An integrated electro-hydraulic swing actuator capable of distributing oil to the lower actuator of a robot's single leg

Abstract

The present invention provides an integrated electro-hydraulic swing actuator that can supply oil to the lower-level actuator of a single leg of a robot, comprising a swing cylinder body, a front end cover, a motor shaft, a bearing, a front bearing cover, a rear bearing cover, a rotary encoder, a servo valve, a stator blade, a moving blade designed as an integration with the motor shaft, and a pressure sensor; the pressure sensor is arranged on the side of the swing cylinder body, and the stator blade is arranged in the working chamber of the swing cylinder body, wherein the motor shaft and the moving blade can rotate under the push of oil. The oil circuit inside the integrated electro-hydraulic swing actuator of the present invention is divided into two paths, one path of oil passes through the swing cylinder body to reach the working chamber of the electro-hydraulic swing actuator, and the other path passes through the oil circuit inside the motor shaft to supply oil to the next-level actuator. The flow channel inside the swing cylinder body can replace the external pipeline, connecting the various levels of hydraulic actuators on the single leg of the robot in series, greatly reducing the volume and mass of the entire hydraulic swing cylinder, and improving the working performance and applicability of the electro-hydraulic swing actuator.

Description

Technical Field

[0001] The present invention relates to the technical field of fluid transmission and control, and in particular to an integrated electro-hydraulic swing actuator capable of distributing oil for a lower-level actuator of a single leg of a robot. Background Art

[0002] Hydraulic transmission systems are currently one of the most widely used systems. Compared to electric and mechanical transmissions, they offer advantages such as a high power-to-weight ratio, simple structure, flexible layout, and ease of remote and automatic control. Consequently, they are widely used in high-end mobile equipment, engineering machinery, legged robots, aerospace, and other fields. Reducing the weight of hydraulic systems can significantly improve their performance. Therefore, designing a more integrated and lightweight electro-hydraulic actuator structure is of great significance for applications such as legged robots and high-end mobile equipment.

[0003] Research on hydraulic legged robots is currently a hot area of ​​research internationally. Hydraulic systems play a crucial role in legged robots, with their joints driven by hydraulic drive units. Swinging hydraulic cylinders, which offer high torque at low speeds, are currently used to drive the lateral rotation of most legged robots. However, existing swinging hydraulic cylinders on the market lack integration and are heavy. Swinging hydraulic cylinders are typically controlled by servo valves that adjust the flow rate at the valve ports. Furthermore, the swinging hydraulic cylinders in hydraulic legged robots require various sensors to collect and provide feedback on motion information such as output torque and swing speed for precise motion control. The installation of various sensors and control components such as servo valves requires significant space, increasing the overall mass of the legged robot, reducing space utilization, and significantly reducing motion performance. Furthermore, a single leg in a legged robot is typically driven by multiple hydraulic actuators, with relatively independent oil supply between the actuators, resulting in numerous and tangled hydraulic oil lines. High-pressure systems place high demands on the hydraulic system's oil circuits, which contribute to their high quality. Since the external oil pipes take up a relatively large space, there is no suitable installation space on the legged robot. The complex hydraulic pipelines will also increase the pressure loss of the system, bring many uncontrollable factors, and greatly affect the control accuracy of the legged robot.

[0004] In summary, hydraulically driven swing actuators hold great promise for development in legged robots. However, their current drive actuators lack high integration, and there is no supporting controller or related algorithms. Their control accuracy is also insufficient, failing to meet the high-performance requirements of legged robots. Therefore, a highly integrated, all-in-one electro-hydraulic swing cylinder is urgently needed for the movement of high-end hydraulic mobile equipment. Summary of the Invention

[0005] In order to solve the shortcomings of the existing technology, the purpose of the present invention is to provide an integrated swing hydraulic cylinder that can distribute oil. It uses the internal flow channel of the motor shaft to distribute oil to the next-level actuator of the leg of the foot-type robot, and the swing cylinder body is integrated with servo valves, pressure sensors, angle sensors and other components. The integrated electro-hydraulic swing hydraulic cylinder has a more compact overall structure, and the mass installation space is greatly reduced under the same output power. It can be applied to hydraulic systems such as the legs of foot-type robots and has a variety of application scenarios.

