CN106958556A - A kind of integrated hydraulic driver and its control method for robot - Google Patents

Abstract

The invention discloses an integrated hydraulic driver for a robot and a control method thereof. The servo cylinder of the hydraulic driver is a single-rod hydraulic cylinder, and a nozzle baffle servo valve and an oil circuit connection block are installed on the upper part of the servo cylinder body. Corresponding oil passages are provided on the cylinder block at the junction with the oil circuit connection block to communicate with the oil inlet, control oil port and oil return port on the servo valve of the nozzle baffle; the force sensor is installed at the front end of the piston rod of the servo cylinder, and the displacement sensor The shell is fixed on the cylinder body of the servo cylinder, and the probe is fixed on the piston rod of the servo cylinder on the same side as the force sensor; the control method is that the force sensor and the displacement sensor are used together to monitor the output force and displacement of the servo cylinder in real time. The load pressure observer calculates the system load pressure, and finally makes the output of the servo cylinder equal to the input of the system through the controller. The invention adopts a valve-controlled asymmetric cylinder structure, and omits the pressure sensors of the two cavities of the servo cylinder. The structure is more compact, and the power-to-weight ratio and controllability are advantageous.

Description

An integrated hydraulic drive for a robot and its control method

technical field

The invention belongs to the field of hydraulic technology, and relates to a highly integrated integrated hydraulic driver for the joint motion of a hydraulically driven footed robot.

Background technique

Robots can be divided into four categories according to their main functions: operating robots, mobile robots, information robots and man-machine robots. Among them, operating robots are used to simulate the movements of human hands and arms to complete various process operations; mobile robots can be subdivided into wheeled robots, crawler robots and legged robots, which are commonly used in industrial production to complete transportation and loading and unloading. tasks such as cutting materials, and most of these robots are equipped with operators to complete on-site operation tasks; information robots refer to intelligent behavior simulation devices based on computer systems; there are two-way closed-loop connections between man-machine robots and humans, and these connections Including combined limb manipulators, walking aids on human legs, and bioelectric or voice-controlled prosthetics. The actions of the above robots are all accomplished through joint motion, and the driving methods of robot joint motion are generally divided into three types: electric drive, pneumatic drive and hydraulic drive. Due to the advantages of hydraulic drive, such as large thrust, high power-to-weight ratio, good system rigidity, high precision, fast response, and easy to work in a large speed range, hydraulically driven robots have more advantages in many fields. Therefore, the hydraulic drive method is also become particularly important.

The driving method of traditional robot joints is generally a non-integrated valve-controlled cylinder structure, and the servo valve/proportional valve is connected to the servo cylinder through a pipeline. This non-integrated valve-controlled cylinder structure has the following disadvantages: 1. Between the control valve and the hydraulic cylinder The pipeline is too long, which reduces the control performance of the hydraulic cylinder and the natural frequency of the system; 2. There are too many joints in the system, which will easily lead to leakage and affect the reliability of the entire robot system.

The Chinese invention patent with the authorized notification number CN103233932B discloses a highly integrated hydraulic drive unit structure, which overcomes some shortcomings of the non-integrated valve-controlled cylinder. It has the characteristics of large forward output and small return output, so that the symmetrical servo cylinder structure of the hydraulic drive is not optimal in the actual application process of the robot joint. Therefore, it is necessary to design a new type of integrated hydraulic drive for robots to solve the shortcomings of the existing hydraulic drive, such as insufficient power-to-weight ratio and insufficient integration.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention aims to provide an integrated hydraulic driver for robot joint motion with a larger power-to-weight ratio and higher integration.

