CN107605844A - A kind of rotating hydraulic cylinder - Google Patents
A kind of rotating hydraulic cylinder Download PDFInfo
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- CN107605844A CN107605844A CN201711059957.3A CN201711059957A CN107605844A CN 107605844 A CN107605844 A CN 107605844A CN 201711059957 A CN201711059957 A CN 201711059957A CN 107605844 A CN107605844 A CN 107605844A
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- central shaft
- oil duct
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- hydraulic cylinder
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Abstract
The present invention discloses a kind of rotating hydraulic cylinder, is related to hydraulic cylinder technical field.The rotating hydraulic cylinder includes central shaft and circular cylinder, and central shaft outer wall is provided with least one still, and central shaft has been radially arranged oil-feed oil duct and fuel-displaced oil duct, and oil-feed oil duct and fuel-displaced oil duct are partly arranged in the side wall of still；Circular cylinder inwall is provided with least one moving plate, central shaft is connected to the inner side of moving plate, circular cylinder and moving plate slideably rotate relative to central shaft, still, moving plate and circular cylinder cooperatively form first chamber and second chamber, first chamber connects with oil-feed oil duct, and second chamber connects with fuel-displaced oil duct.The present invention is by providing a kind of rotating hydraulic cylinder, using the moving plate and still of setting, and solve the problems, such as that the installation chamber of linear pattern hydraulic cylinder is big, corresponding joint movement angle is small and the SERVO CONTROL complexity of asymmetric linear pattern hydraulic cylinder slideably with respect to central axis using circular cylinder.
Description
Technical field
The present invention relates to hydraulic cylinder technical field, more particularly to a kind of rotating hydraulic cylinder.
Background technology
The research of robot is all the focus studied both at home and abroad all the time.All kinds of robots all be unable to do without joint drive
Device, especially for structural requirement is compact, the light-weighted bionical humanoid robot of machine requirement even more needs are fine, torque density
(nominal torque that driver unit mass can provide) and power density (the specified work(that driver unit mass can provide
Rate) high driving joint.
However, linear hydraulic cylinder drives articulation, its installation, corresponding joint rotational angle big with moving chambers demand
It is small, it is impossible to meet the special occasions exercise performance requirement of the big moving corner of biomimetic type joint of robot.Secondly, joint motions rotating speed
More different than with movement position and different from the speed of linear hydraulic cylinder translational speed, similarly linear hydraulic cylinder power output is with movement position
It is different also different.This speed and the unbalanced shortcoming of power so that the power of joint motions and the increase of speed control difficulty, be unfavorable for
The realization of biomimetic type robot motion, it also counteracts that hydraulic-driven biomimetic type joint of robot mentality of designing.In addition, traditional is non-
Symmetrical line type hydraulic cylinder, hydraulic servocontrol model is relative complex, and difficulty is added to control algolithm.
It would therefore be highly desirable to a kind of rotating hydraulic cylinder is needed to solve the above problems.
The content of the invention
It is big, right to solve the installation chamber of linear pattern hydraulic cylinder it is an object of the invention to provide a kind of rotating hydraulic cylinder
Answer articulation angle small and the problem of the SERVO CONTROL complexity of asymmetric linear pattern hydraulic cylinder.
To use following technical scheme up to this purpose, the present invention：
A kind of rotating hydraulic cylinder, including：
Central shaft, its outer wall are provided with least one still, and central shaft has been radially arranged oil-feed oil duct and fuel-displaced oil duct, entered
Oil duct and fuel-displaced oil duct are partly arranged in the side wall of still；
Circular cylinder, its inwall are provided with least one moving plate, and the inwall of circular cylinder is connected on the outside of still, central shaft
Outer wall be connected to the inner side of moving plate, circular cylinder and moving plate slideably rotate relative to central shaft, still, moving plate and annular cylinder
Body cooperatively forms first chamber and second chamber, and first chamber is corresponding with oil-feed oil duct, and second chamber is relative with fuel-displaced oil duct
Should.
