CN112049786A

CN112049786A - Robot directly links bypass type hydraulic pump control device

Info

Publication number: CN112049786A
Application number: CN202010923632.0A
Authority: CN
Inventors: 张雅荣
Original assignee: Individual
Current assignee: Foshan Juhui Forest Hydraulic Technology Co ltd
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2020-12-08
Anticipated expiration: 2040-09-04
Also published as: CN112049786B

Abstract

The invention discloses a robot direct-connection bypass type hydraulic pump control device, which relates to the technical field of hydraulic control and comprises an execution pipeline, a power system and a hydraulic system, wherein one end of the execution pipeline is connected with an execution part of a robot, the other end of the execution pipeline is communicated with the power system, and the power system provides driving force for the action of the execution part. The hydraulic system is communicated with the execution pipeline and is used for controlling and regulating the pressure of the execution pipeline. And a bypass system for stabilizing idle running of the power system is also connected between the execution pipeline and the power system, and the bypass system is a directly connected slide valve type assembly. The invention realizes the stable idle running of the hydraulic pump under low pressure through the slide valve type component, improves the running stability and reliability of the hydraulic control device and ensures the control precision of the executive component. Meanwhile, the throttling loss and the overflow loss of the system can be reduced, the transmission efficiency of the execution part is improved, and the method is suitable for occasions with larger difference between the fast forward speed and the working speed of the execution part.

Description

Robot directly links bypass type hydraulic pump control device

Technical Field

The invention relates to the technical field of hydraulic control, in particular to a robot direct-connection bypass type hydraulic pump control device.

Background

With the development of high and new technology in China, the application of the robot in life and production is more and more important, and the robot is widely applied to industries such as industrial manufacturing, warehouse logistics, ports and docks. The hydraulic pump is a power element of a hydraulic system, and is an element which is driven by an engine or an electric motor, sucks oil from a hydraulic oil tank, discharges the pressure oil and sends the pressure oil to an execution part. At present, most of robots utilize a hydraulic pump and are provided with corresponding hydraulic control pipelines to independently control each execution part of the robot, so that the motion of the robot is realized.

The invention utilizes the patent retrieval system (the website is http:// www.cnipa.gov.cn) of the state intellectual property office official website to carry out detailed and comprehensive retrieval as much as possible, obtains the following prior arts, introduces the prior arts, and makes relevant comparison with the technical scheme of the application, so as to better understand the inventive concept of the invention and show the technical advantages and the technical characteristics of the invention.

Prior art 1: chinese patent No. CN110712219A proposes a full hydraulic drive five-degree-of-freedom transfer robot, which includes a large arm, a small arm, a wrist part, and an end effector, where the large arm realizes rotation relative to a base through a first hydraulic motor, the small arm realizes rotation relative to the large arm through a second hydraulic motor, the wrist part realizes rotation relative to the small arm through a third hydraulic motor, and the wrist part is further provided with a pitch hydraulic cylinder and a yaw hydraulic cylinder to realize pitch motion and yaw motion; the base is provided with an oil cavity, the oil cavity is connected with each execution component through a hydraulic pump and a servo valve, each execution component is independently controlled through a hydraulic control pipeline, and the execution components are matched together to complete the action of the robot; however, when the robot travels, a certain requirement is often imposed on the traveling speed, when the robot is required to execute a higher traveling speed, the pressure of a pipeline connected with a hydraulic pump is also higher, and a high load borne by the hydraulic pump causes a hydraulic system to have a larger throttling loss and an overflow loss, so that the hydraulic efficiency is low, and further the transmission efficiency of a mechanical arm of the robot is affected.

