A hydraulic cylinder valve integrated joint actuator applied to an exoskeleton robot

Abstract

This invention discloses a hydraulic cylinder-valve integrated joint actuator for exoskeleton robots, comprising a vane-type oscillating output rotor, an oil circuit assembly, and a valve body assembly. The vane-type oscillating output rotor is connected to the oil circuit assembly, and the valve body assembly is disposed inside the oil circuit assembly. The valve body assembly controls the on / off connection and direction switching of the oil circuit between the vane-type oscillating output rotor and the oil circuit assembly. This invention is ingeniously conceived, rationally designed, and structurally simple. It allows the vane-type oscillating output rotor to operate within a very small space, outputting high torque. Furthermore, its output shaft does not require an electromagnetic directional valve; the rotation of the valve core directly drives the load to rotate and oscillate. The rotational speed is changed by a throttling valve. By integrating the functions of the vane-type oscillating output rotor, electromagnetic directional valve, and throttling valve into a single structure, the design becomes compact, reducing the space occupied at the joint.

Description

Technical Field

[0001] This invention relates to the fields of heavy-duty exoskeleton robots and hydraulic drives. Specifically, it is a hydraulic actuator that can provide support for people wearing exoskeletons, improve their load-bearing capacity and mobility to complete tasks that cannot be completed by humans on their own, and improve work efficiency. Background Technology

[0002] Hydraulic drive is a driving method that uses hydraulic oil as the working medium to achieve energy conversion and control. A hydraulic system typically consists of a power component (hydraulic pump), oil pipes, control valves, control circuits, and actuators. Hydraulic drive systems have a simple structure, high reliability, and maintain smooth motion even when generating large output torques. With the development of robot theory and related technologies, hydraulically driven robots are widely used in military, medical, and civilian fields. These applications place extremely high demands on the load-bearing capacity and size of exoskeleton robots; therefore, the selection of leg drive methods and the design of swing joint structures are crucial for improving the mobility of heavy-duty robots.

[0003] Exoskeleton robots typically use hydraulic cylinders or motors for drive. When a hydraulic cylinder maintains a constant force output, the position of the actuator changes as the joint rotates, which can cause insufficient driving torque at certain stages of the entire stroke. In addition, the joints have many components installed, which takes up a lot of leg space. Motors have too low power density and too small torque to meet the high load requirements of exoskeleton robots.

[0004] Therefore, based on the above shortcomings, this paper proposes a structure for a hydraulically driven robot joint that can meet heavy load requirements and has a small size, using a hydraulic swing output rotor as the basic drive unit of the exoskeleton robot, in order to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of low load-bearing capacity and excessively large drive structure in exoskeleton robots, and to propose a joint-swinging hydraulically driven actuator. This invention provides a novel swinging joint structure model, which introduces a blade-type swinging output rotor for joint drive compared to ordinary drive structures. This effectively overcomes the shortcomings of traditional hydraulic cylinder-driven heavy-duty exoskeleton robots with a small joint rotation angle range, and while improving load-bearing capacity, it can effectively reduce the weight at the joint.

[0006] The technical solution of this invention is as follows:

[0007] A hydraulic cylinder-valve integrated joint actuator for exoskeleton robots includes a vane-type oscillating output rotor, an oil circuit assembly, and a valve body assembly. The vane-type oscillating output rotor is connected to the oil circuit assembly, and the valve body assembly is disposed inside the oil circuit assembly. The valve body assembly can control the opening and closing of the oil circuit between the vane-type oscillating output rotor and the oil circuit assembly, as well as the switching of the oil circuit direction.

[0008] Furthermore, the valve body assembly includes a valve core, an electromagnet, a motor, and a return spring. The return spring is located inside the valve core hole and between the electromagnet and the valve core. The electromagnet is located on one side of the valve core, and the motor is located on the other side of the valve core. The motor and the valve core are connected by a transmission. Under the action of the motor and the electromagnet, the valve core can achieve circumferential rotation and axial movement.

[0009] Furthermore, the outer surface of the valve core is provided with multiple grooves, including valve core opening groove 1, valve core opening groove 2, valve core opening groove 3, valve core opening groove 4 and valve core circumferential groove. Valve core opening groove 1 and valve core opening groove 4 are located on the same side of the circumference, valve core opening groove 2 and valve core opening groove 3 are located on the same side of the circumference, the valve core circumferential groove is disposed between valve core opening groove 1 and valve core opening groove 3, and valve core opening groove 1 and valve core opening groove 3 are respectively connected to the valve core circumferential groove, while valve core opening groove 2 and valve core opening groove 4 are independent of each other.