[0006] Specifically, the present invention provides an integrated electro-hydraulic swing hydraulic cylinder capable of oil distribution, which includes a swing cylinder body, a front end cover, a motor shaft, a bearing, a front bearing cover, a rear bearing cover, a rotary encoder, a servo valve, a stator blade, a moving blade designed as an integration with the motor shaft, and a pressure sensor; the front bearing cover and the rear bearing cover are respectively arranged on both sides of the swing cylinder body, the rotary encoder is connected to the rear end cover by means of an encoder end cover, the motor shaft is connected to the front end cover by means of the front bearing cover, the servo valve is arranged on the upper part of the swing cylinder body, the pressure sensor is arranged on the side of the swing cylinder body, the stator blade is arranged in the working chamber of the swing cylinder body, and the moving blade designed as an integration with the motor shaft can rotate under the push of oil;

[0007] A high-pressure oil inlet and a low-pressure oil inlet are provided on the upper portion of the swing cylinder body; the high-pressure flow passage inside the swing cylinder body includes a first high-pressure flow passage and a second high-pressure flow passage; the low-pressure flow passage inside the swing cylinder body includes a first low-pressure flow passage and a second low-pressure flow passage; a first annular cavity and a second annular cavity are provided at the connection between the swing cylinder body and the motor shaft;

[0008] The high-pressure oil inlet is connected to the input end of the high-pressure oil inlet pipeline, the output end of the high-pressure oil inlet pipeline is connected to the input ends of the first high-pressure flow channel and the second high-pressure flow channel, the output end of the first high-pressure flow channel is connected to the P port of the servo valve, the A port of the servo valve is connected to the working chamber of the swing cylinder body, the output end of the second high-pressure flow channel is connected to the first annular cavity, and a high-pressure oil port is provided at the connection between the motor shaft and the first annular cavity, and the high-pressure oil port is connected to the high-pressure flow channel inside the motor shaft;

[0009] The low-pressure oil inlet is connected to the input end of the low-pressure oil inlet pipeline, the output end of the low-pressure oil inlet pipeline is connected to the input ends of the first low-pressure flow channel and the second low-pressure flow channel, the output end of the first low-pressure flow channel is connected to the T port of the servo valve, the B port of the servo valve is connected to the working chamber of the swing cylinder body, the output end of the second low-pressure flow channel is connected to the second annular cavity, and a low-pressure oil port is provided at the connection between the motor shaft and the second annular cavity, and the low-pressure oil port is connected to the low-pressure flow channel inside the motor shaft;

[0010] The high-pressure flow channel and the low-pressure flow channel of the motor shaft are respectively connected to the next-level oil supply device;

[0011] High-pressure hydraulic oil flows into the first high-pressure flow channel and the second high-pressure flow channel through the high-pressure oil inlet and the high-pressure oil inlet pipeline. Then, the first high-pressure hydraulic oil flows into the P port of the servo valve through the first high-pressure flow channel, and further flows into the A port of the servo valve, and then enters the working chamber of the swing cylinder body; the second high-pressure hydraulic oil enters the first annular cavity through the second high-pressure flow channel, and further flows into the high-pressure flow channel inside the motor shaft;

[0012] The low-pressure hydraulic oil flows into the first low-pressure flow channel and the second low-pressure flow channel through the low-pressure oil inlet and the low-pressure oil inlet pipe. Then, the first low-pressure hydraulic oil flows into the T port of the servo valve through the first low-pressure flow channel, and further flows into the B port of the servo valve, and then enters the working chamber of the swing cylinder body; the second low-pressure hydraulic oil enters the second annular cavity through the second low-pressure flow channel, and further flows into the low-pressure flow channel inside the motor shaft.

