A hydrostatically driven six-axis robot

Abstract

This invention discloses a hydrostatically driven six-axis robot to solve the technical problem of existing fully hydraulic robots where all oil pipes used for oil supply are exposed, making the pipes easily entangled or broken during joint movement, thus affecting the robot's actuation and movement flexibility. Specifically, it includes a base unit, a rear arm unit, a forearm unit, a wrist unit, and a gripper. The base unit includes a bottom flange, a waist swing cylinder, and a shoulder plate. The rear arm unit includes a rear arm, a rear arm control valve box, a first rear arm servo cylinder, and a second rear arm servo cylinder. The drive rod of the first rear arm servo cylinder is hinged to the lower end of the shoulder plate; the upper end of the shoulder plate is hinged to the lower end of the rear arm; the cylinder barrel of the first rear arm servo cylinder is hinged to the middle of the rear arm. The forearm unit includes a forearm and a forearm control valve box; the rear end of the forearm is hinged to the upper end of the rear arm; the middle of the forearm is hinged to the drive rod of the second rear arm servo cylinder; the cylinder barrel of the second rear arm servo cylinder is hinged to the middle of the rear arm.

Description

Technical Field

[0001] This invention relates to robots, and more specifically to a hydrostatically driven six-axis robot. Background Technology

[0002] Robots are widely used in various fields such as industrial manufacturing, medical care, entertainment services, military, semiconductor manufacturing, and space exploration. A six-axis robot can mimic a human arm, consisting of four joints (waist, shoulder, elbow, and wrist) and two more (wrist pitch and lateral movement), for a total of six joints. All six joints are driven by hydraulic fluid, requiring numerous hydraulic lines connecting them. Existing fully hydraulic robots have all their hydraulic lines exposed, making them prone to tangling or breakage during joint movement, affecting the robot's actuation and movement flexibility. Summary of the Invention

[0003] The purpose of this invention is to provide a hydrostatically driven six-axis robot to solve the technical problem that in existing fully hydraulic robots, all the oil pipes used for oil supply are exposed, which makes the oil pipes easy to get tangled or broken when the joints move, thus affecting the robot's drive and movement flexibility.

[0004] To achieve the above objectives, the present invention provides a hydrostatically driven six-axis robot, comprising a base unit, a rear arm unit, a forearm unit, a wrist unit, and a gripper; the base unit includes a bottom flange, a waist swing cylinder, and a shoulder plate; the waist swing cylinder is used to realize the swinging of the shoulder plate relative to the bottom flange; its special feature is:

[0005] The rear arm unit includes a rear arm, a rear arm control valve box, a first servo cylinder of the rear arm, and a second servo cylinder of the rear arm; the drive rod of the first servo cylinder of the rear arm is hinged to the lower end of the shoulder plate; the upper end of the shoulder plate is hinged to the lower end of the rear arm; the cylinder barrel of the first servo cylinder of the rear arm is hinged to the middle part of the rear arm.

[0006] The forearm unit includes a forearm and a forearm control valve box; the rear end of the forearm is hinged to the upper end of the rear arm; the middle part of the forearm is hinged to the drive rod of the second servo cylinder of the rear arm; the cylinder barrel of the second servo cylinder of the rear arm is hinged to the middle part of the rear arm.

[0007] The rear arm control valve box includes a rear arm control valve box body mounted on the rear arm, a rear arm valve block mounted on one side of the rear arm control valve box body, and a rear arm servo valve assembly mounted inside the rear arm control valve box body. The rear arm valve block has multiple first oil holes, which are connected to an external oil supply system. The rear arm servo valve assembly includes three servo valves. The three servo valves supply oil to the waist swing cylinder, the first servo cylinder of the rear arm, and the second servo cylinder of the rear arm respectively through corresponding first oil holes on the rear arm valve block. The rear arm valve block directly supplies oil to the front arm control valve box through corresponding oil pipes.

[0008] The forearm control valve box includes a forearm control valve box body mounted on the forearm, a forearm valve block mounted on one side of the forearm control valve box body, and a forearm servo valve assembly mounted inside the forearm control valve box body. The forearm valve block is provided with multiple second oil holes. The forearm servo valve assembly includes four servo valves. The four servo valves supply oil to the wrist unit through corresponding second oil holes on the forearm valve block. The forearm valve block is connected to the corresponding second oil holes through oil pipes.

