Multi-oil chamber single-path hydraulic rotary joint

Abstract

The application discloses a kind of single-path hydraulic rotary joints of multiple oil chambers, comprising: swing hydraulic cylinder, oil chamber connecting assembly, servo valve, valve guide, magnetic scale, first adapter plate, first support plate, second adapter plate, second support plate;The single-path hydraulic rotary joint of multiple oil chambers described in the application is characterized in that the output shaft hits axial blind hole and radial through-hole reduces the inertia of working shaft while forming oil circuit with auxiliary oil cylinder, so that the oil pipe and the support plate are relatively static, avoiding the influence of random swing of oil pipe on movement and interference, simplifying the oil pipe in multi-working-condition working space, avoiding the influence of excessive or excessive length of oil pipe on joint movement to improve efficiency, multiple dynamic and static sealing structure design ensures the sealing of multiple oil cylinders, with the advantages of simple structure, good sealing, high efficiency, long service life, high safety, etc.

Description

Technical Field

[0001] This invention relates to the field of hydraulic cylinders, specifically to a single-path hydraulic rotary joint with multiple oil chambers. Background Technology

[0002] According to their working principle, swing hydraulic cylinders can be classified into single-acting swing hydraulic cylinders and double-acting swing hydraulic cylinders. Among them, vane-type swing hydraulic cylinders are widely used in various industrial production and robot joint design due to their compact structure, small moment of inertia, smooth movement, and strong load capacity. To meet operational requirements, the technology is developing towards multi-condition, multi-joint, and multi-degree-of-freedom robots. However, for hydraulic cylinders with multiple actuators, a hydraulic pump needs to connect hydraulic pipes to each hydraulic cylinder. Too many or too long hydraulic pipes during operation will cause the hydraulic system to become too large. The random swinging of the oil pipes will interfere with the execution motion, reduce the effective output torque of the hydraulic cylinder, and affect the working efficiency of the swing hydraulic cylinder. Summary of the Invention

[0003] The purpose of this invention is to address the aforementioned technical problems and, in conjunction with practical production considerations, propose a multi-chamber single-path hydraulic rotary joint. The output shaft features axial blind holes and radial through holes, reducing the inertia of the working shaft while simultaneously forming an oil circuit with the auxiliary cylinder. This ensures that the oil pipes and support plate remain relatively stationary, preventing arbitrary oscillations of the oil pipes that could affect movement and cause interference. It simplifies the oil pipes in multi-condition working spaces, avoiding excessive or long oil pipes that could negatively impact joint movement and improve safety. It significantly reduces the volume of the hydraulic system and, to a certain extent, reduces pressure loss in the oil pipes, thereby improving the efficiency of the hydraulic rotary cylinder. Furthermore, the use of multiple sealing methods ensures excellent sealing performance for the hydraulic cylinder, overcoming the shortcomings of traditional rotary cylinders in terms of volumetric efficiency. This results in advantages such as simple structure, good sealing, high efficiency, long service life, and high safety.

[0004] To achieve the above objectives, the technical solution of the present invention is: a single-path hydraulic rotary joint with multiple oil chambers, including a swing hydraulic cylinder, an oil chamber connecting assembly, a servo valve (6), a valve guide (7), a magnetic scale, a first adapter plate (8), a first support plate (9), a second adapter plate (31), and a second support plate (30). A first adapter plate (8) made of standard aluminum alloy plates is fixed to a first support plate (9), and a second adapter plate (31) is fixed to a second support plate (30). A hydraulic cylinder composed of a working shaft (20), a main cylinder barrel (5), a moving blade (24), a stationary blade (4), a main cylinder head sealing gland (10), a first high-pressure connecting flange (23), a first low-pressure connecting flange (2), a bearing (22), an auxiliary cylinder barrel, and an auxiliary cylinder head sealing gland (17) is fixed to the first adapter plate (8) and the second connecting flange (35) by bolts and keys. The main cylinder barrel (5), the first auxiliary cylinder barrel, and the second auxiliary cylinder barrel (13) are sleeved outside the working shaft (20). The moving blade is fixed to the working shaft (20) and the main cylinder barrel (5) by threaded connection. The blade (24) and the stationary blade (4) form the first working chamber and the second working chamber; the oil chamber connection assembly consists of a low-pressure oil chamber connection assembly and a high-pressure oil chamber connection assembly, wherein the connector (16), the high-pressure connector (15) and the second auxiliary cylinder connector (14) form the high-pressure oil chamber connection assembly fixed on the second auxiliary cylinder (13); the servo valve (6) is connected to the valve guide (7), and the valve guide (7) is connected to the main cylinder (5) by bolts; the magnetic scale includes: magnetic scale 34, reading head 32, reading head gasket 33, the magnetic scale (34) is fixed on the first auxiliary cylinder, the reading head (32) is connected on the reading head gasket (33), and the reading head gasket (33) is fixed on the second adapter plate (31); the multiple sealing structure gives the hydraulic cylinder a good sealing effect.

