CN116533284A - Hydrostatic drive six-axis robot - Google Patents

Abstract

The invention discloses a hydrostatic drive six-axis robot, which aims to solve the technical problems that oil pipes for oil supply are exposed outside, so that the oil pipes are easy to wind or pinch off when all joints move, and the driving and movement flexibility of the robot are affected. The device specifically comprises a base unit, a rear arm unit, a front arm unit, a wrist unit and a clamp holder; the base unit comprises a bottom flange, a waist swing cylinder and a shoulder plate; the rear arm unit comprises a rear arm, a rear arm control valve box, a rear arm first servo oil cylinder and a rear arm second servo oil cylinder; the driving rod of the first servo oil cylinder of the rear arm is hinged with the lower end of the shoulder plate; the upper end of the shoulder plate is hinged with the lower end of the rear arm; the cylinder barrel of the rear arm first servo cylinder is hinged with the middle part of the rear arm; the forearm unit comprises a forearm and a forearm control valve box; the rear end of the front arm is hinged with the upper end of the rear arm; the middle part of the front arm is hinged with a driving rod of a second servo oil cylinder of the rear arm; the cylinder barrel of the rear arm second servo oil cylinder is hinged with the middle part of the rear arm.

Description

Hydrostatic drive six-axis robot

Technical Field

The invention relates to a robot, in particular to a hydrostatic drive six-axis robot.

Background

Robots are widely used in various fields such as industrial manufacturing, medical, recreational services, military, semiconductor manufacturing, and space exploration. The six-axis robot can imitate the arm of a human body, and besides four joints of the waist, the shoulder, the elbow and the wrist, the six joints comprise wrist pitching joints and wrist swaying joints. The six joints are driven by oil to provide power, so that a plurality of oil pipes are needed to connect the joints; the existing full hydraulic robot is used for supplying oil with oil pipes exposed outside, and when each joint moves, the oil pipes are easy to wind or pinch off, and the driving and movement flexibility of the robot are affected.

Disclosure of Invention

The invention aims to provide a hydrostatic drive six-axis robot, which solves the technical problems that the oil pipe used for oil supply of the existing full-hydraulic robot is exposed outside, so that the oil pipe is easy to be wound or pinched off when each joint moves, and the driving and movement flexibility of the robot are affected.

In order to achieve the above purpose, the invention provides a hydrostatic drive six-axis robot, which comprises a base unit, a rear arm unit, a front arm unit, a wrist unit and a clamp holder; the base unit comprises a bottom flange, a waist swing cylinder and a shoulder plate; the waist swinging cylinder is used for realizing the swinging of the shoulder plate relative to the bottom flange; the special feature is that:

the rear arm unit comprises a rear arm, a rear arm control valve box, a rear arm first servo oil cylinder and a rear arm second servo oil cylinder; the driving rod of the rear arm first servo oil cylinder is hinged with the lower end of the shoulder plate; the upper end of the shoulder plate is hinged with the lower end of the rear arm; the cylinder barrel of the rear arm first servo oil cylinder is hinged with the middle part of the rear arm;

the forearm unit comprises a forearm and a forearm control valve box; the rear end of the front arm is hinged with the upper end of the rear arm; the middle part of the front arm is hinged with a driving rod of a second servo oil cylinder of the rear arm; the cylinder barrel of the rear arm second servo oil cylinder is hinged with the middle part of the rear arm;

the rear arm control valve box comprises a rear arm control valve box body arranged on the rear arm, a rear arm valve block arranged on one side of the rear arm control valve box body and a rear arm servo valve group arranged in the rear arm control valve box body; the rear arm valve block is provided with a plurality of first oil holes which are communicated with an external oil supply system; the rear arm servo valve group comprises three servo valves; the three servo valves respectively supply oil to the waist swinging cylinder, the rear arm first servo cylinder and the rear arm second servo cylinder through corresponding first oil holes on the rear arm valve block; the rear arm valve block directly supplies oil to the front arm control valve box through a corresponding oil pipe;

the forearm control valve box comprises a forearm control valve box body arranged on the forearm, a forearm valve block arranged on one side of the forearm control valve box body and a forearm servo valve group arranged in the forearm control valve box body; the forearm valve block is provided with a plurality of second oil holes; the forearm servo valve group comprises four servo valves; the four servo valves supply oil to the wrist unit through corresponding second oil holes on the forearm valve block; the forearm valve block is communicated with the corresponding second oil hole through an oil pipe.

