CN116066447A - Integrated joint hydraulic actuator and hydraulic drive robot - Google Patents
Integrated joint hydraulic actuator and hydraulic drive robot Download PDFInfo
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- CN116066447A CN116066447A CN202310030209.1A CN202310030209A CN116066447A CN 116066447 A CN116066447 A CN 116066447A CN 202310030209 A CN202310030209 A CN 202310030209A CN 116066447 A CN116066447 A CN 116066447A
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- hydraulic
- flow passage
- hydraulic flow
- communicated
- circumferential groove
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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
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/149—Fluid interconnections, e.g. fluid connectors, passages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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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
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
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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
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1471—Guiding means other than in the end cap
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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
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Actuator (AREA)
Abstract
The invention discloses an integrated joint hydraulic actuator and a hydraulic driving robot. The integrated joint hydraulic actuator consists of a hydraulic cylinder main body and a rear end cover assembly, wherein flow passages which are matched with each other are arranged in a cylinder body in the hydraulic cylinder main body, a rear end cover in the rear end cover assembly and a rotating shaft, and oil is conveyed into the actuator from the rotating shaft through the inner flow passages; the integrated joint hydraulic actuator can rotate around the rotating shaft, and the rotating shaft is fixedly connected to a limb structure at one side of the joint in the working process, so that an oil inlet and an oil outlet of the actuator are kept relatively static with the limb structure, and a fixed hydraulic pipeline can be used for supplying oil. The invention provides possibility for further integrating the joint hydraulic actuator and the limb structure and forming a limb internal flow passage; the two ends of the joint hydraulic actuator are hinged with limb parts at two sides of the joint, so that the piston rod is prevented from bearing radial force, the service life of the hydraulic actuator is prolonged, and convenience is provided for replacement and maintenance of the hydraulic actuator.
Description
Technical Field
The invention relates to the field of hydraulic transmission, in particular to an integrated joint hydraulic actuator and a hydraulic driving robot.
Background
The robot joint moves flexibly and has higher requirement on control precision. In order to drive the joint to move through the hydraulic actuator, the current common mode is to hinge two ends of the hydraulic actuator on limbs at two sides of the joint through joint bearings; the connection mode enables the oil inlet and the oil outlet of the hydraulic cylinder and limbs at two ends of the joint to move relatively in the process of joint movement, so that a hydraulic hose is required to be used as a main hydraulic pipeline. However, the outer wall of the existing hydraulic hose is softer, so that the equivalent rigidity of the hydraulic system can be reduced, and the frequency response is reduced; the shape of the hydraulic hose can generate certain resilience force after being changed, and the dynamic characteristics of the joint are influenced; and the hydraulic hose turns a larger radius, requiring a longer turn margin to be reserved, which also increases the overall mass of the system.
Through the search of the prior art, the Chinese patent publication No. CN110217308A discloses a wheel-leg humanoid robot with internal oil running, which is characterized in that a hydraulic actuator is fixedly connected with a limb at one side of a joint, and a piston rod of the actuator is connected with the limb at the other side of the joint through a connecting rod with two hinged ends, so that a hydraulic hose is avoided; however, the actuator piston rod in the installation mode bears larger radial force and is easy to damage, so that an additional guide rail is added to protect the piston rod; and its hydraulic actuator links firmly with limbs structure, has both increased the executor dismouting degree of difficulty, has also improved the maintenance cost.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an integrated joint hydraulic actuator and a hydraulic driving robot.
The invention is realized by the following technical scheme:
the first aspect of the invention provides an integrated joint hydraulic actuator comprising a hydraulic cylinder body and a rear end cap assembly; the hydraulic cylinder main body comprises a joint bearing, a piston rod, a cylinder body and a hydraulic valve; the rear end cover assembly comprises a rear end cover and a rotating shaft; the joint bearing is connected with the piston rod; the piston rod is arranged in the cylinder body and moves along the axial direction of the cylinder body; the hydraulic valve is connected with the cylinder body;
the cylinder body is internally provided with a first hydraulic flow passage, a second hydraulic flow passage, a third hydraulic flow passage and a fourth hydraulic flow passage; through the switching of the hydraulic valves, the first hydraulic flow passage is communicated with the third hydraulic flow passage, the second hydraulic flow passage is communicated with the fourth hydraulic flow passage, or the first hydraulic flow passage is communicated with the fourth hydraulic flow passage, and the second hydraulic flow passage is communicated with the third hydraulic flow passage;
the rear end cover is internally provided with a fifth hydraulic flow passage and a sixth hydraulic flow passage, and is provided with a first circumferential groove and a second circumferential groove; the fifth hydraulic flow passage is communicated with the first circumferential groove; the sixth hydraulic flow passage communicates with the second circumferential groove.