[0005] Furthermore, the swing hydraulic cylinder includes: a working shaft (20), a main cylinder barrel (5), a moving blade (24), a stationary blade (4), a main cylinder head sealing gland (10), a first high-pressure connecting flange (23), a first low-pressure connecting flange (2), a bearing (22), a secondary cylinder barrel, and a secondary cylinder head sealing gland (17). The main cylinder (5), the first auxiliary cylinder and the second auxiliary cylinder (13) are sleeved on the outside of the working shaft (20). The working shaft (20) and the main cylinder (5) are connected by threads to fix the moving blade (24) and the stationary blade (4) respectively. The main cylinder (5) is divided into the first working chamber and the second working chamber by the moving blade (24) and the stationary blade (4). The main cylinder head sealing cover (10) is connected to the main cylinder (5) by bolts. The first high pressure connection flange (23) is connected to the first adapter plate (8) by bolts. The bearing (22) is installed in the first high pressure connection flange (23). The auxiliary cylinder is connected to the first high pressure connection flange (23) by bolts and forms a secondary high pressure oil chamber with the working shaft (20). The auxiliary cylinder head sealing cover (17) is connected to the auxiliary cylinder by bolts.

[0006] Furthermore, the oil chamber connection assembly includes: a low-pressure oil chamber connection assembly and a high-pressure oil chamber connection assembly. The high-pressure oil chamber connection assembly is composed of a connector (16), a high-pressure connector (15), and a second auxiliary cylinder connector (14). The high-pressure oil chamber connection assembly is fixed to the second auxiliary cylinder (13) by bolts. The high-pressure connector (15) has four first threaded holes (38), one countersunk hole (39), and one threaded hole (40) on the top. The one threaded hole (40) on the side is connected to the oil pipe nozzle connector by thread. The four first threaded holes (38) are used to fix the high-pressure connector (15) to the second auxiliary cylinder connector (14) by bolts. The countersunk hole (39) is connected to the auxiliary cylinder. The high-pressure oil is connected to the oil chamber connector (16) and the valve guide connector through the diversion valve to form two hydraulic oil circuits, which enter the A port and the E port respectively. The high-pressure oil enters the auxiliary cylinder through the A port of the connector (16) and flows out from the B port of the working shaft connector, and is connected to the next hydraulic cylinder through the oil pipe. The low-pressure oil is connected to the C port of the other oil chamber connector and the F port of the valve guide connector through the diversion valve, and the low-pressure oil is combined into one oil circuit. The hydraulic oil enters the auxiliary cylinder through the D port of the working shaft connector (36) and flows out from the C port of the oil chamber connector. The high-pressure oil enters through the E port and the low-pressure oil enters through the F port. The movement of the hydraulic cylinder is controlled by the valve guide. The movement of the oil pipe and the support plate is relatively stationary, which avoids the oil pipe swinging randomly during the operation of the hydraulic cylinder and affecting the movement.

[0007] Furthermore, the valve guide (7) includes: two through holes, three second threaded holes (41) at the bottom and a threaded hole (44) on the side. The threaded hole (44) on the side is connected to two oil pipe nozzle joints by threads to form an oil inlet E port and an oil outlet F port. The second threaded hole (41) is connected to the servo valve. The two through holes include a first through hole (42) and a second through hole (43). The first through hole (42) is connected to the first working chamber, and the second through hole (43) is connected to the second working chamber. The two ends of the two through holes are respectively connected to the servo valve and the hydraulic swing cylinder to form an oil circuit.