The object of the invention is achieved through the following technical solutions:

An integrated hydraulic drive for a robot, including a servo cylinder, an oil circuit connection block, a nozzle baffle servo valve, a displacement sensor, a force sensor, and the nozzle baffle servo valve and an oil circuit connection block are installed on the upper part of the cylinder body of the servo cylinder , the servo cylinder is a single-rod hydraulic cylinder, and the cylinder body at the junction of the servo cylinder and the oil circuit connection block is provided with radial flow channel C, flow channel H, flow channel J and four fixed oil circuit connection blocks The threaded holes of the servo cylinder and the nozzle baffle servo valve are provided with radial flow channel E, flow channel G, flow channel L, flow channel M, positioning pin holes and four fixed nozzle baffle servo valves on the cylinder block. The threaded hole of the valve, the cylinder body of the servo cylinder close to the oil circuit connecting block are provided with axial flow channel D, flow channel N and flow channel Q, and the flow channel D communicates with the flow channel C and flow channel E respectively. Channel N communicates with flow channel J and flow channel M respectively, and flow channel Q communicates with flow channel H and flow channel L respectively; the oil circuit connecting block is provided side by side with: horizontal oil inlet flow channel R and oil return channel Flow channel W, vertical flow channel V and flow channel Z, oil inlet flow channel R communicates with flow channel V, oil return flow channel W communicates with flow channel Z; flow channel V on the oil connection block communicates with the servo cylinder The flow channel J on the body is connected, and the flow channel Z on the oil circuit connecting block is connected to the flow channel H on the servo cylinder block; the nozzle baffle servo valve is provided with an oil inlet P, a control oil port A, Control oil port B and oil return port T; the force sensor is installed on the front end of the piston rod of the servo cylinder, the housing of the displacement sensor is fixed on the cylinder body of the servo cylinder, and the probe is fixed on the servo cylinder on the same side as the force sensor On the piston rod, the servo cylinder piston rod can perform an extension or retraction movement.

The extension movement of the piston rod of the servo cylinder: when the oil enters, the system oil flows into the flow channel J in the cylinder body of the servo cylinder through the oil inlet pipeline and the oil inlet flow channel R and the flow channel V on the oil circuit connecting block, and passes through the The flow channel N and flow channel M in the servo cylinder enter the oil inlet P of the nozzle baffle servo valve, pass through the internal flow channel of the nozzle baffle servo valve, and then flow into the servo cylinder from its control oil port A The flow channel E11 of the servo cylinder passes through the flow channel D9 and the flow channel C8 in the servo cylinder, and finally enters the left cavity of the servo cylinder; when returning oil, the oil flows out from the right cavity of the servo cylinder and enters the flow channel in the servo cylinder After passage G, it flows into the control oil port B of the nozzle baffle servo valve, and after passing through the internal flow channel of the nozzle baffle servo valve, it flows out of the nozzle baffle servo valve from the oil return port T of the nozzle baffle servo valve, and then flows into the servo cylinder The channel L of the cylinder body flows into the channel Z of the oil circuit connection block through the channel Q and the channel H in the cylinder body of the servo cylinder, and finally flows back to the oil return pipeline through the oil return channel W in the oil circuit connection block; The retraction movement of the piston rod of the servo cylinder: when oil enters, the system oil flows into the flow channel J in the cylinder body of the servo cylinder through the oil inlet pipeline and the oil inlet flow channel R and the flow channel V on the oil circuit connecting block, and flows through the servo cylinder The flow channel N and flow channel M in the cylinder enter the oil inlet P of the nozzle baffle servo valve, pass through the internal flow channel of the nozzle baffle servo valve, and then flow into the flow channel in the cylinder body of the servo cylinder from its control oil port B G, and finally enter the right chamber of the servo cylinder; when the oil is returned, the oil flows out from the left chamber of the servo cylinder into the flow channel C, flow channel D and flow channel E in the servo cylinder body, and then flows into the nozzle baffle servo valve After passing through the internal channel of the nozzle baffle servo valve, the control oil port A of the nozzle baffle servo valve flows out of the nozzle baffle servo valve from the oil return port T of the nozzle baffle servo valve, and then flows into the servo cylinder block flow channel L, and passes through the servo cylinder The flow channel Q and flow channel H in the cylinder flow into the flow channel Z of the oil circuit connection block, and finally flow back to the oil return pipeline through the oil return flow channel W in the oil circuit connection block.