Further, the integrated joint hydraulic actuator is also provided with a first oil port, a second oil port, a third oil port, a fourth oil port, a fifth oil port, a sixth oil port, a seventh oil port and an eighth oil port; the integrated joint hydraulic actuator enables the fifth oil port to be communicated with the first oil port and enables the sixth oil port to be communicated with the second oil port, or enables the fifth oil port to be communicated with the second oil port and enables the sixth oil port to be communicated with the first oil port through switching of the hydraulic valve.
Further, a seventh hydraulic flow passage, an eighth hydraulic flow passage, a ninth hydraulic flow passage and a tenth hydraulic flow passage are arranged in the rotating shaft, and a third circumferential groove and a fourth circumferential groove are formed; the seventh hydraulic flow passage is communicated with an eighth hydraulic flow passage, and the eighth hydraulic flow passage is communicated with the third circumferential groove; the ninth hydraulic flow passage is communicated with the tenth hydraulic flow passage, and the tenth hydraulic flow passage is communicated with the fourth circumferential groove; the fourth circumferential groove is aligned with the seventh oil port, the ninth hydraulic flow passage is communicated with the fifth hydraulic flow passage through the fourth circumferential groove, the third circumferential groove is aligned with the eighth oil port, and the eighth hydraulic flow passage is communicated with the sixth hydraulic flow passage through the third circumferential groove.
Further, the hydraulic cylinder main body is fixedly connected with the rear end cover assembly, wherein the third oil port is aligned with the first circumferential groove, and the third hydraulic flow passage is communicated with the fifth hydraulic flow passage through the first circumferential groove; the fourth oil port is aligned with the second circumferential groove, and the fourth hydraulic runner is communicated with the sixth hydraulic runner through the second circumferential groove.
Further, the hydraulic cylinder main body further comprises a displacement sensor, a first pressure sensor and a second pressure sensor; the displacement sensor is used for measuring the displacement of the piston rod.
Further, the hydraulic cylinder main body further comprises a first containing cavity and a second containing cavity; the pressure measuring port of the first pressure sensor is communicated with the first hydraulic flow passage and is used for measuring the pressure in the first containing cavity; and a pressure measuring port of the second pressure sensor is communicated with the second hydraulic flow passage and is used for measuring the pressure in the second containing cavity.
Further, the hydraulic cylinder main body further comprises a guide sleeve; the guide sleeve is used for guiding the piston rod so as to ensure that the piston rod moves along the axis.
Further, the hydraulic cylinder main body further comprises a front end cover; the front end cover is used for coating and fixing the displacement sensor and the guide sleeve.
Further, the rear end cap assembly further includes a first support and a second support; the first support and the second support are used for supporting the rotating shaft and providing rotational freedom degrees so that the rotating shaft rotates around the axis.
According to a second aspect of the present invention, there is provided a hydraulically driven robot comprising an integrated joint hydraulic actuator as described above; the device also comprises a first limb part, a second limb part, a first hydraulic pipeline, a second hydraulic pipeline and joints; the first limb part is connected with the rotating shaft; the second limb part is hinged with the joint bearing; the first hydraulic pipeline is connected with the sixth oil port; the second hydraulic pipeline is connected with the fifth oil port.
Compared with the prior art, the invention has the following beneficial effects: in the process of joint movement, the rotating shaft of the integrated joint hydraulic actuator can be fixedly connected with a limb structure at one side of a joint, so that the oil inlet and the oil outlet of the integrated joint hydraulic actuator are kept static with the limb structure, and a fixed hydraulic pipeline can be used for supplying oil, thereby providing possibility for further integration of the joint hydraulic actuator and the limb structure and formation of a limb internal flow channel; the two ends of the joint hydraulic actuator are hinged with limb parts at two sides of the joint, so that the piston rod is prevented from bearing radial force, the service life of the hydraulic actuator is prolonged, and convenience is provided for replacement and maintenance of the hydraulic actuator.