[0009] Furthermore, the wrist unit includes a wrist pitch cylinder, a wrist swing cylinder, and a wrist rotation assembly;

[0010] The forearm is provided with a right wrist support plate and a left wrist support plate. The right wrist support plate and the left wrist support plate are respectively provided with hydraulic oil passages for the forearm control valve box to supply oil to the wrist pitch cylinder, the wrist swing cylinder and the wrist rotation assembly.

[0011] Furthermore, the drive shaft of the waist swing cylinder is connected to the bottom flange key; a bearing is provided between the bottom flange and the outer shell of the waist swing cylinder; and the outer shell of the waist swing cylinder is fixedly connected to the shoulder plate.

[0012] Furthermore, the wrist rotation assembly includes a wrist rotation housing;

[0013] The drive shaft of the wrist pitch cylinder is fixedly connected at both ends to the right wrist support plate and the left wrist support plate, respectively; a first oil ring is provided inside the cylinder barrel of the wrist pitch cylinder.

[0014] The cylinder of the wrist swing cylinder is fixedly connected to the cylinder of the wrist pitch cylinder; the drive shaft of the wrist swing cylinder is perpendicular to the drive shaft of the wrist pitch cylinder; both ends of the drive shaft of the wrist swing cylinder are fixedly connected to the wrist rotation box.

[0015] The wrist swing cylinder is provided with a second oil ring inside the cylinder barrel; the hydraulic oil passages on the right wrist support plate and the left wrist support plate supply oil to the wrist pitch cylinder through the first oil ring, and supply oil to the wrist swing cylinder through the first oil ring and the second oil ring.

[0016] Furthermore, the wrist rotation assembly also includes a third oil ring, a hydraulic motor, and a gripper linear cylinder disposed within the wrist rotation housing;

[0017] The clamping linear cylinder is installed inside the rotor assembly of the hydraulic motor; the cylinder barrel of the clamping linear cylinder is fixedly connected to the rotor assembly; the drive rod of the clamping linear cylinder is fixedly connected to the telescopic rod of the clamp; the housing of the clamp is fixedly connected to the cylinder barrel of the clamping linear cylinder.

[0018] The hydraulic oil passages in the right wrist support plate and the left wrist support plate supply oil to the stator component of the hydraulic motor through the first oil ring, the second oil ring, and the shell wall of the wrist rotating housing in sequence.

[0019] The hydraulic oil passages in the right and left wrist support plates supply oil to the linear cylinder of the gripper in sequence through the first oil ring, the second oil ring, the wrist rotation box, and the third oil ring.

[0020] Furthermore, the cylinder barrel and rotor assembly of the clamping linear hydraulic cylinder are an integrated structure.

[0021] The beneficial effects of this invention are:

[0022] The hydrostatically driven six-axis robot of the present invention retains only the main oil pipe and the base oil supply pipe, and can ensure that the joints will not be entangled when rotating, which gives the robot a larger rotation space and improves the robot's movement flexibility. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of an embodiment of a hydrostatically driven six-axis robot according to the present invention;

[0024] Figure 2 This is one of the exploded views of the base in the embodiments of the present invention;

[0025] Figure 3 This is the second exploded view of the base in an embodiment of the present invention;

[0026] Figure 4 This is an exploded view of the rear arm unit in an embodiment of the present invention;

[0027] Figure 5 This is an exploded view of the forearm unit in an embodiment of the present invention;

[0028] Figure 6 This is an exploded view of the wrist pitch cylinder in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the wrist pitch cylinder structure in an embodiment of the present invention;

[0030] Figure 8 This is an exploded view of the wrist swing cylinder in an embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of the wrist swing cylinder structure in an embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of the wrist rotation box structure in an embodiment of the present invention;

[0033] Figure 11 This is an exploded view of the wrist rotation box in an embodiment of the present invention;

[0034] Figure 12 This is an exploded view of the gripper in an embodiment of the present invention;

[0035] Figure 13 This is an exploded view of the first servo cylinder of the rear arm in an embodiment of the present invention;

