CN107605844B - Rotary hydraulic cylinder - Google Patents
Rotary hydraulic cylinder Download PDFInfo
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- CN107605844B CN107605844B CN201711059957.3A CN201711059957A CN107605844B CN 107605844 B CN107605844 B CN 107605844B CN 201711059957 A CN201711059957 A CN 201711059957A CN 107605844 B CN107605844 B CN 107605844B
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Abstract
The invention discloses a rotary hydraulic cylinder, and relates to the technical field of hydraulic cylinders. The rotary hydraulic cylinder comprises a central shaft and an annular cylinder body, at least one static piece is arranged on the outer wall of the central shaft, an oil inlet passage and an oil outlet passage are radially arranged on the central shaft, and the oil inlet passage and the oil outlet passage are partially penetrated through the side wall of the static piece; the inner wall of the annular cylinder body is provided with at least one moving plate, the central shaft is abutted to the inner side of the moving plate, the annular cylinder body and the moving plate can rotate in a sliding mode relative to the central shaft, the static plate, the moving plate and the annular cylinder body are matched to form a first cavity and a second cavity, the first cavity is communicated with the oil inlet oil duct, and the second cavity is communicated with the oil outlet oil duct. The invention solves the problems of large installation cavity of the linear hydraulic cylinder, small corresponding joint movement angle and complicated servo control of the asymmetric linear hydraulic cylinder by providing the rotary hydraulic cylinder, adopting the arranged moving plate and the static plate and utilizing the annular cylinder body to slidably rotate relative to the central shaft.
Description
Technical Field
The invention relates to the technical field of hydraulic cylinders, in particular to a rotary hydraulic cylinder.
Background
Robot research has been a hotspot in both domestic and foreign research. Various robots are not separated from a joint driver, and particularly, a bionic robot with compact structure requirements and light overall machine requirements is more required to have a driving joint with fine torque density (rated torque which can be provided by the unit mass of the driver) and high power density (rated power which can be provided by the unit mass of the driver).
However, the linear hydraulic cylinder drives the joint to rotate, the installation and movement cavity requirements are large, the corresponding joint rotation angle is small, and the special occasion movement performance requirements of the large movement rotation angle of the bionic robot joint cannot be met. And secondly, the speed ratio of the joint movement rotating speed to the movement speed of the linear hydraulic cylinder is different along with the movement position, and the output force of the linear hydraulic cylinder is also different along with the movement position in the same way. The disadvantage of unbalanced speed and force increases the difficulty of controlling the force and speed of the joint movement, is unfavorable for realizing the movement of the bionic robot, and also hinders the design thought of the joint of the hydraulically driven bionic robot. In addition, the traditional asymmetric linear hydraulic cylinder has relatively complex hydraulic servo control model, and increases the difficulty for a control algorithm.
Therefore, there is a need for a rotary hydraulic cylinder to solve the above problems.
Disclosure of Invention
The invention aims to provide a rotary hydraulic cylinder so as to solve the problems that an installation cavity of a linear hydraulic cylinder is large, a corresponding joint movement angle is small and servo control of an asymmetric linear hydraulic cylinder is complex.
To achieve the purpose, the invention adopts the following technical scheme:
a rotary hydraulic cylinder comprising:
the central shaft is radially provided with an oil inlet passage and an oil outlet passage, and the oil inlet passage and the oil outlet passage are partially penetrated through the side wall of the static plate;
the inner wall of the annular cylinder body is provided with at least one moving plate, the inner wall of the annular cylinder body is abutted to the outer side of the static plate, the outer wall of the central shaft is abutted to the inner side of the moving plate, the annular cylinder body and the moving plate can rotate in a sliding mode relative to the central shaft, the static plate, the moving plate and the annular cylinder body are matched to form a first cavity and a second cavity, the first cavity corresponds to an oil inlet oil duct, and the second cavity corresponds to an oil outlet oil duct.
Preferably, the center of the axial end part of the central shaft is provided with an oil duct inlet and an oil duct outlet, the oil duct inlet is communicated with an oil inlet duct, and the oil duct outlet is communicated with an oil outlet duct.