Drawings
FIG. 1 is a schematic view of the external architecture of an integrated joint hydraulic actuator of the present invention;
FIG. 2 is a schematic top view of the overall structure of an integrated joint hydraulic actuator of the present invention;
FIG. 3 is a schematic cross-sectional view of the overall structure A-A of an integrated joint hydraulic actuator of the present invention;
FIG. 4 is a schematic cross-sectional view of the overall structure B-B of an integrated joint hydraulic actuator of the present invention;
FIG. 5 is an enlarged partial view of the I of an integrated joint hydraulic actuator of the present invention;
FIG. 6 is a schematic view of the overall structure C-C cross-section of an integrated joint hydraulic actuator of the present invention;
FIG. 7 is an enlarged view of part II of an integrated joint hydraulic actuator of the present invention;
FIG. 8 is a schematic view of the overall structure D-D of an integrated joint hydraulic actuator of the present invention in cross-section;
FIG. 9 is a schematic view of an installation of a hydraulically driven robot according to an embodiment of the present invention;
FIG. 10 is a partial schematic view of an installation of a hydraulically driven robot provided by an embodiment of the present invention;
in the figure: 1. the hydraulic system comprises a joint bearing, 2, a piston rod, 3, a front end cover, 4, a displacement sensor, 5, a guide sleeve, 6, a cylinder, 7, a first pressure sensor, 8, a hydraulic valve, 9, a second pressure sensor, 10, a rear end cover, 11, a rotary shaft, 12, a first supporting element, 13, a second supporting element, 14, a first limb part, 15, a second limb part, 16, a first hydraulic pipeline, 17, a second hydraulic pipeline, 18, a first sealing element, 102, a second sealing element, 103, a third sealing element, 104, a fourth sealing element, 105, a fifth sealing element, 106, a sixth sealing element, 107, a seventh sealing element, 108, an eighth sealing element, 109, a ninth sealing element, 110, a tenth sealing element, 201, a first hydraulic flow passage, 202, a second hydraulic flow passage, 203, a third hydraulic flow passage, 204, a fourth hydraulic flow passage, 205, a fifth hydraulic flow passage, 206, a sixth hydraulic flow passage, 207, seventh hydraulic flow passage, 208, eighth flow passage, 209, 210, a tenth hydraulic oil port, a fourth flow passage, a fourth circumferential oil port, 301, a fourth groove, a fourth oil port, a fourth groove, a fourth oil port, a circumferential port, a third oil port, a fourth groove, a fourth oil port, a fourth groove, a circumferential port, a, and a fourth groove, 401, a circumferential port, a fourth oil port, a circumferential port, a etc.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
The present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In addition, the technical features of the embodiments described below may be combined with each other as long as they do not collide with each other.
Example 1
The embodiment of the invention provides an integrated joint hydraulic actuator, which comprises a hydraulic cylinder main body and a rear end cover assembly, wherein the hydraulic cylinder main body comprises a movable joint bearing 1, a piston rod 2, a cylinder body 6 and a hydraulic valve 8, and the rear end cover assembly comprises a rear end cover 10 and a rotating shaft 11; the joint bearing 1 is fixedly connected with the piston rod 2, and the piston rod 2 is arranged in the cylinder body 6 and can move along the axial direction of the cylinder body 6; the hydraulic valve 8 is fixedly connected with the cylinder body 6;
as shown in fig. 1 to 3, a first hydraulic flow passage 201, a second hydraulic flow passage 202, a third hydraulic flow passage 203 and a fourth hydraulic flow passage 204 are provided inside the cylinder 6; the first hydraulic flow passage 201 is communicated with the third hydraulic flow passage 203, the second hydraulic flow passage 202 is communicated with the fourth hydraulic flow passage 204, or the first hydraulic flow passage 201 is communicated with the fourth hydraulic flow passage 204, and the second hydraulic flow passage 202 is communicated with the third hydraulic flow passage 203 by switching the hydraulic valves 8;
as shown in fig. 3 to 8, the integrated joint hydraulic actuator is further provided with a first oil port 401, a second oil port 402, a third oil port 403, a fourth oil port 404, a fifth oil port 405, a sixth oil port 406, a seventh oil port 407 and an eighth oil port 408; the integrated joint hydraulic actuator communicates the fifth port 405 with the first port 401 and the sixth port 406 with the second port 402, or communicates the fifth port 405 with the second port 402 and the sixth port 406 with the first port 401 by switching the hydraulic valve 8.