[0013] Preferably, the motor shaft and the moving blades are formed integrally; both ends of the motor shaft are sealed by means of a sealing assembly, and the sealing assembly includes a shaft root sealing ring, a support ring and an O-ring connected in sequence. When the blade shaft of the moving blade rotates, the load generated by the O-ring acts on the shaft root sealing ring through the support ring, pressing the shaft root sealing ring against the shoulder of the motor shaft.

[0014] Preferably, the first high-pressure flow channel includes a first pipeline, a second pipeline, a third pipeline, a fourth pipeline and a fifth pipeline connected to each other, and the output end of the fifth pipeline extends into the working chamber of the hydraulic swing cylinder; the second high-pressure flow channel includes a sixth pipeline, and the output end of the sixth pipeline is located above the first annular cavity.

[0015] Preferably, the first low-pressure flow channel includes a seventh pipeline, an eighth pipeline, a ninth pipeline, a tenth pipeline and an eleventh pipeline connected to each other, and the output end of the eleventh pipeline extends into the working chamber of the hydraulic swing cylinder; the second low-pressure flow channel includes a twelfth pipeline, and the output end of the twelfth pipeline is located above the second annular cavity.

[0016] Preferably, slots for installing sealing rings are provided on the moving blades and the stator blades.

[0017] Preferably, two threaded holes for installing pipe joints are provided on the front end surface of the swing cylinder body.

[0018] Preferably, three sealing grooves are provided on both sides of the annular chamber inside the swing cylinder body that is connected to the high and low oil holes inside the motor shaft.

[0019] Preferably, the first high-pressure oil enters the first working chamber, and the oil drives the moving blades to rotate clockwise, driving the motor shaft to rotate forward;

[0020] The first low-pressure oil enters the second working chamber. When the motor shaft rotates forward, the first low-pressure oil flows from the working chamber of the swing cylinder to the low-pressure oil port through the pipeline.

[0021] Preferably, the second high-pressure hydraulic oil enters the first annular cavity through the second high-pressure flow channel and further flows into the high-pressure flow channel inside the motor shaft. The motor shaft continues to provide high-pressure oil to the next-stage oil supply component through the high-pressure flow channel.

[0022] The second low-pressure hydraulic oil enters the second annular cavity through the second low-pressure flow channel and further flows into the low-pressure flow channel inside the motor shaft. The motor shaft continues to provide low-pressure oil to the next-level oil supply components with the help of the low-pressure flow channel.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) The present invention provides an integrated electro-hydraulic swing cylinder that adopts a motor shaft oil distribution method. The oil enters through the hydraulic swing cylinder body, flows into the working chamber of the swing cylinder, drives the motor shaft to rotate, and supplies oil to the next-level actuator through the motor shaft. The flow channel design in the cylinder body can replace the external pipeline of the traditional hydraulic cylinder, greatly reducing the volume and weight of the entire hydraulic swing cylinder, and improving the working performance and applicability of the hydraulic swing cylinder.

[0025] (2) The present invention supplies oil from the oil source to the hydraulic swing cylinder, and no hydraulic pipeline is required outside the system, which reduces the system quality and oil leakage loss. In addition, the components on the hydraulic cylinder are highly integrated, which effectively improves the system power-to-weight ratio and reduces the limitation of installation space.

[0026] (3) The present invention provides a lightweight hydraulic system. The performance of the lightweight hydraulic system and hydraulic components is greatly improved compared with traditional systems and components. The hydraulic swing cylinder provided by the present invention does not need to arrange corresponding pipeline connection blocks on the cylinder body, which can further reduce the mass of the hydraulic swing cylinder to a certain extent and improve the performance of the hydraulic swing cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of the integrated swing hydraulic cylinder capable of distributing oil according to the present invention;

[0028] Figure 2 For the present invention Figure 1 Right view;

[0029] Figure 3 This is a schematic structural diagram of the hydraulic swing cylinder body of the present invention;