Preferably, the static plate is connected with the central shaft through a first screw and a first pin, the dynamic plate is connected with the annular cylinder body through a second screw and a second pin, and the tops of the second screw and the second pin are both provided with an inner hexagonal plug.
Preferably, cylinder covers are arranged at two ends of the annular cylinder body, the cylinder covers are connected with the annular cylinder body through screws, O-shaped sealing rings are arranged between the cylinder covers and the annular cylinder body, and rotary sealing rings are arranged between the cylinder covers and the central shaft.
Preferably, linear O-shaped rings are arranged between the moving plate and the annular cylinder body, and between the moving plate and the cylinder cover, and between the static plate and the central shaft.
Preferably, linear O-shaped rings and wear-resistant rings are arranged between the movable plate and the central shaft, between the static plate and the annular cylinder body and between the static plate and the cylinder cover.
Preferably, bearing caps are arranged at two ends of the cylinder cover, the bearing caps are connected with the cylinder cover through screws, O-shaped sealing rings are arranged between the bearing caps and the cylinder cover, bearings are arranged between the bearing caps and the cylinder cover, and the bearing rings are arranged on the central shaft.
Preferably, a framework oil seal is arranged between the bearing cover and the central shaft.
Preferably, an oil drain port is arranged between the framework oil seal and the bearing.
Preferably, the central shaft is further provided with an oil drain passage in a penetrating manner in the axial direction, and the oil drain port is communicated with the oil drain passage.
The invention has the beneficial effects that:
the invention solves the problems of large installation cavity of the linear hydraulic cylinder, small corresponding joint movement angle and complicated servo control of the asymmetric linear hydraulic cylinder by providing the rotary hydraulic cylinder, adopting the symmetrically arranged moving plate and the static plate and utilizing the annular cylinder body to slidably rotate relative to the central shaft; the positioning pins of the movable plate and the annular cylinder body, and the static plate and the central shaft are connected with the screws, so that the connection strength can be ensured, and the positioning accuracy can be ensured; the linear O-shaped ring and the wear-resistant ring are matched to form the dynamic seal, so that the sealing performance of the dynamic seal is more reliable; the hydraulic oil duct is designed in the central shaft, so that hydraulic oil is controlled to enter and exit the inner cavity of the annular cylinder body through the central shaft, and the following movement of the hydraulic pipeline is avoided unlike the conventional design mode that the oil duct is directly designed on the annular cylinder body; the outside of the bearing adopts a framework oil seal to further prevent oil from leaking out and prevent dust and other impurities from entering; the movable plate and the annular cylinder body, and the static plate and the central shaft are alternately installed and fixed by adopting a single row of screws and pins, so that the rotation angle range can be better enlarged under the condition of ensuring the connection strength; the oil inlet and outlet are matched with the static plate, and the oil inlet is throttled at the limit position of the combination of the dynamic plate and the static plate, so that the starting and stopping impact of the rotary cylinder can be well solved; an oil drain port is designed between the axial skeleton oil seal of the central shaft and the mounting position of the bearing, and the oil is drained back to the oil tank through an oil drain channel in the central shaft, so that the problem that oil leakage affects the appearance of a product and affects the performance of other related elements under the condition that the rotary oil seal fails can be well solved.
Drawings
Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which
FIG. 1 is a schematic view of a rotary hydraulic cylinder according to an embodiment of the present invention;
FIG. 2 is an A-direction cross-sectional view of a rotary hydraulic cylinder according to an embodiment of the present invention;
fig. 3 is a side cross-sectional view of a rotary hydraulic cylinder provided in an embodiment of the present invention.