[0008] Furthermore, the magnetic scale includes: a magnetic scale (34), a reading head (32), and a reading head pad (33). The magnetic scale (34) is fixed on the first auxiliary cylinder, the reading head (32) is connected to the reading head pad (33), and the reading head pad (33) is fixed on the second adapter plate (31).

[0009] Further, the multi-layer dynamic sealing structure includes: a first dynamic sealing structure including a stationary blade nitrile rubber sealing ring (3), a stationary blade polytetrafluoroethylene sealing ring (1), a moving blade nitrile rubber sealing ring (25), and a moving blade polytetrafluoroethylene sealing ring (26), wherein the stationary blade nitrile rubber sealing ring (3) and the stationary blade polytetrafluoroethylene sealing ring (1) are embedded in the groove of the stationary blade (4), and the stationary blade polytetrafluoroethylene sealing ring (1) is located radially inside the stationary blade nitrile rubber sealing ring (3); the moving blade nitrile rubber sealing ring (25) and the moving blade polytetrafluoroethylene sealing ring (26) are embedded in the groove of the moving blade (24), and the moving blade nitrile rubber sealing ring (25) is located radially inside the moving blade polytetrafluoroethylene sealing ring (26); and a second dynamic sealing structure including a shoulder sealing ring (27), a shoulder sealing ring gasket (12), and a shoulder O-ring (28). The shoulder seal (27) is located between the main cylinder head sealing gland (10) and the working shaft (20), the shoulder O-ring (28) is located between the main cylinder (5) and the first low-pressure connecting flange (2), and the shoulder seal gasket (12) is located between the shoulder seal (27) and the shoulder O-ring (28); the third re-dynamic seal includes a first Glyd ring inner ring (19) and a first Glyd ring rubber outer ring (18), which are located between the first high-pressure connecting flange (23) and the bearing (22); the fourth re-dynamic seal includes a second Glyd ring inner ring (21) and a second Glyd ring rubber outer ring (37), which are located between the auxiliary cylinder head sealing gland (17) and the auxiliary cylinder (13).

[0010] Furthermore, the multiple static sealing structure includes: a first static sealing structure and a second static sealing structure. The first static sealing structure includes three first O-rings (11): the first is embedded in the groove between the main cylinder (5) and the first low-pressure connecting flange (2), the second is embedded in the groove between the main cylinder (5) and the main cylinder head sealing gland (10), and the third is embedded in the groove between the main cylinder head sealing gland (10) and the first high-pressure connecting flange (23). The second static sealing structure includes two second O-rings (29): the first is embedded in the groove between the first low-pressure connecting flange (2) and the auxiliary cylinder (13), and the second is embedded in the groove between the first high-pressure connecting flange (23) and the auxiliary cylinder (13).

[0011] The working method of the multi-cavity single-path hydraulic rotary joint is as follows: high pressure oil enters the A port and E port respectively through the flow divider valve connecting joint (16) and valve pilot joint to form two hydraulic oil circuits. The high pressure oil enters the second auxiliary cylinder (13) through the A port of the joint (16) and flows out from the B port of the working shaft. It is connected to the next hydraulic cylinder through the oil pipe. The low pressure oil of the next hydraulic cylinder enters the first auxiliary cylinder through the oil pipe from the D port of the working shaft joint (36) and flows out from the C port of the oil cavity connecting assembly, forming an oil circuit. High pressure oil enters the working cavity of the swing cylinder through the E port and low pressure oil enters the working cavity through the F port, forming an oil circuit. A pressure difference will be generated between the two working cavities at both ends of the moving blade (24), and the movement of the hydraulic cylinder is controlled by the valve pilot. When the hydraulic cylinder is working, the oil pipe and the support plate are relatively stationary, which avoids the oil pipe swinging randomly and affecting the movement and interference. It simplifies the oil pipe in the multi-condition working space, avoids the oil pipe being too much or too long and affecting the joint movement, and improves safety. In addition, the moving blade (24) drives the working shaft (20) and the reading head (32) to rotate together. The angle signal received by the magnetic grating ruler is sent to the PC in the later stage. The logic signal issued by the PC controls the servo valve.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are:

[0013] (1) The present invention forms an oil circuit with the auxiliary cylinder by drilling an axial blind hole in the working shaft of the swing hydraulic cylinder and drilling a through hole at the center of the connection between the two auxiliary cylinders, so that the oil pipe and the support plate are relatively stationary, avoiding the oil pipe from swinging randomly and affecting the movement and interference, simplifying the oil pipe in the multi-condition working space, greatly reducing the volume of the hydraulic system, avoiding too many oil pipes from affecting the joint movement and improving safety, and reducing the pressure loss of the oil pipe to a certain extent, thereby improving the efficiency of the hydraulic swing cylinder.