[0010] Furthermore, the valve body assembly also includes a valve core end face seal, which is fixed to the swing output rotor housing by bolts to achieve sealing of the right end face of the valve core.

[0011] Furthermore, the blade-type oscillating output rotor includes an oscillating output rotor housing, an upper end cover of the oscillating output rotor, an output shaft of the oscillating output rotor, and output shaft blades; the upper end face of the oscillating output rotor housing is provided with a hydraulic oil outlet and a hydraulic oil inlet; the two ends of the output shaft of the oscillating output rotor are connected to the oscillating output rotor housing through a rotary sealing ring and bearings, and two output shaft blades are provided inside the oscillating output rotor housing on the output shaft of the oscillating output rotor. The two output shaft blades are fixedly mounted on the output shaft of the oscillating output rotor, a spacer is installed between the two output shaft blades, and an open-hole polyester sealed rectangular sealing ring (the open-hole polyester sealed rectangular sealing ring is located around the spacer) is installed between the two output shaft blades.

[0012] Furthermore, the oil circuit assembly includes a swing output rotor housing and a return oil bottom layer. The upper end face of the swing output rotor housing has an oil circuit 1, an oil circuit 2, an oil circuit through hole 1, and an oil circuit through hole 2. The oil circuit through hole 1 and the oil circuit through hole 2 are respectively connected to an external low-pressure oil port. The oil circuit 1 is connected to the hydraulic oil inlet on the blade-type swing output rotor, and the oil circuit 2 is connected to the hydraulic oil outlet on the blade-type swing output rotor.

[0013] Furthermore, the motor is fixed to the oil return layer by a motor bracket, and the valve core is provided with a valve core input shaft. The valve core input shaft is connected to the motor output shaft by a guide slide key, so that the valve core can rotate circumferentially and move axially.

[0014] Furthermore, a hydraulic cylinder valve integrated joint actuator for an exoskeleton robot also includes a throttling device valve. The throttling device valve is disposed in the swing output rotor housing. The oil outlet of the throttling device valve is connected to the swing output rotor housing and leads to the circumferential groove of the valve core. The speed control of the output shaft of the swing output rotor is achieved by adjusting the flow rate.

[0015] Furthermore, the throttling device valve includes a throttling valve and a miniature linear servo actuator. The throttling valve includes a valve body, a valve core push rod, a sealing end cap, and a hydraulic seal. The miniature linear servo actuator is connected to the valve core push rod of the throttling valve.

[0016] Furthermore, the throttling channel of the throttling valve is in the form of an axial triangular groove:

[0017] Low flow resistance: The axial triangular groove throttling channel can effectively reduce the flow resistance when the fluid passes through, allowing the fluid to flow smoothly, reducing energy loss and improving system efficiency.

[0018] High control precision: The axial triangular groove throttling channel can make the fluid form a directional rotating flow in the channel, which can improve the control precision of the throttling valve and make the control of the throttling valve more accurate.

[0019] Strong anti-clogging ability: The axial triangular groove throttling channel can prevent particulate matter or impurities in the fluid from depositing inside the channel, thereby reducing the possibility of clogging and improving the anti-clogging ability of the throttling valve.

[0020] Low noise: The axial triangular groove throttling channel can reduce eddies and oscillations when the fluid passes through, thereby reducing noise generation and making the throttling valve work more quietly.

[0021] Furthermore, a sealing groove is formed on the upper end face of the swing output rotor housing, and a corresponding sealing groove is also formed on the lower end face of the upper end cover of the swing output rotor, which is used to place a sealing gasket to achieve sealing.

[0022] When the actuator is working, hydraulic oil fills the circumferential groove and the valve core opening grooves 1 and 3 connected to it. The valve core operates under the following conditions: When valve core opening groove 1 is connected to oil circuit 1, oil circuit 2 is connected to through hole 1 through valve core opening groove 2, causing the output shaft of the swing output rotor to rotate clockwise under the action of hydraulic oil; when valve core opening groove 3 is connected to oil circuit 2, oil circuit 1 is connected to through hole 3 through valve core opening groove 4, causing the output shaft of the swing output rotor to rotate counterclockwise under the action of hydraulic oil; when valve core opening grooves 1 and 3 are connected to through holes 1 and 2 respectively, valve core opening grooves 2 and 4 are connected to oil circuits 1 and 2 respectively, the oil inlet is directly connected to the external low-pressure oil port, oil circuits 1 and 2 are blocked by valve core opening grooves 2 and 4, and the output shaft remains stationary. Continuous operation under these three conditions enables the swinging motion at the joint and the time interval required for switching between different swing directions.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention is ingeniously conceived, rationally designed, and has a simple structure. It enables the vane-type oscillating output rotor to operate within a very small space while outputting high torque. Moreover, its output shaft does not require an electromagnetic directional valve. The load can be directly driven to oscillate by rotating the valve core. The rotation speed can be changed by a throttling device valve. The functions of the vane-type oscillating output rotor, electromagnetic directional valve, and throttling valve are integrated into one structure, making the structure compact and reducing the space occupied at the joints. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the internal structure of the blade-type oscillating output rotor of the present invention;