In the figure:
1. a central shaft; 11. static piece; 121. a first screw; 122. a second screw;
2. an annular cylinder; 21. a moving plate; 221. a first pin; 222. a second pin; 23. an inner hexagonal plug;
31. an oil inlet passage; 32. an oil outlet passage; 33. an oil drain passage; 331. an oil drain port;
41. a first chamber; 42. a second chamber;
5. a cylinder cover; 6. a bearing cap; 61. a bearing; 62. and (5) a framework oil seal.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 3, the present embodiment provides a rotary hydraulic cylinder, including a central shaft 1 and an annular cylinder body 2, wherein, at least one static plate 11 is arranged on the outer wall of the central shaft 1, an oil inlet duct 31 and an oil outlet duct 32 are radially arranged on the central shaft 1, and the oil inlet duct 31 and the oil outlet duct 32 are partially penetrated on the side wall of the static plate 11; the inner wall of the annular cylinder body 2 is provided with at least one moving plate 21, the inner wall of the annular cylinder body 2 is abutted to the outer side of the static plate 11, the outer wall of the central shaft 1 is abutted to the inner side of the moving plate 21, the annular cylinder body 2 and the moving plate 21 can rotate in a sliding mode relative to the central shaft 1, the static plate 11, the moving plate 21 and the annular cylinder body 2 are matched to form a first cavity 41 and a second cavity 42, the first cavity 41 corresponds to the oil inlet oil duct 31, and the second cavity 42 corresponds to the oil outlet oil duct 32. The invention solves the problems of large installation cavity of the linear hydraulic cylinder, small corresponding joint movement angle and complicated servo control of the asymmetric linear hydraulic cylinder by adopting the arranged moving plate 21 and the static plate 11 and utilizing the annular cylinder body 2 to slidably rotate relative to the central shaft 1.
Specifically, as shown in fig. 2 and 3, the number of the stationary plate 11 and the moving plate 21 is preferably two, and the oil inlet passage 31 and the oil outlet passage 32 are relatively speaking, when oil is introduced, the oil passage in which the oil passage is located is set as the oil inlet passage 31, and when oil is discharged, the oil passage in which the oil passage is located is set as the oil outlet passage 32, and the oil inlet passage 31 and the oil outlet passage 32 are not limited. The two static plates 11 are connected with the central shaft 1 through a first screw 121 and a first pin 221, the two dynamic plates 21 are connected with the annular cylinder body 2 through a second screw 122 and a second pin 222, the tops of the second screw 122 and the second pin 222 are both provided with an inner hexagonal plug 23, and sealing is carried out by matching with sealant or raw rubber belts. The movable plate 21 and the annular cylinder body 2, and the static plate 11 and the central shaft 1 are alternately installed and fixed by adopting single-row screws and pins, so that the rotation angle range can be better enlarged under the condition of ensuring the connection strength. The rotation angle range depends on the duty ratio of the external angle dimension of the moving plate 21 and the static plate 11 in the 180 DEG range in the circumferential direction; the output rotation speed and torque of the rotary hydraulic cylinder depend on the outer diameter of the central shaft 1, the inner diameter of the annular cylinder body 2 and the axial length of the moving plate 21 under the condition that the input flow rate and the pressure are fixed. The joint with small rotation angle requirement and large output torque requirement can adopt the structure of the double-acting sheet and the double-static sheet in the specific embodiment of the invention. Under the condition of the same structure, input pressure and flow, the rotation speed of the single-static-plate single-acting-plate swing cylinder is half of that of the single-static-plate single-acting-plate swing cylinder, and the output torque is twice of that of the single-static-plate single-acting-plate swing cylinder.
Specifically, linear O-rings are arranged between the two moving plates 21 and the annular cylinder body 2, between the two moving plates 21 and the cylinder cover 5 and between the two static plates 11 and the central shaft 1; linear O-rings and wear rings are arranged between the two moving plates 21 and the central shaft 1, between the two static plates 11 and the cylinder cover 5 and between the two static plates 11 and the annular cylinder body 2. The static seal is adopted between the two relatively motionless components, the dynamic seal is realized through the linear type O-shaped ring, and the dynamic seal is realized through the linear type O-shaped ring and the wear-resistant ring, so that the clearance leakage of hydraulic oil between the components is prevented.
