Actuator for a working element, particularly a walking robot and the method of controlling said actuator

1. Actuator of a working element, mainly a walking robot, that has a control system, a base of the actuator with a motor fastened thereto, connected to the control system and kinematically connected to the working element, wherein the kinematic connection between the motor and the working element of the robot has a mobile link, fastened to the base of the actuator with the possibility of rotating, a runner placed on the mobile link with the possibility of sliding radially along the entire mobile link, a lever arm kinematically connected to the motor, hinge-connected by a pin to the runner, in such a way that the rotation axis of the mobile link, the rotation axis of the lever arm and the rotation axis of the pin are parallel, and the mobile link is kinematically connected to the working element.

2. Actuator of a working element, according to claim 1 , wherein the distance between the rotation axis of the mobile link and the rotation axis of the lever arm is longer than the length of the lever arm.

3. Actuator of a working element, according to claim 1 , wherein the distance between the rotation axis of the mobile link and the rotation axis of the lever arm is shorter than the length of the lever arm.

4. Actuator of a working element, according to claim 1 , wherein the lever arm has an adjusting device, that ensures the possibility of adjusting the length of the lever arm.

5. Actuator of a working element, according to claim 4 , wherein the adjusting device of the lever arm has an adjusting motor connected to the control system.

6. Actuator of a working element, according to claim 1 , wherein said actuator of a working element has a sensor of the rotation angle of the motor and this sensor is connected to the control system.

7. Actuator of a working element, according to claim 5 , wherein said actuator of a working element has a sensor of the rotation angle of the adjusting motor, and this sensor is connected to the control system.

8. Actuator of a working element, according to claim 1 , wherein said actuator of a working element has a sensor of the angle between the lever arm and the mobile link and this sensor is connected to the control system.

9. Actuator of a working element, according to claim 1 , wherein the kinematic connection between the motor and the lever arm has a reducer.

10. Actuator of a working element, according to claim 1 , wherein the kinematic connection between the mobile link and the working element has a reducer.

11. Actuator of a working element, according to claim 1 , wherein the kinematic connection between the mobile link and the working element has a rack-pinion mechanism.

12. Actuator of a working element, according to claim 1 , wherein the actuator has a system of elastic elements, said system of elastic elements having at least one elastic element, the elastic element having a first end connected to the mobile link and a second end connected to the base of the actuator.

13. Actuator of a working element, according to claim 1 , wherein the actuator has a system of elastic elements, said system of elastic elements having at least one elastic element, the elastic element having a first end connected to the working element of the robot and a second end connected to the base of the actuator.

14. Actuator of a working element, according to claim 12 , wherein the system of elastic elements sets the mobile link in a stable equilibrium when the lever arm is in a position parallel to said mobile link.

15. Actuator of a working element, according to claim 1 , wherein the actuator has a fastener which fastens at least one position of the working element, or at least one position of the mobile link or at least one position of the lever arm.

16. Control method of the actuator of claim 1 , wherein at least in one part of the path of the working element, said working element stops in positions when the angle between the lever arm and the mobile link is 90 degrees, and said working element begins to move, the lever arm rotating with the help of the motor in the direction of the direction of rotation of the rotation axis of the mobile link in the case when the corresponding leg of the robot does not rest on the surface, and in the direction of the opposite direction of rotation of the rotation axis of the mobile link when the corresponding leg of the robot rests on the surface.

17. Control method of the actuator of claim 1 , wherein at least in one part of the path of the working element, said working element stops in the position when the lever arm is parallel to the mobile link, and said working element is oriented in the direction of the opposite direction of rotation of the rotation axis of the mobile link, the motion of the working element is carried out by constantly rotating the lever arm an angle of 360 degrees with the help of the motor, after which the rotation of the lever arm ends.

18. Actuator of a working element, according to claim 1 , wherein the actuator has a system of elastic elements, said system of elastic elements having at least one elastic element, the elastic element having a first end connected to the lever arm and a second end connected to the base of the actuator.

19. Actuator of a working element, according to claim 1 , mainly for a walking robot, wherein the base of the actuator is the body of the robot, and the working element is a leg of the robot.

20. Control method of the actuator according to claim 1 , wherein the motion of the working element is achieved by means of the mobile link, rotating the lever arm assisted by the motor, and the starting and stop positions of the actuator are determined by the value of the angle formed between the lever arm and the mobile link, said value being defined by the control system.

21. Control method of the actuator according to claim 1 , wherein the length of the lever arm can be changed with the help of the adjusting motor during the moving process of said lever arm.