A control method for an integrated hydraulic drive for a robot. A force sensor and a displacement sensor are used together to monitor the output force and displacement of a servo cylinder in real time, and calculate the load pressure of the system through a pressure observer, including the following steps:

(1) The displacement sensor and the force sensor detect the displacement and force signal output by the servo cylinder, and obtain the deviation after comparing with the input amount of the system;

(2) The load pressure observer obtains the load pressure of the control system through the input displacement and force signals through the internal load pressure control algorithm;

(3) The controller obtains the spool displacement signal to control the nozzle flapper valve through the anti-disturbance control algorithm and system deviation, and finally completes the correction of the above deviation, so that the output of the servo cylinder is equal to the input of the system.

In the load pressure control algorithm described in step (2), the specific algorithm is as follows:

When the servo cylinder piston rod is extended,

When the servo cylinder piston rod is retracted,

The load pressure is: p _L ＝|p ₁ -p ₂ |

In the formula, p ₁ is the pressure of the left chamber of the servo cylinder, A ₁ is the area of the left chamber of the servo cylinder, p ₂ is the pressure of the right chamber of the servo cylinder, A ₂ is the area of the right chamber of the servo cylinder, F is the detection force of the force sensor, n=A ₂ /A ₁ , p _s is the system pressure, p _L is the load pressure.

Due to the adoption of the above technical solution, the integrated hydraulic drive for robots of the present invention can meet the high-response and high-precision control requirements for joint motion of legged robots, and has a more compact structure, a higher power-to-weight ratio, and can integrate multiple A sensing element is used to detect various state quantities of the hydraulic drive in real time, thereby improving the controllability and reliability of the hydraulic drive.

Compared with the prior art, a kind of integrated hydraulic driver for robot proposed by the present invention has the following beneficial effects:

1. Since the nozzle baffle servo valve, force sensor, displacement sensor and other components are directly integrated on the servo cylinder, the hydraulic drive has high integration, small size and light weight, and the gap between the servo valve and the servo cylinder The connecting pipelines are directly processed on the cylinder body of the servo cylinder, which not only overcomes the damage and leakage of pipeline joints caused by non-integrated valve-controlled cylinders, but also improves the dynamic response of robot movement.

2. Since the detection of the force sensor and the displacement sensor is real-time, on the one hand, the control parameters in the controller can be corrected online through the detected real-time deviation and the state feedback, and finally the control parameters are input into the nozzle baffle servo valve. In order to achieve the desired control effect; on the other hand, the collected displacement and force signals are input into the load pressure observer, and the load pressure of the system can be calculated to provide conditions for high-precision control; in summary, the cooperation of the two sensors Use improves the control performance and reliability of the robot.

3. The valve-controlled asymmetric cylinder structure is adopted, and the servo cylinder adopts a single-rod hydraulic servo cylinder. Under the same working conditions, compared with the driver of the valve-controlled double-rod servo cylinder, the drive output of the present invention is At the same time, because the present invention saves the rod on one side of the driver, the structure of the driver is more compact, making its size shorter in the length direction, so that its arrangement at the joints of the robot can be more flexible.

4. By designing the load pressure observer and detecting the displacement and force signals to indirectly calculate the load pressure of the system, eliminating the need for two pressure sensors used to detect the pressure of the two chambers of the servo cylinder, so as to achieve the same control effect; pressure The omission of the sensor and the use of the load pressure observer not only meet the requirement of high-precision control, but also make the structure of the hydraulic driver of the present invention more simplified and the volume further reduced.

Description of drawings

Figure 1 is a three-dimensional assembly diagram of the hydraulic drive.

Figure 2 is a structural assembly diagram of the hydraulic drive.

Figure 3 is a top view of the cylinder body of the servo cylinder.

Figure 4 is a left side view of the cylinder body of the servo cylinder.

Fig. 5 is a sectional view taken along line A-A of Fig. 2 .

Figure 6 is a schematic diagram of the hydraulic drive.

Figure 7 is a schematic diagram of the load pressure observer.

Fig. 8 is a schematic diagram of a position control method of a hydraulic actuator.

Fig. 9 is a schematic diagram of a hydraulic driver force control method.