Prior art 2: chinese patent with patent publication number CN110118208A, a hydraulic system and arm suitable for arm are proposed, this hydraulic system includes the oil tank, the hydraulic pump, first two-position three-way proportional valve, second two-position three-way proportional valve, first hydraulic control check valve, second hydraulic control check valve, first hydraulic motor and pressure transmitter, the oil-out of hydraulic pump and the first hydraulic fluid port of first two-position three-way proportional valve and the first hydraulic fluid port of second two-position three-way proportional valve communicate, the second hydraulic fluid port of first two-position three-way proportional valve and the second hydraulic fluid port of second two-position three-way proportional valve all communicate with the oil tank, the third hydraulic fluid port of first two-position three-way proportional valve and the oil inlet intercommunication of first hydraulic control check valve. The first two-position three-way proportional valve or the second two-position three-way proportional valve can be controlled based on the pressure detected by the pressure transmitter so as to accurately adjust the magnitude of back pressure, so that the first hydraulic motor can stably run under the condition that the load and the rotating speed are continuously changed, and the accuracy of the movement of the rotary table of the mechanical arm is improved; however, the mechanical arm runs at a high speed, so that when a pipeline connected with the hydraulic pump reaches or exceeds the maximum rated working pressure, the hydraulic pump can idle, the hydraulic pump needs to bear high load, the inside of the hydraulic pump is damaged in the past, the normal work of the hydraulic pump is influenced, the stability and the reliability of a hydraulic system are deteriorated, and the control precision of the mechanical arm is further influenced.

As will be apparent to those skilled in the art from the foregoing description of the prior art, the hydraulic control apparatus currently available has the following features:

(1) the hydraulic system has large throttling loss and overflow loss, so that the hydraulic efficiency is low, and the transmission efficiency of a mechanical arm of the robot is further influenced;

(2) when the hydraulic system is in high-load work, the hydraulic pump needs to run in an idling mode under high-pressure load, and in the past, the inside of the hydraulic pump is damaged, the normal work of the hydraulic pump is affected, the stability and the reliability of the hydraulic system are poor, and the control precision of the mechanical arm is affected.

In addition, many companies at home and abroad, such as samsung, apple, huashi, zhongxing, are abnormally mature in patent layout strategy, and through the fine improvement of basic technical schemes, a series of patent pools or patent layouts and even patent barriers can be formed, while famous individual applicants and inventors at home are qiu, under the guidance of relevant policies such as 'high-value patent breeding' proposed by the national intellectual property office, the applicant of the present application also makes patent layouts as detailed as possible aiming at the above retrieval results as possible, so as to form the technical advantages of the applicant, prevent possible patent suits, and enhance the intellectual property and economic benefits of the applicant.

Disclosure of Invention

The invention aims to provide a robot direct-connection bypass type hydraulic pump control device, which can reduce throttling loss and overflow loss, realize stable idle running of a hydraulic pump under low pressure, improve the stability and the running reliability of a hydraulic control system and ensure the control precision of an execution component.

In order to achieve the purpose, the invention adopts the following technical scheme:

a robot direct-connection bypass type hydraulic pump control device comprises an execution pipeline, a power system and a hydraulic system, wherein one end of the execution pipeline is connected with an execution part of a robot, the other end of the execution pipeline is communicated with the power system, and the power system provides driving force for the action of the execution part; the hydraulic system is communicated with the execution pipeline and is used for controlling and regulating the pressure of the execution pipeline; and a bypass system used for stabilizing the idle running of the power system is also connected between the execution pipeline and the power system, and the bypass system is a directly connected slide valve type component.

Further setting the following steps: the power system comprises a hydraulic pump, an outlet of the hydraulic pump is communicated with an execution pipeline, and a check valve is arranged at the position, close to the outlet of the hydraulic pump, of the execution pipeline.

Further setting the following steps: the hydraulic system comprises a cylinder body and a pump head fixedly arranged at the top of the cylinder body, a pump chamber is arranged in the pump head and is communicated with an execution pipeline through a main control pipeline, a main control piston is arranged in the pump chamber in a sliding mode, and a special-shaped sliding block connected with the main control piston is movably sleeved on the pump head; a first spring is arranged in the cylinder body, one end of the first spring is abutted to the special-shaped sliding block, and the other end of the first spring is abutted to the bottom of the cylinder body.

