is hinged with the first knuckle of the thumb.
  • the piston rod of the thumb micro electro-hydraulic linear actuator in the first knuckle is hinged with the thumb base through the thumb swing bracket to form a linkage mechanism to transmit power.
  • Each of the first knuckle of the thumb and the second knuckle of the thumb When the piston rod of the thumb micro electro-hydraulic linear actuator expands and contracts, the corresponding knuckles are driven to bend and extend back and forth.
  • the piston rod of the thumb micro electro-hydraulic linear actuator in the thumb base expands and contracts, the thumb is in the palm of the hand. Swing left and right in the plane;
  • the five palm micro electro-hydraulic linear actuators are the first palm micro electro-hydraulic linear actuator and the second palm micro electro-hydraulic linear actuator.
  • the action of the thumb base, the thumb base is hinged on the palm, and the piston rod of the first palm micro electro-hydraulic linear actuator in the palm is hinged with the thumb base to form a linkage mechanism to transmit power.
  • the first palm micro electro-hydraulic The piston rod of the linear actuator drives the thumb to rotate back and forth toward the palm of the palm; the second palm micro electro-hydraulic linear actuator, the third palm micro electro-hydraulic linear actuator, and the fourth palm micro electro-hydraulic linear actuator
  • the hydraulic linear actuator and the fifth palm micro electro-hydraulic linear actuator are respectively used to control the actions of the index finger, the middle finger, the ring finger and the little finger; the second palm micro electro-hydraulic linear actuator, the third palm
  • the piston rods of the palm miniature electro-hydraulic linear actuator, the fourth palm miniature electro-hydraulic linear actuator and the fifth palm miniature electro-hydraulic linear actuator are respectively hinged with a palm swing support, and each palm swing support
  • the first knuckles of the index finger, the middle finger, the ring finger and the little finger are hinged to form a linkage mechanism to transmit power.
  • micro electro-hydraulic linear actuator in the second palm and the micro electro-hydraulic linear actuator in the third palm
  • the fourth palm miniature electro-hydraulic linear actuator and the fifth palm miniature electro-hydraulic linear actuator expand and contract, they drive the corresponding index finger, the middle finger, the ring finger and the articulated
  • the miniature electro-hydraulic linear actuator of the present invention uses a distributed hydraulic source as the driving force, does not need a reversing valve, can realize the integrated design of pump motor and cylinder, does not need to arrange complicated oil pipelines in the system, has small volume and power density Large, increase the effective hydraulic kinetic energy output and the flexibility of the system movement, and can withstand impact loads; the modular design is convenient for mass production, manufacturing, and maintenance, and is easy to use;
  • the dexterous hand of the electro-hydraulic driven robot of the present invention uses a distributed hydraulic source as the driving force.
  • the electro-hydraulic linear actuator of the spherical pump is small in size and large in output power.
  • a miniature electro-hydraulic line is set in the parts of the fingers that need to move. The driver reduces the volume of each driving system, increases the flexibility of finger movement, can withstand impact loads, and increases the grasping force of the fingers.
  • Figure 1 is a schematic structural diagram of a first embodiment of a miniature electro-hydraulic linear actuator
  • Figure 2 is a schematic structural diagram of a second embodiment of a miniature electro-hydraulic linear actuator
  • Figure 3 is a cross-sectional view taken along line E-E in Figure 1;
  • Figure 4 is a cross-sectional view along the line D-D in Figure 2;
  • Figure 5 is a schematic diagram of the structure of the actuator base
  • Figure 6 is a schematic view of the structure of the hydraulic cylinder end cover
  • Figure 7 is a front view of the spindle structure
  • Figure 8 is a top view of the spindle structure
  • Figure 9 is a schematic diagram of the structure of a spherical pump piston
  • Figure 10 is a schematic diagram of the structure of the turntable
  • Figure 12 is a schematic diagram of the structure of the skeleton of the dexterous hand of the electro-hydraulic driven robot (after removing the palm guard and the finger guard);
  • Figure 13 is a front view of the index finger of the dexterous hand of the electro-hydraulic driven robot
  • Figure 14 is a right side view of the index finger shown in Figure 13;
  • Figure 15 is a front view of the thumb of the dexterous hand of the electro-hydraulic driven robot
  • Figure 16 is a right side view of the thumb shown in Figure 15;
  • Figure 17 is a top view of the thumb shown in Figure 15;
  • Figure 18 is a structural diagram of the connecting rod when the index finger is bent back and forth and stretched
  • Figure 19 is a schematic diagram of the connecting rod when the index finger swings from side to side.
  • Sealing ring IV 22. First inlet and discharge passage; 23. Second inlet and discharge passage; 24. Actuation Hinge hole; 25. Hydraulic cylinder; 26. Cylinder sleeve; 27. Telescopic sleeve; 28. Balance hole;
  • Palm 100. Palm; 200, swing bracket; 210, swing bracket and palm hinge hole; 220, swing bracket and piston rod hinge hole I; 230, swing bracket and piston rod hinge hole II; 300, first knuckle; 310, section One knuckle and swing bracket hinge hole; 320, the first knuckle and the micro electro-hydraulic linear actuator hinge hole; 330, the first knuckle and the piston rod hinge hole; 400, the second knuckle; 410, the second finger Knuckle and first knuckle hinge hole; 420, second knuckle and micro electro-hydraulic linear actuator hinge hole; 430, second knuckle and piston rod hinge hole; 500, third knuckle; 510, third finger Knuckle and second knuckle hinge hole; 520, third knuckle and micro electro-hydraulic linear actuator hinge hole; 600, sensor; 700, thumb base; 710, thumb base and micro electro-hydraulic linear actuator hinge hole; 720.
  • the piston rod hinge hole 12 is used for hinged connection of the end of the piston rod 15 with other parts to transmit power; the hydraulic cylinder end cover 19 is provided with an actuator hinge hole 24 and an actuator hinge hole 24 Used to articulate the micro electro-hydraulic linear actuator 1000 with other parts.
  • the sleeve 11 is fastened on the inner circumference of the bottom of the cylindrical cavity of the cylinder liner 26 by a shrink fit interference fit; the cylinder head 10 is provided with a piston shaft hole and two intake and exhaust
  • the two liquid inlet and discharge holes are the first liquid inlet and discharge hole 101 and the second liquid inlet and discharge hole 102 respectively. Since the spherical pump can run forward and backward, the first liquid inlet and discharge hole 101 is the inlet and discharge hole 101 when the motor is rotating forward. For the liquid hole, the second liquid inlet and discharge hole 102 is a liquid discharge hole. When the motor is reversed, the first liquid inlet and discharge hole 101 is a liquid discharge hole, and the second liquid inlet and discharge hole 102 is a liquid inlet hole.
  • the sheet surrounds the outer circumference of the main shaft 6, and the motor end cover 2 is fixedly connected to the open end of the cylindrical cavity of the cylinder liner 26 by shrink fit interference fit, between the upper end of the main shaft 6 of the spherical pump and the sleeve 11 of the spherical pump A rotary support is formed, and a rotary support is formed between the lower end of the main shaft 6 and the motor end cover 2; specifically, a sliding fit is provided at the upper end of the main shaft 6 and the sleeve 11 to form an upper end rotary support of the main shaft 6; a center is set at the lower end of the main shaft 6
  • the shaft hole 62 is provided on the motor end cover 2 with a support shaft 201 that matches the central shaft hole 62 at the lower end of the main shaft 6.
  • the support shaft 201 can rotate in the central shaft hole to form the lower end of the spherical pump main shaft 6 Rotating support.
  • the spherical surface of the turntable and the spherical inner cavity have the same sphere center and closely adhere to the spherical inner cavity to form a sealed dynamic fit;
  • the turntable pin seat 72 is a semi-cylindrical groove matched with the piston pin seat 92,
  • a turntable shaft 71 protrudes from the center of the lower end of the turntable 7.
