CN112112846A - Hydraulic actuator for robot - Google Patents
Hydraulic actuator for robot Download PDFInfo
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- CN112112846A CN112112846A CN202010787949.6A CN202010787949A CN112112846A CN 112112846 A CN112112846 A CN 112112846A CN 202010787949 A CN202010787949 A CN 202010787949A CN 112112846 A CN112112846 A CN 112112846A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/04—Accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/025—Pressure reducing valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
Abstract
The invention discloses a hydraulic actuator for a robot, which comprises a blade type swing hydraulic motor, a rotary encoder, a servo valve, a high-speed three-position four-way electromagnetic directional valve, a pressure reducing valve, a one-way valve, an energy accumulator and two pressure sensors, the vane swing hydraulic motor comprises an output shaft and two cylinder bodies which are respectively and independently sealed, wherein the inner part of each cylinder body along the radial direction is provided with a containing cavity, the lower part of the cylinder body is provided with a stator which is integrated with the cylinder body, the output shaft is rotationally connected with a stator surface groove at the axial center of the two cylinder bodies, each cylinder body is internally provided with a vane, the end surface of the blade is in contact with the inner wall of the cylinder body in a fitting manner, the radial surface of the blade can be in contact with the surface of the stator, the output shaft is fixedly connected with the two blades, so that the energy consumption is greatly reduced, the instantaneous force is increased, and the swing joint can instantaneously obtain higher movement speed.
Description
Technical Field
The invention particularly relates to a hydraulic actuator for a robot.
Background
The swing joint is bionic, provides connecting support for the rod pieces with relative motion, and drives the two connected rod pieces to do relative motion, and the swing joint is similar to the motion forms of arms, legs, feet and the like of human beings. The swing joint is widely applied in the field of robots, such as mechanical arms on a production line and various legged walking robots (biped robots, quadruped robots, etc.), the swing joint is used as the most basic driving unit of the robots, the performance of the swing joint directly determines the motion performance of a motion system, and the swing joint is developed along with the robots facing to the directions of higher-speed motion, larger bearing load, higher motion precision, higher anti-interference, higher cruising ability, etc. The basic requirements of higher-speed movement and larger bearing load on the swing joint are high power density, namely, higher power output can be realized under the swing joint with small volume and weight, and the condition that the swing joint can output larger driving force and larger movement speed is directly shown; higher cruising power means low energy consumption, low energy consumption means that the rest energy except necessary working energy is consumed as less as possible, on one hand, energy is saved, and on the other hand, energy is recovered; the anti-interference capability is higher, and the swing joint can fully absorb the impact from the outside and buffer; higher motion precision requires that the basic motion state of the swing cylinder and the basic dynamic characteristics of the swing cylinder are determined, namely, various motion parameters of the swing joint are sensed in real time by using sufficient integrated sensors so as to realize control.
At present, the driving modes of the swing joint mainly comprise an electric driving mode and a hydraulic driving mode, and various novel driving modes such as a piezoelectric material driving mode, a shape memory alloy driving mode and the like are adopted for the miniature joint. The electric drive has a more obvious problem that the power density is too low, and the motor output is too small to meet the requirements of the robot on high speed and high load and the like; the hydraulic drive has the characteristic of higher power density, but the hydraulic drive applied to the traditional joint step-foot type robot is all scattered hydraulic elements, so that the leg-foot joints have more mounting parts and the hydraulic elements are all traditional design structures, so that the weight of the leg-foot joints is larger, the goal of realizing high-speed high-load high-jump of the robot is not facilitated, and the traditional hydraulically driven swing joint does not realize the functions of effective buffering of impact energy, recovery and storage of the impact energy, controllable release of the impact energy, force burst and the like which are beneficial to the swing joint.
Disclosure of Invention
Based on the defects, the invention aims to provide a hydraulic actuator for a robot, which solves the problems that the existing swing joint drive cannot realize impact buffering, impact energy absorption and storage, controllable re-release of impact energy and force burst, and realizes higher power density.