Further setting the following steps: the power system further comprises an L-shaped rod which is rotatably arranged on the hydraulic pump and consists of an upper swing arm and a lower swing arm, the free end of the upper swing arm is hinged with a connecting rod, the bottom of the master control piston is fixedly provided with a connecting plate, a second spring is arranged between the connecting rod and the connecting plate, and the bottom of the hydraulic pump is fixedly provided with a stop block which is in rotary butt joint with the lower swing arm.

Further setting the following steps: the directly connected spool valve assembly includes a bypass valve having one end in communication with the hydraulic pump through a first bypass line and the other end in communication with the actuation conduit through a second bypass line.

Further setting the following steps: the bypass valve comprises a bypass shell and a bypass piston arranged in the bypass shell in a sliding mode, the top of the bypass piston is provided with a piston rod fixedly connected with the connecting plate, and the bottom of the piston rod is movably embedded with a valve body; the bypass piston is provided with a first port communicated with the first bypass pipeline and a second port communicated with the second bypass pipeline.

Further setting the following steps: and the bypass shell is provided with a balance channel, and two ends of the balance channel are respectively communicated with the chambers positioned at the upper side and the lower side of the bypass piston.

Further setting the following steps: the cylinder body is fixedly provided with a guide block, and one end of the connecting plate, which is close to the bypass valve, is fixedly provided with a slide rod which is in sliding connection with the guide block.

Further setting the following steps: and a sealing cover is fixedly arranged on the peripheral side of the pump head and fixedly connected with the top of the cylinder body.

Further setting the following steps: the bottom of cylinder body inlays and is equipped with the direction bush, the direction bush activity cup joint in the week side of master control piston.

In conclusion, the beneficial technical effects of the invention are as follows:

(1) the bypass valve is opened through the linkage effect of the connecting plate and the auxiliary piston, fluid in the hydraulic pump circulates in the bypass loop, the hydraulic pump stably runs in an idling mode under low pressure, compared with the prior art, high load pressure required to be borne by the hydraulic pump is reduced, damage to the interior of the hydraulic pump is reduced, stability and running reliability of a hydraulic control system are improved, and control accuracy of an execution component is guaranteed.

(2) When the fluid of the execution pipeline reversely flows or reaches the maximum rated working pressure, the check valve is closed to prevent the fluid from flowing back to the hydraulic pump, so that the throttling loss and the overflow loss of a hydraulic system are reduced, the transmission efficiency of the execution component is improved, and the method is suitable for occasions with large difference between the fast forward speed and the working speed of the execution component.

(3) The hydraulic pump is a variable displacement pump, and the delivery amount of fluid to the execution pipeline of the hydraulic pump is controlled through a main control piston and a first spring, so that the pressure of the execution pipeline is adjusted, and the action speed of the execution component is controlled.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention in a bypass valve closed state;

FIG. 2 is a schematic view of the overall structure of the present invention in the bypass valve open state;

FIG. 3 is an enlarged schematic view of the bypass valve and its connection in a closed state;

fig. 4 is an enlarged schematic view of the bypass valve and its connection structure in an open state.

Reference numerals:

1. an execution pipeline; 2. A hydraulic pump; 3. A check valve;

4. a cylinder body; 5. A pump head; 6. A pump chamber;

7. a master control pipeline; 8. A sealing cover; 9. A master control piston;

10. a profiled slide block; 11. A first spring; 12. A guide bush;

13. an upper swing arm; 14. A lower swing arm; 15. A connecting rod;

16. a connecting plate; 17. A second spring; 18. A stopper;

19. a bypass valve; 191. A bypass housing; 192. A bypass piston;

193. a piston rod; 194. A first port; 195. A second port;

196. a valve body; 197. A balancing channel; 20. A first bypass line;