[0014] (2) The present invention drills axial blind holes and through holes on the working shaft of the swing hydraulic cylinder to reduce the inertia of the working shaft, reduce the weight of the hydraulic cylinder, and improve the service life of the hydraulic cylinder.

[0015] (3) The auxiliary cylinder chamber of the present invention adopts a non-paired form, the high pressure cylinder chamber adopts a double Glyd ring seal, and the low pressure cylinder chamber adopts a single Glyd ring seal, which reduces hydraulic oil leakage and reduces hydraulic cylinder friction.

[0016] (4) The present invention adopts a variety of sealing forms, which makes the hydraulic cylinder have a good sealing effect, makes up for the shortcomings of insufficient volumetric efficiency of traditional swing cylinder, improves the service life of hydraulic cylinder, and reduces the frequency of machine inspection by staff.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic cross-sectional view of the overall structure of an embodiment of the present invention;

[0021] Figure 2 This is a three-dimensional schematic diagram of the overall structure of an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the oil cavity connection assembly according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of a high-voltage connector according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of a servo valve assembly according to an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the working shaft structure according to an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the moving blade structure according to an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the stationary blade structure according to an embodiment of the present invention;

[0028] Referring to the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0029] 1-Stationary vane PTFE seal ring; 2-First low-pressure connection flange; 3-Stationary vane nitrile rubber seal ring; 4-Stationary vane; 5-Main cylinder barrel; 6-Servo valve; 7-Valve guide; 8-First adapter plate; 9-First support plate; 10-Main cylinder head sealing gland; 11-First O-ring; 12-Shoulder sealing gasket; 13-Auxiliary cylinder barrel; 14-Second auxiliary cylinder barrel connector; 15-High-pressure connector; 16-Joint; 17-Auxiliary cylinder head sealing gland; 18-First Glyd ring outer ring; 19-First Glyd ring inner ring; 20-Working shaft; 21-Second Glyd ring inner ring ; 22-Bearing; 24-Moving blade; 25-Moving blade nitrile rubber seal; 26-Moving blade PTFE seal; 27-Shoulder seal; 28-Shoulder O-ring; 29-Second O-ring; 30-Second support plate; 31-Second adapter plate; 32-Reading head; 33-Reading head gasket; 34-Magnetic scale; 35-Second connecting flange; 36-Working shaft connector; 37-Second Glyd ring rubber outer ring; 38-Threaded hole; 39-Counterhead; 40-Side threaded hole; 41-Threaded hole; 42-First through hole; 43-Second through hole; 44-Side threaded hole; Detailed Implementation

[0030] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0031] According to an embodiment of the present invention, a single-path hydraulic rotary joint with multiple oil chambers is provided. For example... Figures 1-8 As shown, this embodiment includes: a first adapter plate 8, composed of standard aluminum alloy plates, fixed to a first support plate 9; and a second adapter plate 31, fixed to a second support plate 30. The hydraulic cylinder consists of a working shaft 20, a main cylinder barrel 5, moving blades 24, stationary blades 4, a main cylinder head sealing gland 10, a first high-pressure connecting flange 23, a first low-pressure connecting flange 2, a bearing 22, an auxiliary cylinder barrel, and an auxiliary cylinder head sealing gland 17. The first high-pressure connecting flange 23 and the first low-pressure connecting flange 2 are fixed to the first adapter plate 8 by bolts. The working shaft 20 is connected to the second connecting flange 35 by a key. The main cylinder barrel 5, the first auxiliary cylinder barrel, and the second auxiliary cylinder barrel 13 are fitted around the working shaft 20. The working shaft 20 and the main cylinder 5 are connected by threads to fix the moving blade 24 and the stationary blade 4 to form the first working chamber and the second working chamber respectively; the oil chamber connection assembly consists of a low-pressure oil chamber connection assembly and a high-pressure oil chamber connection assembly, wherein the connector 16 is connected to the second connecting valve guide 15 by threads, and the second connecting valve guide 15 is fixed to the second high-pressure connecting member 14 by bolts to form a high-pressure oil chamber connection assembly fixed to the second auxiliary cylinder 13; the servo valve 6 is connected to the valve guide 7, and the valve guide 7 is connected to the main cylinder 5 by bolts; the magnetic scale 34 is fixed to the first auxiliary cylinder, the reading head 32 is connected to the reading head gasket 33, and the reading head gasket 33 is fixed to the second adapter plate 31.