In the figure: 1- oil circuit connection block, 2- servo cylinder block, 3- displacement sensor, 4- nozzle baffle servo valve, 5- servo cylinder end cover, 6- force sensor, 7- rod end joint bearing assembly, 8-Runner C, 9-Runner D, 10-Servo cylinder piston rod, 11-Runner E, 12-Runner G, 13-Threaded hole for fixing the oil circuit connection block, 14-Runner H, 15- Runner J, 16-threaded hole for fixed nozzle baffle servo valve, 17-runner L, 18-runner M, 19-location pin hole, 20-runner N, 21-runner Q, 22-oil inlet Runner R, 23-runner V, 24-return oil runner W, 25-runner Z.

detailed description

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

As shown in Figure 1-2, a hydraulic driver for a robot is composed of an oil circuit connection block 1, a servo cylinder body 2, a displacement sensor 3, a nozzle baffle servo valve 4, a servo cylinder end cover 5, and a force sensor 6 , rod end joint bearing assembly 7 and servo cylinder piston rod 10; the oil circuit connection block 1 and the nozzle baffle servo valve 4 are installed side by side on the upper part of the servo cylinder body 2, and the housing of the displacement sensor 3 is fixed on the servo cylinder body 2, the probe is fixed on the servo cylinder piston rod 10 on the same side as the force sensor 6, the force sensor 6 is installed on the front end of the servo cylinder piston rod 10, and the rod end joint bearing assembly 7 is installed on the front end of the force sensor 6;

As shown in Figures 2 to 6, the servo cylinder is a single-rod hydraulic cylinder, on which are installed: an oil circuit connection block 1, a displacement sensor 3, a nozzle baffle servo valve 4, a force sensor 6 and a rod end joint bearing Component 7, the cylinder body at the junction of the servo cylinder and the oil circuit connection block 1 is provided with a radial flow channel C8, a flow channel H14, a flow channel J15 and four threaded holes 13 for fixing the oil circuit connection block, the servo cylinder and the nozzle block The cylinder at the junction of the plate servo valve 4 is provided with a radial flow channel E11, a flow channel G12, a flow channel L17, a flow channel M18, a positioning pin hole 19 and four threaded holes 16 for fixing the nozzle baffle servo valve, and the servo cylinder Axial flow channel D9, flow channel N20 and flow channel Q21 are arranged in the cylinder near the side of oil circuit connection block 1, flow channel D9 communicates with flow channel C8 and flow channel E11 respectively, and flow channel N20 communicates with flow channel J15 respectively It communicates with the flow channel M18, and the flow channel Q21 communicates with the flow channel H14 and the flow channel L17 respectively; on the oil circuit connection block 1, there are arranged in parallel: horizontal oil inlet flow channel R22 and oil return flow channel W24, vertical flow channel V23 and The flow channel Z25, the oil inlet flow channel R22 communicates with the flow channel V23, the oil return flow channel W24 communicates with the flow channel Z25; the flow channel V23 of the oil circuit connection block communicates with the flow channel J15 of the upper 2 of the servo cylinder, and the oil circuit connects The flow channel Z25 of the block communicates with the flow channel H14 on the servo cylinder body; the oil inlet P of the nozzle baffle servo valve 4 communicates with the radial flow channel M18 on the servo cylinder body 2, and the oil outlet T communicates with the radial flow channel M18 on the servo cylinder body 2. The flow channel L17 is connected, the control oil port A is connected with the radial flow channel E11, and the control oil port B is connected with the radial flow channel G12.

As shown in FIG. 7 , the load pressure observer indirectly obtains the load pressure by detecting the output displacement and force signals of the servo cylinder. First, the signal detected by the displacement sensor and the force sensor is input into the judgment function, and the flow direction of the force sensor detection signal is obtained through the judgment function; then the pressure of the two chambers of the servo cylinder is obtained, and finally, the pressure of the two chambers of the servo cylinder is subtracted to obtain system load pressure.

