CN114290369A - Double-freedom-degree hydraulic joint - Google Patents
Double-freedom-degree hydraulic joint Download PDFInfo
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- CN114290369A CN114290369A CN202210104913.2A CN202210104913A CN114290369A CN 114290369 A CN114290369 A CN 114290369A CN 202210104913 A CN202210104913 A CN 202210104913A CN 114290369 A CN114290369 A CN 114290369A
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- 239000003921 oil Substances 0.000 claims description 90
- 238000007789 sealing Methods 0.000 claims description 50
- 239000002199 base oil Substances 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 abstract description 20
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention provides a double-freedom-degree hydraulic joint, and belongs to the field of hydraulic drive and servo control. The middle of an inner rotor is a sphere, one end of the inner rotor is an inner rotor output shaft, and the other end of the inner rotor is a swing blade; the inner portion of the outer rotor is a cavity, the inner rotor swinging blades are nested in the cavity of the outer rotor, the cavity of the outer rotor is divided into two containing cavities, swinging of the inner rotor blades is achieved, and rotation with a first degree of freedom is achieved. The assembly formed by nesting the inner rotor and the outer rotor is arranged on the inner spherical surface of the stator base, and two closed cavities are formed with the hollow part of the stator base, so that the outer rotor drives the inner rotor to rotate together with the inner rotor to realize the second degree of freedom. The invention can realize the motion of two independent degrees of freedom of the mechanical joint, obviously reduce the total mass of the mechanical arm and simplify the traditional complicated mechanical arm transmission chain. The hydraulic drive can obtain bigger driving force than the electric drive, and the coexistence of conciseness and efficiency is realized.
Description
Technical Field
The invention relates to a double-freedom-degree hydraulic joint, and belongs to the field of hydraulic drive and servo control.
Background
The existing robots can be classified into 4 types, namely rectangular coordinate type, cylindrical coordinate type, spherical coordinate type and joint coordinate type, according to structure. The joint coordinate type has the advantages of flexible movement, large working space, small occupied area and the like. However, most of the rotary joints only have one rotary degree of freedom, and the two-degree-of-freedom joint can reduce the number of joints of the robot and can obviously improve the rigidity. The centers of the two rotary motions are overlapped, so that the motion precision can be ensured, and the robot structure is more compact.
Each joint of the traditional mechanical arm is driven by one motor, and the motors account for the larger specific gravity of the joints of the mechanical arm, and the motors account for most of the weight of the cantilever part of the mechanical arm, so that under the condition, the novel motors are adopted to realize that the single motor can control the motion of the two joints, the weight of the cantilever part of the mechanical arm can be obviously reduced, and the method for obtaining a more compact structure and a high load-to-weight ratio is provided.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and further provides a two-degree-of-freedom oscillating hydraulic motor which has an outer rotor and an inner rotor which are nested and are directly driven by hydraulic pressure, can realize rotation with two independent degrees of freedom, and has a simple and compact structure.
The purpose of the invention is realized by the following technical scheme:
a kind of double-degree-of-freedom hydraulic joint, the said double-degree-of-freedom hydraulic joint includes inner rotor, outer rotor, journal bearing, stator base and stator upper cover;
the middle of the inner rotor is a sphere, one end of the inner rotor is an inner rotor output shaft and is also an output shaft of the double-freedom-degree hydraulic joint, the other end of the inner rotor is an inner rotor blade with a rectangular cross section, and rotor blade sealing grooves are formed in two sides of the inner rotor blade;
the outer rotor main body is quasi-hemispherical, an inner blade groove of the outer rotor is nested with blades of the inner rotor, the spherical center of the inner blade groove is superposed with the spherical center of the inner rotor, the outer rotor is provided with two parallel side surfaces, the two parallel side surfaces are fan-shaped, a sliding bearing is placed in a hole dug at the center of the fan-shaped circle, an oil distribution groove is arranged on the fan-shaped surface, an outer rotor oil hole is arranged on the oil distribution groove, an oil distribution sealing groove is arranged at the bottom of the oil distribution groove, and an inner sealing groove of the outer rotor is arranged on the inner spherical surface of the outer rotor to enable the inner rotor and the outer rotor to form a sealing surface; an outer rotor outer sealing groove is formed outside the outer rotor, and forms a sealing surface with the stator base;
the periphery of the stator base is provided with stator base oil holes, the upper stator cover and the stator base are matched with each other, a hollow cavity is formed in the middle, and the upper stator cover is provided with a spherical pair to assist the swing of an output shaft of the inner rotor;
the rotor blade sealing groove is internally provided with a sealing ring to enable the inner rotor blade and the outer rotor blade groove to be nested to form two closed containing cavities, and the outer sealing groove of the outer rotor is internally provided with a sealing ring to form two sealed containing cavities; sealing rings are arranged in the oil distribution sealing grooves (19 and 20) to enable the oil distribution grooves and the stator base to form two closed fan-shaped grooves.