21. a second bypass line; 22. A slide bar; 23. And a guide block.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to fig. 1, the direct-connection bypass type hydraulic pump control device for the robot disclosed by the invention comprises an execution pipeline 1, a power system and a hydraulic system, wherein one end of the execution pipeline 1 is connected with an execution component of the robot, and the other end of the execution pipeline is communicated with the power system. The power system comprises a hydraulic pump 2, the hydraulic pump 2 is a variable displacement pump, an outlet of the hydraulic pump 2 is communicated with an execution pipeline 1, a check valve 3 is arranged at an outlet of the execution pipeline 1 close to the hydraulic pump 2, and an inlet side of the check valve 3 faces to the outlet of the hydraulic pump 2. The fluid discharged from the hydraulic pump 2 flows into the actuator pipe 1 through the check valve 3, thereby providing a driving force for the operation of the actuator. When the fluid of the execution pipeline 1 reversely flows or reaches the maximum rated working pressure, the check valve 3 is closed, and the fluid is prevented from flowing back to the hydraulic pump 2, so that the throttling loss and the overflow loss of a hydraulic system are reduced, and the transmission efficiency of an execution component is improved.

Referring to fig. 1, the hydraulic system includes a cylinder 4, a pump head 5 is arranged in the cylinder 4, a pump chamber 6 is arranged along the vertical direction on the pump head 5, and the pump chamber 6 is communicated with the execution pipeline 1 through a main control pipeline 7. The periphery of the pump head 5 is fixedly connected with a sealing cover 8, and the sealing cover 8 is fixedly connected with the top of the cylinder body 4, so that the sealing and dust-proof effects are achieved. A main control piston 9 is arranged in the pump chamber 6 in a sliding mode, a special-shaped sliding block 10 connected with the main control piston 9 is movably sleeved on the pump head 5, and the bottom of the main control piston 9 penetrates through the special-shaped sliding block 10 and extends downwards to the outside of the cylinder body 4. A first spring 11 is arranged in the cylinder body 4, one end of the first spring 11 is abutted against the special-shaped sliding block 10, and the other end of the first spring is abutted against the bottom of the cylinder body 4. The bottom of the cylinder body 4 is embedded with a guide bush 12, and the guide bush 12 is movably sleeved on the peripheral side of the main control piston 9, thereby playing a role in guiding and sealing.

Referring to fig. 2, an L-shaped rod is rotatably disposed on the hydraulic pump 2, the L-shaped rod is composed of an upper swing arm 13 and a lower swing arm 14, a connecting rod 15 is hinged to a free end of the upper swing arm 13, a connecting plate 16 is fixedly disposed at the bottom of the main control piston 9, and a second spring 17 is disposed between the connecting rod 15 and the connecting plate 16. The bottom of the hydraulic pump 2 is fixedly provided with a stop block 18, and the lower swing arm 14 can be rotatably abutted to the stop block 18.

As shown in fig. 1, when the actuation pipe 1 is at a low load pressure, the first spring 11 lifts the master piston 9 to the uppermost position while the check valve 3 is in the open state and the hydraulic pump 2 is maintained in a state of maximum output flow. As shown in fig. 2, as the pressure in the execution piping 1 gradually rises, that is, the pressure on the outlet side of the check valve 3 gradually rises, the fluid delivery amount of the hydraulic pump 2 gradually decreases; until the pressure load in the execution pipeline 1 reaches the maximum rated working pressure, the check valve 3 is in a closed state, meanwhile, the main control piston 9 moves downwards to compress the first spring 11, the first swing arm rotates downwards clockwise under the linkage action of the connecting plate 16 and the connecting rod 15, and the second swing arm is abutted to the stop block 18.

Referring to fig. 1, a bypass system is communicated between the actuation pipe 1 and the hydraulic pump 2, the bypass system is a directly connected slide valve type assembly, the directly connected slide valve type assembly includes a bypass valve 19, one end of the bypass valve 19 is communicated with the hydraulic pump 2 through a first bypass pipe 20, and the other end is communicated with the actuation pipe 1 through a second bypass pipe 21.