Specifically, the central shaft 1 is radially provided with an oil inlet channel 31 and an oil outlet channel 32, the oil inlet channel 31 and the oil outlet channel 32 are partially penetrated through the side walls of the two static plates 11, namely when the moving plate 21 and the static plates 11 are gradually close to each other, an oil port of the oil inlet channel 31 or the oil outlet channel 32 on the central shaft 1 gradually enters the inner side of the moving plate 21, the oil port is reduced from large to small to form a variable throttle, the approaching speed of the moving plate 21 and the static plates 11 is slowed down, and finally the moving plate 21 is attached to two side surfaces of the static plates 11 to form absolute positioning stop. When the moving plate 21 and the static plate 11 are gradually separated from each other at the joint limit position, hydraulic oil passes through the oil inlet channel 31 or the oil outlet channel 32 on the central shaft 1 and corresponds to the side wall oil inlet of the static plate 11, so that the moving plate 21 is pushed to rotate, and in the rotating process, the oil inlet channel 31 or the oil outlet channel 32 gradually comes out from the inner side of the moving plate 21, and the oil inlet is changed from small to large to form a variable throttling port, so that the initial separation speed of the moving plate 21 and the static plate 11 is slowed down. The oil port is throttled, so that the start-stop impact of the rotary hydraulic cylinder can be well solved.
Specifically, as shown in fig. 2, an oil duct inlet and an oil duct outlet are arranged at the center of the axial end part of the central shaft 1, the oil duct inlet is communicated with an oil inlet duct 31, the oil duct outlet is communicated with an oil outlet duct 32, and hydraulic oil enters the closed hydraulic cylinder through the oil port and the oil duct to drive the annular cylinder body 2 to rotate. The hydraulic pipe and the connector are connected and arranged at the two positions of the oil duct inlet and the oil duct outlet of the central shaft 1, so that the following movement of the hydraulic oil pipe during reciprocating rotary movement can be avoided, and the tightness of the hydraulic oil way and the fatigue damage of the hydraulic pipeline can be well solved.
Specifically, cylinder cap 5 is all provided with at the both ends of annular cylinder body 2, and cylinder cap 5 and annular cylinder body 2 threaded connection are provided with O shape sealing washer between cylinder cap 5 and the annular cylinder body 2, are provided with rotatory sealing washer between cylinder cap 5 and the center pin 1, through adopting twice rotatory sealing washer to carry out the action respectively between cylinder cap 5 and center pin 1 and seal, can solve the leakage problem of hydraulic oil between cylinder cap 5 and the center pin 1 well. The bearing caps 6 are arranged at two ends of the cylinder cover 5, the bearing caps 6 are in threaded connection with the cylinder cover 5, O-shaped sealing rings are arranged between the bearing caps 6 and the cylinder cover 5, a bearing 61 is arranged between the bearing caps and the cylinder cover 5, the bearing 61 is annularly arranged on the central shaft 1, the inner ring of the bearing 61 is abutted to the central shaft 1, the outer ring is abutted to the cylinder cover 5, and the shaft shoulder of the central shaft 1 and the bearing caps 6 axially position and fix the inner ring and the outer ring of the bearing 61. The skeleton oil seal 62 is arranged between the bearing cover 6 and the central shaft 1, so that the leakage of hydraulic oil can be further prevented, and meanwhile, impurities such as dust and the like are prevented from entering the bearing 61.
Specifically, the shaft bodies at two ends of the central shaft 1 are also provided with flat key grooves for placing flat keys so as to fix the central shaft 1 with the radial direction of the mounting plate. In addition, the rotary encoder code disc is arranged on the bearing cover 6 of the swinging cylinder, so that a new mounting bracket is not needed, and the structure of the hydraulic cylinder is simpler and more convenient. The central shaft 1 is also provided with an oil drain duct 33 in a penetrating manner in the axial direction, and the oil drain duct 33 is communicated with the oil drain port 331, so that under the condition that a rotary oil seal of the rotary hydraulic cylinder fails, the leakage of hydraulic oil can be well solved, and the influence of external oil drain on the appearance of a product or the performance of other related elements is prevented.