As shown in Figures 7 to 9, under ideal conditions without external interference, the output of the servo cylinder should be equal to the input of the system. But when the system is disturbed, the output of the servo cylinder is no longer equal to the input of the system. At this time, it is necessary to detect and eliminate the deviation to achieve the expected input of the system. Displacement sensor 3 and force sensor 6 can detect the output displacement and force signal of the servo cylinder, and get the deviation after comparing with the input quantity of the system. The pressure is the input) and the system deviation to obtain the spool displacement signal to control the nozzle flapper valve, and finally complete the correction of the deviation, so that the output of the servo cylinder is equal to the input of the system. Using the above control methods, the position closed-loop control and force closed-loop control of the integrated hydraulic drive can be realized. As shown in Figure 8, when the position closed-loop control is adopted, the displacement sensor detects the output displacement of the servo cylinder in real time and compares it with the system input displacement to realize the position closed-loop control. At this time, the force sensor can detect the force of the hydraulic drive in real time, and the The displacement and force signals detected by the sensor are input to the load pressure observer to obtain the load pressure of the system through the internal load pressure control algorithm, and the controller uses the force anti-disturbance control algorithm (the control algorithm takes displacement, force signal and load pressure as input) The spool displacement signal for controlling the nozzle baffle valve is obtained with the system deviation, and finally the position deviation is corrected, so that the output displacement of the servo cylinder is equal to the input displacement of the system. Using this control strategy can greatly reduce the impact of force interference on the output displacement accuracy of the servo cylinder. and response; as shown in Figure 9, when the force closed-loop control is adopted, the force sensor detects the output force of the servo cylinder in real time, and compares it with the system input force to realize the force closed-loop control. At this time, the displacement sensor can detect the hydraulic drive in real time. The movement position, the displacement and force signals detected by the sensor are input into the load pressure observer to obtain the load pressure of the system through the internal load pressure control algorithm, and the controller uses the position anti-disturbance control algorithm (the control algorithm uses displacement, force The pressure is the input) and the system deviation to obtain the spool displacement signal to control the nozzle flapper valve, and finally complete the correction of the force deviation, so that the output force of the servo cylinder is equal to the input force of the system. Using this control strategy can greatly reduce the impact of position interference on the servo Cylinder output force accuracy and response. Since the displacement sensor 3 and the force sensor 6 can detect the output displacement and output force of the servo cylinder in real time and with high precision, the controllability and control precision of the hydraulic drive are extremely high.

Work process of the present invention is as follows:

(1) Hydraulic drive extension movement (servo cylinder piston rod extension movement)

Oil inlet: the system oil flows into the flow channel J15 in the servo cylinder body 2 through the oil inlet pipeline and the flow channel R22 and flow channel V23 on the oil circuit connection block 1 (which corresponds to the flow channel J15 of the servo cylinder body) , enter the oil inlet P of the servo valve through the flow channel N20 and the flow channel M18 in the cylinder body of the servo cylinder (which corresponds to the oil inlet P of the nozzle baffle servo valve 4), and pass through the internal flow of the nozzle baffle servo valve 4 After the passage, it flows into the flow passage E11 in the servo cylinder from its control oil port A (it corresponds to the control oil port A of the nozzle baffle servo valve 4), and passes through the flow passage D9 and the flow passage in the servo cylinder After C8, it finally enters the left cavity of the servo cylinder. (The order of flow channels passed is: system oil inlet pipeline → flow channel R22 → flow channel V23 → flow channel J15 → flow channel N20 → flow channel M18 → servo valve oil inlet P → servo valve control oil port A → flow channel E11 →Runner D9→Runner C8→Servo cylinder left chamber)

Oil return: The oil flows out from the right chamber of the servo cylinder into the flow channel G12 in the cylinder body of the servo cylinder (which corresponds to the control oil port B of the nozzle baffle servo valve 4) and then flows into the control oil of the nozzle baffle servo valve 4 Port B, after passing through the internal flow channel of the servo valve, flows out of the servo valve from the oil return port T of the servo valve 4 of the nozzle baffle, and then flows into the flow channel L17 of the servo cylinder body (it is connected with the oil return port T of the servo valve 4 of the nozzle baffle Corresponding to the port T), through the flow channel Q21 and the flow channel H14 in the servo cylinder body, it flows into the flow channel Z25 of the oil circuit connection block 1 (which corresponds to the flow channel 14 in the servo cylinder body), and finally through the oil circuit The flow channel W24 in the connection block 1 flows back to the oil return pipeline, thereby completing the extension movement of the hydraulic driver. (The order of flow channels passed is: right chamber of servo cylinder → flow channel G12 → servo valve control oil port B → servo valve oil return port T → flow channel L17 → flow channel Q21 → flow channel H14 → flow channel Z25 → flow channel W24 →Oil return pipeline)

