An integrated hydraulic drive module and a hydraulic quadruped robot

Abstract

The present invention belongs to the technical field related to hydraulic cylinders, and discloses an integrated hydraulic drive module and a hydraulic legged robot. The drive module includes a hydraulic rod, two sealing shafts, a hydraulic cylinder and a heat dissipation valve block. One end of the hydraulic rod passes through one end of the hydraulic cylinder and extends into the working chamber of the hydraulic cylinder and is connected to the piston. The piston divides the working chamber into an upper working chamber and a lower working chamber. One end of the sealing shaft passes through the heat dissipation valve block and is connected to the hydraulic cylinder, and the two sealing shafts are arranged at intervals. The heat dissipation valve block is formed with a first flow hole and a second flow hole that do not communicate with each other. The first flow hole is communicated with the upper working chamber through one sealing shaft, and is communicated with the oil inlet formed in the heat dissipation valve block to form an oil inlet passage. The second flow hole is communicated with the lower working chamber through the other sealing shaft, and is communicated with the oil outlet formed in the heat dissipation valve block to form an oil return passage. The present invention has good heat dissipation performance and avoids work interruption caused by overheating of the hydraulic cylinder.

Description

Technical Field

[0001] The present invention belongs to the technical field related to hydraulic cylinders, and more specifically, relates to an integrated hydraulic drive module and a hydraulic quadruped robot. Background Art

[0002] A hydraulic cylinder is a hydraulic actuator that converts hydraulic energy into mechanical energy and performs linear reciprocating motion. It has a simple structure and reliable operation. When used to achieve reciprocating motion, a speed reduction device can be omitted, and there is no transmission gap, so the motion is stable. When the hydraulic system is working, the volumetric losses and mechanical losses of the hydraulic pump, hydraulic motor, and hydraulic cylinder, the pressure losses of the hydraulic control device and pipelines, and the viscous friction of the working medium will cause energy losses. The energy lost by the system is all converted into heat energy, and most of it is absorbed by the hydraulic oil, causing the temperature of the working medium of the hydraulic system to rise. The increase in oil temperature will reduce the viscosity and lubricity of the oil, affecting normal operation.

[0003] Due to its structural characteristics, the components of the hydraulic quadruped robot are installed very compactly, and there is not enough space to arrange a separate heat dissipation system for the hydraulic cylinder. When the hydraulic quadruped robot is moving, it often involves frequent reciprocating motion of the hydraulic cylinder, resulting in serious heat generation. The traditional hydraulic cylinder relying solely on the surface heat dissipation of components and pipe fittings is not enough, and the effective control of the hydraulic oil temperature is the basic premise for the normal operation of the system. Summary of the Invention

[0004] In view of the above defects or improvement requirements of the prior art, the present invention provides an integrated hydraulic drive module. The drive module integrates a heat dissipation valve block and a pressure sensor, so that it can be arranged in the limited space of the quadruped robot, and has good heat dissipation performance, avoiding work interruption caused by overheating of the hydraulic cylinder, and meeting the requirements of the quadruped robot for continuous long-term operation.

[0005] To achieve the above object, according to one aspect of the present invention, an integrated hydraulic drive module is provided. The drive module includes a hydraulic rod, two sealing shafts, a hydraulic cylinder, and a heat dissipation valve block. One end of the hydraulic rod passes through one end of the hydraulic cylinder and extends into the working cavity of the hydraulic cylinder and is connected to a piston. The piston divides the working cavity into an upper working cavity and a lower working cavity; one end of the sealing shaft passes through the heat dissipation valve block and is connected to the hydraulic cylinder, and the two sealing shafts are arranged at intervals;

[0006] The heat dissipation valve block is formed with a first flow hole and a second flow hole that do not communicate with each other. The first flow hole is communicated with the upper working cavity through one of the sealing shafts, and is communicated with an oil inlet formed in the heat dissipation valve block to form an oil inlet passage; the second flow hole is communicated with the lower working cavity through the other sealing shaft, and is communicated with an oil outlet formed in the heat dissipation valve block to form an oil return passage.

[0007] Further, the drive module further includes a servo valve, which is arranged on the heat dissipation valve block and connects the oil inlet and the oil outlet to the first flow hole and the second flow hole respectively.

