An integrated joint hydraulic actuator and hydraulically driven robot

Abstract

The present invention discloses an integrated joint hydraulic actuator and a hydraulically driven robot. The integrated joint hydraulic actuator consists of a hydraulic cylinder body and a rear end cover assembly. The cylinder body in the hydraulic cylinder body, the rear end cover in the rear end cover assembly and the interior of the rotating shaft are all provided with mutually cooperating flow channels, through which the oil is transported from the rotating shaft to the interior of the actuator; the integrated joint hydraulic actuator can rotate around the rotating shaft, and during operation, the rotating shaft is fixedly connected to the limb structure on one side of the joint, so that the oil inlet and outlet of the actuator and the limb structure remain relatively stationary, so that a fixed hydraulic pipeline can be used for oil supply. The present invention provides the possibility of further integrating the joint hydraulic actuator with the limb structure and forming an internal flow channel of the limb; the two ends of the joint hydraulic actuator are hinged to the limb components on both sides of the joint to prevent the piston rod from bearing radial force, thereby increasing the service life of the hydraulic actuator and facilitating the replacement and maintenance of the hydraulic actuator.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic transmission, and in particular to an integrated joint hydraulic actuator and a hydraulically driven robot. Background Art

[0002] Robotic joints require flexible movement and require high control precision. To drive joint movement using hydraulic actuators, the current common method is to hinge the two ends of the hydraulic actuator to the limbs on either side of the joint via joint bearings. This connection method causes relative movement between the hydraulic cylinder's inlet and outlet ports and the limbs at both ends of the joint during joint movement, necessitating the use of hydraulic hoses as the primary hydraulic lines. However, existing hydraulic hoses have a relatively soft outer wall, which reduces the hydraulic system's equivalent stiffness and results in a reduced frequency response. Furthermore, changes in the shape of the hydraulic hose generate a certain amount of rebound force, affecting the joint's dynamic characteristics. Furthermore, the hydraulic hose has a large turning radius, requiring a considerable turning margin, which also increases the system's overall mass.

[0003] After searching the prior art, it was found that the Chinese invention patent with publication number CN110217308A discloses a wheel-legged humanoid robot with internal oil flow, which fixes the hydraulic actuator to the limb on one side of the joint, and the actuator piston rod is connected to the limb on the other side of the joint through a connecting rod hinged at both ends, thereby avoiding the use of hydraulic hoses; however, the actuator piston rod of this installation method is subject to large radial force and is easily damaged, so it is necessary to add additional guide rails to protect the piston rod; and its hydraulic actuator is fixed to the limb structure, which increases the difficulty of disassembly and assembly of the actuator and increases maintenance costs. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides an integrated joint hydraulic actuator and a hydraulically driven robot.

[0005] The present invention is achieved through the following technical solutions:

[0006] A first aspect of the present invention provides an integrated joint hydraulic actuator, comprising a hydraulic cylinder body and a rear end cover assembly; the hydraulic cylinder body comprises a spherical 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 spherical bearing is connected to the piston rod; the piston rod is mounted inside the cylinder body and moves along the axis of the cylinder body; the hydraulic valve is connected to the cylinder body;

[0007] The cylinder body is provided with a first hydraulic flow channel, a second hydraulic flow channel, a third hydraulic flow channel and a fourth hydraulic flow channel; by switching the hydraulic valve, the first hydraulic flow channel is connected to the third hydraulic flow channel, the second hydraulic flow channel is connected to the fourth hydraulic flow channel, or the first hydraulic flow channel is connected to the fourth hydraulic flow channel, and the second hydraulic flow channel is connected to the third hydraulic flow channel;

[0008] The rear end cover is provided with a fifth hydraulic channel and a sixth hydraulic channel inside, and is provided with a first circumferential groove and a second circumferential groove; the fifth hydraulic channel is communicated with the first circumferential groove; the sixth hydraulic channel is communicated with the second circumferential groove.

[0009] Furthermore, 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 connects the fifth oil port with the first oil port and the sixth oil port with the second oil port, or connects the fifth oil port with the second oil port and the sixth oil port with the first oil port by switching the hydraulic valve.