Further, the wrist unit includes a wrist pitch cylinder, a wrist swing cylinder, and a wrist rotation assembly;

the front end of forearm is provided with right side wrist backup pad and left side wrist backup pad, be provided with hydraulic oil passageway in right side wrist backup pad and the left side wrist backup pad respectively for forearm control valve box is to wrist every single move jar, wrist swinging cylinder and wrist rotating component fuel feeding respectively.

Further, a driving shaft of the waist swinging cylinder is in spline connection with the bottom flange; a bearing is arranged between the bottom flange and the shell of the waist swinging cylinder; the shell of the waist swing cylinder is fixedly connected with the shoulder plate.

Further, the wrist rotation assembly comprises a wrist rotation box;

the two ends of a driving shaft of the wrist pitching cylinder are respectively fixedly connected with the right wrist supporting plate and the left wrist supporting plate; a first oil ring is arranged in the wrist pitching cylinder barrel;

the cylinder barrel of the wrist swinging cylinder is fixedly connected with the cylinder barrel of the wrist pitching cylinder; the driving shaft of the wrist swinging cylinder is perpendicular to the driving shaft of the wrist pitching cylinder; two ends of the wrist swinging cylinder driving shaft are fixedly connected with the wrist rotating box body respectively;

a second oil ring is arranged in the cylinder barrel of the wrist swinging cylinder; the hydraulic oil passages on the right wrist support plate and the left wrist support plate supply oil to the wrist pitching cylinder through a first oil ring and supply oil to the wrist pitching cylinder through the first oil ring and a second oil ring.

Further, the wrist rotating assembly further comprises a third oil ring, a hydraulic motor and a clamp holder linear oil cylinder which are arranged in the wrist rotating box body;

the clamp holder linear oil cylinder is arranged in a rotor component of the hydraulic motor; the cylinder barrel of the clamp holder linear oil cylinder is fixedly connected with the rotor component; the driving rod of the clamp holder linear oil cylinder is fixedly connected with the telescopic rod of the clamp holder; the shell of the clamp holder is fixedly connected with the cylinder barrel of the clamp holder linear oil cylinder;

the hydraulic oil passages in the right wrist supporting plate and the left wrist supporting plate supply oil to the stator component of the hydraulic motor through the first oil ring, the second oil ring and the shell wall of the wrist rotating box body in sequence;

the hydraulic oil passages in the right wrist supporting plate and the left wrist supporting plate sequentially pass through the first oil ring, the second oil ring, the wrist rotating box body and the third oil ring to supply oil to the clamp holder linear oil cylinder.

Further, the cylinder barrel of the clamp holder linear oil cylinder and the rotor component are of an integrated structure.

The invention has the beneficial effects that:

the hydrostatic drive six-axis robot only reserves the main road oil pipe and the base oil supply oil pipe, and can ensure that the joints are not wound during rotation, so that the robot has a larger rotation space, and the flexibility of the movement of the robot is improved.

Drawings

FIG. 1 is a schematic diagram of a hydrostatic drive six-axis robot embodiment of the present invention;

FIG. 2 is one of the exploded views of the base in an embodiment of the invention;

FIG. 3 is a second exploded view of the base in an embodiment of the invention;

FIG. 4 is an exploded view of a rear arm unit in an embodiment of the invention;

FIG. 5 is an exploded view of a forearm unit in an embodiment of the invention;

FIG. 6 is an exploded view of a wrist tilt cylinder in an embodiment of the invention;

FIG. 7 is a schematic diagram of a wrist tilt cylinder configuration in an embodiment of the invention;

fig. 8 is an exploded view of a wrist swing cylinder in an embodiment of the invention;

fig. 9 is a schematic view of a wrist swing cylinder structure in the embodiment of the invention;

figure 10 is a schematic view of a wrist rotation box in an embodiment of the invention;

FIG. 11 is an exploded view of a wrist rotation box in an embodiment of the invention;

FIG. 12 is an exploded view of a holder in an embodiment of the invention;