Referring to fig. 3 and 4, the bypass valve 19 includes a bypass housing 191, a bypass piston 192 slidably disposed in the bypass housing 191 in a vertical direction, and a piston rod 193 is fixedly disposed on a top of the bypass piston 192. The top of the piston rod 193 is fixedly connected with the connecting plate 16, the bottom is movably embedded with a valve body 196, and the bottom end of the valve body 196 penetrates through the bypass piston 192 along the vertical direction. The bypass piston 192 has a first port 194 communicating with the first bypass line 20 and a second port 195 communicating with the second bypass line 21. A slide rod 22 is fixedly arranged at one end of the connecting plate 16 close to the bypass valve 19, a guide block 23 is integrally and fixedly arranged on the peripheral side of the cylinder body 4, the slide rod 22 is in sliding connection with the guide block 23, and the guide block 23 improves the straightness and stability of the up-and-down movement of the slide rod 22. The bypass casing 191 is provided with a balance passage 197, and two ends of the balance passage 197 are respectively communicated with the chambers at the upper side and the lower side of the bypass piston 192, so that the axial balance of the bypass piston 192 is ensured.

The fluid pressure on the outlet side of the check valve 3 is increased, the main control piston 9 pushes against the special-shaped slide block 10 to move downwards, the main control piston 9 and the connecting plate 16 are linked to drive the sliding rod 22 and the piston rod 193 to move downwards, and meanwhile, the bypass piston 192 moves downwards along with the sliding rod. As shown in fig. 4, until the fluid pressure on the outlet side of the check valve 3 exceeds the maximum rated operating pressure, the bottom of the bypass piston 192 abuts against the bottom of the bypass housing 191, so that the first port 194 and the first bypass line 20 are open; the bottom of the valve body 196 abuts against the bottom of the bypass housing 191 and moves upward under its force, thereby opening the bypass valve 19, so that the second port 195 and the second bypass line 21 are communicated, and the fluid inside the hydraulic pump 2 is circulated through the bypass system, thereby achieving a stable idle operation of the hydraulic pump 2 at a low pressure. As shown in fig. 3, when the fluid pressure at the outlet side of the check valve 3 is lower than the maximum rated operating pressure, the main control piston 9 moves upward by the restoring force of the first spring 11, and the bypass piston 192 is moved upward by the linkage action of the connecting plate 16 and the sliding rod 22, and the bypass valve 19 is closed accordingly.

The working principle and the beneficial effects of the invention are as follows:

the check valve 3 is opened, the fluid in the hydraulic pump 2 flows from the outlet thereof into the actuation pipe 1, the fluid pressure in the actuation pipe 1 is gradually increased, so that the check valve 3 is gradually closed under the high pressure of the actuation pipe 1, and the delivery amount of the hydraulic pump 2 to the actuation pipe 1 is gradually decreased. Meanwhile, the main control piston 9 gradually moves downwards, the main control piston 9 drives the special-shaped sliding block 10 to move downwards, the first spring 11 is compressed, the main control piston 9 and the connecting plate 16 are in linkage action, the sliding rod 22 is driven to move downwards, when the pressure exceeds the maximum rated working pressure, the bottom of the valve body 196 abuts against the bottom of the bypass shell 191 and then moves upwards under the acting force of the bottom of the bypass shell 191, the bypass valve 19 is opened, the first port 194 is communicated with the first bypass pipeline 20, meanwhile, the second port 195 is communicated with the second bypass pipeline 21, the hydraulic pump 2 releases the borne high-pressure load, and fluid in the hydraulic pump 2 circulates through a bypass system, so that the stable idle running of the hydraulic pump 2 under low pressure is realized. Subsequently, the pressure on the outlet side of the check valve 3 decreases until it falls below the maximum rated operating pressure, and then the master piston 9 moves upward by the restoring force of the first spring 11, the bypass valve 19 closes, the check valve 3 gradually opens, and the delivery amount of the hydraulic pump 2 increases.