[0030] Figure 4 For the present invention Figure 3 Right view;

[0031] Figure 5For the present invention Figure 4 BB cross-sectional view;

[0032] Figure 6 For the present invention Figure 3 AA section view;

[0033] Figure 7 For the present invention Figure 3 Left view of;

[0034] Figure 8 For the present invention Figure 7 CC cross-sectional view;

[0035] Figure 9 Schematic diagram of the structure of the motor shaft of the present invention;

[0036] Figure 10 For the present invention Figure 9 EE cross-sectional view;

[0037] Figure 11 For the present invention Figure 9 DD cross-sectional view;

[0038] Figure 12 For the present invention Figure 9 Right view;

[0039] Figure 13 For the present invention Figure 1 Left side cross-sectional view;

[0040] Figure 14 It is a structural schematic diagram of the stator blade of the present invention. DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0042] The purpose of the present invention is to provide an integrated electro-hydraulic swing hydraulic cylinder that adopts a motor shaft oil distribution method to solve the problems existing in the above-mentioned prior art. A flow channel is opened inside the motor shaft to connect the swing cylinder body with the oil distribution. The overall structure is more compact, and no external pipeline is required when the system is supplied with oil. It can not only realize the swing of its own swing hydraulic cylinder, but also supply oil to the next-level actuator with the help of the flow channel design.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] The present invention provides an integrated electro-hydraulic swing hydraulic cylinder adopting a motor shaft oil distribution method. When the hydraulic swing cylinder is working, it is often necessary to fix the cylinder tail with a mechanism and connect the motor shaft with the moving part mechanism to realize its driving effect on the mechanism. In the traditional hydraulic swing cylinder, the motor shaft end connection is a key connection. Therefore, on the basis of ensuring that the strength of the motor shaft meets the actual engineering requirements, the present invention processes a corresponding flow channel in the shaft, and the flow channel corresponds to the oil distribution groove connected to the cylinder body. The hydraulic oil passes through the flow channel inside the cylinder body and is divided into two paths. One path enters the working chamber of the swing cylinder body, and the other path is connected to the oil distribution groove and the internal flow channel of the motor shaft, which can supply oil to the next level. In this way, the mass of the entire hydraulic cylinder can be reduced and the driving performance and applicability of the hydraulic swing cylinder can be improved.

[0045] To ensure the proper function of the hydraulic swing cylinder, a special sealing design is required at the root of the motor shaft to maintain the cylinder's normal operating pressure. The motor shaft's oil supply channel must also be sealed to minimize leakage throughout the hydraulic system. Furthermore, to protect the sealing element, a sealing mounting groove is provided on each side of the motor shaft. The grooves consist of a gasket, a sealing pressure ring, and an O-ring. When the motor shaft rotates, the load generated by the O-ring is applied to the gasket via the sealing pressure ring, pressing it against the blade shaft shoulder, creating a seal. This extends the service life of the seal and reduces the failure rate of the entire actuator.

[0046] The valve-controlled cylinder must be used in conjunction with a servo valve. The cylinder body must have corresponding servo valve mounting holes. Hydraulic oil enters the hydraulic swing cylinder through the flow channel at the rear end cover cylinder body, then enters the P port of the servo valve through the flow channel within the cylinder body. The valve's A and B ports connect to the flow channel in chamber 27 within cylinder body 4. Finally, the oil enters the flow channel within the rear end cover cylinder body from the T port of the valve, and then connects to the oil source through the flow channel within the rear end cover cylinder body. To improve the integration of the hydraulic swing cylinder, a corresponding pressure sensor and rotary encoder must be placed on the cylinder body. The pressure sensor is connected to the rear end cover cylinder body, and the rotary encoder is connected to the rear bearing cap, making the hydraulic swing cylinder more integrated.