  • the turntable shaft 71 passes through the center of the sphere of the turntable.
  • a shoe 73 is provided at the end of the turntable shaft 71 of the turntable 7; among them, the semi-cylindrical groove of the turntable pin seat 72
  • the height of the semi-cylindrical groove is slightly higher than the center line of the semi-cylindrical, that is, the groove depth of the semi-cylindrical groove is slightly larger than the radius of the semi-cylindrical groove, that is, the cross-sectional shape of the semi-cylindrical groove is superior arc shape, and the semi-cylindrical shape of the piston pin seat 92 needs to be from
  • the cylindrical end is inserted into the semi-cylindrical groove of the turntable pin seat 72 to form a cylindrical hinge; the cylindrical hinge in this embodiment is a "C" sleeve structure, and the groove part of the turntable pin seat 72 of the turntable 7 is covered by an arc
  • the cylindrical hinge may
  • the turntable shaft 71 of the turntable 7 protrudes from the lower end opening of the cylinder 8 and is movably connected with the upper end surface of the main shaft 6, as shown in Figs. 7 to 8, a sliding groove 61 is provided on the upper end surface of the main shaft 6 of the spherical pump.
  • the shoe 73 is matched with the sliding groove 61, and the sliding shoe 73 on the turntable shaft 71 is inserted into the sliding groove 61 on the main shaft 6 to slide.
  • the axes of the piston shaft hole and the turntable shaft 71 both pass through the center of the spherical cavity, and the angle between the axis of the piston shaft hole and the turntable shaft 71 is ⁇ ;
  • the radial dimension of the main shaft 6 is relatively large, and the sleeve 11 of the spherical pump together with the cylinder block 8 and the cylinder head 10 are more contained in the cavity formed at the upper end of the main shaft 6, and the rotor 5 of the motor
  • the axial length of the stator 4 of the motor is large, and electromagnetic force is formed on the full axial length of the main shaft 6.
  • the structure of the first embodiment is beneficial to the spherical pump to obtain greater motor torque and driving force. . Therefore, the first embodiment is the most preferred structure of the present invention.
  • the first knuckles of the index finger, middle finger, ring finger and little finger are hinged on the palm 100 through the swing bracket 200 (ie, the knuckle swing bracket);
  • a miniature electro-hydraulic linear actuator 1000 ie, a knuckle miniature electro-hydraulic linear actuator
  • the first knuckle 300 is also provided with a hinge hole connected to the second knuckle 400 (matching the second knuckle and the first knuckle hinge hole 410), and the second knuckle 400 is also provided with a third finger
  • the hinge hole for connecting the joint 500 matcheses the hinge hole 510 of the third knuckle and the second knuckle
  • a piston rod hinge hole 12 is provided on the piston rod 15 of the micro electro-hydraulic linear actuator 1000, and the piston rod hinge hole 12 is used for the end of the piston rod 15 to hinge with other parts to transmit power; in the micro electro-hydraulic linear actuator
  • the hydraulic cylinder end cover 19 of the actuator 1000 is provided with an actuator hinge hole 24, and the actuator hinge hole 24 is used to hinge the micro electro-hydraulic linear actuator 1000 with other parts;
  • the piston rod 15 of the micro electro-hydraulic linear actuator 1000 in the third knuckle 500 is hinged with the second knuckle 400, and the piston rod 15 of the micro electro-hydraulic linear actuator 1000 in the second knuckle 400 is hinged with the first finger.
  • the joint 300 is hinged.
  • the piston rod 15 of the micro electro-hydraulic linear actuator 1000 in the first knuckle 300 is hinged with the swing bracket 200 to form a linkage mechanism to transmit power.
  • the first knuckle 300, the second knuckle 400 and the second knuckle 400 are hinged.
  • a total of five micro electro-hydraulic linear actuators 1000 are provided in the palm 100, that is, five micro electro-hydraulic linear actuators are provided in the palm 100 1000, five micro electro-hydraulic linear actuators 1000 are the first micro electro-hydraulic linear actuator, the second micro electro-hydraulic linear actuator, the third micro electro-hydraulic linear actuator, and the fourth micro electro-hydraulic linear actuator.
  • the first miniature electro-hydraulic linear actuator 1000 is used to control the action of the thumb base 700, and the second to fifth miniature electro-hydraulic linear actuators 1000 are respectively used for Control the movement of the index finger, middle finger, ring finger and little finger;
  • the piston rods 15 of the second to fifth miniature electro-hydraulic linear actuators 1000 are each hinged with a swing bracket 200 (that is, the palm swing bracket), and each swing bracket 200 is connected to the corresponding
  • the first knuckles 300 of the index finger, middle finger, ring finger and little finger are hinged to form a linkage mechanism to transmit power.
  • the piston rods 15 of the second to fifth miniature electro-hydraulic linear actuators 1000 expand and contract, they can drive the corresponding hinged joints.
  • the index finger, middle finger, ring finger and little finger swing from side to side in the plane of the palm;
  • the swing bracket 200 connected to the second to fifth miniature electro-hydraulic linear actuators 1000 in the palm 100 is respectively connected to the palm 100 and the piston rods of the miniature electro-hydraulic linear actuators 1000 on the palm 100 through four hinge holes thereon.
  • the first knuckle 300 and the piston rod 15 of the miniature electro-hydraulic linear actuator 1000 on the first knuckle 300 are hinged; the first knuckle 300 is connected to the swing bracket 200 and the first knuckle through the four hinge holes respectively.
  • the piston rod 15 of the miniature electro-hydraulic linear actuator 1000 on the first knuckle 300, the second knuckle 400, and the miniature electro-hydraulic linear actuator 1000 on the second knuckle 400 are articulated; the second knuckle 400 passes through it
  • the four hinge holes are respectively connected with the micro electro-hydraulic linear actuator 1000 on the first knuckle 300 and the second knuckle 400, the micro electro-hydraulic linear actuator 1000 on the third knuckle 500, and the third knuckle 500.
  • the piston rod 15 is hinged; the third knuckle 500 is hinged with the miniature electro-hydraulic linear actuator 1000 on the second knuckle 400 and the third knuckle 500 through two hinge holes on it, respectively.
  • the thumb includes a thumb base 700, a thumb first knuckle 800, and a thumb second knuckle 900 that are hinged sequentially.
  • the thumb first knuckle 800 is hinged on the swing bracket 200 (that is, the thumb swing bracket).
  • a miniature electro-hydraulic linear actuator 1000 is respectively hinged on the thumb base 700, the thumb first knuckle 800, and the thumb second knuckle 900;
  • the thumb base 700 is provided with a thumb base and a mini electrohydraulic Linear actuator hinge hole 710, thumb base and palm hinge hole 720, thumb base and piston rod hinge hole 730;
  • the thumb first knuckle 800 is provided with the thumb first knuckle and swing bracket hinge hole 810, the thumb first hinge hole 810 Knuckles and micro electro-hydraulic linear actuator hinge holes 820, first thumb and piston rod hinge holes 830;
  • second thumb knuckle and thumb first knuckle hinge holes 910 are provided on the second thumb knuckle 900 ,
  • the second knuckle of the thumb and the miniature electro-hydraulic linear actuator hinge hole 920; in addition, the first knuckle 800 of the thumb is also provided with a hinge hole connected to the second knuckle 900 of the
  • the swing bracket 200 on the thumb base 700 is connected to the thumb base 700, the piston rod 15 of the micro electro-hydraulic linear actuator 1000 on the thumb base 700, the thumb first knuckle 800, and the thumb first through the four hinge holes respectively.