The rear end cover 10 is internally provided with a fifth hydraulic flow passage 205 and a sixth hydraulic flow passage 206, and is provided with a first circumferential groove 301 and a second circumferential groove 302; the fifth hydraulic flow passage 205 communicates with the first circumferential groove 301, and the sixth hydraulic flow passage 206 communicates with the second circumferential groove 302; a seventh hydraulic flow passage 207, an eighth hydraulic flow passage 208, a ninth hydraulic flow passage 209 and a tenth hydraulic flow passage 210 are arranged in the rotating shaft 11, and a third circumferential groove 303 and a fourth circumferential groove 304 are arranged; the seventh hydraulic flow passage 207 and the eighth hydraulic flow passage 208 are communicated with the third circumferential groove 303, and the ninth hydraulic flow passage 209 and the tenth hydraulic flow passage 210 are communicated with the fourth circumferential groove 304; the fourth circumferential groove 304 is aligned with the seventh port 407, the ninth hydraulic flow passage 209 communicates with the fifth hydraulic flow passage 205 through the fourth circumferential groove 304, the third circumferential groove 303 is aligned with the eighth port 408, and the eighth hydraulic flow passage 208 communicates with the sixth hydraulic flow passage 206 through the third circumferential groove 303. Wherein, the circumferential groove is communicated with the aligned oil port, the first circumferential groove 301 is arranged at the oil outlet of the fifth hydraulic flow passage 205, and the third oil port 403 is directly communicated with the first circumferential groove 301 and is further communicated with the fifth hydraulic flow passage. The provision of the first circumferential groove 301 is advantageous in increasing the flow area of the connection portion between the third oil port 403 and the fifth hydraulic flow passage 205, so that even if there is some error in processing or assembly, the oil flow is not affected due to the misalignment between the third oil port 403 and the fifth hydraulic flow passage 205.
The hydraulic cylinder main body is fixedly connected with the rear end cover assembly, so that a third oil port 403 is aligned with the first circumferential groove 301, the third hydraulic flow passage 203 is communicated with the fifth hydraulic flow passage 205 through the first circumferential groove 301, a fourth oil port 404 is aligned with the second circumferential groove 302, and the fourth hydraulic flow passage 204 is communicated with the sixth hydraulic flow passage 206 through the second circumferential groove 302;
the integrated joint hydraulic actuator enables the fifth oil port 405 to be communicated with the first oil port 401, enables the sixth oil port 406 to be communicated with the second oil port 402, or enables the fifth oil port 405 to be communicated with the second oil port 402, and enables the sixth oil port 406 to be communicated with the first oil port 401 through switching of the hydraulic valve 8; the rotating shaft 11 is fixedly connected with the first limb part 14, the joint bearing 1 is hinged with the second limb part 15, the fifth oil port 405 is connected with the second hydraulic pipeline 17, and the sixth oil port 406 is connected with the first hydraulic pipeline 16.
The integrated joint hydraulic actuator is rotatable about the axis of the shaft 11, and when the second limb 15 is rotated about the joint 18 relative to the first limb 14, the shaft 11, the fifth port 405 and the sixth port 406 are held relatively stationary with the first limb 14, ensuring that no relative movement occurs between the first and second hydraulic lines 16, 17 and the first limb 14.
The rear end cap assembly further includes a first support member 12 and a second support member 13, the first support member 12 and the second support member 13 being configured to support the shaft 11 and provide rotational freedom such that the shaft 11 is rotatable about an axis.
The hydraulic cylinder body further comprises a displacement sensor 4, a first pressure sensor 7 and a second pressure sensor 9; the displacement sensor 4 is used for measuring the displacement of the piston rod 2, the pressure measuring port of the first pressure sensor 7 is communicated with the first hydraulic flow channel 201 and is used for measuring the pressure in the first containing cavity 501, and the pressure measuring port of the second pressure sensor 9 is communicated with the second hydraulic flow channel 202 and is used for measuring the pressure in the second containing cavity 502.
The hydraulic cylinder main body also comprises a guide sleeve 5; the guide sleeve 5 is used for guiding the piston rod 2, ensuring that the piston rod 2 moves along the axis.
The hydraulic cylinder main body also comprises a front end cover 3; the front end cover 3 is used for cladding and fixing the displacement sensor 4 and the guide sleeve 5.