[0036] Figure 14 This is an exploded view of the second servo cylinder of the rear arm in an embodiment of the present invention;

[0037] Figure 15 This is an exploded view of the rear arm control valve box in an embodiment of the present invention;

[0038] Figure 16 This is an exploded view of the forearm control valve box in an embodiment of the present invention;

[0039] Figure 17 This is a partial cross-sectional view of the first servo cylinder of the rear arm in an embodiment of the present invention;

[0040] Figure 18 This is a partial cross-sectional view of the second servo cylinder of the rear arm in an embodiment of the present invention;

[0041] Figure 19 This is a partial cross-sectional view of the rear arm unit in an embodiment of the present invention;

[0042] Figure 20 This is a partial cross-sectional view of a hydrostatically driven six-axis robot in an embodiment of the present invention;

[0043] Figure 21 This is a schematic diagram of the main oil route in an embodiment of the present invention;

[0044] Figure 22 This is a schematic diagram of the load-sensitive hydraulic control system in an embodiment of the present invention.

[0045] Icon labels:

[0046] 1-Base, 11-Waist swing cylinder, 111-Waist rotary joint encoder, 112-First external spline, 113-Encoder outlet, 114-Hydraulic oil circuit connector, 12-Bottom flange, 121-Bearing, 122-First internal spline, 13-Shoulder plate, 14-Shoulder joint shaft;

[0047] 2- Rear arm, 21- Rear arm first servo cylinder, 211- First linear displacement encoder, 212- First trunnion, 2121- First inlet / outlet port, 213- First rod end, 22- Rear arm second servo cylinder, 221- Second linear displacement encoder, 222- Second trunnion, 2221- Second inlet / outlet port, 223- Second rod end, 23- Rear arm control valve box, 231- Rear arm servo valve assembly, 2321- Second main line valve block, 23211- First hydraulic connector, 23212- Second hydraulic... Connector, 23213-Third hydraulic connector, 2322-First load comparison valve block, 2323-Balance valve block, 233-Rear arm control valve housing, 2332-Second data interface, 2333-Third data interface, 2334-Fourth data interface, 234-Rear arm control valve housing cover, 24-First bracket, 25-Second bracket, 26-Shoulder pivot, 27-Elbow joint pivot, 28-Rear arm side plate, 29-Rear arm cover plate, 2X1-Lower cap, 2X2-Upper cap, 2X3-Hydraulic oil passage;

[0048] 3-Forearm, 31-Forearm control valve box, 311-Forearm servo valve group, 3121-Second main circuit valve block, 3122-Second load comparison valve block, 3131-Hydraulic oil circuit connector, 3132-Sixth data interface, 313-Forearm control valve box body, 314-Forearm control valve box cover, 32-Second pin, 33-Wrist support plate, 334-Busset, 335-Second internal spline, 34-Elbow bearing, 35-Forearm support plate;

[0049] 4-Wrist, 41-Wrist pitch cylinder, 411-Wrist pitch encoder, 414-Second external spline, 415-First cylinder port, 416-First cylinder head, 417-First oil ring, 42-Wrist swing cylinder, 421-Wrist yaw encoder, 424-Third external spline, 425-Second cylinder port, 426-Second cylinder head, 427-Second oil ring, 43-Wrist rotary box, 431-Hydraulic motor, 4311-Third oil ring, 432-Wrist rotary encoder, 437-Clamping linear cylinder, 439-Wrist rotary box body, 44-End plate, 444-Sleeve, 445-Third internal spline;

[0050] 5-Clamper, 51-Telescopic rod, 52-Clamp assembly;

[0051] 7-Line. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] A hydrostatically driven six-axis robot, such as Figure 1 As shown, the robot design includes: a mechanical structure system, including a base 1, a rear arm 2, a forearm 3, a wrist 4, and a gripper 5; a hydraulic actuation system, including a waist swing cylinder 11, a rear arm first servo cylinder 21, a rear arm second servo cylinder 22, a wrist pitch cylinder 41, a wrist swing cylinder 42, a wrist rotary motor 431, a gripper linear cylinder 437, a rear arm control valve box 23, a forearm control valve box 31, and pipelines; and a displacement feedback system, including a waist rotary joint encoder 111, a first linear displacement encoder 211, a second linear displacement encoder 221, a wrist pitch encoder 411, a wrist yaw encoder 421, a wrist rotary encoder 432, and wiring 7.