[0032] A motion method for a single-path hydraulic rotary joint with multiple oil chambers as described above, characterized by comprising the following steps:

[0033] Step 1: Connect the nozzle connector to the oil pipe. The hydraulic pump oil pipe is divided into two parts by a flow divider valve at the oil chamber connection assembly, which enter port A and port E respectively.

[0034] Step 2: High-pressure oil enters the second auxiliary cylinder 13 through port A of the oil chamber connection assembly and flows out from port B of the working shaft, connecting to the next hydraulic cylinder via an oil pipe. Low-pressure oil from the next hydraulic cylinder enters the first auxiliary cylinder through an oil pipe from port D of the working shaft and flows out from port C of the oil chamber connection assembly, forming an oil circuit. High-pressure oil enters the working chamber of the swing cylinder through port E, and low-pressure oil enters the working chamber through port F, forming an oil circuit. A pressure difference will be generated between the two working chambers at both ends of the moving blade 24, and the movement of the hydraulic cylinder will be controlled by the valve pilot.

[0035] Step 3: The moving blade 24 drives the working shaft 20 and the reading head 32 to rotate together. The angle signal received by the magnetic scale is sent to the PC in the later stage. The logic signal issued by the PC controls the servo valve.

[0036] Furthermore, the swing hydraulic cylinder includes: a working shaft 20, a main cylinder 5, a moving vane 24, a stationary vane 4, a main cylinder head sealing gland 10, a first high-pressure connecting flange 23, a first low-pressure connecting flange 2, a bearing 22, an auxiliary cylinder, and an auxiliary cylinder head sealing gland 17. The main cylinder 5, the first auxiliary cylinder, and the second auxiliary cylinder 13 are sleeved outside the working shaft 20. The moving vane 24 and the stationary vane 4 are disposed between the main cylinder 5 and the working shaft 20, and are respectively connected to the hydraulic cylinder working shaft 20 and the main cylinder 5 by bolts. The main cylinder 5 is divided into a first working chamber and a second working chamber by the moving vane 24 and the stationary vane 4. When the swing cylinder is working, it serves as both the inlet and outlet oil chambers. The main cylinder barrel 5, the first low-pressure connecting flange 2, and the main cylinder head sealing gland 10 are connected by bolts and nuts to form a sealed hydraulic swing cylinder cavity. To fix the working shaft, the hydraulic swing cylinder uses a pair of angular contact ball bearings 22. The bearings 22 are installed in the first high-pressure connecting flange 23. The second auxiliary cylinder barrel 13 is connected to the first high-pressure connecting flange 23 by bolts. The auxiliary cylinder head sealing gland 17 is connected to the second auxiliary cylinder barrel 13 by bolts. The second auxiliary cylinder barrel 13 forms a secondary high-pressure oil chamber with the first high-pressure connecting flange 23 and the working shaft 20. A valve guide 7 is installed outside the main cylinder barrel 5 of the hydraulic swing cylinder and is connected to the main cylinder barrel 5 of the hydraulic swing cylinder by bolts. The valve guide 7 is connected to the servo valve 8.