Therefore, the rotary hydraulic cylinder is used as an executive component of each joint of the leg of the foot-type robot, so that the installation cavity of the rotary hydraulic cylinder is small, the movement angle is large, and the special occasion movement performance requirement of the large movement angle of the joint of the foot-type robot is met; on the other hand, the rotary hydraulic cylinder can provide larger driving moment under smaller volume, the moment transmission chain is short and is of a symmetrical hydraulic driving structure, and the servo control is simple; on the other hand, the rotation speed and the moment of the joint are consistent with the output rotation speed and the moment of the rotary hydraulic cylinder, so that the algorithm difficulty of joint force and speed control is reduced.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. A rotary hydraulic cylinder, comprising:
the central shaft (1) is provided with at least one static plate (11) on the outer wall, the central shaft (1) is radially provided with an oil inlet oil duct (31) and an oil outlet oil duct (32), and the oil inlet oil duct (31) and the oil outlet oil duct (32) are partially penetrated through the side wall of the static plate (11);
the annular cylinder body (2) is provided with at least one moving plate (21) on the inner wall, the inner wall of the annular cylinder body (2) is abutted to the outer side of the static plate (11), the outer wall of the central shaft (1) is abutted to the inner side of the moving plate (21), the annular cylinder body (2) and the moving plate (21) can rotate relative to the central shaft (1) in a sliding mode, the static plate (11), the moving plate (21) and the annular cylinder body (2) are matched to form a first chamber (41) and a second chamber (42), the first chamber (41) is communicated with the oil inlet oil duct (31), and the second chamber (42) is communicated with the oil outlet oil duct (32);
an oil duct inlet and an oil duct outlet are arranged at the center of the end part of the central shaft (1), the oil duct inlet is communicated with the oil inlet duct (31), and the oil duct outlet is communicated with the oil outlet duct (32);
the static plate (11) is connected with the central shaft (1) through a first screw (121) and a first pin (221), the dynamic plate (21) is connected with the annular cylinder body (2) through a second screw (122) and a second pin (222), and inner hexagon plugs (23) are arranged at the tops of the second screw (122) and the second pin (222).
2. The rotary hydraulic cylinder according to claim 1, wherein cylinder covers (5) are arranged at two ends of the annular cylinder body (2), the cylinder covers (5) are in threaded connection with the annular cylinder body (2), an O-shaped sealing ring is arranged between the cylinder covers (5) and the annular cylinder body (2), and a rotary sealing ring is arranged between the cylinder covers (5) and the central shaft (1).
3. The rotary hydraulic cylinder according to claim 2, characterized in that linear O-rings are arranged between the rotor (21) and the annular cylinder body (2), between the rotor (21) and the cylinder head (5) and between the stator (11) and the central shaft (1).
4. A rotary hydraulic cylinder according to claim 3, characterized in that between the rotor (21) and the central shaft (1), between the stator (11) and the annular cylinder (2) and between the stator (11) and the cylinder head (5) are provided linear O-rings and wear rings.
5. The rotary hydraulic cylinder according to claim 2, characterized in that bearing caps (6) are arranged at two ends of the cylinder cover (5), the bearing caps (6) are in threaded connection with the cylinder cover (5), an O-ring seal is arranged between the bearing caps (6) and the cylinder cover (5), a bearing (61) is arranged between the bearing caps and the cylinder cover, and the bearing (61) is arranged on the central shaft (1) in a surrounding manner.
6. The rotary hydraulic cylinder according to claim 5, characterized in that a skeleton oil seal (62) is provided between the bearing cap (6) and the central shaft (1).
7. The rotary hydraulic cylinder according to claim 6, characterized in that an oil drain port (331) is provided between the skeleton oil seal (62) and the bearing (61).
8. The rotary hydraulic cylinder according to claim 7, characterized in that the central shaft (1) is further provided with a drain oil passage (33) penetrating therethrough in the axial direction, the drain oil port (331) being in communication with the drain oil passage (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 CN107605844A (en) | 2018-01-19 |
| CN107605844B true CN107605844B (en) | 2023-08-29 |
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| 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 |
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| CN (1) | CN107605844B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110962156B (en) * | 2019-12-25 | 2022-10-18 | 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 |
| CN113103043B (en) * | 2021-04-09 | 2023-02-17 | 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
-
2017
- 2017-11-01 CN CN201711059957.3A patent/CN107605844B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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| CN107605844A (en) | 2018-01-19 |
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