The invention relates to a double-freedom-degree hydraulic joint, wherein a sliding bearing is provided with four surfaces, namely a spherical surface, a cylindrical surface and two planes, which are respectively matched with an inner rotor, an outer rotor, a stator base and a stator upper cover.
According to the hydraulic joint with two degrees of freedom, the cross section of the blade of the inner rotor is rectangular, so that the inner rotor cannot rotate in the inner cavity of the outer rotor, and two parallel planes on the side surface of the outer rotor ensure that the outer rotor cannot rotate in the stator base.
According to the hydraulic joint with two degrees of freedom, the rotor blade sealing groove enables the inner rotor blade and the outer rotor blade groove to form two mutually independent closed containing cavities; the outer sealing groove of the outer rotor enables the inner rotor assembly and the outer rotor assembly and the stator base to form two closed containing cavities which are mutually independent, and the two closed containing cavities of the blade groove are guaranteed to be mutually independent, so that the two pairs of closed containing cavities are mutually independent.
The invention relates to a double-freedom-degree hydraulic joint, wherein an oil distribution mechanism is composed of an oil distribution groove, an outer rotor oil hole, a stator base oil hole and an oil distribution sealing groove.
The double-freedom-degree hydraulic joint provided by the invention has the advantages that the total mass of the mechanical arm is obviously reduced, and the traditional complex mechanical arm transmission chain is simplified. The hydraulic drive can obtain bigger driving force than the electric drive, and the coexistence of conciseness and efficiency is realized.
Drawings
FIG. 1 is a schematic structural diagram of a two-degree-of-freedom hydraulic joint (stator omitted) according to the present invention;
FIG. 2 is an exploded view of the inner and outer rotors of the present invention;
FIG. 3 is a schematic view of the inner rotor structure of the present invention;
FIG. 4 is a schematic view of the outer rotor structure of the present invention;
FIG. 5 is a schematic view of the stator base structure of the present invention;
FIG. 6 is a schematic view of the stator top cover structure of the present invention;
FIG. 7 is a schematic view of a plain bearing construction of the present invention;
FIG. 8 is a schematic view of the internal ring oil chamber configuration of the present invention;
FIG. 9 is a schematic view of the outer ring oil chamber configuration of the present invention;
in the figure: 1-an inner rotor; 2-an outer rotor; 3-a plain bearing; 4-a stator base; 5-upper cover of stator; 6. 7, 8, 9-stator base oil hole; 10. 11-outer rotor oil hole; 12-outer rotor outer seal groove; 13-rotor blade seal groove; 14-inner seal groove of outer rotor; 15-inner rotor blades; 16. 17-oil distribution groove; 18-an output shaft; 19. 20-oil distribution seal groove.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
The first embodiment is as follows: as shown in fig. 1 to 9, a two-degree-of-freedom hydraulic joint according to the present embodiment includes an inner rotor, an outer rotor, a sliding bearing, an oil distribution mechanism, a sealing assembly, a stator upper cover, and a stator base, where a structure in which the inner rotor and the outer rotor are nested with each other realizes two independent degrees of freedom;
the middle of the inner rotor is a sphere, one end of the inner rotor is an inner rotor output shaft and is also a double-freedom-degree hydraulic joint output shaft, and the other end of the inner rotor is an inner rotor swinging blade with a rectangular section; the outer rotor and the inner rotor blade are nested to form two cavities for controlling the first degree of freedom movement, and oil in the two cavities controls the swing angle of the inner rotor blade, so that the angle of the extension shaft in the first degree of freedom is controlled, and one degree of freedom rotation is realized;
the outer rotor main body is of a quasi-hemispherical shape, the spherical center of the outer rotor main body is superposed with the spherical center of the inner rotor, two parallel side faces are arranged, a blade groove is formed in the outer rotor main body and is nested with the blades of the inner rotor, and a sealing groove is formed in the inner rotor main body so that the inner rotor and the outer rotor form a sealing surface; an outer rotor outer sealing groove is formed outside the outer rotor and forms a sealing surface with the stator base; the inner rotor and the outer rotor are nested with each other to form a combination body which is arranged in the stator base, two cavities are formed with the hollow part of the stator base, and oil in the two cavities controls the outer rotor to drive the inner rotor to move along the direction vertical to the rotation direction of the first degree of freedom together to realize the movement of the second degree of freedom; when the outer rotor drives the inner rotor to rotate along the second degree of freedom, the first degree of freedom of the inner rotor is not influenced to rotate, so that two mutually independent motions, namely two independent degrees of freedom, are formed;