Compared with the prior art, the invention opens the bypass valve 19 through the linkage action of the connecting plate 16 and the auxiliary piston, and the fluid in the hydraulic pump 2 circulates through the bypass loop, thereby realizing the stable idle running of the hydraulic pump 2 under low pressure, reducing the high load pressure to be born by the hydraulic pump 2, reducing the damage to the inside of the hydraulic pump 2, improving the stability and the running reliability of the hydraulic pump 2, and ensuring the control precision of the execution component. Meanwhile, the invention can reduce the throttling loss and the overflow loss of the hydraulic system, improve the transmission efficiency of the execution component and is suitable for occasions with larger difference between the fast forward speed and the working speed of the execution component.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot direct-connection bypass type hydraulic pump control device comprises an execution pipeline (1), a power system and a hydraulic system, wherein one end of the execution pipeline (1) is connected with an execution part of a robot, the other end of the execution pipeline is communicated with the power system, and the power system provides driving force for the action of the execution part; the hydraulic system is communicated with the execution pipeline (1) and is used for controlling and adjusting the pressure of the execution pipeline (1); a bypass system used for stabilizing idle running of the power system is further connected between the execution pipeline (1) and the power system, and the device is characterized in that: the bypass system is a direct-connected spool valve type assembly.

2. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 1, wherein: the power system comprises a hydraulic pump (2), an outlet of the hydraulic pump (2) is communicated with an execution pipeline (1), and the execution pipeline (1) is close to an outlet of the hydraulic pump (2) and is provided with a check valve (3).

3. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 2, wherein: the hydraulic system comprises a cylinder body (4) and a pump head (5) fixedly arranged at the top of the cylinder body (4), a pump chamber (6) is formed in the pump head (5), the pump chamber (6) is communicated with an execution pipeline (1) through a main control pipeline (7), a main control piston (9) is arranged in the pump chamber (6) in a sliding mode, and a special-shaped sliding block (10) connected with the main control piston (9) is movably sleeved on the pump head (5); a first spring (11) is arranged in the cylinder body (4), one end of the first spring (11) is abutted against the special-shaped sliding block (10), and the other end of the first spring is abutted against the bottom of the cylinder body (4).

4. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 3, wherein: the driving system further comprises an L-shaped rod arranged on the hydraulic pump (2) in a rotating mode, the L-shaped rod is composed of an upper swing arm (13) and a lower swing arm (14), a connecting rod (15) is hinged to the free end of the upper swing arm (13), a connecting plate (16) is fixedly arranged at the bottom of the main control piston (9), a second spring (17) is arranged between the connecting rod (15) and the connecting plate (16), and a stop block (18) which is abutted to the lower swing arm (14) in a rotating mode is fixedly arranged at the bottom of the hydraulic pump (2).

5. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 4, wherein: the directly connected spool valve assembly comprises a bypass valve (19), one end of the bypass valve (19) being in communication with the hydraulic pump (2) via a first bypass line (20), the other end being in communication with the actuation conduit (1) via a second bypass line (21).

6. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 5, wherein: the bypass valve (19) comprises a bypass housing (191) and a bypass piston (192) arranged in the bypass housing (191) in a sliding mode, the top of the bypass piston (192) is provided with a piston rod (193) fixedly connected with the connecting plate (16), and the bottom of the piston rod (193) is movably embedded with a valve body (196); the bypass piston (192) is provided with a first port (194) communicated with the first bypass pipeline (20) and a second port (195) communicated with the second bypass pipeline (21).

7. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 6, wherein: and a balance channel (197) is formed in the bypass shell (191), and two ends of the balance channel (197) are respectively communicated with the chambers positioned at the upper side and the lower side of the bypass piston (192).

8. The robot direct-connected bypass type hydraulic pump control device according to any one of claims 5 to 7, characterized in that: a guide block (23) is fixedly arranged on the cylinder body (4), and a slide rod (22) which is in sliding connection with the guide block (23) is fixedly arranged at one end, close to the bypass valve (19), of the connecting plate (16).

9. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 3, wherein: the periphery of the pump head (5) is fixedly provided with a sealing cover (8), and the sealing cover (8) is fixedly connected with the top of the cylinder body (4).

10. The robot direct-connected bypass type hydraulic pump control device as claimed in claim 3, wherein: the bottom of cylinder body (4) inlays and is equipped with guide bush (12), guide bush (12) activity cup joint in the week side of master control piston (9).