  • the piston rod 15 of the micro electro-hydraulic linear actuator 1000 on the knuckle 800 is hinged; the thumb base 700 is connected to the palm 100 and the piston rod 15 of the first micro electro-hydraulic linear actuator 1000 and the thumb base 700 in the palm 100, respectively
  • the micro electro-hydraulic linear actuator 1000 and the thumb first knuckle 800 are hinged; the thumb first knuckle 800 is connected to the swing bracket 200 on the thumb base 700, and the micro electro-hydraulic linear actuator on the thumb first knuckle 800
  • the piston rod 15 of the miniature electro-hydraulic linear actuator 1000 on the second knuckle of the thumb 900 and the second knuckle of the thumb 900 are hinged; the second knuckle of the thumb 900 is
  • the piston rod 15 of the micro electro-hydraulic linear actuator 1000 in the second knuckle of the thumb 900 is hinged with the first knuckle 800 of the thumb, and the piston rod 15 of the micro electro-hydraulic linear actuator 1000 in the first knuckle of the thumb 800 is hinged with
  • the thumb base 700 is hinged through the swing bracket 200 to form a linkage mechanism to transmit power.
  • the piston rod 15 of the miniature electro-hydraulic linear actuator 1000 in the first thumb knuckle 800 and the second thumb 900 can be expanded and contracted when the corresponding knuckles
  • the piston rod 15 of the miniature electro-hydraulic linear actuator 1000 in the thumb base 700 extends and retracts, the thumb can swing left and right in the plane of the palm; the thumb base 700 is hinged on the palm 100, and the first miniature electric
  • the piston rod 15 of the hydraulic linear actuator 1000 is hinged with the thumb base 700 to form a linkage mechanism to transmit power.
  • the piston rod 15 of the first miniature electro-hydraulic linear actuator 1000 expands and contracts, the thumb can rotate back and forth toward the palm.
  • a sensor 600 is provided on the fingertip of each finger, that is, the fingertips of the third knuckle 500 and the second knuckle 900 of the thumb.
  • the sensor 600 includes a position sensor and a force sensor.
  • the position sensor is used to sense changes in the position of the finger and force
  • the sensor is used to detect the grasping force on the fingertip.
  • Each sensor 600 and each micro electro-hydraulic linear actuator 1000 are respectively electrically connected to the robot controller through wires.
  • the controller controls the operation of the motor of the micro electro-hydraulic linear actuator 1000 according to the instructions of the robot, and supplies power to the motor, receives and Collect the information transmitted back by the sensor 600, adjust and generate new instructions, and realize intelligent control of finger movements.
  • micro electro-hydraulic linear actuator 1000 mentioned in this embodiment all adopts the micro electro-hydraulic linear actuator 1000 of the first or second embodiment, therefore, the micro electro-hydraulic linear actuator 1000
  • the robot controller controls the motor to rotate and push the piston rod 15 to reciprocate so as to realize the movements of the fingers of the dexterous hand.
  • the robot dexterous hand includes five fingers, that is, the thumb, index finger, middle finger, ring finger and little finger are connected to the palm 100.
  • the index finger, middle finger, ring finger and little finger have the same structure, so the other fingers lack the index, middle, and ring fingers on the palm 100.