[0010] Furthermore, a seventh hydraulic channel, an eighth hydraulic channel, a ninth hydraulic channel and a tenth hydraulic channel are provided inside the rotating shaft, and a third circumferential groove and a fourth circumferential groove are provided; the seventh hydraulic channel is connected with the eighth hydraulic channel, and the eighth hydraulic channel is connected with the third circumferential groove; the ninth hydraulic channel is connected with the tenth hydraulic channel, and the tenth hydraulic channel is connected with the fourth circumferential groove; the fourth circumferential groove is aligned with the seventh oil port, the ninth hydraulic channel is connected with the fifth hydraulic channel through the fourth circumferential groove, the third circumferential groove is aligned with the eighth oil port, and the eighth hydraulic channel is connected with the sixth hydraulic channel through the third circumferential groove.

[0011] Furthermore, the hydraulic cylinder body is fixedly connected to the rear end cover assembly, wherein the third oil port is aligned with the first circumferential groove, and the third hydraulic channel is connected to the fifth hydraulic channel through the first circumferential groove; the fourth oil port is aligned with the second circumferential groove, and the fourth hydraulic channel is connected to the sixth hydraulic channel through the second circumferential groove.

[0012] Furthermore, the hydraulic cylinder body further includes a displacement sensor, a first pressure sensor and a second pressure sensor; the displacement sensor is used to measure the displacement of the piston rod.

[0013] Furthermore, the hydraulic cylinder body also includes a first cavity and a second cavity; the pressure measuring port of the first pressure sensor is connected to the first hydraulic channel for measuring the pressure in the first cavity; the pressure measuring port of the second pressure sensor is connected to the second hydraulic channel for measuring the pressure in the second cavity.

[0014] Furthermore, the hydraulic cylinder body also includes a guide sleeve; the guide sleeve is used to guide the piston rod to ensure that the piston rod moves along the axis.

[0015] Furthermore, the hydraulic cylinder body also includes a front end cover; the front end cover is used to cover and fix the displacement sensor and the guide sleeve.

[0016] Furthermore, the rear end cover assembly also includes a first support member and a second support member; the first support member and the second support member are used to support the rotating shaft and provide rotational freedom, so that the rotating shaft rotates around the axis.

[0017] According to the second aspect of the present invention, the present invention provides a hydraulically driven robot, comprising the above-mentioned integrated joint hydraulic actuator; also comprising a first limb component, a second limb component, a first hydraulic pipeline, a second hydraulic pipeline and a joint; the first limb component is connected to the rotating shaft; the second limb component is hinged to the joint bearing; the first hydraulic pipeline is connected to the sixth oil port; and the second hydraulic pipeline is connected to the fifth oil port.

[0018] Compared with the prior art, the present invention has the following beneficial effects: during the joint movement of the integrated joint hydraulic actuator of the present invention, the rotating shaft can be fixedly connected to the limb structure on one side of the joint, so that the oil inlet and outlet of the integrated joint hydraulic actuator remain stationary with the limb structure, so that a fixed hydraulic pipeline can be used for oil supply, which provides the possibility for further integration of the joint hydraulic actuator and the limb structure to form an internal flow channel of the limb; the two ends of the joint hydraulic actuator are hinged to the limb components on both sides of the joint, which prevents the piston rod from bearing radial force, thereby increasing the service life of the hydraulic actuator and facilitating the replacement and maintenance of the hydraulic actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the appearance and structure of an integrated joint hydraulic actuator of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall structure of an integrated joint hydraulic actuator of the present invention from a top view;

[0021] Figure 3 This is a schematic diagram of the AA cross-sectional structure of the overall structure of an integrated joint hydraulic actuator of the present invention;

[0022] Figure 4 This is a schematic diagram of the overall structure BB cross-sectional structure of an integrated joint hydraulic actuator of the present invention;

[0023] Figure 5 This is a partial enlarged view of an integrated joint hydraulic actuator according to the present invention;

[0024] Figure 6 This is a CC cross-sectional structural diagram of the overall structure of an integrated joint hydraulic actuator of the present invention;

[0025] Figure 7 This is a partial enlarged view of II of an integrated joint hydraulic actuator of the present invention;

[0026] Figure 8This is a schematic diagram of the overall structure DD cross-sectional structure of an integrated joint hydraulic actuator of the present invention;

[0027] Figure 9 This is a schematic diagram of the installation of a hydraulically driven robot provided by an embodiment of the present invention;

[0028] Figure 10 This is a partial schematic diagram of the installation of a hydraulically driven robot provided by an embodiment of the present invention;