FIG. 13 is an exploded view of a first servo cylinder of the trailing arm in an embodiment of the invention;

FIG. 14 is an exploded view of a second servo cylinder of the trailing arm in an embodiment of the invention;

FIG. 15 is an exploded view of a rear arm control valve housing in an embodiment of the invention;

FIG. 16 is an exploded view of a forearm control valve housing in an embodiment of the invention;

FIG. 17 is a partial cross-sectional view of a first servo cylinder of the trailing arm in an embodiment of the invention;

FIG. 18 is a partial cross-sectional view of a second servo cylinder of the trailing arm in an embodiment of the invention;

FIG. 19 is a partial cross-sectional view of a rear arm unit in an embodiment of the invention;

FIG. 20 is a partial cross-sectional view of a hydrostatic drive six-axis robot in an embodiment of the invention;

FIG. 21 is a schematic diagram of a main oil circuit in an embodiment of the present invention;

FIG. 22 is a schematic diagram of a load-sensitive hydraulic control system in an embodiment of the invention.

Reference numerals:

the device comprises a base, a 11-waist swinging cylinder, a 111-waist rotary joint encoder, 112-first external splines, 113-encoder outlets, 114-hydraulic oil loop joints, 12-bottom flanges, 121-bearings, 122-first internal splines, 13-shoulder plates and 14-shoulder joint shafts;

the hydraulic system comprises a 2-rear arm, a 21-rear arm first servo cylinder, a 211-first linear displacement encoder, a 212-first trunnion, a 2121-first oil inlet and outlet port, a 213-first rod end, a 22-rear arm second servo cylinder, a 221-second linear displacement encoder, a 222-second trunnion, a 2221-second oil inlet and outlet port, a 223-second rod end, a 23-rear arm control valve box, a 231-rear arm servo valve group, a 2321-second main road valve block, a 23211-first hydraulic joint, a 23212-second hydraulic joint, a 23213-third hydraulic joint, a 2322-first load comparison valve block, a 2323-balance valve block, a 233-rear arm control valve box, a 2332-second data interface, a 2333-third data interface, a 2334-fourth data interface, a 234-rear arm control valve box, a 24-first bracket, a 25-second bracket, a 26-shoulder shaft, a 27-elbow joint shaft, a 28-rear arm side plate, a 29-rear arm cover plate, a 2X 1-lower end cap, a 2X 2-lower end cap and an upper end cap 2-lower end cap;

3-front arms, 31-front arm control valve boxes, 311-front arm servo valve groups, 3121-second main road valve blocks, 3122-second load comparison valve blocks, 3131-hydraulic oil loop joints, 3132-sixth data interfaces, 313-front arm control valve boxes, 314-front arm control valve box covers, 32-second pin shafts, 33-wrist support plates, 334-shaft sleeves, 335-second internal splines, 34-elbow holding shafts and 35-front arm support plates;

4-wrist, 41-wrist pitch cylinder, 411-wrist pitch encoder, 414-second external spline, 415-first cylinder port, 416-first cylinder head, 417-first oil ring, 42-wrist swing cylinder, 421-wrist yaw encoder, 424-third external spline, 425-second cylinder port, 426-second cylinder head, 427-second oil ring, 43-wrist rotation box, 431-hydraulic motor, 4311-third oil ring, 432-wrist rotation encoder, 437-gripper straight cylinder, 439-wrist rotation box, 44-end plate, 444-sleeve, 445-third internal spline;

5-clamp holder, 51-telescopic rod, 52-clamp assembly;

7-line.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

A hydrostatic drive six-axis robot, as shown in fig. 1, is designed with: the mechanical structure system comprises a base 1, a rear arm 2, a front arm 3, a wrist 4 and a clamp holder 5; the hydraulic action system comprises a waist swinging cylinder 11, a rear arm first servo cylinder 21, a rear arm second servo cylinder 22, a wrist pitching cylinder 41, a wrist swinging cylinder 42, a wrist rotating motor 431, a clamp straight cylinder 437, a rear arm control valve box 23, a front arm control valve box 31 and pipelines; the displacement feedback system includes a lumbar rotation joint encoder 111, a first linear displacement encoder 211, a second linear displacement encoder 221, a wrist pitch encoder 411, a wrist yaw encoder 421, a wrist rotation encoder 432, and a line 7.