[0054] The base 1 includes a waist swing cylinder 11, a bottom flange 12, and a shoulder plate 13. The waist swing cylinder 11 and the bottom flange 12 form a waist rotation joint. The waist swing cylinder 11 is connected to the shoulder plate 13. The upper part of the shoulder plate 13 is connected to the lower end of the rear arm 2 through a shoulder joint shaft 14. The lower end of the shoulder plate 13 is provided with a first pin shaft connected to the drive rod of the first servo cylinder 21 of the rear arm, serving as a support point for the rear arm 2 to be raised under the drive of the first servo cylinder 21. The rear arm 2 is internally equipped with a rear arm control valve box 23, a first bracket 24, a second bracket 25, a shoulder bearing 26, and an elbow joint shaft 27. The upper end of the rear arm 2 is connected to the elbow joint shaft 27. The joint shaft 27 is connected to the upper end of the forearm 3. The forearm 3 moves up and down under the drive of the second servo cylinder 22 of the rear arm. The wrist support plate 33 is fixed on the other end of the forearm 3. The wrist support plate 33 is fixed to the rotating shaft 412 of the wrist pitch cylinder 41. The wrist pitch cylinder 41 and the wrist swing cylinder 42 are flange connected. The rotation axis of the wrist pitch cylinder 41 is parallel to the axis of the rear arm lifting and the forearm pitching. The rotation axes of the wrist pitch cylinder 41 and the wrist swing cylinder 42 are perpendicular to each other. The wrist swing cylinder 42 is connected to the wrist rotation joint 43 through the end plate 44. The end of the wrist rotation box 43 is flange connected to the clamp 5.

[0055] like Figure 2 and Figure 3As shown, the base 1 mainly includes a bottom flange 12, a waist swing cylinder 11, and a shoulder plate 13. The bottom flange 12 is provided with a bearing 121 and a first internal spline 122 on its upper part. The rotating shaft of the waist swing cylinder 11 is provided with a first external spline 112. A hydraulic oil circuit connector 114 is installed on the side, and an encoder outlet 113 is fixed on the upper part. The rotating shaft of the waist swing cylinder 11 and the flange 13 are fixed by the engagement of the first internal spline 122 and the first external spline 112. When the waist swing cylinder 11 rotates, the cylinder body drives the shoulder plate 13 to rotate, thereby driving the entire robot to rotate horizontally. The upper end of the waist swing cylinder 11 is equipped with a waist rotation joint encoder 111 for detecting the rotation angle of the cylinder body, and its data line is connected from the outlet of the waist swing cylinder 11.

[0056] like Figure 4 As shown, the rear arm 2 includes a pair of rear arm side plates 28, a rear arm cover plate 29, and an end cap. A rear arm control valve box 23, a first bracket 24, and a second bracket 25 are arranged between the rear arm side plates 28. A shoulder pivot 26 and an elbow joint pivot 27 are respectively arranged at the lower end of the first bracket 24 and the upper end of the second bracket 25. The shoulder pivot 26 is sleeved on the shoulder joint pivot 14 and is hinged to the shoulder plate 13 through the bushings and thrust washers inside and on both sides of the shoulder pivot 26. The shoulder pivot 26 is fixed to the rear arm side plate 28 by a flange.

[0057] A two-circle intersecting hole is provided in the middle of the rear arm side plate 28, and the hole is connected to two end cap flanges; two oil passage holes are provided in the middle of the rear arm side plate 28, corresponding to the two circles of the two-circle intersecting hole 281.

[0058] like Figure 15 As shown, the rear arm control valve box 23 includes a rear arm servo valve assembly 231, a rear arm valve block, a rear arm control valve box body 233, and a rear arm control valve box cover 234.