[0037] Further, the oil chamber connection assembly includes a low-pressure oil chamber connection assembly and a high-pressure oil chamber connection assembly. The high-pressure oil chamber connection assembly, consisting of connector 16, high-pressure connector 15, and second auxiliary cylinder connector 14, is fixed to the second auxiliary cylinder 13 by bolts. The high-pressure connector 15 has four first threaded holes 38, one countersunk hole 39, and one threaded hole 40 on the side. The threaded hole 40 on the side is connected to an oil pipe nozzle connector via a thread. The four first threaded holes 38 are used to fix the high-pressure connector 15 to the second auxiliary cylinder connector 14 by bolts. The high-pressure connector is fixed to the auxiliary cylinder by bolts 14. High-pressure oil enters two hydraulic oil circuits through the diverter valve connection connector 16 and the valve guide connector, respectively entering ports A and E. High-pressure oil enters the auxiliary cylinder through port A of connector 16 and flows out from port B of the working shaft connector, connecting to the next hydraulic cylinder via an oil pipe. Low-pressure oil is connected to another oil chamber connector port C and the valve guide connector port F through the diverter valve, converging the low-pressure oil into a single oil circuit. Hydraulic oil flows through the working shaft connector 36. Oil enters the auxiliary cylinder through port D and flows out through port C of the oil chamber connector. High-pressure oil enters through port E and low-pressure oil enters through port F. The movement of the hydraulic cylinder is controlled by the valve pilot. The oil pipe and the support plate move relatively still, which avoids the oil pipe swinging randomly during the operation of the hydraulic cylinder and affecting its movement.

[0038] Furthermore, the valve guide 7 includes: two through holes at the bottom, three second threaded holes 41, and a threaded hole 44 on the side. The threaded hole 44 on the side is connected to two oil pipe nozzle joints by threads to form an oil inlet E port and an oil outlet F port. The second threaded holes 41 are connected to the servo valve. The two through holes include a first through hole 42 and a second through hole 43. The first through hole 42 is connected to the first working chamber, and the second through hole 43 is connected to the second working chamber. The two ends of the two through holes are respectively connected to the servo valve and the hydraulic swing cylinder to form an oil circuit.

[0039] Furthermore, the magnetic scale includes: a magnetic scale 34, a reading head 32, and a reading head pad 33. The magnetic scale 34 is fixed on the first auxiliary cylinder, the reading head 32 is connected to the reading head pad 33, and the reading head pad 33 is fixed on the second adapter plate 31. During operation, the moving blade 24 drives the working shaft 20 and the reading head 32 to rotate together. The angle signal detected by the magnetic scale is sent to the PC in the later stage, and the logic signal sent by the PC controls the servo valve.

[0040] Further, the multi-layer dynamic sealing structure includes: a first dynamic sealing structure including a stationary blade nitrile rubber sealing ring 3, a stationary blade PTFE sealing ring 1, a moving blade nitrile rubber sealing ring 25, and a moving blade PTFE sealing ring 26, wherein the stationary blade nitrile rubber sealing ring 3 and the stationary blade PTFE sealing ring 1 are embedded in the groove of the stationary blade 4, and the stationary blade PTFE sealing ring 1 is located radially inside the stationary blade nitrile rubber sealing ring 3; the moving blade nitrile rubber sealing ring 25 and the moving blade PTFE sealing ring 26 are embedded in the groove of the moving blade 24, and the moving blade nitrile rubber sealing ring 25 is located radially inside the moving blade PTFE sealing ring 26; the second dynamic sealing structure includes a shoulder sealing ring 27, a shoulder sealing ring gasket 12, and a shoulder O-ring. The first cylinder head sealing ring 27 is disposed between the main cylinder head sealing gland 10 and the working shaft 20. The second cylinder head O-ring 28 is disposed between the main cylinder barrel 5 and the first low-pressure connecting flange 2. The third re-dynamic sealing structure includes a first Glyd ring inner ring 19 and a first Glyd ring rubber outer ring 18, which are disposed between the first high-pressure connecting flange 23 and the bearing 22. The fourth re-dynamic sealing structure includes a second Glyd ring inner ring 21 and a second Glyd ring rubber outer ring 37, which are disposed between the auxiliary cylinder head sealing gland 17 and the auxiliary cylinder barrel.

[0041] Furthermore, the multiple static sealing structure includes: a first static sealing structure and a second static sealing structure. The first static sealing structure includes three first O-rings 11: the first is embedded in a groove between the main cylinder 5 and the first low-pressure connecting flange 2; the second is embedded in a groove between the main cylinder 5 and the main cylinder head sealing gland 10; and the third is embedded between the main cylinder head sealing gland 10 and the first high-pressure connecting flange 23. The second static sealing structure includes two second O-rings 29: the first is embedded in a groove between the first low-pressure connecting flange 2 and the auxiliary cylinder; and the second is embedded in a groove between the first high-pressure connecting flange 23 and the auxiliary cylinder.