[0008] Further, the heat dissipation valve block includes a first strip-shaped block, a second strip-shaped block, a third strip-shaped block, a plurality of heat dissipation fins and a first rectangular block. Two ends of the third strip-shaped block are respectively connected to one end of the first rectangular block and one end of the second strip-shaped block, and one end of the first strip-shaped block is connected to the other end of the first rectangular block; a third threaded hole is opened at one end of the first strip-shaped block away from the first rectangular block, and a fourth threaded hole is opened at one end of the second strip-shaped block away from the third strip-shaped block. Two pressure sensors are respectively connected to the first strip-shaped block and the second strip-shaped block through the third threaded hole and the fourth threaded hole; the plurality of heat dissipation fins are divided into two groups, and the two groups of heat dissipation fins are respectively arranged at two opposite sides of the third strip-shaped block at intervals.

[0009] Further, the first strip-shaped block and the second strip-shaped block are respectively provided with mounting holes. The central axis of the mounting hole is perpendicular to the central axis of the third threaded hole and is a through hole. The two mounting holes are respectively communicated with the third threaded hole and the fourth threaded hole.

[0010] Further, four counterbores are opened in the middle of the first rectangular block. The four counterbores are respectively located at the four corners of the same square and are respectively called a first counterbore, a second counterbore, a third counterbore and a fourth counterbore. The second counterbore and the fourth counterbore are arranged along the central axis of the heat dissipation valve block; fifth threaded holes and sixth threaded holes are respectively opened on two opposite sides of the first rectangular block. The fifth threaded hole and the sixth threaded hole are respectively communicated with the first counterbore and the second counterbore; the fifth threaded hole and the sixth threaded hole are respectively used as the oil inlet and the oil outlet.

[0011] Further, the first flow hole is opened in the second strip-shaped block and the first rectangular block and is communicated with the third threaded hole and the fourth counterbore; the second flow hole is opened in the first rectangular block, the third strip-shaped block and the second strip-shaped block. Two ends of the second flow hole are respectively communicated with the second counterbore and the mounting hole, and the corresponding mounting hole is communicated with the fourth threaded hole.

[0012] Further, first threaded holes and second threaded holes are respectively opened at two opposite ends of the hydraulic cylinder; an external thread is formed at one end of the sealing shaft, and this end passes through the mounting hole and then extends into the first threaded hole or the second threaded hole to form a threaded connection.

[0013] Further, a communication hole is provided in the sealing shaft along its axial direction, and the communication hole penetrates through one end of the sealing shaft that is threadedly connected to the hydraulic cylinder; the sealing shaft is further provided with a first side hole and a second side hole, the central axes of the first side hole and the second side hole are perpendicularly intersected, and the formed intersection point is located on the central axis of the communication hole; the two communication holes are respectively communicated with the first threaded hole and the second threaded hole, and the first side hole and the second side hole of the same sealing shaft are communicated with the first flow hole or the second flow hole.

[0014] Further, the servo valve is arranged on the first rectangular block, and it respectively communicates the first counterbore with the fourth counterbore, and the third counterbore with the second counterbore.

[0015] According to another aspect of the present invention, a hydraulic legged robot is provided. The legged robot includes the integrated hydraulic drive module and functional elements as described above, and the functional elements are connected to the integrated hydraulic drive module.

[0016] Generally speaking, compared with the prior art by the above technical solutions conceived by the present invention, the integrated hydraulic drive module and the hydraulic legged robot provided by the present invention mainly have the following beneficial effects:

[0017] 1. The invention integrates a hydraulic drive module with a heat dissipation valve block and a pressure sensor, enabling it to be arranged in the limited space of the legged robot, and having good heat dissipation performance, avoiding work interruption caused by overheating of the hydraulic cylinder, and meeting the requirement of continuous long-term operation of the legged robot.