In order to solve the above problems, the technical scheme adopted by the invention is as follows: the utility model provides a hydraulic actuator mechanism for robot, includes vane type swing hydraulic motor, rotary encoder, servovalve, high-speed three-position four-way electromagnetic directional valve, relief pressure valve, check valve, energy storage ware and two pressure sensor, rotary encoder installs at vane type swing hydraulic motor afterbody, its characterized in that: the blade swing hydraulic motor comprises an output shaft and two cylinder bodies which are respectively independent and closed, wherein the inner part of each cylinder body is provided with a containing cavity along the radial direction, the lower half part of each cylinder body is provided with a stator which is integrated with the cylinder body into a whole, two sides of each stator are respectively provided with an inner oil port, each inner oil port is communicated with an oil hole on the cylinder body, the output shaft is rotationally connected with a stator surface groove at the axial center of the two cylinder bodies, the outer parts of two ends of the output shaft are respectively rotationally connected with the outer parts of the two cylinder bodies through a bearing pair, the two cylinder bodies are axially and tightly fixedly connected and mutually sealed, each cylinder body is internally provided with a blade, the end surface of each blade is in fit contact with the inner wall of the cylinder body, the radial surface of each blade can be in contact with the surface of the stator, the output shaft is fixedly connected, the diagonal oil cavities of the two cylinder bodies are high-pressure oil cavities or low-pressure oil cavities at the same time, the two cylinder bodies are a main cylinder and an auxiliary cylinder respectively, two oil holes of the main cylinder are connected with two working oil ports of a servo valve respectively through two pipelines, each pipeline is provided with a pressure sensor, an oil inlet of the servo valve is connected with an external high-pressure oil port through a pipeline, and an oil return port of the servo valve is connected with an external low-pressure oil port; two oil holes of the auxiliary cylinder are respectively connected with two working oil ports of the high-speed three-position four-way electromagnetic directional valve, an oil inlet of the high-speed three-position four-way electromagnetic directional valve is respectively connected with an energy accumulator and an output port of the one-way valve, an oil return port of the high-speed three-position four-way electromagnetic directional valve is connected with an external low-pressure oil port, an input port of the one-way valve is connected with an output port of the pressure reducing valve, and an inlet and an outlet of the pressure reducing valve are respectively connected with an; the mechanism comprises the following operation under various working conditions:
and (3) low load working condition: when a swing joint of the robot is in a low-load state, the high-speed three-position four-way electromagnetic reversing valve is in a middle position, two working oil ports of the high-speed three-position four-way electromagnetic reversing valve are communicated with an external low-pressure oil port, two oil cavities separated by blades of an auxiliary cylinder are communicated with the external low-pressure oil port, the blades of the auxiliary cylinder are not acted by hydraulic oil and are in a free swing state, a main cylinder is controlled to move under the control action of a servo valve, the auxiliary cylinder moves along with the main cylinder, an oil port communicated with the high-speed three-position four-way electromagnetic reversing valve by an energy accumulator is in a closed state, and an oil port communicated with a pressure reducing valve through a one-way valve supplements oil for the energy accumulator so as;
buffering impact working conditions: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the right position, the auxiliary cylinder is communicated with the energy accumulator through the high-speed three-position four-way electromagnetic directional valve, the external impact force is transmitted to the auxiliary cylinder blade through the output shaft, the auxiliary cylinder blade pushes hydraulic oil in the oil cavity on one side to enter the energy accumulator, the oil cavity on the other side of the auxiliary cylinder blade is communicated with the external low-pressure oil port, external low-pressure oil flows into the oil cavity on the other side through the low-pressure oil port to supplement the space generated by the blade due to swing, the energy accumulator receives the hydraulic oil pushed by the auxiliary cylinder blade, the energy accumulator buffers the external impact, and the load of the; storage impact energy working condition: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the middle position, an oil way communicated with the energy accumulator and the high-speed three-position four-way electromagnetic directional valve is closed, and when part of hydraulic oil is squeezed into the energy accumulator by external impact, the pressure of the hydraulic oil in the energy accumulator is higher than the pressure supplemented to the energy accumulator by the pressure reducing valve under the working condition of low load, the hydraulic oil in the energy accumulator can not flow back to the pressure reducing valve in a reverse direction under the action of the one-way valve, so that the external impact energy in the impact buffering working condition can be stored;
force burst condition: when the swing joint of the robot is in a heavy load state after undergoing the 3 working conditions, the load is a one-way load, external impact acts as the reverse direction of the one-way load, the high-speed three-position four-way electromagnetic directional valve is switched to the left position, the energy accumulator can be communicated with the other cavity of the auxiliary cylinder through the left position of the high-speed three-position four-way electromagnetic directional valve, the impact energy stored by the energy accumulator is released to act on the blades of the auxiliary cylinder again just opposite to the impact buffering working condition, and driving force is applied to the main cylinder, so that larger acting force is output outwards in general, and the function of force bursting is realized.