[0042] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-cavity single-channel hydraulic rotary joint, characterized in that, include: The swing hydraulic cylinder includes a swing cylinder, an oil chamber connection assembly, a servo valve (6), a valve guide (7), a magnetic scale, a first adapter plate (8), a first support plate (9), a second adapter plate (31), and a second support plate (30). The swing hydraulic cylinder includes a working shaft (20), a main cylinder barrel (5), a moving vane (24), a stationary vane (4), a main cylinder head sealing gland (10), a first high-pressure connecting flange (23), a first low-pressure connecting flange (2), a bearing (22), a secondary cylinder barrel, and a secondary cylinder head sealing gland (17). The first adapter plate (8) is fixed to the first support plate (9), and the second adapter plate (31) is fixed to the second support plate (30). The auxiliary cylinder includes a first auxiliary cylinder and a second auxiliary cylinder (13). The main cylinder (5), the first auxiliary cylinder, and the second auxiliary cylinder (13) are sleeved on the working shaft (20). The working shaft (20) and the main cylinder (5) are connected by threads to fix the moving blade (24) and the stationary blade (4) respectively. The main cylinder (5) is divided into a first working chamber and a second working chamber by the moving blade (24) and the stationary blade (4). The main cylinder head sealing gland (10) is connected to the main cylinder (5) by bolts. The first high-pressure connecting flange (23) is connected to the first adapter plate (8) by bolts. The bearing (22) is installed in the first high-pressure connecting flange (23). The second auxiliary cylinder (13) is connected by threads. The bolt is connected to the first high-pressure connecting flange (23) and forms a secondary high-pressure oil chamber with the working shaft (20). The secondary cylinder head sealing cover (17) is connected to the second secondary cylinder (13) by bolts. The oil chamber connecting assembly consists of a low-pressure oil chamber connecting assembly and a high-pressure oil chamber connecting assembly. The connector (16), the high-pressure connector (15) and the second secondary cylinder connector (14) form the high-pressure oil chamber connecting assembly and are fixed to the second secondary cylinder (13) by bolts. The servo valve (6) is connected to the valve guide (7), and the valve guide (7) is connected to the main cylinder (5) by bolts. The magnetic scale includes: a magnetic scale (34), a reading head (32), and a reading head gasket (33). The magnetic scale (34) is fixed to the first secondary cylinder, the reading head (32) is connected to the reading head gasket (33), and the reading head gasket (33) is fixed to the second adapter plate (31). The high-pressure connector (15) has four first threaded holes (38), one countersunk hole (39), and one threaded hole (40) on the side. The threaded hole (40) on the side is connected to the oil pipe nozzle connector via a thread. The four first threaded holes (38) are used to fix the high-pressure connector (15) to the second auxiliary cylinder connector (14) with bolts. The countersunk hole (39) is connected to the second auxiliary cylinder (13) to form an oil circuit. The high-pressure oil passes through the diverter valve connector (16) and the valve guide connector to form two hydraulic oil circuits, which enter port A and port E respectively. High-pressure oil enters the second auxiliary cylinder (13) through port A of connector (16) and flows out from port B of the working shaft connector, connecting to the next hydraulic cylinder with the oil pipe; low-pressure oil is connected to port C of another oil chamber connector and port F of the valve pilot connector through the diverter valve, forming a single oil circuit; hydraulic oil enters the first auxiliary cylinder through port D of the working shaft connector (36) and flows out from port C of the oil chamber connector; high-pressure oil enters through port E and low-pressure oil enters through port F, controlling the movement of the hydraulic cylinder through the valve pilot; the oil pipe and the support plate move relatively still, avoiding the oil pipe from swinging arbitrarily during the operation of the hydraulic cylinder and affecting its movement.