[0018] 2. The heat dissipation valve block is formed with a first flow hole and a second flow hole that are not communicated with each other. The first flow hole is communicated with the upper working chamber through one of the sealing shafts, and is communicated with the oil inlet formed in the heat dissipation valve block to form an oil inlet passage; the second flow hole is communicated with the lower working chamber through the other sealing shaft, and is communicated with the oil outlet formed in the heat dissipation valve block to form an oil return passage. Heat dissipation can be completed when the oil flows through the oil inlet passage or the oil return passage, and the structure is compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structural schematic diagram of an integrated hydraulic drive module provided by the present invention;

[0020] Figure 2 is Figure 1 a planar schematic diagram of the integrated hydraulic drive module in

[0021] Figure 3 is Figure 1 a schematic diagram of the heat dissipation valve block of the integrated hydraulic drive module in

[0022] Figure 4 is Figure 3 A schematic diagram of the heat dissipation valve block in [[]] along another angle;

[0023] Figure 5 is Figure 3 A sectional view of the heat dissipation valve block in [[]] along the A-A direction;

[0024] Figure 6 is Figure 3 A sectional view of the heat dissipation valve block in [[]] along the B-B direction;

[0025] Figure 7 is Figure 4 A sectional view of the heat dissipation valve block in [[]] along the C-C direction;

[0026] Figure 8 is Figure 1 A schematic diagram of the oil circuit of the integrated hydraulic drive module in [[]];

[0027] Figure 9 is Figure 1 A schematic diagram of the sealing shaft of the integrated hydraulic drive module in [[]];

[0028] Figure 10 is Figure 9 A sectional view of the sealing shaft along the A-A direction in [[]].

[0029] In all the drawings, the same reference numerals are used to denote the same elements or structures, where: 1 - hydraulic rod, 2 - pressure sensor, 3 - sealing shaft, 4 - servo valve, 5 - hydraulic cylinder, 6 - heat dissipation valve block. Detailed implementation manners

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] Please refer to Figure 1 and Figure 2, the present invention provides an integrated hydraulic drive module. The drive module includes a hydraulic rod 1, two pressure sensors 2, two sealing shafts 3, a servo valve 4, a hydraulic cylinder 5 and a heat dissipation valve block 6. One end of the hydraulic rod 1 passes through one end of the hydraulic cylinder 5 and extends into the working chamber of the hydraulic cylinder 5, and is connected to the piston. The piston divides the working chamber into upper and lower parts. One end of the sealing shaft 3 passes through the heat dissipation valve block 6 and is connected to the hydraulic cylinder 5. The two sealing shafts 3 are arranged at intervals. The servo valve 4 is arranged on the heat dissipation valve block 6 and is adjacent to one of the sealing shafts 3. The two pressure sensors 2 are respectively connected to the heat dissipation valve block 6. Oil inlet branches and oil return branches which are isolated from each other are respectively formed at both ends of the heat dissipation valve block 6. The oil inlet branch and the oil return branch are respectively communicated with the upper working chamber and the lower working chamber of the hydraulic cylinder 5 through the sealing shafts 3.

[0032] Please refer to Figure 8 , first threaded holes and second threaded holes are respectively formed at the opposite ends of the hydraulic cylinder 5, and a working chamber is formed therein. The central axis of the working chamber coincides with the central axis of the hydraulic cylinder 5. A first through hole is formed at one end of the hydraulic cylinder 5. The first through hole is communicated with the working chamber and is used for the hydraulic rod 1 to pass through. The piston is arranged in the working chamber and is connected to one end of the hydraulic rod 1 located in the working chamber. The piston divides the working chamber into an upper working chamber and a lower working chamber.

[0033] Please refer to Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7, the heat dissipation valve block 6 includes a first strip-shaped block, a second strip-shaped block, a third strip-shaped block, a plurality of heat dissipation fins, and a first rectangular block. Both ends of the third strip-shaped block are respectively connected to one end of the first rectangular block and one end of the second strip-shaped block, and one end of the first strip-shaped block is connected to the other end of the first rectangular block. The central axes of the first strip-shaped block, the second strip-shaped block, the third strip-shaped block, and the first rectangular block coincide, and both sides of the first rectangular block protrude from the first strip-shaped block and the third strip-shaped block. A third threaded hole is provided at one end of the first strip-shaped block away from the first rectangular block, and a fourth threaded hole is provided at one end of the second strip-shaped block away from the third strip-shaped block. The two pressure sensors 2 are respectively connected to the first strip-shaped block and the second strip-shaped block through the third threaded hole and the fourth threaded hole. The first strip-shaped block and the second strip-shaped block are also respectively provided with mounting holes. The central axis of the mounting hole is perpendicular to the central axis of the third threaded hole and is a through hole. The two mounting holes are respectively communicated with the third threaded hole and the fourth threaded hole. Among them, the pressure sensor 2 is used to detect the oil pressure to facilitate monitoring the hydraulic state inside the hydraulic cylinder.