the outer rotor provides oil for the swinging of the blades of the inner rotor through an oil distribution mechanism, and the oil distribution mode is that two oil holes on a stator base supply oil for the swinging of the blades of the inner rotor through an oil distribution groove on the side surface of the outer rotor and oil holes on the oil distribution groove;
the upper stator cover and the stator base are matched with each other to form a hollow structure in the middle, the hollow structure is used for nesting an assembly formed by the inner rotor and the outer rotor, and the upper stator cover is provided with a spherical pair for assisting the swing of an extending shaft of the inner rotor;
the sliding bearing has an auxiliary function, and each matching surface has different designs relative to the matched part, so that the rotating stability of each part is realized, and the integral stability is improved;
the inner rotor and the outer rotor are mutually nested, the inner rotor blades are guaranteed to swing along the direction of the blade grooves in the inner cavity of the outer rotor, and therefore the extending shaft is guaranteed to rotate in the direction of the blade grooves of the outer rotor under the auxiliary action of the spherical pair of the upper cover of the stator, and the rotation of the first degree of freedom is achieved. The cross section of the inner rotor blade is rectangular, so that the inner rotor blade is ensured not to rotate in the outer transmission rotor cavity when swinging in the inner cavity of the outer rotor
The inner rotor and the outer rotor form an assembly which is nested on the stator base. The assembly formed by mutually nesting the inner rotor and the outer rotor is arranged in the stator base, two cavities are formed by the assembly and the hollow part of the stator base, and oil in the two cavities controls the outer rotor to drive the inner rotor to move along the direction vertical to the rotation direction of the first degree of freedom together to realize the movement of the second degree of freedom. When the outer rotor drives the inner rotor to rotate along the second degree of freedom, the first degree of freedom of the inner rotor is not influenced, and therefore two mutually independent motions, namely two independent degrees of freedom, are formed.
The two surfaces of the oil distribution mechanism of the outer rotor are parallel planes, the two surfaces are tightly attached to the hollow part in the stator base to realize a sealing surface, and the two parallel side surfaces of the outer rotor ensure that the outer rotor does not spin when moving along the direction of the second degree of freedom.
The inner rotor and the outer rotor are nested to realize the swing of one degree of freedom, the inner rotor and the outer rotor are combined to be arranged in the stator base to realize the swing of the other degree of freedom, and the rotations of the two degrees of freedom are independent and do not influence each other.
The cross section of the inner rotor blade is rectangular, so that the inner rotor cannot perform self-rotation motion in the inner cavity of the outer rotor, two parallel planes on the side surface of the outer rotor ensure that the outer rotor cannot perform self-rotation motion in the stator seat, and the two parts restrict the self-rotation motion to ensure that the output shaft of the double-freedom-degree hydraulic joint can only perform motion with two independent degrees of freedom without motion with the third degree of freedom.
The seal groove of the inner rotor blade ensures that the inner rotor blade and the outer rotor blade groove form two mutually independent closed containing cavities.
The sealing groove outside the outer rotor ensures that the two closed containing cavities formed by the inner and outer rotor assemblies and the stator base are mutually independent, and ensures that the two closed containing cavities of the blade groove are mutually independent, so that the four closed containing cavities are mutually independent.
The stator base has four oil circuits in two groups, one group provides oil for the rotation of the inner rotor, and the other group provides oil for the rotation of the outer rotor.