  • the technical solutions of any one or several fingers of the little finger also fall into the technical scope to be protected by the present invention.
  • the lack of one or more of the third knuckle, the second knuckle or the second knuckle of the thumb, as long as the corresponding grasping action can be completed, also falls within the technical scope of the present invention to be protected.

Abstract

本发明提供了一种微型电液直线作动器及电液驱动机器人灵巧手，其中，微型电液直线作动器包括封装在一个密闭的弹性皮囊(1)内的作动器基体(3)、球形泵单元和往复活塞机构，作动器基体(3)上设置有液压缸(25)和缸套(26)，液压缸(25)和缸套(26)均为一端开口的圆柱形容腔，液压缸(25)的开口端设置有液压缸端盖(19)，在该缸套的开口端设置有电机端盖，往复活塞机构设置在液压缸(25)内，球形泵和电机集成在缸套(26)内组成球形泵单元；本发明采用分布式液压源作为驱动力，无需换向阀，系统中无需布置复杂的油路管道，体积小、功率密度大、柔性好，能承受冲击载荷；采用模块化设计，使用方便。

Description

微型电液直线作动器及电液驱动机器人灵巧手
相关申请
本申请要求专利申请号为201911006603.1，申请日为2019年10月22日，发明名称为“微型电液直线作动器”的中国发明专利、以及专利申请号为201911006793.7，申请日为2019年10月22日，发明名称为“电液驱动机器人灵巧手”的中国发明专利的优先权。
技术领域
本发明涉及机器人技术领域，特别涉及一种微型电液直线作动器及含有该微型电液直线作动器的电液驱动机器人灵巧手。
背景技术
仿人机器人是集电子、机械、控制、传感、人工智能等众多学科先进技术一体的自动化设备，代表着一个国家的高科技发展水平，仿人机器人具有人类的外观，可以适应人类的生活和工作环境，代替人类完成各种作业，并可以在很多方面扩展人类的能力，目前国内外仿人机器人的应用得到了快速迅猛的发展，在服务，医疗，教育，娱乐等多个领域得到广泛应用。灵巧手作为仿人机器人的末端执行部件，可以帮助人类完成诸多工作，但目前国内外仿生灵巧手还处在研制阶段，实际应用并不多。
目前的机器人动力系统主要包括伺服电机及精密减速机组成的电机方案和液压驱动方案，其中，电机方案应用是目前的主流应用，通过钢丝、腱绳、连杆传动，从而驱动手指进行抓取动作，但是由于电机和减速机为刚性连接结构，耐冲击性差，指尖能提供的最大抓取力很小，通常小于10N，应用受限，同时系统缺乏柔性，且电机功率密度低，在某些场合动力不足；液压驱动方案的核心部件是油泵、伺服阀、油缸通过油路管道连接，液压动力驱动可以使系统增加柔性，而且可以大幅度提高系统的驱动力，特别是手指指尖上的抓取力可成倍提高，所以液压驱动是机器人驱动的一个应用研究方向，但是目前的液压驱动方式一般是采用集中液压源，主动力泵带动十多路液压执行器集中式供能，体积大、重量大、硬件管路复杂，机器人负载液压零件后几乎没有过多的负荷能力进行有效的场景应用，特别是在仿生机器人、四足机器人、机器人关节、机器人手指等应用方面，由于驱动力要克服自重阻力，导致机器人手体积庞大、重量增加，动力 损失大，应用受到很大限制，对于机器人手指来说，由于系统复杂、体积大，在指尖上有效的抓取力非常小，甚至无法应用。
球形泵是近年来新发明的动力机械，可以实现超微型化和高压力，在机器人灵巧手领域可实现串联式直接驱动，相比传统的线驱动和推杆电机驱动方式，具有大力矩、耐冲击和可超微型化等特点，把球形泵用于机器人灵巧手动力源具有很好的应用前景。
发明内容
本发明的一个目的是设计一种微型电液直线作动器，集泵、电机和液压活塞一体，采用模块化设计，作为分布式液压源为机器人提供动力。
本发明的另一个目的是设计一种电液驱动机器人灵巧手，采用球形泵电液一体模块化超微型电液直线驱动器，在手指上设置传感器，在每个手指的指节上设置超微型电液直线驱动器，采用分布式液压源串联式直接驱动，从而实现机器人灵巧手各手指的灵活动作，增加手指指尖的抓取力，能承受冲击载荷，方便控制。
为达到上述目的，本发明提供了一种微型电液直线作动器，其中，该微型电液直线作动器包括作动器基体、球形泵单元和往复活塞机构，在该作动器基体上设置有液压缸和缸套，该液压缸和该缸套均为一端开口的圆柱形容腔，该往复活塞机构设置在该液压缸内，该液压缸的开口端设置有液压缸端盖，在伸出该液压缸底部的该往复活塞机构的活塞杆的端部设置有活塞杆铰接孔，在该液压缸端盖上设置有作动器铰接孔；在该缸套的开口端设置有电机端盖，所述球形泵单元包括球形泵及电机，该球形泵和该电机集成在该缸套内；该球形泵的第一进排液孔和第二进排液孔分别与该往复活塞机构的液压缸内的两个工作腔连通；所述微型电液直线作动器封装在一个密闭的弹性皮囊内，该活塞杆的端部从该弹性皮囊中伸出。
本发明还提供了一种电液驱动机器人灵巧手，其中，该电液驱动机器人灵巧手包括手掌、拇指、食指、中指、无名指和小指，该食指、该中指、该无名指和该小指的结构相同且均包括依次铰接的第一指节、第二指节和第三指节，第一指节通过指节摆动支架铰接在该手掌上；在该第一指节、该第二指节和该第三指节内分别设置有一个指节微型电液直线作动器，该第三指节内的指节微型电液直线作动器的活塞杆与该第二指节铰接，该第二指节内的指节微型电液直线作动器的活塞杆与该第一指节铰接，该第一指节内的指节微型电液直线作动器的活塞杆与该指节摆动支架铰接，从而形成连杆机构传递动力，在该第一指节、该第二指节和该第三指节内的各该指节微型电液直线作动器的活 塞杆伸缩时驱动相应的指节前后弯曲和伸张；
该拇指包括依次铰接的拇指基体、拇指第一指节、拇指第二指节，该拇指第一指节通过拇指摆动支架铰接在该拇指基体上，在该拇指基体、该拇指第一指节、该拇指第二指节内分别设置有一个拇指微型电液直线作动器，该拇指第二指节内的拇指微型电液直线作动器的活塞杆与该拇指第一指节铰接，该拇指第一指节内的拇指微型电液直线作动器的活塞杆与该拇指基体通过拇指摆动支架铰接，形成连杆机构传递动力，该拇指第一指节和该拇指第二指节内的各该拇指微型电液直线作动器的活塞杆伸缩时驱动相应的指节前后弯曲和伸张，该拇指基体内的拇指微型电液直线作动器的活塞杆伸缩时，该拇指在该手掌的平面内左右摆动；
在该手掌内设置有五个手掌微型电液直线作动器，五个该手掌微型电液直线作动器分别为第一手掌微型电液直线作动器、第二手掌微型电液直线作动器、第三手掌微型电液直线作动器、第四手掌微型电液直线作动器和第五手掌微型电液直线作动器，其中，第一手掌微型电液直线作动器用于控制该拇指基体的动作，该拇指基体铰接在该手掌上，该手掌内的第一手掌微型电液直线作动器的活塞杆与该拇指基体铰接，形成连杆机构传递动力，第一手掌微型电液直线作动器的活塞杆伸缩时驱动该拇指向该手掌的掌心前后转动；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器分别用于控制该食指、该中指、该无名指和该小指的动作；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器的各活塞杆分别与一个手掌摆动支架铰接，每个该手掌摆动支架再与相应的该食指、该中指、该无名指和该小指的该第一指节铰接形成连杆机构传递动力，在该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器的各活塞杆伸缩时，驱动与其铰接的相应的该食指、该中指、该无名指和该小指在该手掌的平面内左右摆动；