The invention also has the following technical characteristics:
1. the arc-shaped contact surface of the output shaft and the stator is respectively provided with a plurality of unloading grooves along the axial direction, the lowest end of the arc-shaped contact surface is respectively provided with an oil storing groove along the axial direction, and a plurality of oil storing channels are radially arranged in the oil storing grooves.
2. The radial surface and the end surface of the blade are respectively provided with an unloading groove.
3. The radial surface and the end surface of the blade are respectively provided with an oil collecting channel.
4. The output shaft comprises a carbon fiber shaft center and an aluminum alloy shaft shell, and the aluminum alloy shaft shell is sleeved outside the carbon fiber shaft center and fixedly connected with the carbon fiber shaft center.
5. The cylinder body includes the aluminum alloy cylinder, aluminum alloy cylinder outside parcel have the carbon fiber layer.
6. The outer layer of the blade is aluminum alloy, and the carbon fiber lining is filled inside the blade.
The invention has the following advantages and beneficial effects: the invention realizes the functions which are not possessed by the traditional swing joint, such as impact buffering, impact energy absorption and storage, controllable re-release of impact energy, force burst and the like, greatly increases the anti-interference capability of the system and greatly reduces the energy consumption of the swing joint. The lower weight is realized through the composite design of various low-density materials, so that the weight of the whole joint is greatly reduced, and the swing joint has higher high-speed movement capability, higher output capability, higher load capability and higher energy-saving capability under the same power input and the same weight. The double-layer oil cylinder is switched by a control means, the one-layer cylinder is used under low load, the two-layer cylinder is used under high load, energy consumption is greatly reduced, instantaneous force is increased, and the swing joint can instantaneously obtain higher movement speed. The energy accumulator realizes energy absorption and storage, and the energy controllable release is realized by combining with a high-speed switch valve, so that an energy recovery mechanism is added, and the overall energy consumption of the system is further reduced. The invention can be used for various robots with swing joints, such as mechanical arms, walking joint robots and the like, can drive the joints to perform swing motion, is highly integrated, has the characteristics of high power density, can automatically buffer and absorb external impact interference energy, can store energy and release the energy controllably, and has a novel hydraulic actuator with force burst. The novel hydraulic actuator for the robot integrates the oil port pressure sensor and the rotary encoder, can sense the output torque of the actuator and output information such as displacement and speed in real time, and provides an interface for high-precision motion control.
Drawings
FIG. 1 is a first perspective view of a first assembly of a hydraulic actuator mechanism for a robot according to the present invention;
FIG. 2 is a first perspective view of the assembly of the hydraulic actuator mechanism for a robot according to the present invention;
FIG. 3 is a third perspective view of the hydraulic actuator assembly for a robot according to the present invention;
FIG. 4 is a front view of a hydraulic actuator mechanism for a robot of the present invention;
FIG. 5 is a cross-sectional view B-B of FIG. 4;
FIG. 6 is a front view of the connection structure of the vanes with the output shaft;
FIG. 7 is a cross-sectional view A-A of FIG. 6;
FIG. 8 is a cross-sectional view B-B of FIG. 6;
FIG. 9 is a right side view of FIG. 6;
FIG. 10 is a bottom right view of FIG. 6;
FIG. 11 is a perspective view of FIG. 6;
FIG. 12 is a schematic view of an aluminum alloy cylinder barrel;
FIG. 13 is a cross-sectional view A-A of FIG. 12;
FIG. 14 is a perspective view of FIG. 6;
FIG. 15 is a schematic diagram of an operating condition oil circuit;
FIG. 16 is a schematic diagram of an oil circuit under low load conditions;
FIG. 17 is a schematic diagram of an oil path for buffering impact conditions;
FIG. 18 stores a schematic of the oil circuit for impact energy conditions.