[0034] The plurality of heat dissipation fins are evenly divided into two groups, and the two groups of heat dissipation fins are respectively arranged at intervals on the opposite sides of the third strip-shaped block. Fifth threaded holes are respectively provided at the four corners of the first rectangular block, and four counterbores are also provided in the middle thereof. The four counterbores are respectively located at the four corners of the same square. The four counterbores are respectively called the first counterbore, the second counterbore, the third counterbore, and the fourth counterbore. The second counterbore and the fourth counterbore are arranged along the central axis of the heat dissipation valve block 6. Fifth threaded holes and sixth threaded holes are respectively provided on the opposite sides of the first rectangular block. The fifth threaded hole and the sixth threaded hole are respectively communicated with the first counterbore and the second counterbore, and the central axis of the fifth threaded hole is perpendicular to the central axis of the heat dissipation valve block 6 and is also perpendicular to the central axis of the first counterbore at the same time. In this embodiment, the fifth threaded hole and the sixth threaded hole are respectively used as the oil inlet and the oil outlet, and the oil inlet and the oil outlet can be determined according to the actual required oil flow direction.

[0035] A first flow hole and a second flow hole are formed in the heat dissipation valve block 6 along its central axis direction. The first flow hole is provided in the second strip-shaped block and the first rectangular block and is communicated with the third threaded hole and the fourth counterbore. The second flow hole is provided in the first rectangular block, the third strip-shaped block, and the second strip-shaped block. Both ends of the second flow hole are respectively communicated with the second counterbore and the mounting hole, and the corresponding mounting hole is communicated with the fourth threaded hole.

[0036] Please refer to Figure 9 and Figure 10, the sealing shaft 3 is substantially T-shaped, and an external thread is formed at one end thereof. This end passes through the mounting hole and extends into the first threaded hole or the second threaded hole to form a threaded connection. The sealing shaft 3 is provided with a communication hole arranged along its axial direction, and the communication hole penetrates through the end of the sealing shaft 3 that is threadedly connected to the hydraulic cylinder 5. The sealing shaft is further provided with a first side hole and a second side hole. The central axis of the first side hole is vertically intersecting with the central axis of the second side hole, and the formed intersection point is located on the central axis of the communication hole. In this embodiment, the two communication holes are respectively communicated with the first threaded hole and the second threaded hole, and the first side hole and the second side hole are communicated with the first flow hole or the second flow hole.

[0037] The servo valve 4 is connected to the heat dissipation valve block 6 through four of the fifth threaded holes, and respectively communicates the first counterbore with the fourth counterbore, and the third counterbore with the second counterbore.

[0038] The oil fluid enters the first counterbore through the oil inlet (A), and then enters the servo valve 4 from the first counterbore. The servo valve 4 distributes the oil fluid to enter the first flow hole through the fourth counterbore, and then enters the communication hole through the first flow hole, and then enters the upper working chamber through the first threaded hole to form an oil inlet path. The oil fluid located in the lower working chamber sequentially flows out through the second threaded hole, the corresponding communication hole, the first side hole, the second flow hole, the second counterbore, the servo valve 4, and the oil outlet to form an oil return path.

[0039] This embodiment adds a heat dissipation valve block on the basis of the traditional hydraulic cylinder, and the integrated pressure sensor facilitates monitoring the internal hydraulic state of the hydraulic cylinder; while retaining the original functions of the hydraulic cylinder and under the premise of limited installation space, the heat dissipation performance of the hydraulic cylinder is improved, effectively enhancing the stability of the continuous operation of the legged robot. Sealing rings are respectively arranged between the sealing shaft and the heat dissipation valve block, and between the hydraulic cylinders.

[0040] The present invention also provides a legged robot, which includes the integrated hydraulic drive module and functional elements as described above, and the functional elements are connected to the integrated hydraulic drive module.