[0047] Specifically, such as Figures 1-14 As shown, the integrated electro-hydraulic actuator with a motor shaft oil distribution method provided by the present invention includes a rotary encoder 1, an encoder mounting cover 2, a rear bearing cover 3, a swing cylinder body 4, a pressure sensor 5, an end cover 6, a front bearing cover 7, a motor shaft 8 and a servo valve 9. When the entire hydraulic swing cylinder is working, it only needs to be connected to two high- and low-pressure oil source pipes, and the oil circuit directly enters the hydraulic swing cylinder from the hydraulic swing cylinder body, which greatly reduces the volume and mass of the hydraulic swing cylinder. Moreover, when supplying oil to the next-level actuator, oil can be supplied through the internal flow channel of the motor shaft without the need for an external pipeline, which can greatly improve the working performance of the hydraulic cylinder and enable the hydraulic swing cylinder to meet various complex working conditions. At the same time, the cylinder has a high degree of integration, which can improve the performance of the hydraulic cylinder while increasing the service life of the hydraulic cylinder.

[0048] A high-pressure oil inlet and a low-pressure oil inlet are provided on the upper part of the swing cylinder body 4. The high-pressure flow channel inside the swing cylinder body 4 includes a first high-pressure flow channel and a second high-pressure flow channel, and the low-pressure flow channel inside the swing cylinder body 4 includes a first low-pressure flow channel and a second low-pressure flow channel; a first annular cavity and a second annular cavity are provided at the connection between the swing cylinder body 4 and the motor shaft 8.

[0049] High-pressure hydraulic oil flows into the first high-pressure flow channel and the second high-pressure flow channel through the high-pressure oil inlet and the high-pressure oil inlet pipe. Then, the first high-pressure hydraulic oil flows into the P port of the servo valve through the first high-pressure flow channel, and further flows into the A port of the servo valve, and then enters the working chamber of the swing cylinder body 4; the second high-pressure hydraulic oil enters the first annular cavity through the second high-pressure flow channel, and further flows into the high-pressure flow channel inside the motor shaft.

[0050] The low-pressure hydraulic oil flows into the first low-pressure flow channel and the second low-pressure flow channel through the low-pressure oil inlet and the low-pressure oil inlet pipe. Then, the first low-pressure hydraulic oil flows into the T port of the servo valve through the first low-pressure flow channel, and further flows into the B port of the servo valve, and then enters the working chamber of the swing cylinder body; the second low-pressure hydraulic oil enters the second annular cavity through the second low-pressure flow channel, and further flows into the low-pressure flow channel inside the motor shaft.

[0051] The high-pressure oil inlet is connected to the input end of the high-pressure oil inlet pipeline, the output end of the high-pressure oil inlet pipeline is connected to the first high-pressure flow channel and the second high-pressure flow channel, the output end of the first high-pressure flow channel is connected to the P port and the A port of the servo valve, the output end of the A port of the servo valve is connected to the working chamber of the swing cylinder body 4, the output end of the second high-pressure flow channel is connected to the first annular cavity, and a high-pressure oil port is provided at the connection between the motor shaft and the first annular cavity, and the high-pressure oil port is connected to the high-pressure flow channel inside the motor shaft.

[0052] The low-pressure oil inlet is connected to the input end of the low-pressure oil inlet pipeline, the output end of the low-pressure oil inlet pipeline is connected to the first low-pressure flow channel and the second low-pressure flow channel, the output end of the first low-pressure flow channel is connected to the T port and B port of the servo valve, the output end of the B port of the servo valve is connected to the working chamber of the swing cylinder body 4, the output end of the second low-pressure flow channel is connected to the second annular cavity, and a low-pressure oil port is provided at the connection between the motor shaft and the second annular cavity, and the low-pressure oil port is connected to the low-pressure flow channel inside the motor shaft.