(2) Hydraulic drive retraction movement (servo cylinder piston rod retraction movement)

Oil inlet: the system oil flows into the flow channel J15 in the servo cylinder body through the oil inlet pipeline and the flow channel R22 and flow channel V23 on the oil circuit connection block 1 (which corresponds to the flow channel J15 of the servo cylinder body), Enter the oil inlet P of the servo valve through the flow channel N20 and the flow channel M18 in the cylinder body of the servo cylinder (which corresponds to the oil inlet P of the nozzle baffle servo valve 4), and pass through the internal flow channel of the nozzle baffle servo valve 4 Then it flows into the flow channel G12 in the cylinder body of the servo cylinder from its control oil port B (it corresponds to the control oil port B of the nozzle baffle servo valve 4), and finally enters the right chamber of the servo cylinder. (The order of flow passages is: system oil inlet pipeline→flow passage R22→flow passage V23→flow passage J15→flow passage N20→flow passage M18→servo valve oil inlet P→servo valve control oil port B→flow passage G12 →servo cylinder right chamber)

Oil return: The oil flows out from the left chamber of the servo cylinder into the flow channel C8, flow channel D9 and flow channel E11 (which corresponds to the control oil port A of the nozzle baffle servo valve 4) in the cylinder body of the servo cylinder, and then flows into the nozzle The control oil port A of the baffle servo valve 4 flows out of the servo valve from the oil return port T of the nozzle baffle servo valve 4 after passing through the internal flow channel of the servo valve, and then flows into the servo cylinder block flow channel L17 (which is connected with the nozzle The baffle servo valve 4 corresponds to the oil return port T), and flows into the flow channel Z25 of the oil circuit connecting block 1 through the flow channel Q21 and the flow channel H14 in the servo cylinder body (it is the same as the flow channel H14 in the servo cylinder body Corresponding), and finally flow back to the oil return pipeline through the flow channel W24 in the oil circuit connection block 1, thereby completing the retraction movement of the hydraulic driver. (The order of flow channels passed is: left chamber of servo cylinder → flow channel C8 → flow channel D9 → flow channel E11 → servo valve control oil port A → servo valve oil return port T → flow channel L17 → flow channel Q21 → flow channel H14 →Runner Z25→Runner W24→Oil return pipeline).

Claims (3)

1. a kind of integrated hydraulic driver for robot, including servoBcylinder, oil circuit contiguous block, nozzle-flapper servo valve, Displacement transducer, force snesor, nozzle-flapper servo valve and oil circuit contiguous block are arranged on the cylinder body top of servoBcylinder, and its feature exists In：

Described servoBcylinder is asymmetric servo cylinder, and servoBcylinder is provided with the runner of radial direction with the cylinder body of oil circuit contiguous block junction The screwed hole of the fixed oil circuit contiguous block of C, runner H, runner J and four, servoBcylinder and the cylinder body of nozzle-flapper servo valve junction The screwed hole of runner E, runner G, runner L, runner M, dowel hole and four fixed nozzle swashplate servo valves provided with radial direction, ServoBcylinder in the cylinder body of oil circuit contiguous block side provided with axial direction runner D, runner N and runner Q, runner D respectively with runner C Communicated with runner E, runner N is communicated with runner J and runner M respectively, runner Q is communicated with runner H and runner L respectively；