The oil distribution mechanism of the outer rotor consists of an oil distribution groove, an outer rotor oil hole, a stator oil hole and a seal. The oil distribution groove is a fan-shaped groove with a certain depth, and the periphery of the oil distribution groove is sealed. When the oil distribution groove is positioned (the outer rotor) rotates (the second degree of freedom is perpendicular to the outer rotor blade groove), because the existence of the fan-shaped groove always ensures that the two first degree of freedom motion control oil holes on the stator seat are always communicated with the two oil holes on the outer rotor respectively, the oil is ensured to enter the two containing cavities of the inner rotor from the stator seat, and then the inner rotor blade is pushed to swing.
The four surfaces of the sliding bearing are respectively a spherical surface, a cylindrical surface and two planes, and are matched with other parts to provide certain support and sealing for the rotation of the outer transmission, so that the outer rotor of the hydraulic joint can stably rotate.
Example two: as shown in fig. 1 to 9, the two-degree-of-freedom hydraulic joint according to the present embodiment includes an inner rotor 1, an outer rotor 2, a sliding bearing 3, a stator base 4, and a stator cover 5.
The inner rotor is as shown in fig. 3, the middle part 1 is a sphere, one end is an output shaft 18, the other end is an inner rotor blade 15 with a rectangular cross section, the inner rotor blade 15 is nested with a blade groove of the outer rotor 2, a rotor blade sealing groove 13 is arranged on the inner rotor blade 15 and used for placing a sealing ring to realize sealing, and two sealing cavities formed by the inner rotor blade 15 and the outer rotor blade groove are mutually independent. The swing of the projecting shaft is controlled by the swing of the inner rotor blades 15 in the blade grooves of the outer rotor 2, and the swing of the inner rotor blades 15 in the direction of the blade grooves realizes the rotation of the degree of freedom a. The axes of the inner rotor protruding shaft 18 and the inner rotor blades 15 pass through the spherical center of the inner rotor 1; the rectangular cross section of the blades 15 ensures that the inner rotor does not spin while achieving rotation in degree of freedom 1.
The stator base 4 and the stator upper cover 5 are combined, a spherical cavity is formed in the middle, the combination of the inner rotor 1 and the outer rotor 2 is nested with the inner rotor, and the outer spherical surface of the outer rotor 2 is matched with the inner spherical surface of the stator base to form a sealing surface. The outer spherical surface of the outer rotor 2 is provided with a sealing groove 12 which is arc-shaped, and a sealing element is arranged in the groove to ensure that the closed containing cavities formed by the outer rotor 2 and the stator base are mutually independent. The swing of the output shaft 18 is controlled by controlling the swing of the outer rotor 2, the circle center is the spherical center of the inner rotor 1, the swing along the direction vertical to the blade groove of the outer rotor 2 is realized, and the rotation of the degree of freedom b in the direction vertical to the degree of freedom a is realized; the side surface of the outer rotor 2 is provided with two parallel planes E, F to ensure that the outer rotor does not generate spin motion when rotating.
The rotation of the degree of freedom a is limited by the vane groove of the outer rotor 2, so that the vanes of the inner rotor 1 nested in the vanes can only swing along the direction of the vane groove, and are sealed by the outer seal groove 12 of the outer rotor, so that the two independent cavities A and B are not influenced by the closed cavities C and D, and the degree of freedom is independent. Similarly, the rotation of the degree of freedom B is limited by the inner spherical surface and the inner plane of the stator base 4, so that the outer rotor can only rotate along the direction of the inner spherical surface limited by the inner plane of the stator base 4, the direction is vertical to the direction of the outer rotor blade groove and is sealed by the sealing groove 12, the two independent cavities C and D are not influenced by the closed cavities A and B, the realized degree of freedom is independent, the mutual independence of the degree of freedom a and the degree of freedom B is realized, and the double-degree-of-freedom rotation of the hydraulic joint is realized; and because the inner rotor and the outer rotor can not spin, the double-freedom-degree hydraulic switch can limit the output shaft from spinning motion of the third freedom degree, and can stably realize rotation of two independent freedom degrees.