在该第三指节和该拇指第二指节的指尖上均设置有传感器，每个该传感器和各该指节微型电液直线作动器、各该拇指微型电液直线作动器和各该手掌微型电液直线作动器分别与机器人控制器电连接；
其中，该指节微型电液直线作动器、该拇指微型电液直线作动器和该手掌微型电液直线作动器均为如权利要求1至8中任一项所述的微型电液直线作动器，该指节摆动支架、该拇指摆动支架和手掌摆动支架的结构相同。
本发明又提供了一种电液驱动机器人灵巧手，其中，该电液驱动机器人灵巧手包括手掌、拇指、食指、中指、无名指和小指，该食指、该中指、该无名指和该小指的结构相同且均包括依次铰接的第一指节、第二指节和第三指节，第一指节通过指节摆动支架铰接在该手掌上；在该第一指节、该第二指节和该第三指节内分别设置有一个指节微型电液直线作动器，该第三指节内的指节微型电液直线作动器的活塞杆与该第二指节铰接，该第二指节内的指节微型电液直线作动器的活塞杆与该第一指节铰接，该第一指节内的指节微型电液直线作动器的活塞杆与该指节摆动支架铰接，从而形成连杆机构传递动力，在该第一指节、该第二指节和该第三指节内的各该指节微型电液直线作动器的活塞杆伸缩时驱动相应的指节前后弯曲和伸张；
该拇指包括依次铰接的拇指基体、拇指第一指节、拇指第二指节，该拇指第一指节通过拇指摆动支架铰接在该拇指基体上，在该拇指基体、该拇指第一指节、该拇指第二指节内分别设置有一个拇指微型电液直线作动器，该拇指第二指节内的拇指微型电液直线作动器的活塞杆与该拇指第一指节铰接，该拇指第一指节内的拇指微型电液直线作动器的活塞杆与该拇指基体通过拇指摆动支架铰接，形成连杆机构传递动力，该拇指第一指节和该拇指第二指节内的各该拇指微型电液直线作动器的活塞杆伸缩时驱动相应的指节前后弯曲和伸张，该拇指基体内的拇指微型电液直线作动器的活塞杆伸缩时，该拇指在该手掌的平面内左右摆动；
在该手掌内设置有五个手掌微型电液直线作动器，五个该手掌微型电液直线作动器分别为第一手掌微型电液直线作动器、第二手掌微型电液直线作动器、第三手掌微型电液直线作动器、第四手掌微型电液直线作动器和第五手掌微型电液直线作动器，其中，第一手掌微型电液直线作动器用于控制该拇指基体的动作，该拇指基体铰接在该手掌上，该手掌内的第一手掌微型电液直线作动器的活塞杆与该拇指基体铰接，形成连杆机构传递动力，第一手掌微型电液直线作动器的活塞杆伸缩时驱动该拇指向该手掌的掌心前后转动；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器分别用于控制该食指、该中指、该无名指和该小指的动作；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器的各活塞杆分别与一个手掌摆动支架铰接，每个该手掌摆动支架再与相应的该食指、该中指、该无名指和该小指的该第一指节铰接形成连杆机构传递动力，在该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五 手掌微型电液直线作动器的各活塞杆伸缩时，驱动与其铰接的相应的该食指、该中指、该无名指和该小指在该手掌的平面内左右摆动；
在该第三指节和该拇指第二指节的指尖上均设置有传感器，每个该传感器和各该指节微型电液直线作动器、各该拇指微型电液直线作动器和各该手掌微型电液直线作动器分别与机器人控制器电连接。
与现有技术相比，本发明的优点如下：
本发明的微型电液直线作动器，采用分布式液压源作为驱动力，无需换向阀，可实现泵电机、缸一体化设计，系统中无需布置复杂的油路管道，体积小、功率密度大，增加了有效的液压动能输出和系统运动的柔性，能承受冲击载荷；采用模块化设计，便于批量化生产制造及保养维护，使用方便；
本发明的电液驱动机器人灵巧手，采用分布式液压源作为驱动力，球形泵电液直线作动器体积小、输出动力大，在手指各指节需要运动的部位内设置微型的电液直线驱动器，减小了各驱动系统的体积，增加了手指运动的柔性，能承受冲击载荷，增大了手指的抓取力量。
附图说明
下面结合附图对本发明的具体实施方式作进一步详细的说明。
图1是微型电液直线作动器的第一实施例结构示意图；
图2是微型电液直线作动器的第二实施例结构示意图；
图3是图1中沿E—E线的剖视图；
图4是图2中沿D—D线的剖视图；
图5是作动器基体的结构示意图；
图6是液压缸端盖的结构示意图；
图7是主轴结构的主视图；
图8是主轴结构的俯视图；
图9是球形泵活塞的结构示意图；
图10是转盘的结构示意图；
图11是电液驱动机器人灵巧手的外观结构示意图；
图12是电液驱动机器人灵巧手的骨架(取掉手掌护板及手指护板后)结构示意图；
图13是电液驱动机器人灵巧手的食指主视图；
图14是图13所示的食指的右视图；
图15是电液驱动机器人灵巧手的拇指主视图；
图16是图15所示的拇指的右视图；
图17是图15所示的拇指的俯视图；
图18是食指前后弯曲和伸张时，连杆的结构示意图；
图19是食指左右摆动时，连杆的结构示意图。
附图标号说明：
1000、微型电液直线作动器；
1、弹性皮囊；2、电机端盖；201、支撑轴；3、作动器基体；4、电机的定子；5、电机的转子；6、主轴；61、滑槽；62、中心轴孔；7、转盘；71、转盘轴；72、转盘销座；73、滑靴；8、缸体；9、球形泵活塞；91、活塞轴；92、活塞销座；10、缸盖；101、第一进排液孔；102、第二进排液孔；11、套筒；12、活塞杆铰接孔；13、密封环；14、密封圈Ⅰ；15、活塞杆；16、活塞；17、密封圈Ⅴ；18、密封圈Ⅱ；19、液压缸端盖；20、密封圈Ⅲ；21、密封圈Ⅳ；22、第一进排液通道；23、第二进排液通道；24、作动器铰接孔；25、液压缸；26、缸套；27、伸缩套；28、平衡孔；
3A、作动器基体Ⅰ；4A、电机的定子Ⅰ；5A、电机的转子Ⅰ；6A、主轴Ⅰ；
100、手掌；200、摆动支架；210、摆动支架与手掌铰接孔；220、摆动支架与活塞杆铰接孔Ⅰ；230、摆动支架与活塞杆铰接孔Ⅱ；300、第一指节；310、第一指节与摆动支架铰接孔；320、第一指节与微型电液直线作动器铰接孔；330、第一指节与活塞杆铰接孔；400、第二指节；410、第二指节与第一指节铰接孔；420、第二指节与微型电液直线作动器铰接孔；430、第二指节与活塞杆铰接孔；500、第三指节；510、第三指节与第二指节铰接孔；520、第三指节与微型电液直线作动器铰接孔；600、传感器；700、拇指基体；710、拇指基体与微型电液直线作动器铰接孔；720、拇指基体与手掌铰接孔；730、拇指基体与活塞杆铰接孔；800、拇指第一指节；810、拇指第一指节与摆动支架铰接孔；820、拇指第一指节与微型电液直线作动器铰接孔；830、拇指第一指节与活塞杆铰接孔；900、拇指第二指节；910、拇指第二指节与拇指第一指节铰接孔；920、拇指第二指节与微型电液直线作动器铰接孔。
具体实施方式
为了对本发明的技术方案、目的和效果有更清楚的理解，现结合附图说明本发明的 具体实施方式。
一、第一实施例：
如图1、图3、图5、图6所示，所述微型电液直线作动器1000为超微型结构，所说的微型是指电液直线作动器的外形尺寸很小，可以设置在手指的各指节及手掌100内，本发明中所述的微型电液直线作动器1000的典型外形尺寸为：长12毫米，宽为8毫米，高为15毫米的长方体；该微型电液直线作动器1000包括作动器基体3、球形泵单元和往复活塞机构，在作动器基体3上设置有液压缸25和缸套26，液压缸25和缸套26均为一端开口的圆柱形容腔；液压缸25的开口端设置有液压缸端盖19，在液压缸端盖19与液压缸25配合处设置有密封圈Ⅲ20；往复活塞机构为双活塞杆机构，往复活塞机构设置在液压缸25内，往复活塞机构的活塞16的直径与液压缸25的圆柱形内腔直径相配，在活塞16与液压缸25配合处设置有活塞密封圈Ⅴ17，从而在液压缸25内形成两个容积交替变化的工作腔，活塞16一侧的活塞杆15从液压缸25的圆柱形内腔底部的活塞杆过孔伸出，在活塞杆15与作动器基体3上过孔配合处设置有密封圈Ⅰ14，活塞16另一侧的活塞杆15在液压缸端盖19中心的孔(活塞杆孔)内滑动，在活塞杆15与液压缸端盖19配合处设置有密封圈Ⅱ18，在液压缸端盖19上的活塞杆孔的底部设置有平衡孔28，平衡孔28连通到弹性皮囊1与作动器基体3所形成的间隙；在伸出液压缸25底部的活塞杆15的端部设置有活塞杆铰接孔12，活塞杆铰接孔12用于活塞杆15的端部与其他零件铰接传递动力；在液压缸端盖19上设置有作动器铰接孔24，作动器铰接孔24用于微型电液直线作动器1000与其他零件铰接。