Preferably, being provided with oil duct import and oil passage outlet at the end center of central shaft axial direction, oil duct import is with entering
Oil duct connects, and oil passage outlet connects with fuel-displaced oil duct.
Preferably, still passes through second by the first screw and the first pin connection, moving plate with central shaft with circular cylinder
The top of screw and the second pin connection, the second screw and the second pin is provided with interior hexagonal screw plug.
Preferably, the both ends of circular cylinder are provided with cylinder cap, cylinder cap and circular cylinder mode connects for screw, cylinder cap and annular
O-ring seals are provided between cylinder body, rotating seal ring is provided between cylinder cap and central shaft.
Preferably, it is provided between moving plate and circular cylinder, between moving plate and cylinder cap and still and central shaft straight
Line style O-ring.
Preferably, it is respectively provided between moving plate and central shaft, between still and circular cylinder and between still and cylinder cap
There are linear pattern O-ring and wear ring.
Preferably, the both ends of cylinder cap are provided with bearing cap, bearing cap is connected with cylinder cover screw, bearing cap and cylinder cap it
Between be provided with O-ring seals, and bearing is provided therebetween, bearer ring is on central shaft.
Preferably, outside framework oil seal is provided between bearing cap and central shaft.
Preferably, drain tap is provided between outside framework oil seal and bearing.
Preferably, the axial direction of central shaft, which also extends through, is provided with draining oil duct, drain tap connects with draining oil duct.
Beneficial effects of the present invention：
The present invention using symmetrically arranged moving plate and still, and utilizes circular cylinder by providing a kind of rotating hydraulic cylinder
Slideably with respect to central axis, the installation chamber that solves linear pattern hydraulic cylinder is big, corresponding joint movement angle is small and
The problem of SERVO CONTROL complexity of asymmetric linear pattern hydraulic cylinder；Using the positioning of moving plate and circular cylinder, still and central shaft
Pin and mode connects for screw, can both ensure bonding strength, can ensure positioning precision again；Matched somebody with somebody using linear pattern O-ring with wear ring
Dynamic sealing is combined into, makes the sealing property of dynamic sealing relatively reliable；It is designed at using hydraulic pressure oil duct in central shaft, controls hydraulic oil
Circular cylinder inner chamber is passed in and out by central shaft, the common design form being directly designed at different from oil duct on circular cylinder, avoided
Fluid pressure line follows motion；Outside framework oil seal is used on the outside of bearing, further prevents fluid from leaking while prevent that dust etc. is miscellaneous
Matter enters；Moving plate replaces installation using single screw with central shaft with circular cylinder, still with pin to be fixed, and is ensureing that connection is strong
Rotation angle range can preferably be increased in the case of degree；The matching design of oil inlet and outlet and still, combined in dynamic and static plate
Extreme position, the mode of hydraulic fluid port variable throttling can preferably solve rotating cylinder start/stop impact；Central shaft axial direction outside framework oil seal with
Draining hydraulic fluid port is designed between installing positions of bearings, oil return box is let out by the draining oil duct in central shaft, this loses for rotary oil seal
In the case of effect, can solve well fluid leak influence product outward appearance and influence other related elements performances.
Brief description of the drawings
Now embodiments of the present invention will be described with reference to appended accompanying drawing only by way of example, wherein
Fig. 1 is the structural representation for the rotating hydraulic cylinder that the specific embodiment of the invention provides；
Fig. 2 is the A for the rotating hydraulic cylinder that the specific embodiment of the invention provides to sectional view；
Fig. 3 is the side sectional view for the rotating hydraulic cylinder that the specific embodiment of the invention provides.