[0053] Two threaded holes are arranged on the front end surface of the cylinder body 4 of the hydraulic swing cylinder provided by the present invention, which are used to install pipe joints. The oil source inlet and the oil return port are respectively connected to the two threaded holes. After the high-pressure hydraulic oil enters the oil inlet pipe 10 in the swing cylinder body 4, the high-pressure hydraulic oil is divided into two paths. One path flows into the P port of the servo valve through the oil inlet pipe 14 in the swing cylinder body 4, and then flows into the A port of the servo valve, and then flows through the first pipeline 15 in the swing cylinder body 4 into the second pipeline 20, the third pipeline 21, the fourth pipeline 22, and the fifth pipeline 25 in the cylinder body 4 to enter the hydraulic swing cylinder working chamber; the other path flows into the first annular cavity 30 in the swing cylinder body 4 through the sixth pipeline 13 in the swing cylinder body 4, and then provides high-pressure oil to the next stage through the high-pressure flow channels 34 and 37 of the motor shaft 8. After the low-pressure hydraulic oil enters the oil inlet pipe 12 in the swing cylinder body 4, the low-pressure hydraulic oil is divided into two paths. One path flows into the T port of the servo valve through the oil inlet pipe 16 in the swing cylinder body 4, then flows into the B port of the servo valve, and then flows into the eighth pipe 19 of the cylinder body through the seventh pipe 18 in the swing cylinder body, and then flows into the ninth pipe 24, the tenth pipe 23 and the eleventh pipe 28 in the swing cylinder body to enter the hydraulic swing cylinder working chamber; the other path flows into the second annular cavity 32 in the cylinder body 4 through the twelfth pipe 17 in the swing cylinder body 4, and then provides low-pressure oil to the next stage through the low-pressure flow channels 35 and 36 of the motor shaft 8.

[0054] The hydraulic cylinder involved in the present invention has no external pipelines, which can reduce the volume and weight of the cylinder, but will increase the risk of system leakage. Therefore, it is necessary to open three sealing grooves 29, 31, and 33 on both sides of the first annular cavity 30 and the second annular cavity 32 inside the cylinder body 4, which are connected to the high and low oil holes inside the motor shaft. Each sealing groove is installed with a rotating Gly ring for sealing. The motor shaft and the moving blades are designed as an integrated whole. The sealing form is the same as that of the fixed blades 41. Slots 38 and 42 for installing customized sealing rings are opened on the moving and fixed blades to install customized sealing rings. Sealing installation grooves are arranged on both sides of the motor shaft, which are composed of three parts: a sealing gasket 40, a sealing pressure ring 39, and an O-ring. When the motor shaft rotates, the load generated by the O-ring acts on the sealing gasket through the sealing pressure ring, pressing the sealing gasket against the shoulder of the motor shaft to form a sealing effect.

[0055] The working principle of the present invention is further described below:

[0056] The system's high-pressure and low-pressure oil are connected to the high and low oil ports on the hydraulic swing cylinder body, respectively. High-pressure hydraulic oil flows through the high-pressure oil inlet and the high-pressure oil inlet pipeline into the first and second high-pressure flow channels. The first high-pressure hydraulic oil flows through the first high-pressure oil channel to the P port of the servo valve. An external control signal switches the connection between the servo valve's P and T ports and its A and B ports by controlling the servo valve's internal spool. When port P is connected to port A and port T is connected to port B, the high-pressure oil flows through port P in one step into the servo valve's A port, then into the working chamber of the swing cylinder body. The first high-pressure oil enters the first working chamber, driving the rotor blades to rotate clockwise, driving the motor shaft in forward rotation. The second high-pressure hydraulic oil enters the first annular cavity through the second high-pressure flow channel and further flows into the high-pressure flow channel inside the motor shaft. The motor shaft uses the high-pressure flow channel to continue providing high-pressure oil to the next-level oil supply components.