[0027] Figure 3 This is a schematic diagram of the blade-type oscillating output rotor structure of the present invention;

[0028] Figure 4 This is a schematic diagram of the output shaft blade mounting structure of the present invention;

[0029] Figure 5 This is a cross-sectional schematic diagram of the valve of the throttling device of the present invention;

[0030] Figure 6 This is a schematic diagram of the valve core oil circuit structure of the present invention;

[0031] Figure 7 This is a schematic diagram of the valve core structure of the present invention;

[0032] Figure 8 This is a schematic diagram of the swing output rotor housing structure of the present invention;

[0033] Figure 9This is a schematic diagram of the oil return bottom layer structure of the present invention;

[0034] In the diagram: 100 - Blade-type oscillating output rotor; 101 - Hydraulic oil inlet; 102 - Hydraulic oil outlet; 103 - Upper cover of oscillating output rotor; 104 - Oscillating output rotor housing; 105 - Oscillating output rotor output shaft; 106 - Perforated polyester sealed rectangular seal ring; 107 - Output shaft blade; 108 - Blade fastening nut; 109 - Rotary seal ring; 110 - Deep groove ball bearing; 110 - Oscillating output rotor cylinder sealing groove; 111 - Oscillating output rotor output shaft sealing groove 1; 112 - Oscillating output rotor output shaft sealing groove 2; 200 - Electromagnet; 300 - Throttling device. Valve, 301-Valve body, 302-Valve core push rod, 303-Sealing end cap, 304-Hydraulic oil seal, 400-Valve core end face seal, 500-Oscillating output rotor housing, 501-Oil passage 1, 502-Oil passage through hole 1, 503-Valve core opening groove 1, 504-Valve core circumferential groove, 505-Valve core opening groove 2, 506-Oil passage 2, 507-Valve core opening groove 4, 508-Throttle valve fixing component, 509-Oil passage through hole 2, 510-Valve core opening groove 3, 600-Miniature linear servo driver, 700-Motor bracket, 800-Motor, 900-Return oil bottom layer. Detailed Implementation

[0035] The present invention will be further described in detail with reference to the accompanying drawings.

[0036] like Figure 1-9 As shown, a hydraulic cylinder valve integrated joint actuator for exoskeleton robots includes a blade-type swing output rotor 100, a throttling device valve 300, a valve core, a swing output rotor housing 500, a return oil bottom layer 900, a motor 800, a motor bracket 700, and an electromagnet 200.

[0037] In this structure, the blade-type oscillating output rotor 100 includes a hydraulic oscillating output rotor housing 104, an oscillating output rotor upper cover 103, a hydraulic oil inlet 101, a hydraulic oil outlet 102, flange mounting holes on the hydraulic oscillating output rotor housing 104 and the oscillating output rotor upper cover 103, an output shaft (oscillating output rotor output shaft 105) of the blade-type oscillating output rotor 100, and rotary sealing rings 109 and deep groove ball bearings 110 at both ends of the shaft. The oscillating output rotor output shaft 105 has two output shaft blades 107, which are fastened to the output shaft with pin positioning screws and blade fastening nuts 108. A spacer is installed between the two output shaft blades 107 to maintain the relative distance between the two blades. An open-hole polyester sealed rectangular sealing ring 106 is installed between the blades to achieve sealing. The rotor housing and the upper cover have grooves and multiple threaded holes on their high-end surfaces for installing sealing gaskets and achieving sealing of their two contact end surfaces. The hydraulic oil inlet and outlet are located on the upper end face of the output rotor housing, and the power output of the output shaft is controlled by controlling the input and output of hydraulic oil at the hydraulic oil inlet and outlet.

[0038] In this structure, the outer surface of the valve core has opening grooves of varying degrees. The circumferential groove of the valve core is connected to the valve core opening grooves 1 and 3, while the valve core opening grooves 2 and 4 are independent of each other. The motor 800 is fixed on the oil return bottom layer 900 through the motor bracket 700. The output shaft of the motor 800 is connected to the valve core input shaft to achieve synchronous rotation. The valve core input shaft is equipped with a guide slide key and connected to the valve core, which can realize the circumferential rotation and axial movement of the valve core.