[0029] In the figure: 1. joint bearing, 2. piston rod, 3. front end cover, 4. displacement sensor, 5. guide sleeve, 6. cylinder body, 7. first pressure sensor, 8. hydraulic valve, 9. second pressure sensor, 10. rear end cover, 11. rotating shaft, 12. first support, 13. second support, 14. first limb component, 15. second limb component, 16. first hydraulic pipeline, 17. second hydraulic pipeline, 18. joint, 101. first seal, 102. second seal, 103. third seal, 104. fourth seal, 105. fifth seal, 106. sixth seal, 107. seventh seal, 108. eighth seal, 109. ninth seal, 110. tenth seal, 201. First hydraulic channel, 202. Second hydraulic channel, 203. Third hydraulic channel, 204. Fourth hydraulic channel, 205. Fifth hydraulic channel, 206. Sixth hydraulic channel, 207. Seventh hydraulic channel, 208. Eighth hydraulic channel, 209. Ninth hydraulic channel, 210. Tenth hydraulic channel, 301. First circumferential groove, 302. Second circumferential groove, 303. Third circumferential groove, 304. Fourth circumferential groove, 401. First oil port, 402. Second oil port, 403. Third oil port, 404. Fourth oil port, 405. Fifth oil port, 406. Sixth oil port, 407. Seventh oil port, 408. Eighth oil port, 501. First cavity, 502. Second cavity. DETAILED DESCRIPTION

[0030] Exemplary embodiments are described in detail herein, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different drawings represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with this application.

[0031] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0032] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. Rather, these embodiments are provided to make the present invention transparent and complete and to fully convey the scope of the present invention to those skilled in the art. In addition, the technical features involved in the various embodiments described below may be combined with each other as long as they do not conflict with each other.

[0034] Example 1

[0035] The embodiment of the present invention provides an integrated joint hydraulic actuator, including a hydraulic cylinder body and a rear end cover assembly, see Figure 3 The hydraulic cylinder body includes a movable joint bearing 1, a piston rod 2, a cylinder body 6 and a hydraulic valve 8. The rear end cover assembly includes a rear end cover 10 and a rotating shaft 11. The joint bearing 1 is fixedly connected to the piston rod 2. The piston rod 2 is installed inside the cylinder body 6 and can move along the axis of the cylinder body 6. The hydraulic valve 8 is fixedly connected to the cylinder body 6.

[0036] like Figure 1-Figure 3 As shown, a first hydraulic flow channel 201, a second hydraulic flow channel 202, a third hydraulic flow channel 203 and a fourth hydraulic flow channel 204 are provided inside the cylinder body 6; by switching the hydraulic valve 8, the first hydraulic flow channel 201 is connected to the third hydraulic flow channel 203, the second hydraulic flow channel 202 is connected to the fourth hydraulic flow channel 204, or the first hydraulic flow channel 201 is connected to the fourth hydraulic flow channel 204, and the second hydraulic flow channel 202 is connected to the third hydraulic flow channel 203;

[0037] like Figure 3-Figure 8 As shown, the integrated joint hydraulic actuator is also 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 connects the fifth oil port 405 with the first oil port 401 and the sixth oil port 406 with the second oil port 402, or connects the fifth oil port 405 with the second oil port 402 and the sixth oil port 406 with the first oil port 401 by switching the hydraulic valve 8.

[0038] The rear end cover 10 is provided with a fifth hydraulic flow channel 205 and a sixth hydraulic flow channel 206, and is provided with a first circumferential groove 301 and a second circumferential groove 302; the fifth hydraulic flow channel 205 is connected to the first circumferential groove 301, and the sixth hydraulic flow channel 206 is connected to the second circumferential groove 302; the rotating shaft 11 is provided with a seventh hydraulic flow channel 207, an eighth hydraulic flow channel 208, a ninth hydraulic flow channel 209 and a tenth hydraulic flow channel 210, and is provided with a third circumferential groove 303 and a fourth circumferential groove 304; the The seventh and eighth hydraulic channels 207 and 208 communicate with the third circumferential groove 303, while the ninth and tenth hydraulic channels 209 and 210 communicate with the fourth circumferential groove 304. The fourth circumferential groove 304 is aligned with the seventh oil port 407. The ninth hydraulic channel 209 communicates with the fifth hydraulic channel 205 via the fourth circumferential groove 304. The third circumferential groove 303 is aligned with the eighth oil port 408, while the eighth hydraulic channel 208 communicates with the sixth hydraulic channel 206 via the third circumferential groove 303. The circumferential grooves communicate with the aligned oil ports. The first circumferential groove 301 is located at the oil outlet of the fifth hydraulic channel 205. The third oil port 403 is directly connected to the first circumferential groove 301, and thus to the fifth hydraulic channel. The setting of the first circumferential groove 301 is beneficial to increasing the flow area of the connection between the third oil port 403 and the fifth hydraulic channel 205, so that even if there are some errors during processing or assembly, the third oil port 403 and the fifth hydraulic channel 205 will not be misaligned, which will not affect the oil circulation.