In figure：
1st, central shaft；11st, still；121st, the first screw；122nd, the second screw；
2nd, circular cylinder；21st, moving plate；221st, the first pin；222nd, the second pin；23rd, interior hexagonal screw plug；
31st, oil-feed oil duct；32nd, fuel-displaced oil duct；33rd, draining oil duct；331st, drain tap；
41st, first chamber；42nd, second chamber；
5th, cylinder cap；6th, bearing cap；61st, bearing；62nd, outside framework oil seal.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As shown in Figure 1 to Figure 3, present embodiments provide for a kind of rotating hydraulic cylinder, including central shaft 1 and circular cylinder 2,
Wherein, the outer wall of central shaft 1 is provided with least one still 11, and central shaft 1 has been radially arranged oil-feed oil duct 31 and fuel-displaced oil duct
32, oil-feed oil duct 31 and fuel-displaced oil duct 32 are partly arranged in the side wall of still 11；The inwall of circular cylinder 2 is provided with least
One moving plate 21, the inwall of circular cylinder 2 are connected to the outside of still 11, and the outer wall of central shaft 1 is connected to the inner side of moving plate 21, ring
Shape cylinder body 2 and moving plate 21 slideably rotate relative to central shaft 1, and still 11, moving plate 21 and circular cylinder 2 cooperatively form the first chamber
Room 41 and second chamber 42, first chamber 41 is corresponding with oil-feed oil duct 31, and second chamber 42 is corresponding with fuel-displaced oil duct 32.This
Invention and is slideably rotated relative to central shaft 1 using circular cylinder 2, solved by using the moving plate 21 and still 11 of setting
The installation chamber of linear pattern hydraulic cylinder is big, corresponding joint movement angle is small and the SERVO CONTROL of asymmetric linear pattern hydraulic cylinder
The problem of complicated.
Specifically, as shown in Figures 2 and 3, the number of still 11 and moving plate 21 is both preferably two, and above-mentioned oil-feed oil duct
31 and fuel-displaced oil duct 32 be that comparatively, when oil-feed, the oil duct where oil circuit is set to oil-feed oil duct 31, when fuel-displaced,
Oil duct where oil circuit is set to fuel-displaced oil duct 32, oil-feed oil duct 31 and fuel-displaced oil duct 32 is not defined herein.Two stills 11
It is connected with central shaft 1 by the first screw 121 and the first pin 221, two moving plates 21 pass through the second screw 122 with circular cylinder 2
Connected with the second pin 222, the top of the second screw 122 and the second pin 222 is provided with interior hexagonal screw plug 23, adapted fluid sealant or
Unsintered tape is sealed.It is solid that moving plate 21 replaces installation with circular cylinder 2, still 11 with central shaft 1 using single screw with pin
It is fixed, it can preferably increase rotation angle range in the case where ensureing bonding strength.Rotary motion angular range, depending on moving plate
21 with the accounting of profile Angular Dimension circumferencial direction in the range of 180 ° of still 11；And the output speed and power of rotating hydraulic cylinder
Square, in the case where input flow rate and pressure are certain, its size depend on the external diameter of central shaft 1, circular cylinder 2 internal diameter and
The axial length of moving plate 21.It is little for anglec of rotation requirement, but larger joint is required to output torque, the present invention can be used
Double acting of embodiment and the structure of double stills.In the case of identical structure, input pressure and flow, it rotates speed
It is the two of single still single action piece oscillating cylinder output torque to spend for the half of single still single action piece oscillating cylinder rotary speed, output torque
Times.
Specifically, between two moving plates 21 and circular cylinder 2, between two moving plates 21 and cylinder cap 5 and two stills 11
Linear pattern O-ring is provided between central shaft 1；Between two moving plates 21 and central shaft 1, two stills 11 and cylinder cap 5 it
Between and two stills 11 and circular cylinder 2 between be provided with linear pattern O-ring and wear ring.Two relatively motionless parts
Between using static seal, realized by linear pattern O-ring, the dynamic sealing used between the parts of two relative rotations,
Realized by linear pattern O-ring and wear ring, be for preventing the clearance leakage of hydraulic oil between part.