The hydraulic cylinder body further comprises a first seal 101, a second seal 102, a third seal 103, a fourth seal 104; the first sealing element 101 is used for preventing foreign matters from entering the integrated joint hydraulic actuator, ensuring the cleaning of the interior of the actuator, the second sealing element 102 and the third sealing element 103 are used for sealing the first containing cavity 501 from the outside, and the fourth sealing element 104 is used for sealing between the first containing cavity 501 and the second containing cavity 502;
the rear end cap assembly further includes a fifth seal 105, a sixth seal 106, a seventh seal 107, an eighth seal 108, a ninth seal 109, and a tenth seal 110; the fifth seal 105 is used for sealing between the first circumferential groove 301 and the second cavity 502, the sixth seal 106 is used for sealing between the first circumferential groove 301 and the second circumferential groove 302, the seventh seal 107 is used for sealing between the second circumferential groove 302 and the outside, the eighth seal 108 is used for sealing between the third circumferential groove 303 and the outside, the ninth seal 109 is used for sealing between the third circumferential groove 303 and the fourth circumferential groove 304, and the tenth seal 110 is used for sealing between the fourth circumferential groove 304 and the outside.
Example 2
Referring to fig. 9 and 10, a hydraulic driving robot provided in an embodiment of the present invention includes an integrated joint hydraulic actuator in embodiment 1; taking a knee joint of a robot as an example, when the invention is used, the rotating shaft 11 is fixed on the thigh of the robot, the joint bearing is hinged on the shank of the robot, and a high-pressure oil outlet and a low-pressure oil return of a hydraulic power source are respectively connected to a seventh hydraulic runner 207 and a tenth hydraulic runner 210 of the rotating shaft 11 through a first hydraulic pipeline 16 and a second hydraulic pipeline 17 which are fixed on the thigh.
When the lower leg swings back and forth around the knee joint, the hydraulic valve 8 controls the communication relationship between the first hydraulic flow passage 201 and the second hydraulic flow passage 202 in the cylinder 6 and the seventh hydraulic flow passage 207 and the tenth hydraulic flow passage 210 in the rotating shaft 11, so that the pressures in the first containing cavity 501 and the second containing cavity 502 are controlled, the piston rod 2 is extended or retracted, and the back and forth swing of the lower leg of the robot is completed.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary or exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An integrated joint hydraulic actuator is characterized by comprising a hydraulic cylinder main body and a rear end cover assembly; the hydraulic cylinder main body comprises a joint bearing (1), a piston rod (2), a cylinder body (6) and a hydraulic valve (8); the rear end cover assembly comprises a rear end cover (10) and a rotating shaft (11); the knuckle bearing (1) is connected with the piston rod (2); the piston rod (2) is arranged in the cylinder body (6) and moves along the axis direction of the cylinder body (6); the hydraulic valve (8) is connected with the cylinder body (6);
a first hydraulic flow passage (201), a second hydraulic flow passage (202), a third hydraulic flow passage (203) and a fourth hydraulic flow passage (204) are arranged in the cylinder body (6); through the switching of the hydraulic valve (8), the first hydraulic flow passage (201) is communicated with the third hydraulic flow passage (203), the second hydraulic flow passage (202) is communicated with the fourth hydraulic flow passage (204), or the first hydraulic flow passage (201) is communicated with the fourth hydraulic flow passage (204), and the second hydraulic flow passage (202) is communicated with the third hydraulic flow passage (203);
a fifth hydraulic flow passage (205) and a sixth hydraulic flow passage (206) are arranged in the rear end cover (10), and a first circumferential groove (301) and a second circumferential groove (302) are arranged; the fifth hydraulic flow passage (205) is communicated with the first circumferential groove (301); the sixth hydraulic flow passage (206) communicates with the second circumferential groove (302).
2. The integrated joint hydraulic actuator of claim 1, further comprising a first port (401), a second port (402), a third port (403), a fourth port (404), a fifth port (405), a sixth port (406), a seventh port (407), and an eighth port (408); the integrated joint hydraulic actuator enables a fifth oil port (405) to be communicated with a first oil port (401) and a sixth oil port (406) to be communicated with a second oil port (402) through switching of a hydraulic valve (8), or enables the fifth oil port (405) to be communicated with the second oil port (402) and the sixth oil port (406) to be communicated with the first oil port (401).