[0059] like Figure 5 As shown, the forearm 3 includes a forearm support plate 35, an elbow pivot 34, a forearm control valve box, and a wrist support plate 33. The elbow pivot 34 is disposed between the forearm support plates 35. The elbow pivot 34 is sleeved on the elbow joint shaft 27 and is hinged to the rear arm side plate 28 through the bushings and thrust washers inside and on both sides of the elbow pivot 34. The elbow pivot 34 is fixed to the forearm support plate 35 by a flange.

[0060] The middle part of the forearm support plate 35 is also provided with a second pin 32, which is connected to the cylinder head of the second servo cylinder 22 of the rear arm as a support point for the forearm 3 to be lifted under the drive of the second servo cylinder 22 of the rear arm.

[0061] The forearm control valve box includes a forearm servo valve assembly 311, a forearm valve block, a forearm control valve box body 313, and a forearm control valve box cover 314. The right wrist support plate 331 of the wrist support plate 33 is provided with a bushing 334; the left wrist support plate 33 is fixedly provided with a second internal spline 335.

[0062] The wrist unit 4 includes a wrist pitch cylinder 41, a wrist swing cylinder 42, and a wrist rotation box 43. The cylinder body of the wrist pitch cylinder 41 is connected to the cylinder body flange of the wrist swing cylinder 42; the shaft end of the wrist swing cylinder 42 is connected to the wrist rotation box 43 near the end plate 44. The upper end plate 441 of the end plate 44 is provided with a bushing 444; the lower end plate 442 of the end plate 44 is fixedly provided with a third internal spline 445.

[0063] like Figures 6 to 9 As shown, the left shaft end 413 of the wrist pitch cylinder 41 is provided with a second external spline 414, which meshes with the second internal spline 335. The right side of the cylinder body of the wrist pitch cylinder 41 is provided with a first cylinder port 415 and a first cylinder cover 416, and a wrist pitch encoder 411 is installed inside the first cylinder port 415.

[0064] The lower shaft end of the wrist swing cylinder 42 is provided with a third external spline 424, which meshes with a third internal spline 445. The upper side of the cylinder body of the wrist swing cylinder 42 is provided with a second cylinder port 425 and a second cylinder cover 426. The wrist swing encoder 421 is installed inside the second cylinder port 425.

[0065] like Figure 10 and Figure 11 As shown, the wrist rotation box 43 includes a wrist rotation box body 439, a hydraulic motor 431, a gripper linear cylinder 437, and a wrist rotary encoder 432. The cylinder barrel of the gripper linear cylinder 437 is integrated with the hydraulic motor 431.

[0066] like Figure 12 As shown, the clamp 5 includes a telescopic rod 51 and a clamp assembly 52. ​​The clamp telescopic rod is connected to the clamp linear cylinder 437; the clamp assembly 52 is connected to the cylinder of the clamp linear cylinder 437.

[0067] like Figure 13 and Figure 14 As shown, the first servo cylinder 21 of the rear arm has a first trunnion 212 at the tail and a first rod end 213 at the head. The first servo cylinder 21 of the rear arm has a first linear displacement encoder 211 inside. The first trunnion 212 of the first servo cylinder 21 of the rear arm is hinged to the lower end cap 2X1 through a bushing, and the first rod end 213 is hinged to the first pin through a bushing.

[0068] The rear arm second servo cylinder 22 has a second trunnion 222 at the cylinder tail and a second rod end 223 at the cylinder head. The rear arm second servo cylinder 22 has a second linear displacement encoder 221 inside. The second trunnion 222 of the rear arm second servo cylinder 22 is hinged to the upper cap 2X2 through a bushing, and the second rod end 223 is hinged to the second pin 32 through a bushing.

[0069] The rear arm valve block includes a first main road valve block 2321, a first load comparison valve block 2322, and a balance valve block 2323.

[0070] like Figure 16 As shown, the forearm valve block includes a second main circuit valve block 3121 and a second load comparison valve block 3122. Its control principle is as follows: Figure 22 As shown.

[0071] like Figure 17 , 18 As shown in Figure 19, the first trunnion 212 of the first servo cylinder 21 of the rear arm is provided with a first oil inlet / outlet port 2121, and the second trunnion 222 of the second servo cylinder 22 of the rear arm is provided with a second oil inlet / outlet port 2221; the end cap is provided with a hydraulic oil passage 2X3.