The base 1 comprises a waist swinging cylinder 11, a bottom flange 12 and a shoulder plate 13, wherein the waist swinging cylinder 11 and the bottom flange 12 form a waist rotary joint, the waist swinging cylinder 11 is connected with the shoulder plate 13, the upper part of the shoulder plate 13 is connected with the lower end of the rear arm 2 through a shoulder joint shaft 14, the lower end of the shoulder plate 13 is provided with a first pin roll which is connected with a driving rod of a first servo cylinder 21 of the rear arm, the lower end of the shoulder plate 13 is used as a supporting point for lifting the rear arm 2 under the driving of the first servo cylinder 21 of the rear arm, a rear arm control valve box 23, a first bracket 24, a second bracket 25, a shoulder holding shaft 26 and an elbow joint shaft 27 are fixedly arranged in the rear arm 2, the upper end of the rear arm 2 is connected with the upper end of the front arm 3 through the elbow joint shaft 27, the front arm 3 is driven by a second servo cylinder 22 to do up-down pitching motion, a wrist supporting plate 33 is fixedly arranged at the other end of the front arm 3, the supporting plate 33 is fixedly connected with a rotating shaft 412 of the wrist pitching cylinder 41, the pitching cylinder 41 and the swinging cylinder 42 are flanged to each other, the rotation axis of the pitching cylinder 41 is connected with the wrist end plate 43 through a wrist end plate 43, and the wrist end plate 43 is connected with the wrist end plate 43 through a wrist joint rotation axis 43, and the wrist end plate 43 is mutually parallel to the rotation axis 43.

As shown in fig. 2 and 3, the base 1 mainly includes a bottom flange 12, a waist swing cylinder 11, and a shoulder plate 13, wherein: the upper part of the bottom flange 12 is provided with a bearing 121 and a first internal spline 122, the rotating shaft of the waist swinging cylinder 11 is provided with a first external spline 112, the side surface of the waist swinging cylinder is provided with a hydraulic oil loop joint 114, and the upper part of the waist swinging cylinder is fixedly provided with an encoder outlet 113; the rotation shaft of the waist swinging cylinder 11 and the flange 13 are fixed through the engagement of the first internal spline 122 and the first external spline 112, so that when the waist swinging cylinder 11 rotates, the cylinder body drives the shoulder plate 13 to rotate, and the whole robot is driven to horizontally rotate; a waist rotary joint encoder 111 for detecting a rotation angle of the cylinder body is mounted on the upper end of the waist swing cylinder 11, and a data line thereof is connected to a wire outlet of the waist swing cylinder 11.

As shown in fig. 4, the rear arm 2 includes a pair of rear arm side plates 28, a rear arm cover plate 29, and end caps, a rear arm control valve housing 23, a first bracket 24, and a second bracket 25 are provided between the rear arm side plates 28, and a shoulder shaft holding 26 and an elbow shaft holding 27 are provided at the lower end of the first bracket 24 and the upper end of the second bracket 25, respectively, wherein: the shoulder shaft holding 26 is sleeved on the shoulder joint shaft 14 and hinged with the shoulder plate 13 through shaft sleeves and thrust washers in the shoulder shaft holding 26 and at two sides; the shoulder shaft 26 is secured to the trailing arm side plate 28 by a flange.

The middle part of the rear arm side plate 28 is provided with a hole which is intersected by two circles, and the periphery of the hole is connected with two end cap flanges; two oil holes are formed in the middle of the rear arm side plate 28, corresponding to two circles of the two-circle intersecting holes 281.

As shown in fig. 15, the rear arm control valve housing 23 includes a rear arm servo valve group 231, a rear arm valve block, a rear arm control valve housing 233, and a rear arm control valve housing cover 234.