The driving oil for the rotation of the inner rotor is realized by a unique oil distribution mechanism. Oil enters an oil distribution groove 16 with seal through an oil hole 6 on a stator base, oil 19 and oil 20 are oil distribution seal grooves, a sealing element is internally arranged, and then the oil enters an inner rotor 1 cavity A through an oil hole 10 at the bottom of the oil distribution groove 16. Similarly, the oil in the chamber B enters the oil distribution groove 17 through the oil hole 11 at the bottom of the oil distribution groove 17, and then flows out of the stator base 4 through the stator base hole 7.
In order to avoid the influence on the rotation between the inner rotor 1 and the outer rotor 2 and to make the movement smooth, a sliding bearing 3 is added, and one surface of the sliding bearing 3, which is in contact with the inner rotor 1, is a spherical surface which is concentric with the inner rotor 1. One surface contacting with the outer rotor 2 is a cylindrical surface. The surface contacting with the stator upper cover is a plane, and the plane ensures that the supporting piece 3 is well contacted with the outer rotor 2, so that the supporting piece rotates along the surface of the stator base 4 and the center of the inner rotor 1. The same applies to the face in contact with the stator base 4, in order to make the movements of the two degrees of freedom smoother and to have a certain sealing effect.
Example three: as shown in fig. 1 to 9, the working process of the two-degree-of-freedom hydraulic joint according to the present embodiment is as follows:
the middle of the inner rotor 1 is a sphere, and the inner rotor 1 rotates around the sphere center. One end of the sphere is an output shaft 18, the other end is an inner rotor blade 15, and the inner rotor blade 15 is nested in a blade groove of the outer rotor 2 to form an oil cavity as shown in figure 8. The oil liquid flows into an outer rotor oil distribution mechanism through a stator base oil hole 6, the oil distribution mechanism is composed of an oil distribution groove 16 and an outer rotor oil hole 10, the oil distribution groove ensures that the stator base oil hole 6 is communicated with the outer rotor oil hole 10 when the outer rotor rotates on the inner spherical surface of the stator base, normal oil distribution is realized, the oil liquid enters a closed cavity A through the outer rotor oil hole 10, the oil liquid applies pressure to inner rotor blades 15, the inner rotor blades 15 swing towards a closed cavity B, and because an extension shaft 18 of an inner rotor 1 and blades of the inner rotor 1 are on the same straight line, an output shaft of the inner rotor 1 also swings accordingly. Then the oil in the sealed cavity B flows into an oil distribution groove 17 through an outer rotor oil hole 11 and flows out through a stator base oil hole 7, and the oil swings in the opposite direction, namely the oil flows in the opposite direction, so that the rotation in the direction of the blade groove of the outer rotor 2, namely the degree of freedom a, is controlled;
the inner rotor and outer rotor assembly is nested in the central containing cavities of the stator base 4 and the stator upper cover 5 and can rotate along the inner spherical surface of the stator base 5, and the rotation center is the spherical center of the inner rotor 1. The enclosed cavity formed by the inner rotor 1, the outer rotor 2 and the stator base 4 is shown in fig. 9. The oil liquid flows into the closed cavity C through the oil hole 8 of the stator base, the outer rotor is pushed to rotate along the inner spherical surface of the stator base 4 by applying hydraulic pressure on the side surface of the outer rotor, due to the nesting relation between the inner rotor 1 and the outer rotor 2, the rotation of the outer rotor 2 is equivalent to that of the inner rotor 1, the extending shaft of the inner rotor rotates along with the rotation of the inner rotor 1, and the rotation center is the spherical center of the inner rotor 1. Along with the increase of the volume of the closed containing cavity C and the decrease of the volume of the closed containing cavity D, oil flows out through the oil hole 9 of the stator base, and swings reversely, namely the oil flows in the opposite direction, so that the control of the rotation along the inner spherical surface of the stator base 4, namely the rotation in the direction vertical to the vane groove of the outer rotor 2, namely the degree of freedom b, is realized;
the rotation of the inner rotor relative to the outer rotor and the rotation of the inner and outer rotor combination relative to the stator base realize the rotation of the two hydraulic joints with two degrees of freedom independent from each other.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A double-freedom-degree hydraulic joint is characterized by comprising an inner rotor (1), an outer rotor (2), a sliding bearing (3), a stator base (4) and a stator upper cover (5);