Wherein, 1-carbon fiber axis, 2-aluminum alloy shaft shell, 3-bearing end cap, 4-main cylinder, 5-auxiliary cylinder, 6-head carbon fiber end cap, 9-energy accumulator, 11-first pressure sensor, 12-servo valve, 14-second pressure sensor, 17-pressure reducing valve, 19-high speed three-position four-way electromagnetic directional valve, 21-one-way valve, 22-rotary encoder, 23-tail carbon fiber end cap, 24-tail aluminum alloy gland, 25-auxiliary aluminum alloy cylinder, 27-middle clapboard, 29-main aluminum alloy cylinder, 30-head aluminum alloy gland, 40-aluminum alloy cylinder inner sealing O-shaped ring, 41-hidden oil duct, 42-main cylinder blade carbon fiber lining, 43-auxiliary cylinder carbon fiber lining, 44-bearing end cap rotary sealing ring, 45-bearing end cover O-shaped ring, 46-needle bearing, 47-spigot, 48-aluminum alloy cylinder outer O-shaped ring, 49-unloading groove, 50-auxiliary cylinder aluminum alloy blade, 52-main cylinder aluminum alloy blade, 57-pin, 59-oil storage groove, 60-first inner oil port, 61-second inner oil port and 62-weight-reducing hollowed hole.
Detailed Description
The invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1-14, a hydraulic actuator mechanism for a robot comprises a blade-type swing hydraulic motor, a rotary encoder, a servo valve, a high-speed three-position four-way electromagnetic directional valve, a pressure reducing valve, a one-way valve, an energy accumulator and two pressure sensors, wherein the rotary encoder is installed at the tail part of the blade-type swing hydraulic motor, the blade-type swing hydraulic motor is cylindrical and comprises an output shaft, a head carbon fiber end cover 6, a tail carbon fiber end cover 23, two bearing end covers 5, two groups of needle bearings 46, a head aluminum alloy gland 30, a tail aluminum alloy gland 24, a main aluminum alloy cylinder 29, an auxiliary aluminum alloy cylinder 25 and a middle partition plate 27, the outer end part of the head aluminum alloy gland 30 is connected with the first bearing end cover, the first needle bearing is installed inside the head aluminum alloy gland 30, the head carbon fiber end cover 6 is connected with the outer side of the, main aluminum alloy cylinder 29 passes through baffle 27 and supplementary aluminum alloy cylinder 25 fixed connection, supplementary aluminum alloy cylinder 25 and the inboard fixed connection of tail aluminum alloy gland 24, the outer tip and the second bearing end cap of tail aluminum alloy gland 24 are connected, the inside second bearing that is equipped with of tail aluminum alloy gland 24, the output shaft is located main aluminum alloy cylinder 29 and supplementary aluminum alloy cylinder 25 inside, the both ends of output shaft respectively with two bearing roll connections, the output shaft includes carbon fiber axle center and aluminum alloy axle housing, aluminum alloy axle housing fixed mounting is outside the carbon fiber axle center, main aluminum alloy cylinder 29 and supplementary aluminum alloy cylinder 25 outside have still wrapped up the carbon fiber layer, the output shaft includes carbon fiber axle center 1 and aluminum alloy axle housing 2, aluminum alloy axle housing 2 fixed mounting is outside carbon fiber axle center 1. The inner parts of the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25 extend to the upper half part to form a containing cavity, the lower half part is a stator which is integrated with the cylinder body, a lightening hollow hole 62 is arranged on the stator, a first inner oil port 60.61 and a second inner oil port 60.61 are respectively arranged on the two sides of the stator, each inner oil port is communicated with an oil hole on the cylinder body, an output shaft is rotatably connected with a stator surface groove at the axial center of the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25, the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25 are axially and tightly fixedly connected and mutually sealed through a partition plate 27, a blade is respectively arranged in the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25, the end surface of each blade is in fit contact with the inner wall of the main aluminum alloy cylinder 29 or the auxiliary aluminum alloy cylinder 25, the radial surface of each blade can be in contact with the surface of the stator, the output shaft is fixedly, the diagonal oil cavities of the two cylinder bodies are high-pressure oil cavities or low-pressure oil cavities at the same time, the two oil holes of the main aluminum alloy cylinder barrel 29 are respectively connected with two working oil ports of a servo valve through two pipelines, each pipeline is provided with a pressure sensor, an oil inlet of the servo valve is connected with an external high-pressure oil port through a pipeline, and an oil return port of the servo valve is connected with an external low-pressure oil port; two oil holes of the auxiliary aluminum alloy cylinder barrel 25 are respectively connected with two working oil ports of the high-speed three-position four-way electromagnetic directional valve, an oil inlet of the high-speed three-position four-way electromagnetic directional valve is respectively connected with an energy accumulator and an output port of a one-way valve, an oil return port of the high-speed three-position four-way electromagnetic directional valve is connected with an external low-pressure oil port, an input port of the one-way valve is connected with an output port of a pressure reducing valve, and an inlet and an outlet of the pressure reducing valve are respectively connected;