[0039] The valve core is installed on the swing output rotor housing. The upper end face of the swing output rotor housing has oil passages 1 and 2 and oil passage through holes 1 and 2. The oil passage through holes 1 and 2 are connected to the external low-pressure oil port. Oil passage 1 is connected to the hydraulic oil inlet 101 of the vane-type swing output rotor 100, and oil passage 2 is connected to the hydraulic oil outlet 102 of the vane-type swing output rotor 100.

[0040] The valve core end face seal 400 is fixed to the swing output rotor housing and the swing output rotor upper end cover 103 by bolts to achieve sealing of the right end face of the rotary valve core.

[0041] Both the upper end face of the swing output rotor housing 104 and the upper end face of the swing output rotor housing 500 have sealing grooves, and the lower end face of the corresponding swing output rotor upper cover 103 also has a sealing groove. These are used to place a sealing gasket to achieve a seal with the upper cover. When the actuator is working, hydraulic oil will first fill the circumferential groove of the valve core and the valve core opening grooves 1 and 3 that are connected to it. The left port of the two oil passages of the swing output rotor housing has a groove to achieve accurate docking with the swing output rotor cylinder.

[0042] In this structure, the throttling device valve 300 consists of a valve body 301, a valve core push rod 302, a sealing end cap 303, and a hydraulic oil seal 304. The throttling channel of this valve is an axial triangular groove. One end of the valve core push rod 302 is threadedly connected to the output shaft of a micro linear servo driver 600. The micro linear servo driver 600 is fixed to the oscillating output rotor housing, and its output is linear motion. By driving the micro linear servo driver 600, the valve core push rod 302 is moved axially, thereby changing the throttling port area to regulate the flow rate. The oil outlet of the throttling device valve 300 is connected to the oscillating output rotor housing and leads to the circumferential groove of the valve core. The speed control of the oscillating output rotor output shaft 105 is achieved by adjusting the flow rate. The relative position of the throttling device valve 300 is fixed using a throttling valve fixing component, which is fixed to the oscillating output rotor housing and the upper end cap of the oscillating output rotor with fastening screws. A groove is opened on the oscillating output rotor housing on the left side of the valve core for mounting an electromagnet. An electromagnet 200 is placed on the left end face of the valve core. When the electromagnet 200 is energized, the valve core will move axially under the interaction force. When it moves to the leftmost end of the valve core cavity, oil passages 1 and 2 and through holes 1 and 2 are all cut off, and the flow rate of the swing output rotor at the inlet and outlet of the oil port is zero, thus realizing the function of stopping the swing joint at any position. When the electromagnet is de-energized, it will return to its original working position under the action of the return spring.

[0043] In this embodiment, the structure has only one rotational degree of freedom on the output shaft of the swing output rotor, enabling the swinging function of the knee joint. This embodiment also includes a rotatable valve core, driven by motor 800, to switch the hydraulic oil inlet and outlet of the swing output rotor, thus changing the rotation direction of the knee joint. This embodiment further includes an electromagnet and a throttling valve. When the electromagnet is energized, the valve core moves axially to cut off oil passages 1 and 2. The opening of the throttling valve is changed by a micro linear servo driver, enabling the knee joint to stop at any angle and position, and allowing for speed adjustment.

[0044] The embodiments described in this specification are merely examples of implementations of the inventive concept and are for illustrative purposes only. The scope of protection of this invention should not be considered limited to the specific forms described in these embodiments; rather, it extends to equivalent technical means conceived by those skilled in the art based on the inventive concept.