球形泵和电机集成在缸套26内组成球形泵单元，在缸套26的开口端设置有电机端盖2；球形泵包括缸体8、缸盖10、球形泵活塞9、转盘7和球形泵主轴6，缸盖10与缸体8都具有半球形内腔，连接形成球形内腔，缸盖10与缸体8组合后，套筒11通过热装过盈配合的方式紧固在缸盖10与缸体8的外圆周上，套筒11再通过热装过盈配合紧固在缸套26的圆柱形容腔底部的内圆周上；在缸盖10上设置有活塞轴孔和两个进排液孔，两个进排液孔分别为第一进排液孔101和第二进排液孔102，由于球形泵可正反转运行，当电机正转时第一进排液孔101为进液孔，第二进排液孔102为排液孔，则当电机反转时，第一进排液孔101为排液孔，第二进排液孔102为进液孔。
球形泵活塞9与转盘7通过柱面铰链铰接后形成球形转子置于球形内腔内，电机的定子4线圈绕组固定在缸套26的圆柱形容腔的开口端内壁上，电机的转子5的硅钢片环绕在主轴6的外圆周上，电机端盖2通过热装过盈配合固定连接在缸套26的圆柱形 容腔的开口端，球形泵的主轴6的上端与球形泵的套筒11之间形成旋转支撑，主轴6的下端与电机端盖2之间形成旋转支撑；具体为在主轴6的上端与套筒11配合处设置滑动配合形成主轴6的上端旋转支撑；在主轴6的下端设置中心轴孔62，在电机端盖2上设置有与主轴6的下端的中心轴孔62相配的支撑轴201，所述支撑轴201可在所述中心轴孔内旋转从而形成球形泵主轴6的下端旋转支撑。
所述微型电液直线作动器1000封装在一个密闭的充满液压油的弹性皮囊1内，活塞杆15的端部从弹性皮囊1中伸出；在伸出弹性皮囊1的活塞杆15的端部与弹性皮囊1连接处设置有伸缩套27和密封环13，密封环13固定卡持在活塞杆15的头部，伸缩套27连接在密封环13和弹性皮囊1之间。在实际应用中，为了安装方便，把液压缸端盖19上的作动器铰接孔24从弹性皮囊1中裸露出来，在液压缸端盖19与弹性皮囊1配合处之间设置密封圈Ⅵ21，密封圈Ⅵ21用于把固定弹性皮囊1固定在作动器基体3上并密封弹性皮囊1和作动器基体3之间的液体。
如图9到图10所示，球形泵活塞9具有球形顶面、两个成一定角度α(该角度α一般为10°到25°)的侧面和在两侧面下部的半圆柱形的活塞销座92，所述球形泵活塞9的球形顶面与所述球形内腔具有相同的球心并形成密封动配合；在球形泵活塞9的球形顶面中央凸出一活塞轴91，活塞轴91的轴线通过球形泵活塞9的球形顶面的球心；球形泵的转盘7具有在其上部与活塞销座92相对应的转盘销座72，该球形泵的转盘7的上部和下端面之间的外周面为转盘球面，转盘球面与所述球形内腔具有相同的球心并紧贴球形内腔形成密封动配合；所述转盘销座72为与活塞销座92相配的半圆柱凹槽，在转盘7的下端中心凸出一转盘轴71，转盘轴71通过转盘球面的球心，在转盘7的转盘轴71的端部设置有滑靴73；其中，转盘销座72的半圆柱凹槽的高度略高于半圆柱的中心线，即半圆柱凹槽的凹槽深度尺寸略大于半圆柱的半径，也即半圆柱凹槽的截面形状呈优弧状，活塞销座92的半圆柱需要从圆柱端部插入转盘销座72的半圆柱凹槽内形成柱面铰链；本实施例中的柱面铰链为“C”型套结构，转盘7的转盘销座72凹槽部分的圆弧包覆在活塞销座92的外圆柱面上，形成可绕圆柱中心线的转动。实际应用中，柱面铰链也可以是其他柱面形式形成的铰接。
转盘7的转盘轴71从缸体8的下端开口伸出后与主轴6的上端面活动连接，如图7到图8所示，在球形泵的主轴6的上端面设置有滑槽61，滑靴73与滑槽61相配，转盘轴71上的滑靴73插入主轴6上的滑槽61内滑动。所述活塞轴孔和转盘轴71的轴线都通过所述球形内腔的球心，活塞轴孔和转盘轴71的轴线夹角为α；
球形泵的主轴6旋转时，带动转盘7和球形泵活塞9在球形泵的球形内腔内旋转，转盘7的滑靴73在主轴6的滑槽61内往复摆动，转盘7和球形泵活塞9相对摆动，在所述转盘7的上端面、所述球形泵活塞9的两侧面与所述球形内腔之间形成容积交替变化的V1工作室和V2工作室；缸盖10的两个进排液孔(即第一进排液孔101和第二进排液孔102)分别与往复活塞机构活塞16的液压缸25的两侧的两个工作腔通过设置在作动器基体3内的第一进排液通道22和第二进排液通道23连通(在往复活塞机构活塞两侧的两个工作室上设置有进排液孔，一个工作室为进液孔，则另一个工作室为排液孔，球形泵的排液孔与往复活塞机构的进液孔连通，球形泵的进液孔与往复活塞机构的排液孔连通)，即球形泵的缸盖10上两个进排液孔分别与往复活塞机构活塞16两侧的工作腔接通。
二、第二实施例：
如图2、图4所示，在本发明的第二实施例中，除主轴Ⅰ6A、作动器基体Ⅰ3A、电机的定子Ⅰ4A和电机的转子Ⅰ5A与第一实施例略有不同外，其他完全相同；在第二实施例中，主轴Ⅰ6A的相对于第一实施例中主轴6的轴径较小，电机的定子Ⅰ4A与电机的转子Ⅰ5A相对于第一实施例中电机的定子4与电机的转子5轴向尺寸较短，电机的转子Ⅰ5A设置在主轴Ⅰ6A下端轴外圆周上，电机的定子Ⅰ4A与电机的转子5ⅠA在径向相对布置；电机的定子Ⅰ4A与作动器基体Ⅰ3A相适配，电机的定子Ⅰ4A固定设置在作动器基体Ⅰ3A的球形泵缸套的开口端圆柱内腔的内壁上；这种结构可以压缩球形泵单元主轴径向方向的尺寸。
而在第一实施例中，主轴6的径向尺寸较大，球形泵的套筒11连同缸体8、缸盖10更多的包容在主轴6的上端形成的容腔内，电机的转子5和电机的定子4的轴向长度尺寸大，在主轴6的全轴向长度上形成电磁力，在相同的体积下，第一实施例结构形式有利于球形泵获得更大的电机扭矩和驱动力。所以，第一实施例为本发明的最优选结构。
三、第三实施例：
如图11到图14所示，电液驱动机器人灵巧手为五指结构，包括手掌100、拇指、食指、中指、无名指和小指；食指、中指、无名指和小指的结构相同且都包括依次铰接的第一指节300、第二指节400和第三指节500，食指、中指、无名指和小指的第一指节通过摆动支架200(即指节摆动支架)铰接在手掌100上；在第一指节300、第二指节400和第三指节500内分别铰接有一个微型电液直线作动器1000(即指节微型电液直线作动器)；
在摆动支架200上设置有摆动支架与手掌铰接孔210、摆动支架与活塞杆铰接孔Ⅰ220(用于与手掌100内的微型电液直线作动器1000的活塞杆15铰接)、摆动支架与活塞杆铰接孔Ⅱ230(用于与第一指节300内的微型电液直线作动器1000的活塞杆15铰接)；在第一指节300上设置有第一指节与摆动支架铰接孔310、第一指节与微型电液直线作动器铰接孔320、第一指节与活塞杆铰接孔330；在第二指节400上设置有第二指节与第一指节铰接孔410、第二指节与微型电液直线作动器铰接孔420、第二指节与活塞杆铰接孔430；在第三指节500上设置有第三指节与第二指节铰接孔510、第三指节与微型电液直线作动器铰接孔520；另外，在摆动支架200上还设置有与第一指节300连接的铰接孔(和第一指节与摆动支架铰接孔310相配)，在第一指节300上还设置有与第二指节400连接的铰接孔(和第二指节与第一指节铰接孔410相配)，在第二指节400上还设置有与第三指节500连接的铰接孔(和第三指节与第二指节铰接孔510相配)；
在微型电液直线作动器1000的活塞杆15上设置有活塞杆铰接孔12，该活塞杆铰接孔12用于活塞杆15的端部与其他零件铰接传递动力；在微型电液直线作动器1000的液压缸端盖19上设置有作动器铰接孔24，该作动器铰接孔24用于微型电液直线作动器1000与其他零件铰接；
第三指节500内的微型电液直线作动器1000的活塞杆15与第二指节400铰接，第二指节400内的微型电液直线作动器1000的活塞杆15与第一指节300铰接，第一指节300内的微型电液直线作动器1000的活塞杆15与摆动支架200铰接，从而形成连杆机构传递动力，第一指节300、第二指节400和第三指节500内的微型电液直线作动器1000的活塞杆15伸缩时带动相应的指节前后弯曲和伸张；