[0039] The hydraulic cylinder body is fixedly connected to the rear end cover assembly so that the third oil port 403 is aligned with the first circumferential groove 301, the third hydraulic flow channel 203 is connected to the fifth hydraulic flow channel 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 channel 204 is connected to the sixth hydraulic flow channel 206 through the second circumferential groove 302;

[0040] The integrated joint hydraulic actuator connects the fifth oil port 405 with the first oil port 401 and the sixth oil port 406 with the second oil port 402 through the switching of the hydraulic valve 8, or connects the fifth oil port 405 with the second oil port 402 and the sixth oil port 406 with the first oil port 401; the rotating shaft 11 is fixedly connected to the first limb component 14, the joint bearing 1 is hinged to the second limb component 15, the fifth oil port 405 is connected to the second hydraulic pipeline 17, and the sixth oil port 406 is connected to the first hydraulic pipeline 16.

[0041] The integrated joint hydraulic actuator can rotate around the axis of the rotating shaft 11. When the second limb component 15 rotates around the joint 18 relative to the first limb component 14, the rotating shaft 11, the fifth oil port 405 and the sixth oil port 406 remain relatively stationary with the first limb component 14, ensuring that no relative movement occurs between the first hydraulic pipeline 16 and the second hydraulic pipeline 17 and the first limb component 14.

[0042] The rear end cover assembly further includes a first support member 12 and a second support member 13 , which are used to support the rotating shaft 11 and provide rotational freedom so that the rotating shaft 11 can rotate around an axis.

[0043] The hydraulic cylinder body also includes a displacement sensor 4, a first pressure sensor 7 and a second pressure sensor 9; the displacement sensor 4 is used to measure the displacement of the piston rod 2, the pressure measuring port of the first pressure sensor 7 is connected to the first hydraulic channel 201, and is used to measure the pressure in the first cavity 501, and the pressure measuring port of the second pressure sensor 9 is connected to the second hydraulic channel 202, and is used to measure the pressure in the second cavity 502.

[0044] The hydraulic cylinder body further includes a guide sleeve 5 ; the guide sleeve 5 is used to guide the piston rod 2 to ensure that the piston rod 2 moves along the axis.

[0045] The hydraulic cylinder body further includes a front end cover 3 ; the front end cover 3 is used to cover and fix the displacement sensor 4 and the guide sleeve 5 .

[0046] The hydraulic cylinder body also includes a first seal 101, a second seal 102, a third seal 103, and a fourth seal 104. The first seal 101 is used to prevent foreign matter from entering the integrated joint hydraulic actuator and ensure the cleanliness of the actuator interior. The second and third seals 102, 103 are used to seal the first cavity 501 from the outside world. The fourth seal 104 is used to seal between the first cavity 501 and the second cavity 502.

[0047] The rear end cover assembly also 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 world, the eighth seal 108 is used for sealing between the third circumferential groove 303 and the outside world, 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 world.

[0048] Example 2

[0049] The embodiment of the present invention provides a hydraulically driven robot, see Figure 9 and Figure 10 , including the integrated joint hydraulic actuator in Example 1; taking the robot knee joint as an example, when using the present invention, the rotating shaft 11 is fixed to the robot thigh, the joint bearing is hinged to the robot calf, and the high-pressure oil outlet and low-pressure oil return port of the hydraulic power source are respectively connected to the seventh hydraulic channel 207 and the tenth hydraulic channel 210 of the rotating shaft 11 through the first hydraulic pipeline 16 and the second hydraulic pipeline 17 fixed on the thigh.

[0050] When the calf swings forward and backward around the knee joint, the hydraulic valve 8 controls the communication relationship between the first hydraulic channel 201 and the second hydraulic channel 202 in the cylinder body 6 and the seventh hydraulic channel 207 and the tenth hydraulic channel 210 in the rotating shaft 11, thereby controlling the pressure in the first cavity 501 and the second cavity 502, causing the piston rod 2 to extend or retract, completing the forward and backward swinging of the robot's calf.

[0051] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications derived therefrom remain within the scope of protection of the present invention.