As shown in fig. 5, the forearm 3 includes a forearm support plate 35, an elbow shaft 34, a forearm control valve housing, and a wrist support plate 33, the elbow shaft 34 being disposed between the forearm support plates 35, wherein: the elbow holding shaft 34 is sleeved on the elbow joint shaft 27, is hinged with the rear arm side plate 28 through shaft sleeves and thrust washers at the inner part and the two sides of the elbow holding shaft 34, and the elbow holding shaft 34 is fixed on the forearm support plate 35 through a flange;

the middle part of the front arm supporting plate 35 is also provided with a second pin shaft 32 which is connected with the cylinder head of the rear arm second servo oil cylinder 22 and used as a supporting point for lifting the front arm 3 under the drive of the rear arm second servo oil cylinder 22;

the forearm control valve housing includes a forearm servo valve block 311, a forearm valve block, a forearm control valve housing 313, and a forearm control valve housing cover 314. The right wrist support plate 331 of the wrist support plate 33 is provided with a sleeve 334; a second internal spline 335 is fixedly provided to the left wrist support plate of the wrist support plate 33.

The wrist 4 includes a wrist pitch cylinder 41, a wrist swing cylinder 42, and a wrist rotation box 43. The wrist pitching cylinder 41 cylinder body is in flange connection with the wrist swinging cylinder 42 cylinder body; the wrist swing cylinder 42 has its shaft end connected to the wrist rotation box 43 via the end plate 44. The upper end plate 441 of the end plate 44 is provided with a bushing 444; the lower end plate 442 of the end plate 44 is fixedly provided with third internal splines 445.

As shown in fig. 6 to 9, the left-hand shaft end 413 of the wrist tilt cylinder 41 is provided with a second external spline 414, which meshes with the second internal spline 335. The cylinder body right side of the wrist pitching cylinder 41 is provided with a first cylinder port 415 and a first cylinder head 416, and the wrist pitching encoder 411 is installed inside the first cylinder port 415.

The lower axial end of the wrist swing cylinder 42 is provided with a third external spline 424 which meshes with a third internal spline 445. A second cylinder port 425 and a second cylinder cover 426 are provided on the upper side of the cylinder body of the wrist swing cylinder 42, and a wrist yaw encoder 421 is installed in the second cylinder port 425.

As shown in fig. 10 and 11, the wrist rotation box 43 includes a wrist rotation box 439, a hydraulic motor 431, a gripper linear cylinder 437, and a wrist rotation encoder 432. Wherein: the cylinder barrel of the gripper linear cylinder 437 is integrally designed with the hydraulic motor 431.

As shown in fig. 12, the gripper 5 includes a telescopic rod 51 and a clamp assembly 52. The clamp holder telescopic rod is connected with a clamp holder linear oil cylinder 437; the clamp assembly 52 is connected to the cylinder of the clamp linear cylinder 437.

As shown in fig. 13 and 14, the rear arm first servo cylinder 21 is provided with a first trunnion 212 at the end thereof and a first rod end 213 at the end thereof. Inside the rear arm first servo cylinder 21 is provided a first linear displacement encoder 211. The first trunnion 212 of the rear arm first servo cylinder 21 is hinged to the lower end cap 2X1 through a boss, and the first rod end 213 is hinged to the first pin through a boss.

The rear arm second servo cylinder 22 is provided with a second trunnion 222 at the end thereof and a second rod end 223 at the end thereof. A second linear displacement encoder 221 is provided inside the rear arm second servo cylinder 22. The second trunnion 222 of the rear arm second servo cylinder 22 is pivotally connected to the upper end cap 2X2 via a boss, and the second rod end 223 is pivotally connected to the second pin shaft 32 via a boss.

The trailing arm valve blocks include a first main trunk valve block 2321, a first load comparison valve block 2322, and a balancing valve block 2323.

As shown in fig. 16, the forearm valve block includes a second trunk valve block 3121, a second load comparison valve block 3122. The control principle corresponds to that shown in fig. 22.

As shown in fig. 17, 18 and 19, the first trunnion 212 of the rear arm first servo cylinder 21 is provided with a first oil inlet/outlet port 2121, and the second trunnion 222 of the rear arm second servo cylinder 22 is provided with a second oil inlet/outlet port 2221; the end cap is provided with a hydraulic oil passage 2X3.