在手掌100内设置有第一到第五共五个微型电液直线作动器1000(即手掌微型电液直线作动器)，即在手掌100内设置有五个微型电液直线作动器1000，五个微型电液直线作动器1000分别为第一微型电液直线作动器、第二微型电液直线作动器、第三微型电液直线作动器、第四微型电液直线作动器和第五微型电液直线作动器，其中，第一微型电液直线作动器1000用于控制拇指基体700动作，第二到第五微型电液直线作动器1000分别用于控制食指、中指、无名指和小指动作；第二到第五微型电液直线作动器1000的活塞杆15各与一个摆动支架200(即手掌摆动支架)铰接，每个摆动支架200再与相应的食指、中指、无名指和小指的第一指节300铰接形成连杆机构传递动力，所述第二到第五微型电液直线作动器1000的活塞杆15伸缩时，可驱动与其铰接的相应的 食指、中指、无名指和小指在手掌的平面内左右摆动；
与手掌100内第二到第五微型电液直线作动器1000连接的摆动支架200通过其上的四个铰接孔分别与手掌100、手掌100上的微型电液直线作动器1000的活塞杆15、第一指节300、第一指节300上的微型电液直线作动器1000的活塞杆15形成铰接；第一指节300通过其上的四个铰接孔分别与摆动支架200、第一指节300上的微型电液直线作动器1000、第二指节400、第二指节400上的微型电液直线作动器1000的活塞杆15铰接；第二指节400通过其上的四个铰接孔分别与第一指节300、第二指节400上的微型电液直线作动器1000、第三指节500、第三指节500上的微型电液直线作动器1000的活塞杆15铰接；第三指节500通过其上的两个铰接孔分别与第二指节400、第三指节500上的微型电液直线作动器1000铰接。
如图18到图19所示，食指、中指、无名指和小指的各指节连杆结构为：第一指节300、微型电液直线作动器1000的活塞杆15与摆动支架200形成连杆机构；第二指节400、微型电液直线作动器1000的活塞杆15与第一指节300形成连杆机构；第三指节500、微型电液直线作动器1000的活塞杆15与第二指节400形成连杆机构；摆动支架200、手掌100与微型电液直线作动器1000的活塞杆15形成连杆机构。
如图15到图17所示，拇指包括依次铰接的拇指基体700、拇指第一指节800、拇指第二指节900，拇指第一指节800通过摆动支架200(即拇指摆动支架)铰接在拇指基体700上，在拇指基体700、拇指第一指节800、拇指第二指节900上分别铰接有一个微型电液直线作动器1000；在拇指基体700上设置有拇指基体与微型电液直线作动器铰接孔710、拇指基体与手掌铰接孔720、拇指基体与活塞杆铰接孔730；在拇指第一指节800上设置有拇指第一指节与摆动支架铰接孔810、拇指第一指节与微型电液直线作动器铰接孔820、拇指第一指节与活塞杆铰接孔830；在拇指第二指节900上设置有拇指第二指节与拇指第一指节铰接孔910、拇指第二指节与微型电液直线作动器铰接孔920；另外，在拇指第一指节800上还设置有与拇指第二指节900连接的铰接孔(和拇指第二指节与拇指第一指节铰接孔910相配)，在摆动支架200上还设置有与拇指第一指节连接的铰接孔(和拇指第一指节与摆动支架铰接孔810相配)；在拇指基体700上还设置有与摆动支架200连接的铰接孔(和摆动支架与手掌铰接孔210相配)；
拇指基体700上的摆动支架200通过其上的四个铰接孔分别与拇指基体700、拇指基体700上的微型电液直线作动器1000的活塞杆15、拇指第一指节800、拇指第一指节800上的微型电液直线作动器1000的活塞杆15铰接；拇指基体700分别与手掌100、 手掌100内的第一微型电液直线作动器1000的活塞杆15、拇指基体700上的微型电液直线作动器1000、拇指第一指节800铰接；拇指第一指节800分别与拇指基体700上连接的摆动支架200、拇指第一指节800上的微型电液直线作动器1000、拇指第二指节900、拇指第二指节900上的微型电液直线作动器1000的活塞杆15铰接；拇指第二指节900分别与拇指第一指节800、拇指第二指节900上的微型电液直线作动器1000铰接；
拇指第二指节900内的微型电液直线作动器1000的活塞杆15与拇指第一指节800铰接，拇指第一指节800内的微型电液直线作动器1000的活塞杆15与拇指基体700通过摆动支架200铰接，形成连杆机构传递动力，拇指第一指节800、拇指第二指节900内的微型电液直线作动器1000的活塞杆15伸缩时相应的指节可前后弯曲和伸张，拇指基体700内的微型电液直线作动器1000的活塞杆15伸缩时，拇指在手掌平面内可左右摆动；拇指基体700铰接在手掌100上，手掌100内第一微型电液直线作动器1000的活塞杆15与拇指基体700铰接，形成连杆机构传递动力，第一微型电液直线作动器1000的活塞杆15伸缩时拇指可向掌心前后转动。
在每个手指的指尖上即第三指节500和拇指第二指节900的指尖上设置有传感器600，传感器600包括位置传感器和力传感器，位置传感器用于感知手指的位置变化，力传感器用于检测指尖上的抓取力。每个传感器600和每个微型电液直线作动器1000通过导线分别与机器人控制器电连接，控制器根据机器人指令控制微型电液直线作动器1000的电机运转，并给电机供电，接收和采集传感器600传递回的信息，调整和生成新的指令，实现手指动作智能控制。
需要说明的是，本实施例中提及的微型电液直线作动器1000均采用上述第一实施例或第二实施例的微型电液直线作动器1000，因此，该微型电液直线作动器1000的具体结构及其工作原理请参见上述第一实施例或第二实施例，通过机器人控制器控制电机旋转推动活塞杆15往复运动从而实现灵巧手各手指的动作。
本实施例中，机器人灵巧手包含五指，即在手掌100上连接有拇指、食指、中指、无名指和小指，食指、中指、无名指和小指结构相同，所以其他在手掌100上缺少食指、中指、无名指或者小指的任何一个或者几个的手指的技术方案也落入本发明的所要保护的技术范围。另外，缺少第三指节、第二指节或者拇指第二指节的一项或者几项的，只要能完成相应的抓取动作的，也落入本发明的所要保护的技术范围。
以上所述仅为本发明示意性的具体实施方式，并非用以线定本发明的范围。任何本领域的技术人员，在不脱离本发明的构思和原则的前提下所作出的等同变化与修改，均 应属于本发明保护的范围。而且需要说明的是，本发明的各组成部分并不仅线于上述整体应用，本发明的说明书中描述的各技术特征可以根据实际需要选择一项单独采用或选择多项组合起来使用，因此，本发明理所当然地涵盖了与本案发明点有关的其它组合及具体应用。

Claims (11)

  1. 一种微型电液直线作动器，其中，该微型电液直线作动器包括作动器基体、球形泵单元和往复活塞机构，在该作动器基体上设置有液压缸和缸套，该液压缸和该缸套均为一端开口的圆柱形容腔，该往复活塞机构设置在该液压缸内，该液压缸的开口端设置有液压缸端盖，在伸出该液压缸底部的该往复活塞机构的活塞杆的端部设置有活塞杆铰接孔，在该液压缸端盖上设置有作动器铰接孔；在该缸套的开口端设置有电机端盖，所述球形泵单元包括球形泵及电机，该球形泵和该电机集成在该缸套内；该球形泵的第一进排液孔和第二进排液孔分别与该往复活塞机构的液压缸内的两个工作腔连通；所述微型电液直线作动器封装在一个密闭的弹性皮囊内，该活塞杆的端部从该弹性皮囊中伸出。
  2. 根据权利要求1所述的微型电液直线作动器，其中，所述往复活塞机构为双活塞杆机构，所述往复活塞机构的活塞的一侧的活塞杆从该液压缸的圆柱内腔底部的活塞杆过孔伸出，该活塞的另一侧的活塞杆在该液压缸端盖内滑动。
  3. 根据权利要求1所述的微型电液直线作动器，其中，该球形泵包括缸体、缸盖、球形泵活塞、转盘和主轴，该缸盖与该缸体通过套筒紧固连接，且该缸盖与该缸体连接形成球形内腔，该球形泵活塞与该转盘通过柱面铰链铰接后形成球形转子置于该球形内腔内，该电机的定子和该套筒固定在该缸套的内壁上，该电机的转子环绕在该主轴的外圆周上，该电机端盖固定连接在该缸套的开口端，该主轴的上端与该套筒之间形成旋转支撑，该主轴的下端与该电机端盖之间形成旋转支撑。