Claims

1. A hydraulic cylinder-valve integrated joint actuator for use in exoskeleton robots, characterized in that, It includes a vane-type oscillating output rotor, an oil circuit assembly, and a valve body assembly. The vane-type oscillating output rotor is connected to the oil circuit assembly, and the valve body assembly is disposed inside the oil circuit assembly. The valve body assembly can control the opening and closing of the oil circuit between the vane-type oscillating output rotor and the oil circuit assembly, as well as the switching of the oil circuit direction. The valve body assembly includes a valve core, an electromagnet, a motor, and a return spring. The electromagnet is located at one end of the valve core, and the motor is located at the other end of the valve core. The motor and the valve core are connected by a transmission. Under the action of the motor and the electromagnet, the valve core can achieve circumferential rotation and axial movement. The outer surface of the valve core is provided with multiple grooves, including valve core opening groove 1, valve core opening groove 2, valve core opening groove 3, valve core opening groove 4 and valve core circumferential groove. Valve core opening groove 1 and valve core opening groove 4 are located on the same side of the circumference, valve core opening groove 2 and valve core opening groove 3 are located on the same side of the circumference, and the valve core circumferential groove is disposed between valve core opening groove 1 and valve core opening groove 3. Valve core opening groove 1 and valve core opening groove 3 are respectively connected to the valve core circumferential groove, and valve core opening groove 2 and valve core opening groove 4 are independent of each other. The oil circuit assembly includes a swing output rotor housing and a return oil bottom layer. The upper end face of the swing output rotor housing has an oil circuit 1, an oil circuit 2, an oil circuit through hole 1, and an oil circuit through hole 2. The oil circuit through hole 1 and the oil circuit through hole 2 are respectively connected to an external low-pressure oil port. The oil circuit 1 is connected to the hydraulic oil inlet on the blade-type swing output rotor, and the oil circuit 2 is connected to the hydraulic oil outlet on the blade-type swing output rotor. When valve core opening groove 1 is connected to oil circuit 1, oil circuit 2 is connected to through hole 1 through valve core opening groove 2. Under the action of hydraulic oil, the output shaft of the swing output rotor rotates clockwise. When valve core opening groove 3 is connected to oil circuit 2, oil circuit 1 is connected to through hole 1 through valve core opening groove 4. Under the action of hydraulic oil, the output shaft of the swing output rotor rotates counterclockwise. When valve core opening grooves 1 and 3 are connected to through holes 1 and 2 respectively, valve core opening grooves 2 and 4 are connected to oil circuits 1 and 2 respectively. The oil inlet is directly connected to the external low-pressure oil port. Oil circuits 1 and 2 are blocked by valve core opening grooves 2 and 4, and the output shaft remains stationary and does not rotate. When the electromagnet is energized, the valve core will move axially under the interaction force. When it moves to the leftmost end of the valve core cavity, oil passages 1 and 2 and through holes 1 and 2 are all cut off, and the flow rates of the swing output rotor in and out of the oil ports are all zero, thus realizing the function of stopping the swing joint at any position.

2. The hydraulic cylinder-valve integrated joint actuator for exoskeleton robots according to claim 1, characterized in that, The blade-type oscillating output rotor includes an oscillating output rotor housing, an upper cover for the oscillating output rotor, an output shaft for the oscillating output rotor, and output shaft blades. The upper end face of the oscillating output rotor housing is provided with a hydraulic oil outlet and a hydraulic oil inlet. The two ends of the output shaft of the oscillating output rotor are connected to the oscillating output rotor housing through a rotary sealing ring and bearings. The output shaft of the oscillating output rotor has two output shaft blades located inside the oscillating output rotor housing. The two output shaft blades are fixedly mounted on the output shaft of the oscillating output rotor. A spacer is installed between the two output shaft blades, and an open-hole polyester sealed rectangular sealing ring is installed between the two output shaft blades.

3. The hydraulic cylinder-valve integrated joint actuator for exoskeleton robots according to claim 2, characterized in that, The motor is fixed to the oil return bottom layer by a motor bracket. The valve core is provided with a valve core input shaft. The valve core input shaft is connected to the motor main shaft by a guide slide key, so that the valve core can rotate circumferentially and move axially. The valve core end face seal is fixed to the swing output rotor housing by bolts to achieve sealing of the right end face of the valve core.

4. The hydraulic cylinder-valve integrated joint actuator for exoskeleton robots according to claim 3, characterized in that, It also includes a throttling device valve, which consists of a valve body, a valve core push rod, a sealing end cap, and a hydraulic oil seal. The throttling channel is an axial triangular groove. One end of the valve core push rod is threadedly connected to the output shaft of a micro linear servo drive. The micro linear servo drive is fixed on the middle layer of the oil circuit, and its output is linear motion. By driving the micro linear servo drive, the valve core push rod is moved axially, thereby changing the throttling port area to adjust the flow rate. The oil outlet of the throttling device valve is connected to the circumferential groove of the valve core in the middle layer of the oil circuit. The speed control of the output shaft of the oscillating output rotor is achieved by adjusting the flow rate. The relative position of the throttling device valve is fixed by a throttling valve fixing component, which is fixed to the oscillating output rotor housing by fastening screws.

5. A hydraulic cylinder-valve integrated joint actuator for an exoskeleton robot according to claim 1, characterized in that, The upper end face of the swing output rotor housing has a sealing groove, and the lower end face of the corresponding swing output rotor upper end cover also has a sealing groove, which is used to place a sealing gasket to achieve sealing.

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