[0041] It is easy for those skilled in the art to understand that the above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An integrated hydraulic drive module, characterized in that: The driving module is applicable to a hydraulic quadruped robot and includes a hydraulic rod, two sealing shafts, a hydraulic cylinder and a heat dissipation valve block. One end of the hydraulic rod passes through one end of the hydraulic cylinder and extends into the working chamber of the hydraulic cylinder and is connected to a piston. The piston divides the working chamber into an upper working chamber and a lower working chamber. One end of the sealing shaft passes through the heat dissipation valve block and is connected to the hydraulic cylinder, and the two sealing shafts are arranged at intervals. The heat dissipation valve block is formed with a first flow hole and a second flow hole that do not communicate with each other. The first flow hole communicates with the upper working chamber through one of the sealing shafts and is connected to an oil inlet formed in the heat dissipation valve block to form an oil inlet passage. The second flow hole communicates with the lower working chamber through the other sealing shaft and is connected to an oil outlet formed in the heat dissipation valve block to form an oil return passage. The driving module further includes a servo valve. The servo valve is arranged on the heat dissipation valve block and respectively connects the oil inlet and the oil outlet to the first flow hole and the second flow hole. The heat dissipation valve block includes a first strip-shaped block, a second strip-shaped block, a third strip-shaped block, a plurality of heat dissipation fins and a first rectangular block. Two ends of the third strip-shaped block are respectively connected to one end of the first rectangular block and one end of the second strip-shaped block. One end of the first strip-shaped block is connected to the other end of the first rectangular block. The plurality of heat dissipation fins are divided into two groups, and the two groups of heat dissipation fins are respectively arranged at intervals on two opposite sides of the third strip-shaped block. The first strip-shaped block and the second strip-shaped block are respectively provided with mounting holes. Two opposite ends of the hydraulic cylinder are respectively provided with a first threaded hole and a second threaded hole. One end of the sealing shaft is formed with an external thread, and this end passes through the mounting hole and extends into the first threaded hole or the second threaded hole to form a threaded connection.

2. The integrated hydraulic drive module according to claim 1, characterized in that: One end of the first strip-shaped block away from the first rectangular block is provided with a third threaded hole, and one end of the second strip-shaped block away from the third strip-shaped block is provided with a fourth threaded hole. Two pressure sensors are respectively connected to the first strip-shaped block and the second strip-shaped block through the third threaded hole and the fourth threaded hole.

3. The integrated hydraulic drive module according to claim 2, characterized in that: The central axis of the mounting hole is perpendicular to the central axis of the third threaded hole and is a through hole. The two mounting holes are respectively communicated with the third threaded hole and the fourth threaded hole.

4. The integrated hydraulic drive module according to claim 3, characterized in that: Four counterbores are further formed in the middle of the first rectangular block. The four counterbores are respectively located at the four corners of the same square and are respectively called a first counterbore, a second counterbore, a third counterbore and a fourth counterbore. The second counterbore and the fourth counterbore are arranged along the central axis of the heat dissipation valve block. Fifth threaded holes and sixth threaded holes are respectively formed on two opposite sides of the first rectangular block. The fifth threaded hole and the sixth threaded hole are respectively communicated with the first counterbore and the second counterbore. The fifth threaded hole and the sixth threaded hole serve as the oil inlet and the oil outlet respectively.

5. The integrated hydraulic drive module according to claim 4, characterized in that: The first flow hole is formed in the first strip-shaped block and the first rectangular block, and is communicated with the third threaded hole and the fourth counterbore; the second flow hole is formed in the first rectangular block, the third strip-shaped block and the second strip-shaped block, and both ends thereof are respectively communicated with the second counterbore and the mounting hole, and the corresponding mounting hole is communicated with the fourth threaded hole.

6. The integrated hydraulic drive module according to claim 5, characterized in that: The sealing shaft is provided with a communication hole axially arranged thereon, and the communication hole penetrates through one end of the sealing shaft threadedly connected to the hydraulic cylinder; the sealing shaft is further provided with a first side hole and a second side hole, the central axis of the first side hole is vertically intersected with the central axis of the second side hole, and the formed intersection point is located on the central axis of the communication hole; the two communication holes are respectively communicated with the first threaded hole and the second threaded hole, and the first side hole and the second side hole of the same sealing shaft are communicated with the first flow hole or the second flow hole.

7. The integrated hydraulic drive module according to claim 4, characterized in that: The servo valve is arranged on the first rectangular block, and respectively communicates the first counterbore with the fourth counterbore, and the third counterbore with the second counterbore.

8. A hydraulic legged robot, characterized in that: The legged robot includes the integrated hydraulic drive module and the functional element according to any one of claims 1-7, and the functional element is connected to the integrated hydraulic drive module.

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