a servo valve 12, a high-speed three-position four-way electromagnetic directional valve 19 and a pressure reducing valve 17 are fixedly arranged on the side surface of the vane type swing hydraulic motor, and a check valve 21 is arranged at an oil inlet of the pressure reducing valve 17 to prevent oil from flowing backwards. The energy accumulator 9 can be bound on the shell of the swing cylinder by a binding belt, and can also be fixed with the head carbon fiber end cover 6 and the tail carbon fiber end cover 23 in a threaded mode by a head and tail processing mounting frame. The auxiliary cylinder carbon fiber lining 43 in the auxiliary cylinder aluminum alloy blade layer 50 is glued together to form a whole, the head is fastened by pins, the main cylinder blade carbon fiber lining 42 in the main cylinder aluminum alloy blade layer 52 is glued together to form a whole, and the head is fastened by pins. The end faces of the head carbon fiber end cover 6 and the tail carbon fiber end cover 23 are embedded with metal threaded holes, the two bearing end covers are respectively installed on the head carbon fiber end cover 6 and the tail carbon fiber end cover 23 through bolts, a bearing end cover rotary sealing ring 44 is installed near the shaft of the two bearing end covers, and a bearing end cover O-shaped ring 45 is installed on the outer ring of the two bearing end covers, so that the axial and radial double sealing effects are guaranteed. The two needle roller bearings are respectively arranged in a bearing installation space formed by the first bearing end cover and the head aluminum alloy gland 30, and the second bearing end cover and the tail aluminum alloy gland 24. The head aluminum alloy gland 30, the tail aluminum alloy gland 24, the main aluminum alloy cylinder 29, the auxiliary aluminum alloy cylinder 25, the auxiliary cylinder aluminum alloy blade layer 50, the main cylinder aluminum alloy blade layer 52 and the middle partition plate 27 form two closed oil cavities, and the rotary sealing ring is used for sealing the two layers of oscillating cylinder oil cavities. The two layers of swing cylinders have the same basic structure, but the directions of the blades are opposite, namely the blades of the two layers of swing cylinders are on the same straight line but the angle difference is 180 degrees, so that the diagonal oil cavities of the two layers of swing cylinders are high-pressure oil cavities or low-pressure oil cavities at the same time, and the lateral force of the output shaft by hydraulic oil can be balanced.
A seam 47 is designed on the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25, the installation is convenient, an outer ring static sealing aluminum alloy cylinder outer O-shaped ring 48 and an inner ring static sealing aluminum alloy cylinder inner sealing O-shaped ring 40 are arranged on the contact part of the aluminum alloy shaft shell 2, and an unloading groove and an oil storing groove are formed in the contact part of the aluminum alloy shaft shell 2, when the aluminum alloy shaft shell 2 rotates, high-pressure oil chamber oil is extruded into the main aluminum alloy cylinder 29, the auxiliary aluminum alloy cylinder 25 and the aluminum alloy shaft shell 2, the unloading groove enables the pressure step loss of the extruded high-pressure oil to be extremely small when the oil storing groove is formed, oil attached to the aluminum alloy shaft shell 2 enters the oil storing groove to ensure certain lubricating performance, and high-pressure oil cannot enter the low-pressure oil chamber through the position. Similarly, the radial direction and the end face of the aluminum alloy blade layer of the main cylinder and the auxiliary cylinder are respectively provided with a radial unloading groove, an end face oil storing channel and a radial oil storing channel, and the principle of the oil storing channel is similar to that of the oil sealing channel of the aluminum alloy shaft shell 2. The unloading groove is formed, so that the deformation of the blade is reduced, the radial and end face sealing effects of the blade are enhanced, the volume efficiency of the swing cylinder is greatly improved, and the system is more energy-saving. According to the embodiment, the wear-resisting performance is realized by spraying the high-hardness and high-wear-resisting tungsten carbide material on the relative motion layer through the aluminum alloy, and the weight reduction hollow parts are arranged on the heavier parts, so that the weight is further reduced.
The specific working process of the mechanism is as follows: the mechanism works under four typical circulating basic working conditions, namely a low-load working condition, a buffering impact working condition, a storage impact energy working condition and a force bursting working condition, and the specific working principle of the device is explained by combining the specific working conditions.