As shown in fig. 20, the right wrist support plate 331 of the wrist support plate 33 is provided with a hydraulic oil passage and an electric wire passage 3312, and the left wrist support plate is provided with a hydraulic oil passage; the wrist pitching cylinder 41 has a first oil ring 417 and the wrist pitching cylinder 42 has a second oil ring 427; the upper end plate 441 of the wrist end plate 44 is provided with a hydraulic oil passage and an electric wire passage, and the lower end plate 442 is provided with a hydraulic oil passage; the wrist rotation case 439 is provided with a hydraulic oil passage, and the hydraulic motor 431 is provided with a third oil ring 4311.

As shown in fig. 21, the hydraulic oil circuit joint of the waist swing cylinder is connected with the first hydraulic joint of the first main circuit valve block through a pipeline; the hydraulic oil loop joint of the forearm control valve box body is connected with the second hydraulic joint of the first main road valve block through a pipeline; the third hydraulic joint of the first main road valve block is connected with an external load sensitive pump through a pipeline.

The wrist tilt cylinder 41 is integrally formed with the first oil ring 417, the wrist tilt cylinder 42 is integrally formed with the second oil ring 427, and the hydraulic motor 431 is integrally formed with the third oil ring 4311.

The waist rotary joint encoder is connected to a first data interface of the rear arm control valve box body through a circuit; the first linear displacement encoder and the second linear displacement encoder are connected to a second data interface and a third data interface of the rear arm control valve box body through lines; the data lines of the wrist pitch encoder, the wrist yaw encoder, and the wrist rotation encoder are connected to the forearm control valve housing via the electric line path of the upper end plate and the electric line path of the right wrist support plate. The rear arm control valve group comprises three proportional valves for respectively controlling the waist swinging cylinder, the rear arm first servo cylinder and the rear arm second servo cylinder, and the front arm control valve group comprises four proportional valves for respectively controlling the wrist pitching cylinder, the wrist swinging cylinder, the wrist rotating motor and the clamp holder linear cylinder; the sixth data interface of the forearm control valve group communication line and the data line integrated in the forearm control valve box body is connected to the fourth data interface of the rear arm control valve box body; the fifth data interface of the rear arm control valve box body is connected with an external control system through a circuit.

The base rotates around the center by plus or minus 135 degrees, the rear arm rotates around the shoulder joint shaft by 30 degrees below the horizontal plane to 90 degrees above the horizontal plane, the front arm rotates around the elbow joint shaft by 90 degrees below the horizontal plane to 38 degrees above the horizontal plane, the wrist pitching cylinder rotates around the center by plus or minus 100 degrees, the wrist swinging cylinder rotates around the center by plus or minus 100 degrees, and the clamp holder rotates around the center by 360 degrees.

The robot with six degrees of freedom has the advantages that the robot with six degrees of freedom also has an open control interface and a standardized mechanical interface, and is easy to integrate with other equipment.

The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the present invention is not limited thereto, but any changes or substitutions within the technical scope of the present invention should be covered by 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 (6)

1. A hydrostatic drive six-axis robot comprises a base unit, a rear arm unit, a front arm unit, a wrist unit and a clamp holder (5); the base unit comprises a bottom flange (12), a waist swinging cylinder (11) and a shoulder plate (13); the waist swinging cylinder (11) is used for realizing the swinging of the shoulder plate (13) relative to the bottom flange (12); the method is characterized in that:

the rear arm unit comprises a rear arm (2), a rear arm control valve box (23), a rear arm first servo oil cylinder (21) and a rear arm second servo oil cylinder (22); the driving rod of the rear arm first servo oil cylinder (21) is hinged with the lower end of the shoulder plate (13); the upper end of the shoulder plate (13) is hinged with the lower end of the rear arm; the cylinder barrel of the rear arm first servo cylinder (21) is hinged with the middle part of the rear arm (2);

the forearm unit comprises a forearm (3) and a forearm control valve box (31); the rear end of the front arm (3) is hinged with the upper end of the rear arm (2); the middle part of the front arm (3) is hinged with a driving rod of a second servo oil cylinder (22) of the rear arm; the cylinder barrel of the rear arm second servo oil cylinder (22) is hinged with the middle part of the rear arm (2);