Specifically, central shaft 1 has been radially arranged oil-feed oil duct 31 and fuel-displaced oil duct 32, oil-feed oil duct 31 and fuel-displaced oil duct 32
Partly be arranged in the side wall of two stills 11, i.e., when moving plate 21 moves closer to be bonded with still 11, entering on central shaft 1
The hydraulic fluid port of oil duct 31 or fuel-displaced oil duct 32 is progressed into the inner side of moving plate 21, and hydraulic fluid port forms traitorous head piece from large to small, slows down
The close speed of moving plate 21 and still 11, last moving plate 21 are bonded with the two sides of still 11, are formed absolute fix and are stopped.In moving plate
21 with still 11 by the extreme position being bonded when being drifted apart from, and hydraulic oil passes through the oil-feed oil duct 31 on central shaft 1 or fuel-displaced oil
The side wall upper hydraulic fluid port of still 11 corresponding to road 32, moving plate 21 is promoted to rotate, in rotation process, oil-feed oil duct 31 or fuel-displaced oil duct 32
The inner side of the gradual driven disc 21 of hydraulic fluid port come out, hydraulic fluid port changes from small to big to form traitorous head piece, slow down moving plate 21 and still 11
Initially-separate speed.The mode of hydraulic fluid port variable throttling can preferably solve the start/stop impact of rotating hydraulic cylinder.
Specifically, as shown in Fig. 2 being provided with oil duct import and oil passage outlet, oil duct at the end center of the axial direction of central shaft 1
Import connects with oil-feed oil duct 31, and oil passage outlet connects with fuel-displaced oil duct 32, and hydraulic oil enters envelope by the hydraulic fluid port and oil duct
In the hydraulic cylinder closed, driving circular cylinder 2 rotates.Hydraulic tube and joint are connected and installed in oil duct import and the oil duct of central shaft 1
Export at two, hydraulic oil pipe follows motion when it is avoided that crankmotion, can preferably solve the sealing of hydraulic circuit
The fatigue damage of property and fluid pressure line.
Specifically, the both ends of circular cylinder 2 are provided with cylinder cap 5, and cylinder cap 5 is threadedly coupled with circular cylinder 2, cylinder cap 5 with
O-ring seals are provided between circular cylinder 2, rotating seal ring is provided between cylinder cap 5 and central shaft 1, by cylinder cap 5 with
Twice rotating seal ring is respectively adopted between central shaft 1 and carries out dynamic sealing, can solve well between cylinder cap 5 and central shaft 1
The leakage problem of hydraulic oil.The both ends of cylinder cap 5 are provided with bearing cap 6, and bearing cap 6 is threadedly coupled with cylinder cap 5, bearing cap 6 with
O-ring seals are provided between cylinder cap 5, and bearing 61 is provided therebetween, bearing 61 is located on central shaft 1, bearing 61
Inner ring is connected on central shaft 1, and outer ring is connected on cylinder cap 5, the Internal and external cycle of the shaft shoulder of central shaft 1 with bearing cap 6 to bearing 61
Carry out axially position and fixation.Outside framework oil seal 62 is provided between bearing cap 6 and central shaft 1, can further prevent hydraulic oil
Leak, while prevent the impurity such as dust enter bearing 61 inside.
Specifically, flat key groove is additionally provided with the axle body at the both ends of central shaft 1, for place flat key so that central shaft 1 with
Installing plate it is radially fixed.In addition, rotary encoder code-disc is installed on the bearing cap 6 of oscillating cylinder, so without newly-increased installation
Support so that the simpler convenience of structure of hydraulic cylinder.The axial direction of central shaft 1, which also extends through, is provided with draining oil duct 33, drain tap
331 connect with draining oil duct 33, so in the case of the rotary oil seal failure of rotating hydraulic cylinder, can solve hydraulic oil well
Leak, the fluid that prevents from leaking influences the outward appearance of product or the performance of other related elements.