As shown in fig. 15-18, the operation of the present mechanism includes the following:
firstly, low load working condition: when a swing joint of the robot is in a low-load state, the high-speed three-position four-way electromagnetic reversing valve is in a middle position, two working oil ports of the high-speed three-position four-way electromagnetic reversing valve are communicated with an external low-pressure oil port, two oil cavities separated by blades of an auxiliary cylinder are communicated with the external low-pressure oil port, the blades of the auxiliary cylinder are not acted by hydraulic oil and are in a free swing state, a main cylinder is controlled to move under the control action of a servo valve, the auxiliary cylinder moves along with the main cylinder, an oil port communicated with the high-speed three-position four-way electromagnetic reversing valve by an energy accumulator is in a closed state, and an oil port communicated with a pressure reducing valve through a one-way valve supplements oil for the energy accumulator so as;
secondly, buffering the impact working condition: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the right position, the auxiliary cylinder is communicated with the energy accumulator through the high-speed three-position four-way electromagnetic directional valve, the external impact force is transmitted to the auxiliary cylinder blade through the output shaft, the auxiliary cylinder blade pushes hydraulic oil in the oil cavity on one side to enter the energy accumulator, the oil cavity on the other side of the auxiliary cylinder blade is communicated with the external low-pressure oil port, external low-pressure oil flows into the oil cavity on the other side through the low-pressure oil port to supplement the space generated by the blade due to swing, the energy accumulator receives the hydraulic oil pushed by the auxiliary cylinder blade, the energy accumulator buffers the external impact, and the load of the;
thirdly, storing the working condition of impact energy: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the middle position, an oil way communicated with the energy accumulator and the high-speed three-position four-way electromagnetic directional valve is closed, and when part of hydraulic oil is squeezed into the energy accumulator by external impact, the pressure of the hydraulic oil in the energy accumulator is higher than the pressure supplemented to the energy accumulator by the pressure reducing valve under the working condition of low load, the hydraulic oil in the energy accumulator can not flow back to the pressure reducing valve in a reverse direction under the action of the one-way valve, so that the external impact energy in the impact buffering working condition can be stored;
fourthly, force bursting working condition: when the swing joint of the robot is in a heavy load state after undergoing the 3 working conditions, the load is a one-way load, external impact acts as the reverse direction of the one-way load, the high-speed three-position four-way electromagnetic directional valve is switched to the left position, the energy accumulator can be communicated with the other cavity of the auxiliary cylinder through the left position of the high-speed three-position four-way electromagnetic directional valve, the impact energy stored by the energy accumulator is released to act on the blades of the auxiliary cylinder again just opposite to the impact buffering working condition, and driving force is applied to the main cylinder, so that larger acting force is output outwards in general, and the function of force bursting is realized.
Summarizing the above four working conditions, the device realizes the functions of impact buffering, impact energy absorption and storage, controllable impact energy re-release and force burst, and is not possessed by the traditional hydraulic swing joint.
Claims (7)
1. The utility model provides a hydraulic actuator mechanism for robot, includes vane type swing hydraulic motor, rotary encoder, servovalve, high-speed three-position four-way electromagnetic directional valve, relief pressure valve, check valve, energy storage ware and two pressure sensor, rotary encoder installs at vane type swing hydraulic motor afterbody, its characterized in that: the blade swing hydraulic motor comprises an output shaft and two cylinder bodies which are respectively independent and closed, wherein the inner part of each cylinder body is provided with a containing cavity along the radial direction, the lower half part of each cylinder body is provided with a stator which is integrated with the cylinder body into a whole, two sides of each stator are respectively provided with an inner oil port, each inner oil port is communicated with an oil hole on the cylinder body, the output shaft is rotationally connected with a stator surface groove at the axial center of the two cylinder bodies, the outer parts of two ends of the output shaft are respectively rotationally connected with the outer parts of the two cylinder bodies through a bearing pair, the two cylinder bodies are axially and tightly fixedly connected and mutually sealed, each cylinder body is internally provided with a blade, the end surface of each blade is in fit contact with the inner wall of the cylinder body, the radial surface of each blade can be in contact with the surface of the stator, the output shaft is fixedly connected, the diagonal oil cavities of the two cylinder bodies are high-pressure oil cavities or low-pressure oil cavities at the same time, the two cylinder bodies are a main cylinder and an auxiliary cylinder respectively, two oil holes of the main cylinder are connected with two working oil ports of a servo valve respectively through two pipelines, each pipeline is provided with a pressure sensor, an oil inlet of the servo valve is connected with an external high-pressure