  4. 根据权利要求3所述的微型电液直线作动器，其中，在该缸盖上设置有活塞轴孔、该第一进排液孔和该第二进排液孔，该球形泵活塞的活塞轴插入该缸盖内的活塞轴孔内，该球形泵活塞的球形表面和该转盘的球形表面与该球形内腔形成密封动配合，该转盘的转盘轴从该缸体的下端伸出，在该主轴的上端面设置有滑槽，在该转盘的转盘轴的端部设置有滑靴，该转盘轴上的滑靴与该主轴上的滑槽相配，该转盘轴上的滑靴插入该主轴上的滑槽内，该主轴转动时，该滑靴在该滑槽内往复滑动。
  5. 根据权利要求3所述的微型电液直线作动器，其中，
    该电机的定子的两端分别顶抵于该缸套的底部和该电机端盖上，该电机的转子的两端分别顶抵于该缸套的底部和该电机端盖上。
  6. 根据权利要求3所述的微型电液直线作动器，其中，
    该主轴的外径呈上大下小的台阶状，该电机的定子的两端分别顶抵于该主轴的台 阶面和该电机端盖上，该电机的转子的两端分别顶抵于该主轴的台阶面和该电机端盖上。
  7. 根据权利要求1至6中任一项所述的微型电液直线作动器，其中，
    该弹性皮囊与该作动器基体之间形成有能填充液压油的间隙，该液压缸端盖的活塞杆孔的底部设有平衡孔，该平衡孔连通该间隙。
  8. 根据权利要求7所述的微型电液直线作动器，其中，
    该活塞杆的端部通过伸缩套与该弹性皮囊相接。
  9. 一种电液驱动机器人灵巧手，其中，该电液驱动机器人灵巧手包括手掌、拇指、食指、中指、无名指和小指，该食指、该中指、该无名指和该小指的结构相同且均包括依次铰接的第一指节、第二指节和第三指节，第一指节通过指节摆动支架铰接在该手掌上；在该第一指节、该第二指节和该第三指节内分别设置有一个指节微型电液直线作动器，该第三指节内的指节微型电液直线作动器的活塞杆与该第二指节铰接，该第二指节内的指节微型电液直线作动器的活塞杆与该第一指节铰接，该第一指节内的指节微型电液直线作动器的活塞杆与该指节摆动支架铰接，从而形成连杆机构传递动力，在该第一指节、该第二指节和该第三指节内的各该指节微型电液直线作动器的活塞杆伸缩时驱动相应的指节前后弯曲和伸张；
    该拇指包括依次铰接的拇指基体、拇指第一指节、拇指第二指节，该拇指第一指节通过拇指摆动支架铰接在该拇指基体上，在该拇指基体、该拇指第一指节、该拇指第二指节内分别设置有一个拇指微型电液直线作动器，该拇指第二指节内的拇指微型电液直线作动器的活塞杆与该拇指第一指节铰接，该拇指第一指节内的拇指微型电液直线作动器的活塞杆与该拇指基体通过拇指摆动支架铰接，形成连杆机构传递动力，该拇指第一指节和该拇指第二指节内的各该拇指微型电液直线作动器的活塞杆伸缩时驱动相应的指节前后弯曲和伸张，该拇指基体内的拇指微型电液直线作动器的活塞杆伸缩时，该拇指在该手掌的平面内左右摆动；
    在该手掌内设置有五个手掌微型电液直线作动器，五个该手掌微型电液直线作动器分别为第一手掌微型电液直线作动器、第二手掌微型电液直线作动器、第三手掌微型电液直线作动器、第四手掌微型电液直线作动器和第五手掌微型电液直线作动器，其中，第一手掌微型电液直线作动器用于控制该拇指基体的动作，该拇指基体铰接在该手掌上，该手掌内的第一手掌微型电液直线作动器的活塞杆与该拇指基体铰接，形成连杆机构传递动力，第一手掌微型电液直线作动器的活塞杆伸缩时驱动该拇指向该手掌的掌心 前后转动；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器分别用于控制该食指、该中指、该无名指和该小指的动作；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器的各活塞杆分别与一个手掌摆动支架铰接，每个该手掌摆动支架再与相应的该食指、该中指、该无名指和该小指的该第一指节铰接形成连杆机构传递动力，在该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器的各活塞杆伸缩时，驱动与其铰接的相应的该食指、该中指、该无名指和该小指在该手掌的平面内左右摆动；
    在该第三指节和该拇指第二指节的指尖上均设置有传感器，每个该传感器和各该指节微型电液直线作动器、各该拇指微型电液直线作动器和各该手掌微型电液直线作动器分别与机器人控制器电连接；
    其中，该指节微型电液直线作动器、该拇指微型电液直线作动器和该手掌微型电液直线作动器均为如权利要求1至8中任一项所述的微型电液直线作动器，该指节摆动支架、该拇指摆动支架和手掌摆动支架的结构相同。
  10. 根据权利要求9所述的电液驱动机器人灵巧手，其中，所述传感器包括位置传感器和力传感器，该位置传感器和该力传感器分别与该机器人控制器电连接。
  11. 一种电液驱动机器人灵巧手，其中，该电液驱动机器人灵巧手包括手掌、拇指、食指、中指、无名指和小指，该食指、该中指、该无名指和该小指的结构相同且均包括依次铰接的第一指节、第二指节和第三指节，第一指节通过指节摆动支架铰接在该手掌上；在该第一指节、该第二指节和该第三指节内分别设置有一个指节微型电液直线作动器，该第三指节内的指节微型电液直线作动器的活塞杆与该第二指节铰接，该第二指节内的指节微型电液直线作动器的活塞杆与该第一指节铰接，该第一指节内的指节微型电液直线作动器的活塞杆与该指节摆动支架铰接，从而形成连杆机构传递动力，在该第一指节、该第二指节和该第三指节内的各该指节微型电液直线作动器的活塞杆伸缩时驱动相应的指节前后弯曲和伸张；
    该拇指包括依次铰接的拇指基体、拇指第一指节、拇指第二指节，该拇指第一指节通过拇指摆动支架铰接在该拇指基体上，在该拇指基体、该拇指第一指节、该拇指第二指节内分别设置有一个拇指微型电液直线作动器，该拇指第二指节内的拇指微型电液直线作动器的活塞杆与该拇指第一指节铰接，该拇指第一指节内的拇指微型电液直线作 动器的活塞杆与该拇指基体通过拇指摆动支架铰接，形成连杆机构传递动力，该拇指第一指节和该拇指第二指节内的各该拇指微型电液直线作动器的活塞杆伸缩时驱动相应的指节前后弯曲和伸张，该拇指基体内的拇指微型电液直线作动器的活塞杆伸缩时，该拇指在该手掌的平面内左右摆动；
    在该手掌内设置有五个手掌微型电液直线作动器，五个该手掌微型电液直线作动器分别为第一手掌微型电液直线作动器、第二手掌微型电液直线作动器、第三手掌微型电液直线作动器、第四手掌微型电液直线作动器和第五手掌微型电液直线作动器，其中，第一手掌微型电液直线作动器用于控制该拇指基体的动作，该拇指基体铰接在该手掌上，该手掌内的第一手掌微型电液直线作动器的活塞杆与该拇指基体铰接，形成连杆机构传递动力，第一手掌微型电液直线作动器的活塞杆伸缩时驱动该拇指向该手掌的掌心前后转动；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器分别用于控制该食指、该中指、该无名指和该小指的动作；该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器的各活塞杆分别与一个手掌摆动支架铰接，每个该手掌摆动支架再与相应的该食指、该中指、该无名指和该小指的该第一指节铰接形成连杆机构传递动力，在该第二手掌微型电液直线作动器、该第三手掌微型电液直线作动器、该第四手掌微型电液直线作动器和该第五手掌微型电液直线作动器的各活塞杆伸缩时，驱动与其铰接的相应的该食指、该中指、该无名指和该小指在该手掌的平面内左右摆动；
    在该第三指节和该拇指第二指节的指尖上均设置有传感器，每个该传感器和各该指节微型电液直线作动器、各该拇指微型电液直线作动器和各该手掌微型电液直线作动器分别与机器人控制器电连接。
PCT/CN2020/122674 2019-10-22 2020-10-22 微型电液直线作动器及电液驱动机器人灵巧手 WO2021078183A1 (zh)

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