[0072] like Figure 20 As shown, the right wrist support plate 331 of the wrist support plate 33 is provided with a hydraulic oil passage and an electrical wire passage 3312, and the left wrist support plate is provided with a hydraulic oil passage; the wrist pitch cylinder 41 is provided with a first oil ring 417, and the wrist swing cylinder 42 is provided with a second oil ring 427; the upper end plate 441 of the wrist end plate 44 is provided with a hydraulic oil passage and an electrical wire passage, and the lower end plate 442 is provided with a hydraulic oil passage; the wrist rotation box 439 is provided with a hydraulic oil passage, and the hydraulic motor 431 is provided with a third oil ring 4311.

[0073] like Figure 21 As shown, the hydraulic oil circuit connector of the waist swing cylinder is connected to the first hydraulic connector of the first main circuit valve block through a pipeline; the hydraulic oil circuit connector of the forearm control valve box is connected to the second hydraulic connector of the first main circuit valve block through a pipeline; and the third hydraulic connector of the first main circuit valve block is connected to an external load-sensitive pump through a pipeline.

[0074] The wrist pitch cylinder 41 and the first oil ring 417 are integrated into one design; the wrist swing cylinder 42 and the second oil ring 427 are integrated into one design; and the hydraulic motor 431 and the third oil ring 4311 are integrated into one design.

[0075] The waist rotation joint encoder is connected to the first data interface of the rear arm control valve housing via wiring; the first and second linear displacement encoders are connected to the second and third data interfaces of the rear arm control valve housing via wiring; the data lines of the wrist pitch encoder, wrist yaw encoder, and wrist rotation encoder are connected to the forearm control valve housing via the wiring paths of the upper end plate and the right wrist support plate. The rear arm control valve group includes three proportional valves, which control the waist swing cylinder, the first rear arm servo cylinder, and the second rear arm servo cylinder respectively; the forearm control valve group includes four proportional valves, which control the wrist pitch cylinder, the wrist yaw cylinder, the wrist rotation motor, and the gripper linear cylinder respectively; the communication line of the forearm control valve group and the data lines are integrated into the sixth data interface of the forearm control valve housing and connected to the fourth data interface of the rear arm control valve housing; the fifth data interface of the rear arm control valve housing is connected to an external control system via wiring.

[0076] The base rotates ±135 degrees around the center, the rear arm tilts from 30 degrees below the horizontal plane to 90 degrees above the horizontal plane around the shoulder joint axis, the forearm tilts from 90 degrees below the horizontal plane to 38 degrees above the horizontal plane around the elbow joint axis, the wrist tilt cylinder rotates ±100 degrees around the center, the wrist swing cylinder rotates ±100 degrees around the center, and the gripper rotates 360 degrees around the center.

[0077] The joint structure and hydraulic load-sensitive control system of the robot of this invention enable it to have high precision and load capacity during operation. The six-degree-of-freedom robot of this invention also has an open control interface and a standardized mechanical interface, which makes it easy to integrate with other devices.