oil port through a pipeline, and an oil return port of the servo valve is connected with an external low-pressure oil port; two oil holes of the auxiliary cylinder are respectively connected with two working oil ports of the high-speed three-position four-way electromagnetic directional valve, an oil inlet of the high-speed three-position four-way electromagnetic directional valve is respectively connected with an energy accumulator and an output port of the one-way valve, an oil return port of the high-speed three-position four-way electromagnetic directional valve is connected with an external low-pressure oil port, an input port of the one-way valve is connected with an output port of the pressure reducing valve, and an inlet and an outlet of the pressure reducing valve are respectively connected with an; the mechanism comprises the following operation under various working conditions:
and (3) low load working condition: when a swing joint of the robot is in a low-load state, the high-speed three-position four-way electromagnetic reversing valve is in a middle position, two working oil ports of the high-speed three-position four-way electromagnetic reversing valve are communicated with an external low-pressure oil port, two oil cavities separated by blades of an auxiliary cylinder are communicated with the external low-pressure oil port, the blades of the auxiliary cylinder are not acted by hydraulic oil and are in a free swing state, a main cylinder is controlled to move under the control action of a servo valve, the auxiliary cylinder moves along with the main cylinder, an oil port communicated with the high-speed three-position four-way electromagnetic reversing valve by an energy accumulator is in a closed state, and an oil port communicated with a pressure reducing valve through a one-way valve supplements oil for the energy accumulator so as;
buffering impact working conditions: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the right position, the auxiliary cylinder is communicated with the energy accumulator through the high-speed three-position four-way electromagnetic directional valve, the external impact force is transmitted to the auxiliary cylinder blade through the output shaft, the auxiliary cylinder blade pushes hydraulic oil in the oil cavity on one side to enter the energy accumulator, the oil cavity on the other side of the auxiliary cylinder blade is communicated with the external low-pressure oil port, external low-pressure oil flows into the oil cavity on the other side through the low-pressure oil port to supplement the space generated by the blade due to swing, the energy accumulator receives the hydraulic oil pushed by the auxiliary cylinder blade, the energy accumulator buffers the external impact, and the load of the; storage impact energy working condition: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the middle position, an oil way communicated with the energy accumulator and the high-speed three-position four-way electromagnetic directional valve is closed, and when part of hydraulic oil is squeezed into the energy accumulator by external impact, the pressure of the hydraulic oil in the energy accumulator is higher than the pressure supplemented to the energy accumulator by the pressure reducing valve under the working condition of low load, the hydraulic oil in the energy accumulator can not flow back to the pressure reducing valve in a reverse direction under the action of the one-way valve, so that the external impact energy in the impact buffering working condition can be stored; force burst condition: when the swing joint of the robot is in a heavy load state after undergoing the 3 working conditions, the load is a one-way load, external impact acts as the reverse direction of the one-way load, the high-speed three-position four-way electromagnetic directional valve is switched to the left position, the energy accumulator can be communicated with the other cavity of the auxiliary cylinder through the left position of the high-speed three-position four-way electromagnetic directional valve, the impact energy stored by the energy accumulator is released to act on the blades of the auxiliary cylinder again just opposite to the impact buffering working condition, and driving force is applied to the main cylinder, so that larger acting force is output outwards in general, and the function of force bursting is realized.
2. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the arc-shaped contact surface of the output shaft and the stator is respectively provided with a plurality of unloading grooves along the axial direction, the lowest end of the arc-shaped contact surface is respectively provided with an oil storing groove along the axial direction, and a plurality of oil storing channels are radially arranged in the oil storing grooves.
3. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the radial surface and the end surface of the blade are respectively provided with an unloading groove.
4. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the radial surface and the end surface of the blade are respectively provided with an oil collecting channel.
5. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the output shaft comprises a carbon fiber shaft center and an aluminum alloy shaft shell, and the aluminum alloy shaft shell is sleeved outside the carbon fiber shaft center and fixedly connected with the carbon fiber shaft center.
6. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the cylinder body include the aluminum alloy cylinder, aluminum alloy cylinder outside parcel have the carbon fiber layer.
7. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the outer layer of the blade is aluminum alloy, and the carbon fiber lining is filled inside the blade.
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| CN112112846B (en) | 2022-11-08 |
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