3. The integrated joint hydraulic actuator according to claim 2, wherein a seventh hydraulic flow passage (207), an eighth hydraulic flow passage (208), a ninth hydraulic flow passage (209) and a tenth hydraulic flow passage (210) are provided inside the rotating shaft (11), and a third circumferential groove (303) and a fourth circumferential groove (304) are provided; the seventh hydraulic flow passage (207) is communicated with an eighth hydraulic flow passage (208), and the eighth hydraulic flow passage (208) is communicated with the third circumferential groove (303); the ninth hydraulic flow passage (209) is communicated with a tenth hydraulic flow passage (210), and the tenth hydraulic flow passage (210) is communicated with a fourth circumferential groove (304); the fourth circumferential groove (304) is aligned with the seventh oil port (407), the ninth hydraulic flow passage (209) is communicated with the fifth hydraulic flow passage (205) through the fourth circumferential groove (304), the third circumferential groove (303) is aligned with the eighth oil port (408), and the eighth hydraulic flow passage (208) is communicated with the sixth hydraulic flow passage (206) through the third circumferential groove (303).
4. The integrated joint hydraulic actuator of claim 3, wherein the cylinder body is fixedly attached to the rear end cap assembly, wherein the third port (403) is aligned with the first circumferential groove (301), and the third hydraulic runner (203) is in communication with the fifth hydraulic runner (205) through the first circumferential groove (301); the fourth oil port (404) is aligned with the second circumferential groove (302), and the fourth hydraulic flow passage (204) communicates with the sixth hydraulic flow passage (206) through the second circumferential groove (302).
5. The integrated joint hydraulic actuator according to claim 4, characterized in that the hydraulic cylinder body further comprises a displacement sensor (4), a first pressure sensor (7) and a second pressure sensor (9); the displacement sensor (4) is used for measuring the displacement of the piston rod (2).
6. The integrated joint hydraulic actuator of claim 5, wherein the hydraulic cylinder body further comprises a first volume (501) and a second volume (502); the pressure measuring port of the first pressure sensor (7) is communicated with the first hydraulic flow passage (201) and is used for measuring the pressure in the first containing cavity (501); the pressure measuring port of the second pressure sensor (9) is communicated with the second hydraulic flow passage (202) and is used for measuring the pressure in the second containing cavity (502).
7. The integrated joint hydraulic actuator according to claim 1, characterized in that the hydraulic cylinder body further comprises a guide sleeve (5); the guide sleeve (5) is used for guiding the piston rod (2) so as to ensure that the piston rod (2) moves along the axis.
8. The integrated joint hydraulic actuator according to claim 1, characterized in that the hydraulic cylinder body further comprises a front end cap (3); the front end cover (3) is used for coating and fixing the displacement sensor (4) and the guide sleeve (5).
9. The integrated joint hydraulic actuator of claim 1, wherein the rear end cap assembly further comprises a first support (12) and a second support (13); the first support (12) and the second support (13) are used for supporting the rotating shaft (11) and providing rotational freedom to enable the rotating shaft (11) to rotate around the axis.
10. A hydraulically driven robot comprising the integrated joint hydraulic actuator of claim 2, further comprising a first limb member (14), a second limb member (15), a first hydraulic line (16), a second hydraulic line (17) and a joint (18); the first limb part (14) is connected with the rotating shaft (11); the second limb part (15) is hinged with the joint bearing (1); the first hydraulic pipeline (16) is connected with a sixth oil port (406); the second hydraulic pipeline (17) is connected with a fifth oil port (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310030209.1A CN116066447A (en) | 2023-01-10 | 2023-01-10 | Integrated joint hydraulic actuator and hydraulic drive robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310030209.1A CN116066447A (en) | 2023-01-10 | 2023-01-10 | Integrated joint hydraulic actuator and hydraulic drive robot |
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| CN116066447A true CN116066447A (en) | 2023-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310030209.1A Pending CN116066447A (en) | 2023-01-10 | 2023-01-10 | Integrated joint hydraulic actuator and hydraulic drive robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834061A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Digital hydraulic joint actuator and robot |
| CN117207237A (en) * | 2023-11-09 | 2023-12-12 | 之江实验室 | Joint system and robot |
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2023
- 2023-01-10 CN CN202310030209.1A patent/CN116066447A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834061A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Digital hydraulic joint actuator and robot |
| CN116834061B (en) * | 2023-08-30 | 2023-12-26 | 之江实验室 | Digital hydraulic joint actuator and robot |
| CN117207237A (en) * | 2023-11-09 | 2023-12-12 | 之江实验室 | Joint system and robot |
| CN117207237B (en) * | 2023-11-09 | 2024-02-02 | 之江实验室 | Joint system and robot |
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