So as to which, present embodiment is by using executive component of the rotating hydraulic cylinder as each joint in legged type robot leg,
It ensure that the installation chamber of rotating hydraulic cylinder is small, movement angle is big, and is adapted to the special of the big moving corner in legged type robot joint
The requirement of occasion exercise performance；Another aspect rotating hydraulic cylinder can provide bigger driving moment under less volume, and torque passes
Dynamic chain is short and is symmetrical expression hydraulic-driven structure, and SERVO CONTROL is simple；Another aspect joint rotating speed and torque and rotating hydraulic cylinder
Output speed and torque are consistent, reduce joint power and the algorithm difficulty of speed control.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating example of the present invention, and it is pair to be not
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (10)
- A kind of 1. rotating hydraulic cylinder, it is characterised in that including：Central shaft (1), its outer wall are provided with least one still (11), and the central shaft (1) has been radially arranged oil-feed oil duct (31) and fuel-displaced oil duct (32), the oil-feed oil duct (31) and the fuel-displaced oil duct (32) are partly arranged in the still (11) side wall；Circular cylinder (2), its inwall are provided with least one moving plate (21), and the inwall of the circular cylinder (2) is connected to described On the outside of still (11), the outer wall of the central shaft (1) is connected to the inner side of the moving plate (21), the circular cylinder (2) and institute State moving plate (21) slideably to rotate relative to the central shaft (1), the still (11), the moving plate (21) and the annular cylinder Body (2) cooperatively forms first chamber (41) and second chamber (42), and the first chamber (41) connects with the oil-feed oil duct (31) Logical, the second chamber (42) connects with the fuel-displaced oil duct (32).
- 2. rotating hydraulic cylinder according to claim 1, it is characterised in that set at the end center of the central shaft (1) Have oil duct import and oil passage outlet, the oil duct import connects with the oil-feed oil duct (31), the oil passage outlet with it is described go out Oil duct (32) connects.
- 3. rotating hydraulic cylinder according to claim 1, it is characterised in that the still (11) is logical with the central shaft (1) The first screw (121) and the first pin (221) connection are crossed, the moving plate (21) passes through the second screw with the circular cylinder (2) (122) connected with the second pin (222), interior hexagonal is provided with the top of second screw (122) and second pin (222) Screw plug (23).
- 4. according to rotating hydraulic cylinder according to any one of claims 1 to 3, it is characterised in that the two of the circular cylinder (2) End is provided with cylinder cap (5), and the cylinder cap (5) is threadedly coupled with the circular cylinder (2), the cylinder cap (5) and the annular O-ring seals are provided between cylinder body (2), rotating seal ring is provided between the cylinder cap (5) and the central shaft (1).
- 5. rotating hydraulic cylinder according to claim 4, it is characterised in that the moving plate (21) and the circular cylinder (2) Between, between the moving plate (21) and the cylinder cap (5) and the still (11) and the central shaft (1) be provided with straight line Type O-ring.
- 6. rotating hydraulic cylinder according to claim 5, it is characterised in that the moving plate (21) and the central shaft (1) it Between, be provided between the still (11) and the circular cylinder (2) and between the still (11) and the cylinder cap (5) Linear pattern O-ring and wear ring.
- 7. rotating hydraulic cylinder according to claim 4, it is characterised in that the both ends of the cylinder cap (5) are provided with bearing Cover (6), the bearing cap (6) is threadedly coupled with the cylinder cap (5), is provided between the bearing cap (6) and the cylinder cap (5) O-ring seals, and bearing (61) is provided therebetween, the bearing (61) is located on the central shaft (1).
- 8. rotating hydraulic cylinder according to claim 7, it is characterised in that the bearing cap (6) and the central shaft (1) it Between be provided with outside framework oil seal (62).
- 9. the rotating hydraulic cylinder according to claim 8, it is characterised in that the outside framework oil seal (62) and the bearing (61) drain tap (331) is provided between.