[0078] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A hydrostatically driven six-axis robot, comprising a base unit, a rear arm unit, a forearm unit, a wrist unit, and a gripper (5); the base unit includes a bottom flange (12), a waist swing cylinder (11), and a shoulder plate (13); the waist swing cylinder (11) is used to realize the swing of the shoulder plate (13) relative to the bottom flange (12); characterized in that: The rear arm unit includes a rear arm (2), a rear arm control valve box (23), a rear arm first servo cylinder (21), and a rear arm second servo cylinder (22); the drive rod of the rear arm first servo cylinder (21) is hinged to the lower end of the shoulder plate (13); the upper end of the shoulder plate (13) is hinged to the lower end of the rear arm; the cylinder of the rear arm first servo cylinder (21) is hinged to the middle part of the rear arm (2); The forearm unit includes a forearm (3) and a forearm control valve box (31); the rear end of the forearm (3) is hinged to the upper end of the rear arm (2); the middle part of the forearm (3) is hinged to the drive rod of the second servo cylinder (22) of the rear arm; the cylinder of the second servo cylinder (22) of the rear arm is hinged to the middle part of the rear arm (2). The rear arm control valve box (23) includes a rear arm control valve box body (233) disposed on the rear arm (2), a rear arm valve block disposed on one side of the rear arm control valve box body (233), and a rear arm servo valve group (231) disposed inside the rear arm control valve box body (233); the rear arm valve block is provided with a plurality of first oil holes, which are connected to an external oil supply system; the rear arm servo valve group (231) includes three servo valves; the three servo valves supply oil to the waist swing cylinder (11), the rear arm first servo cylinder (21), and the rear arm second servo cylinder (22) respectively through the corresponding first oil holes on the rear arm valve block; the rear arm valve block supplies oil directly to the front arm control valve box (31) through corresponding oil pipes; The forearm control valve box (31) includes a forearm control valve box body (313) mounted on the forearm (3), a forearm valve block mounted on one side of the forearm control valve box body (313), and a forearm servo valve assembly mounted inside the forearm control valve box body (313); the forearm valve block is provided with a plurality of second oil holes; the forearm servo valve assembly includes four servo valves; the four servo valves supply oil to the wrist unit through the corresponding second oil holes on the forearm valve block; the forearm valve block is connected to the corresponding second oil holes through the oil pipe; The wrist unit includes a wrist pitch cylinder (41), a wrist swing cylinder (42), and a wrist rotation assembly; The forearm (3) is provided with a right wrist support plate and a left wrist support plate at its front end. The right wrist support plate and the left wrist support plate are respectively provided with hydraulic oil passages for the forearm control valve box (31) to supply oil to the wrist pitch cylinder (41), the wrist swing cylinder (42) and the wrist rotation assembly respectively. The wrist rotation assembly includes a wrist rotation housing (439); The two ends of the drive shaft of the wrist pitch cylinder (41) are fixedly connected to the right wrist support plate and the left wrist support plate respectively; a first oil ring (417) is provided inside the cylinder of the wrist pitch cylinder (41); The cylinder of the wrist swing cylinder (42) is fixedly connected to the cylinder of the wrist pitch cylinder (41); the drive shaft of the wrist swing cylinder (42) is perpendicular to the drive shaft of the wrist pitch cylinder (41); the two ends of the drive shaft of the wrist swing cylinder (42) are fixedly connected to the wrist rotation box (439). The wrist swing cylinder (42) is provided with a second oil ring (427) inside the cylinder barrel; the hydraulic oil passages on the right wrist support plate and the left wrist support plate supply oil to the wrist pitch cylinder (41) through the first oil ring (417), and supply oil to the wrist swing cylinder (42) through the first oil ring (417) and the second oil ring (427).

2. The hydrostatically driven six-axis robot according to claim 1, characterized in that: The drive shaft of the waist swing cylinder (11) is splinedly connected to the bottom flange (12); a bearing (121) is provided between the bottom flange (12) and the outer shell of the waist swing cylinder (11); the outer shell of the waist swing cylinder (11) is fixedly connected to the shoulder plate (13).

3. The hydrostatically driven six-axis robot according to claim 2, characterized in that: The wrist rotation assembly also includes a third oil ring (4311), a hydraulic motor (431), and a gripper linear cylinder (437) disposed in the wrist rotation housing (439); The clamping linear cylinder (437) is installed inside the rotor component of the hydraulic motor (431); the cylinder barrel of the clamping linear cylinder (437) is fixedly connected to the rotor component; the drive rod of the clamping linear cylinder (437) is fixedly connected to the telescopic rod (51) of the clamp (5); the housing of the clamp (5) is fixedly connected to the cylinder barrel of the clamping linear cylinder (437). The hydraulic oil passages in the right wrist support plate and the left wrist support plate supply oil to the stator component of the hydraulic motor (431) through the first oil ring (417), the second oil ring (427), and the shell wall of the wrist rotating housing (439) in sequence. The hydraulic oil passages in the right wrist support plate and the left wrist support plate supply oil to the clamp linear cylinder (437) in sequence through the first oil ring (417), the second oil ring (427), the wrist rotation box (439), and the third oil ring (4311).

4. The hydrostatically driven six-axis robot according to claim 3, characterized in that: The cylinder barrel of the clamping linear hydraulic cylinder (437) and the rotor component are an integrated structure.

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