the middle of the inner rotor (1) is a sphere, one end of the inner rotor is an inner rotor output shaft (18) and is also an output shaft of a double-freedom-degree hydraulic joint, the other end of the inner rotor is an inner rotor blade (15) with a rectangular cross section, and rotor blade sealing grooves (13) are formed in two sides of the inner rotor blade (15);
the main body of the outer rotor (2) is quasi-hemispherical, a blade groove in the outer rotor (2) is nested with an inner rotor blade (15), the spherical center of the blade groove is superposed with the spherical center of the inner rotor (1), the outer rotor (2) is provided with two parallel side faces, the two parallel side faces are fan-shaped, a hole is drilled at the circle center of the fan-shaped side faces to place a sliding bearing (3), oil distribution grooves (16 and 17) are arranged on the fan-shaped side faces, outer rotor oil holes (10 and 11) are arranged on the oil distribution grooves (16 and 17), oil distribution sealing grooves (19 and 20) are arranged at the bottoms of the oil distribution grooves (16 and 17), and an outer rotor inner sealing groove (14) is arranged on the inner spherical surface of the outer rotor (2) to enable the inner rotor and the outer rotor to form a sealing surface; an outer rotor outer sealing groove (12) is formed in the outer portion of the outer rotor (2), and the outer rotor outer sealing groove (12) and the stator base (4) form a sealing surface;
stator base oil holes (6, 7, 8 and 9) are formed in the periphery of the stator base (4), a hollow cavity is formed between the stator upper cover (5) and the stator base (4) in a matched mode, and the stator upper cover (5) is provided with a spherical pair to assist the swing of an output shaft (18) of the inner rotor (2);
an assembly formed by mutually nesting an inner rotor (1) and an outer rotor (2) is arranged in a stator base (4), the inner spherical surface of the outer rotor (2) is mutually matched with the outer spherical surface of the inner rotor (1) to form a sealing surface, the outer spherical surface of the outer rotor (2) is mutually matched with the inner spherical surface of the stator base (4) to form a sealing surface, a sealing ring is arranged in a rotor blade sealing groove (13) to enable an inner rotor blade (15) and a blade groove of the outer rotor (2) to be nested to form two closed containing cavities (A, B), and a sealing ring is arranged in an outer sealing groove (12) of the outer rotor to form two sealed containing cavities (C, D); sealing rings are arranged in the oil distribution sealing grooves (19 and 20) to enable the oil distribution grooves (16 and 17) and the stator base (4) to form two closed fan-shaped grooves.
2. A hydraulic joint with two degrees of freedom according to claim 1, characterised in that the sliding bearing (3) has four surfaces, spherical, cylindrical, two flat, cooperating with the inner rotor (1), the outer rotor (2), the stator base (4) and the stator cover (5), respectively.
3. A hydraulic joint with two degrees of freedom according to claim 1, characterized in that the cross section of the inner rotor blade is rectangular, which ensures that the inner rotor (1) cannot move in the inner cavity of the outer rotor (2) by self-rotation, and the two parallel planes on the side surface of the outer rotor (2) ensure that the outer rotor (2) cannot move in the stator base (4) by self-rotation.
4. The hydraulic joint with two degrees of freedom according to claim 1, characterized in that the rotor blade sealing groove (13) enables the inner rotor blade (15) and the outer rotor blade groove to form two mutually independent closed cavities; the outer rotor outer sealing groove (12) enables the inner rotor assembly and the outer rotor assembly and the stator base (4) to form two closed containing cavities which are mutually independent, and the two closed containing cavities of the blade groove are ensured to be mutually independent, so that the two pairs of closed containing cavities are mutually independent.
5. The two-degree-of-freedom hydraulic joint according to claim 1, wherein the oil distribution grooves (16, 17), the outer rotor oil holes (10, 11), the stator base oil holes (6, 7) and the oil distribution seal grooves (19, 20) constitute an oil distribution mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210104913.2A CN114290369A (en) | 2022-01-28 | 2022-01-28 | Double-freedom-degree hydraulic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210104913.2A CN114290369A (en) | 2022-01-28 | 2022-01-28 | Double-freedom-degree hydraulic joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114290369A true CN114290369A (en) | 2022-04-08 |
Family
ID=80978097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210104913.2A Pending CN114290369A (en) | 2022-01-28 | 2022-01-28 | Double-freedom-degree hydraulic joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114290369A (en) |
-
2022
- 2022-01-28 CN CN202210104913.2A patent/CN114290369A/en active Pending
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