[0057] Low-pressure hydraulic oil flows through the low-pressure oil inlet and the low-pressure oil inlet pipeline into the first and second low-pressure flow channels. The first low-pressure hydraulic oil flows through the first low-pressure oil channel into the T port of the servo valve, and further into the B port of the servo valve, before entering the working chamber of the swing cylinder body. The first low-pressure oil enters the second working chamber. When the motor shaft rotates forward, the first low-pressure oil flows from the working chamber of the swing cylinder to the low-pressure oil port through the pipeline. The second low-pressure hydraulic oil enters the second annular cavity through the second low-pressure flow channel and further flows into the low-pressure flow channel inside the motor shaft. The motor shaft uses the low-pressure flow channel to continue to provide low-pressure oil to the next level of oil supply components.

[0058] When the servo valve switches the connection channel, connecting the P port to the B port and the T port to the A port, the first high-pressure hydraulic oil flows into the P port of the servo valve through the first high-pressure oil channel, and further flows into the B port of the servo valve, and then enters the working chamber of the swing cylinder body. The high-pressure oil enters the second working chamber, and the oil drives the moving blades to rotate counterclockwise, driving the motor shaft to reverse.

[0059] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. An integrated electro-hydraulic swing actuator capable of distributing oil to a robot's single-leg lower actuator, characterized by: It includes a swing cylinder body, a front end cover, a motor shaft, a bearing, a front bearing cover, a rear bearing cover, a rotary encoder, a servo valve, a stator blade, a moving blade integrated with the motor shaft, and a pressure sensor; the front bearing cover and the rear bearing cover are respectively arranged on both sides of the swing cylinder body, the rotary encoder is connected to the rear bearing cover by means of an encoder end cover, the motor shaft is connected to the front end cover by means of the front bearing cover, the servo valve is arranged on the upper part of the swing cylinder body, the pressure sensor is arranged on the side of the swing cylinder body, the stator blade is arranged in the working chamber of the swing cylinder body, and the moving blade can drive the motor shaft to rotate under the push of oil; A high-pressure oil inlet and a low-pressure oil inlet are provided on the upper portion of the swing cylinder body; the high-pressure flow passage inside the swing cylinder body includes a first high-pressure flow passage and a second high-pressure flow passage; the low-pressure flow passage inside the swing cylinder body includes a first low-pressure flow passage and a second low-pressure flow passage; a first annular cavity and a second annular cavity are provided at the connection between the swing cylinder body and the motor shaft; The high-pressure oil inlet is connected to the input end of the high-pressure oil inlet pipeline, the output end of the high-pressure oil inlet pipeline is connected to the input ends of the first high-pressure flow channel and the second high-pressure flow channel, the output end of the first high-pressure flow channel is connected to the P port of the servo valve, the A port of the servo valve is connected to the working chamber of the swing cylinder body, the output end of the second high-pressure flow channel is connected to the first annular cavity, and a high-pressure oil port is provided at the connection between the motor shaft and the first annular cavity, and the high-pressure oil port is connected to the high-pressure flow channel inside the motor shaft; The low-pressure oil inlet is connected to the input end of the low-pressure oil inlet pipeline, the output end of the low-pressure oil inlet pipeline is connected to the input ends of the first low-pressure flow channel and the second low-pressure flow channel, the output end of the first low-pressure flow channel is connected to the T port of the servo valve, the B port of the servo valve is connected to the working chamber of the swing cylinder body, the output end of the second low-pressure flow channel is connected to the second annular cavity, and a low-pressure oil port is provided at the connection between the motor shaft and the second annular cavity, and the low-pressure oil port is connected to the low-pressure flow channel inside the motor shaft; The high-pressure flow channel and the low-pressure flow channel of the motor shaft are respectively connected to the next-level oil supply device; High-pressure hydraulic oil flows into the first high-pressure flow channel and the second high-pressure flow channel through the high-pressure oil inlet and the high-pressure oil inlet pipeline. Then, the first high-pressure hydraulic oil flows into the P port of the servo valve through the first high-pressure flow channel, and further flows into the A port of the servo valve, and then enters the working chamber of the swing cylinder body; the second high-pressure hydraulic oil enters the first annular cavity through the second high-pressure flow channel, and further flows into the high-pressure flow channel inside the motor shaft; The low-pressure hydraulic oil flows into the first low-pressure flow channel and the second low-pressure flow channel through the low-pressure oil inlet and the low-pressure oil inlet pipe. Then, the first low-pressure hydraulic oil flows into the T port of the servo valve through the first low-pressure flow channel, and further flows into the B port of the servo valve, and then enters the working chamber of the swing cylinder body; the second low-pressure hydraulic oil enters the second annular cavity through the second low-pressure flow channel, and further flows into the low-pressure flow channel inside the motor shaft.