2. The multi-chamber single-path hydraulic rotary joint according to claim 1, characterized in that, The valve guide (7) includes two through holes, three second threaded holes (41) at the bottom and a threaded hole (44) on the side. The threaded hole (44) on the side is connected to two oil pipe nozzle joints by threads to form an oil inlet E port and an oil outlet F port. The second threaded hole (41) is connected to the servo valve. The two through holes include a first through hole (42) and a second through hole (43). The first through hole (42) is connected to the first working chamber, and the second through hole (43) is connected to the second working chamber. The two ends of the two through holes are respectively connected to the servo valve and the hydraulic swing cylinder to form an oil circuit.

3. A multi-chamber single-path hydraulic rotary joint according to claim 2, characterized in that, The hydraulic cylinder includes a multi-layer dynamic sealing structure. The first layer of dynamic sealing structure includes a stationary blade nitrile rubber seal (3), a stationary blade polytetrafluoroethylene seal (1), a moving blade nitrile rubber seal (25), and a moving blade polytetrafluoroethylene seal (26). The stationary blade nitrile rubber seal (3) and the stationary blade polytetrafluoroethylene seal (1) are embedded in the groove of the stationary blade (4), and the stationary blade polytetrafluoroethylene seal (1) is located radially inside the stationary blade nitrile rubber seal (3). The moving blade nitrile rubber seal (25) and the moving blade polytetrafluoroethylene seal (26) are embedded in the groove of the moving blade (24), and the moving blade nitrile rubber seal (25) is located radially inside the moving blade polytetrafluoroethylene seal (26). The second layer of dynamic sealing structure includes a shoulder seal (27), a shoulder seal gasket (12), and a shoulder O-ring (28). The shoulder seal (27) is located between the main cylinder head sealing gland (10) and the working shaft (20), the shoulder O-ring (28) is located between the main cylinder (5) and the first low-pressure connecting flange (2), and the shoulder seal gasket (12) is located between the shoulder seal (27) and the shoulder O-ring (28); the third re-dynamic seal structure includes a first Glyd ring inner ring (19) and a first Glyd ring rubber outer ring (18), which are located between the first high-pressure connecting flange (23) and the bearing (22); the fourth re-dynamic seal structure includes a second Glyd ring inner ring (21) and a second Glyd ring rubber outer ring (37), which are located between the auxiliary cylinder head sealing gland (17) and the second auxiliary cylinder (13).

4. A multi-chamber single-path hydraulic rotary joint according to claim 3, characterized in that, The system includes a multi-layer static sealing structure. The first layer of static sealing structure includes three first O-rings (11): the first is embedded in the groove between the main cylinder (5) and the first low-pressure connecting flange (2), the second is embedded in the groove between the main cylinder (5) and the main cylinder head sealing gland (10), and the third is embedded in the groove between the main cylinder head sealing gland (10) and the first high-pressure connecting flange (23). The second layer of static sealing structure includes two second O-rings (29): the first is embedded in the groove between the first low-pressure connecting flange (2) and the second auxiliary cylinder (13), and the second is embedded in the groove between the first high-pressure connecting flange (23) and the second auxiliary cylinder (13).

5. The working method of a multi-chamber single-path hydraulic rotary joint according to claim 1, characterized in that: High-pressure oil enters two hydraulic oil circuits through the diverter valve connector (16) and the valve guide connector respectively into port A and port E. High-pressure oil enters the second auxiliary cylinder (13) through port A of connector (16) and flows out from port B of the working shaft, connecting to the next hydraulic cylinder with the oil pipe. Low-pressure oil of the next hydraulic cylinder enters the first auxiliary cylinder through the oil pipe from port D of the working shaft connector (36) and flows out from port C of the oil chamber connection assembly, forming an oil circuit. High-pressure oil enters the working chamber of the swing cylinder through port E, and low-pressure oil enters the working chamber through port F, forming an oil circuit. A pressure difference will be generated between the two working chambers at both ends of the moving blade (24), and the movement of the hydraulic cylinder will be controlled by the valve guide. When the hydraulic cylinder is working, the oil pipe and the support plate are relatively stationary, avoiding the oil pipe from swinging randomly and affecting the movement and interference. In addition, the moving blade (24) drives the working shaft (20) and the reading head (32) to rotate together. The angle signal received by the magnetic grating ruler is sent to the PC in the later stage. The logic signal issued by the PC controls the servo valve.

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