[0052] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An integrated joint hydraulic actuator, characterized in that: The invention comprises a hydraulic cylinder body and a rear end cover assembly; the hydraulic cylinder 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 joint bearing (1) is connected to the piston rod (2); the piston rod (2) is installed inside the cylinder body (6) and moves along the axis of the cylinder body (6); the hydraulic valve (8) is connected to the cylinder body (6); A first hydraulic flow channel (201), a second hydraulic flow channel (202), a third hydraulic flow channel (203) and a fourth hydraulic flow channel (204) are provided inside the cylinder body (6); by switching the hydraulic valve (8), the first hydraulic flow channel (201) is connected to the third hydraulic flow channel (203), the second hydraulic flow channel (202) is connected to the fourth hydraulic flow channel (204), or the first hydraulic flow channel (201) is connected to the fourth hydraulic flow channel (204), and the second hydraulic flow channel (202) is connected to the third hydraulic flow channel (203); The rear end cover (10) is provided with a fifth hydraulic flow channel (205) and a sixth hydraulic flow channel (206) inside, and is provided with a first circumferential groove (301) and a second circumferential groove (302); the fifth hydraulic flow channel (205) is communicated with the first circumferential groove (301); the sixth hydraulic flow channel (206) is communicated with the second circumferential groove (302); 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 enables the fifth oil port (405) to communicate with the first oil port (401) and the sixth oil port (406) to communicate with the second oil port (402), or enables the fifth oil port (405) to communicate with the second oil port (402) and the sixth oil port (406) to communicate with the first oil port (401) by switching the hydraulic valve (8); The rotating shaft (11) is provided with a seventh hydraulic flow channel (207), an eighth hydraulic flow channel (208), a ninth hydraulic flow channel (209) and a tenth hydraulic flow channel (210) inside, and is provided with a third circumferential groove (303) and a fourth circumferential groove (304); the seventh hydraulic flow channel (207) is communicated with the eighth hydraulic flow channel (208), the eighth hydraulic flow channel (208) is communicated with the third circumferential groove (303); the ninth hydraulic flow channel (209) is communicated with the tenth hydraulic flow channel (210), the tenth hydraulic flow channel (210) is connected to the fourth circumferential groove (304); the fourth circumferential groove (304) is aligned with the seventh oil port (407), the ninth hydraulic flow channel (209) is connected to the fifth hydraulic flow channel (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 channel (208) is connected to the sixth hydraulic flow channel (206) through the third circumferential groove (303).

2. The integrated joint hydraulic actuator according to claim 1, characterized in that: The hydraulic cylinder body is fixedly connected to the rear end cover assembly, wherein the third oil port (403) is aligned with the first circumferential groove (301), and the third hydraulic flow channel (203) is connected to the fifth hydraulic flow channel (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 channel (204) is connected to the sixth hydraulic flow channel (206) through the second circumferential groove (302).

3. The integrated joint hydraulic actuator according to claim 2, 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 to measure the displacement of the piston rod (2).

4. The integrated joint hydraulic actuator according to claim 3, characterized in that: The hydraulic cylinder body further comprises a first chamber (501) and a second chamber (502); the pressure measuring port of the first pressure sensor (7) is in communication with the first hydraulic channel (201) for measuring the pressure in the first chamber (501); the pressure measuring port of the second pressure sensor (9) is in communication with the second hydraulic channel (202) for measuring the pressure in the second chamber (502).

5. 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 to guide the piston rod (2) to ensure that the piston rod (2) moves along the axis.

6. The integrated joint hydraulic actuator according to claim 1, characterized in that: The hydraulic cylinder body further comprises a front end cover (3); the front end cover (3) is used to cover and fix the displacement sensor (4) and the guide sleeve (5).

7. The integrated joint hydraulic actuator according to claim 1, characterized in that: The rear end cover assembly further comprises a first support member (12) and a second support member (13); the first support member (12) and the second support member (13) are used to support the rotating shaft (11) and provide rotational freedom, so that the rotating shaft (11) rotates around the axis.

8. A hydraulically driven robot comprising the integrated joint hydraulic actuator according to claim 1, characterized in that: The invention also includes a first limb component (14), a second limb component (15), a first hydraulic pipeline (16), a second hydraulic pipeline (17) and a joint (18); the first limb component (14) is connected to the rotating shaft (11); the second limb component (15) is hinged to the joint bearing (1); the first hydraulic pipeline (16) is connected to the sixth oil port (406); and the second hydraulic pipeline (17) is connected to the fifth oil port (405).

Images