2. The integrated electro-hydraulic swing actuator capable of distributing oil to a robot's single-leg lower actuator according to claim 1, characterized in that: The motor shaft and the moving blades are formed integrally.

3. The integrated electro-hydraulic swing actuator capable of distributing oil to a robot's single-leg lower actuator according to claim 2, characterized in that: The two ends of the motor shaft are sealed by a sealing assembly, which includes a shaft root sealing ring, a support ring and an O-ring connected in sequence. When the motor shaft of the moving blade rotates, the load generated by the O-ring acts on the shaft root sealing ring through the support ring, pressing the shaft root sealing ring against the shoulder of the motor shaft.

4. The integrated electro-hydraulic swing actuator capable of distributing oil to a lower-level actuator of a single leg of a robot according to claim 1, characterized in that: The first high-pressure flow channel includes a first pipeline, a second pipeline, a third pipeline, a fourth pipeline and a fifth pipeline which are interconnected, and the output end of the fifth pipeline extends into the working chamber of the hydraulic swing cylinder; the second high-pressure flow channel includes a sixth pipeline, and the output end of the sixth pipeline is located above the first annular cavity.

5. The integrated electro-hydraulic swing actuator capable of distributing oil to a lower-level actuator of a single leg of a robot according to claim 1, characterized in that: The first low-pressure flow channel includes a seventh pipeline, an eighth pipeline, a ninth pipeline, a tenth pipeline and an eleventh pipeline which are interconnected, and the output end of the eleventh pipeline extends into the working chamber of the hydraulic swing cylinder; the second low-pressure flow channel includes a twelfth pipeline, and the output end of the twelfth pipeline is located above the second annular cavity.

6. The integrated electro-hydraulic swing actuator capable of distributing oil to a lower-level actuator of a single leg of a robot according to claim 1, characterized in that: The moving blades and the fixed blades are both provided with slots for installing sealing rings.

7. The integrated electro-hydraulic swing actuator capable of distributing oil to a lower-level actuator of a single leg of a robot according to claim 1, characterized in that: Two threaded holes for installing pipe joints are provided on the front end surface of the swing cylinder body.

8. The integrated electro-hydraulic swing actuator capable of distributing oil to a lower-level actuator of a single leg of a robot according to claim 1, characterized in that: Three sealing grooves are provided on both sides of the annular chamber inside the swing cylinder body that connects to the high and low oil holes inside the motor shaft.

9. The integrated electro-hydraulic swing actuator capable of distributing oil to a lower-level actuator of a single leg of a robot according to claim 1, characterized in that: The first high-pressure hydraulic oil enters the first working chamber, and the oil pushes the moving blades to rotate clockwise, driving the motor shaft to rotate forward.

10. The integrated electro-hydraulic swing actuator capable of distributing oil to a lower-level actuator of a single leg of a robot according to claim 9, characterized in that: The second high-pressure hydraulic oil enters the first annular cavity through the second high-pressure flow channel and further flows into the high-pressure flow channel inside the motor shaft. The motor shaft continues to provide high-pressure oil to the next-level oil supply components through the high-pressure flow channel. The second low-pressure hydraulic oil enters the second annular cavity through the second low-pressure flow channel and further flows into the low-pressure flow channel inside the motor shaft. The motor shaft continues to provide low-pressure oil to the next-level oil supply components with the help of the low-pressure flow channel.

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