Offered side by side on described oil circuit contiguous block：Horizontal direction oil-feed runner R and oil return runner W, vertically to runner V and Runner Z, oil-feed runner R and runner V are communicated, and oil return runner W and runner Z are communicated；Runner V and servoBcylinder cylinder on oil circuit contiguous block Runner Z on runner J connections on body, oil circuit contiguous block is connected with the runner H on servoBcylinder cylinder body；

Described nozzle-flapper servo valve is provided with oil inlet P, control port A, control port B and oil return inlet T；

Described force snesor is arranged on servo cylinder piston rod front end, and the housing of described displacement transducer is fixed on servoBcylinder cylinder On body, probe is fixed on the servo cylinder piston rod with force snesor homonymy, and the servo cylinder piston rod can be stretched out or be contracted Backhaul dynamic；

The stretching campaign of the servo cylinder piston rod：During oil-feed, system fluid is through the oil-feed on inflow pipeline and oil circuit contiguous block The runner J that runner R and runner V is flowed into servoBcylinder cylinder body, enters nozzle flapper through the runner N and runner M in servoBcylinder cylinder body The oil inlet P of servo valve, after the inner flow passage of nozzle-flapper servo valve, servoBcylinder cylinder body is flowed into from its control port A again Interior runner E11, after runner D9 and runner C8 in servoBcylinder cylinder body, eventually enters into the left chamber of servoBcylinder；During oil return, system Fluid is exited into the control port B of flow nozzle swashplate servo valve after the runner G in servoBcylinder cylinder body by the right chamber of servoBcylinder, After the inner flow passage of nozzle-flapper servo valve, from the oil return inlet T mass flowing nozzle swashplate servo valve of nozzle-flapper servo valve, then flow Enter servoBcylinder cylinder body runner L, the runner Z of oil circuit contiguous block is flowed into by the runner Q in servoBcylinder cylinder body and runner H, is most passed through afterwards Oil return runner W in oil circuit contiguous block flows back to oil returning tube；

The retraction movement of the servo cylinder piston rod：During oil-feed, system fluid is through the oil-feed on inflow pipeline and oil circuit contiguous block The runner J that runner R and runner V is flowed into servoBcylinder cylinder body, enters nozzle flapper through the runner N and runner M in servoBcylinder cylinder body Servo valve oil inlet P, after the inner flow passage of nozzle-flapper servo valve, is flowed into servoBcylinder cylinder body again from its control port B Runner G, and eventually enter into the right chamber of servoBcylinder；When oil return, fluid exits into servoBcylinder cylinder body by the left chamber of servoBcylinder The control port A of flow nozzle swashplate servo valve, the inside through nozzle-flapper servo valve after interior runner C, runner D and runner E After runner, from the oil return inlet T mass flowing nozzle swashplate servo valve of nozzle-flapper servo valve, then servoBcylinder cylinder body runner L is flowed into, passed through Runner Q and runner H in servoBcylinder cylinder body flow into the runner Z of oil circuit contiguous block, most afterwards through the oil return runner W in oil circuit contiguous block Flow back to oil returning tube.

2. the control method of a kind of integrated hydraulic driver for robot, it is characterised in that comprise the following steps：

(1) displacement and force signal that displacement transducer and force snesor are exported to servoBcylinder are detected, by defeated with system Enter after amount is compared and obtain deviation；

(2) displacement and force signal of the load pressure observer by input, control system is obtained through internal load pressure control algorithm The load pressure of system；

(3) controller obtains the spool displacement signal for controlling Nozzle flapper valve by disturbance rejection control algorithm and system deviation, finally Complete the correction to above-mentioned deviation so that input of the output equal to system of servoBcylinder.

3. a kind of control method of integrated hydraulic driver for robot according to right wants 2, wherein step (2) Described in load pressure control algolithm, specific algorithm is as follows：

When servo cylinder piston rod stretches out,

When servo cylinder piston rod is retracted,

Load pressure is：p_L=| p₁-p₂|

In formula, p₁For servoBcylinder left chamber pressure, A₁For servoBcylinder left chamber area, p₂For servoBcylinder right chamber pressure, A₂It is right for servoBcylinder Cavity area, F is that force snesor detects power, n=A₂/A₁, p_sFor system pressure, p_LFor load pressure.