the rear arm control valve box (23) comprises a rear arm control valve box body (233) arranged on the rear arm (2), a rear arm valve block arranged on one side of the rear arm control valve box body (233) and a rear arm servo valve group (231) arranged in the rear arm control valve box body (233); the rear arm valve block is provided with a plurality of first oil holes which are communicated with an external oil supply system; the rear arm servo valve group (231) comprises three servo valves; the three servo valves respectively supply oil to the waist swinging cylinder (11), the rear arm first servo oil cylinder (21) and the rear arm second servo oil cylinder (22) through corresponding first oil holes on the rear arm valve block; the rear arm valve block directly supplies oil to the front arm control valve box (31) through a corresponding oil pipe;

the forearm control valve box (31) comprises a forearm control valve box body (313) arranged on the forearm (3), a forearm valve block arranged on one side of the forearm control valve box body (313) and a forearm servo valve group arranged in the forearm control valve box body (313); the forearm valve block is provided with a plurality of second oil holes; the forearm servo valve group comprises four servo valves; the four servo valves supply oil to the wrist unit through corresponding second oil holes on the forearm valve block; the forearm valve block is communicated with the corresponding second oil hole through the oil pipe.

2. The hydrostatic drive six axis robot of claim 1, wherein:

the wrist unit comprises a wrist pitch cylinder (41), a wrist swing cylinder (42) and a wrist rotation assembly;

the front end of the forearm (3) is provided with a right wrist supporting plate and a left wrist supporting plate, and hydraulic oil passages are respectively arranged in the right wrist supporting plate and the left wrist supporting plate and are used for supplying oil to a wrist pitching cylinder (41), a wrist swinging cylinder (42) and a wrist rotating assembly respectively by a forearm control valve box (31).

3. The hydrostatic drive six axis robot of claim 2, wherein: the driving shaft of the waist swinging cylinder (11) is in spline connection with the bottom flange (12); a bearing (121) is arranged between the bottom flange (12) and the shell of the waist swinging cylinder (11); the outer shell of the waist swinging cylinder (11) is fixedly connected with the shoulder plate (13).

4. A hydrostatic drive six axis robot as claimed in claim 3, wherein:

the wrist rotation assembly includes a wrist rotation housing (439);

two ends of a driving shaft of the wrist pitching cylinder (41) are respectively fixedly connected with the right wrist supporting plate and the left wrist supporting plate; a first oil ring (417) is arranged in the cylinder barrel of the wrist pitching cylinder (41);

the cylinder barrel of the wrist swinging cylinder (42) is fixedly connected with the cylinder barrel of the wrist pitching cylinder (41); the driving shaft of the wrist swinging cylinder (42) is perpendicular to the driving shaft of the wrist pitching cylinder (41); two ends of a driving shaft of the wrist swinging cylinder (42) are fixedly connected with a wrist rotating box body (439) respectively;

a second oil ring (427) is arranged in the cylinder barrel of the wrist swinging cylinder (42); the hydraulic oil passages on the right and left wrist support plates supply oil to the wrist pitching cylinders (41) through first oil rings (417), and supply oil to the wrist pitching cylinders (42) through first and second oil rings (417, 427).

5. The hydrostatic drive six axis robot of claim 4 wherein:

the wrist rotating assembly further comprises a third oil ring (4311), a hydraulic motor (431) and a clamp holder linear oil cylinder (437) which are arranged in the wrist rotating box body (439);

the clamp holder linear oil cylinder (437) is arranged in a rotor component of the hydraulic motor (431); a cylinder barrel of the clamp holder linear oil cylinder (437) is fixedly connected with the rotor component; the driving rod of the clamp holder linear oil cylinder (437) is fixedly connected with the telescopic rod (51) of the clamp holder (5); the shell of the clamp holder (5) is fixedly connected with the cylinder barrel of the clamp holder linear oil cylinder (437);

the hydraulic oil passages in the right wrist support plate and the left wrist support plate supply oil to the stator component of the hydraulic motor (431) through the first oil ring (417), the second oil ring (427) and the shell wall of the wrist rotating box (439) in sequence;

the hydraulic oil passages in the right wrist support plate and the left wrist support plate are sequentially supplied with oil to the clamp holder linear oil cylinder (437) through the first oil ring (417), the second oil ring (427), the wrist rotating box body (439) and the third oil ring (4311).

6. The hydrostatic drive six axis robot of claim 5, wherein:

the cylinder barrel of the clamp holder linear oil cylinder (437) and the rotor component are of an integrated structure.