- 10. rotating hydraulic cylinder according to claim 9, it is characterised in that the axial direction of the central shaft (1) also extends through setting There is draining oil duct (33), the drain tap (331) connects with the draining oil duct (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711059957.3A CN107605844B (en) | 2017-11-01 | 2017-11-01 | Rotary hydraulic cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711059957.3A CN107605844B (en) | 2017-11-01 | 2017-11-01 | Rotary hydraulic cylinder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107605844A true CN107605844A (en) | 2018-01-19 |
| CN107605844B CN107605844B (en) | 2023-08-29 |
Family
ID=61085220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059957.3A Active CN107605844B (en) | 2017-11-01 | 2017-11-01 | Rotary hydraulic cylinder |
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| Country | Link |
|---|---|
| CN (1) | CN107605844B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108443260A (en) * | 2018-06-07 | 2018-08-24 | 江苏钧微动力科技有限公司 | The special blade oscillating hydraulic cylinder of piece-shape type robot |
| CN110578809A (en) * | 2019-10-21 | 2019-12-17 | 安徽理工大学 | Ceramic valve core of faucet regulating valve convenient for temperature control |
| CN110962156A (en) * | 2019-12-25 | 2020-04-07 | 哈尔滨工业大学 | Oil-feeding swing cylinder integrated joint |
| CN111185495A (en) * | 2020-01-21 | 2020-05-22 | 太原科技大学 | Backing plate placing device of rotary hydraulic cylinder type flattening machine |
| CN113103043A (en) * | 2021-04-09 | 2021-07-13 | 黄屹 | Machining center tool changing manipulator hydraulic control mechanism |
| CN113309757A (en) * | 2021-05-07 | 2021-08-27 | 南京晨光集团有限责任公司 | Heavy-load mechanical arm high-precision large-torque low-friction hydraulic swing motor |
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| FR2754021A1 (en) * | 1996-09-30 | 1998-04-03 | Bernard Amalric | Telescopic hydraulic or pneumatic rotary actuator with paddles |
| JP2004068808A (en) * | 2002-04-19 | 2004-03-04 | Borgwarner Inc | Phaser |
| CN104564892A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Double-blade swing hydraulic motor for driving stabilizing rod |
| CN205349907U (en) * | 2016-01-29 | 2016-06-29 | 博来北工冶金设备（北京）有限公司 | Swing oil cylinder |
| CN207363991U (en) * | 2017-11-01 | 2018-05-15 | 中科新松有限公司 | A kind of rotating hydraulic cylinder |
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| CN2104934U (en) * | 1991-08-18 | 1992-05-20 | 张步方 | Pneumatic, hydraulic rotator |
| FR2754021A1 (en) * | 1996-09-30 | 1998-04-03 | Bernard Amalric | Telescopic hydraulic or pneumatic rotary actuator with paddles |
| JP2004068808A (en) * | 2002-04-19 | 2004-03-04 | Borgwarner Inc | Phaser |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108443260A (en) * | 2018-06-07 | 2018-08-24 | 江苏钧微动力科技有限公司 | The special blade oscillating hydraulic cylinder of piece-shape type robot |
| CN108443260B (en) * | 2018-06-07 | 2024-05-10 | 江苏钧微动力科技有限公司 | Blade swinging hydraulic cylinder special for sheet robot |
| CN110578809A (en) * | 2019-10-21 | 2019-12-17 | 安徽理工大学 | Ceramic valve core of faucet regulating valve convenient for temperature control |
| CN110962156A (en) * | 2019-12-25 | 2020-04-07 | 哈尔滨工业大学 | Oil-feeding swing cylinder integrated joint |
| CN111185495A (en) * | 2020-01-21 | 2020-05-22 | 太原科技大学 | Backing plate placing device of rotary hydraulic cylinder type flattening machine |
| CN113103043A (en) * | 2021-04-09 | 2021-07-13 | 黄屹 | Machining center tool changing manipulator hydraulic control mechanism |
| CN113309757A (en) * | 2021-05-07 | 2021-08-27 | 南京晨光集团有限责任公司 | Heavy-load mechanical arm high-precision large-torque low-friction hydraulic swing motor |
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|---|---|
| CN107605844B (en) | 2023-08-29 |
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