High-rigidity hydraulic joint of robot

Abstract

The invention provides a high-rigidity hydraulic joint of a robot, which relates to the field of robots, adopts a'hydraulic swing cylinder-servo motor 'series-parallel drive configuration, and comprises a joint execution module, a control module, an oil supplementing module and a power module, the control module and the oil supplementing module adopt integrated design and are integrally manufactured with a cylinder body on the outer side of the hydraulic oscillating cylinder; the power output module provides a power source for the joints and controls the rotating direction and the rotating speed of the joints in real time. The hybrid driving mechanism has the advantages that the hybrid driving mechanism is integrally manufactured by multiple modules and has the characteristics of large operating force, high integration level, stable transmission and sensitive action; and by integrating the adjustable damping system and the position locking system, the adaptability to working conditions is enhanced, and the rigidity characteristic of the joint is improved.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a high-rigidity hydraulic joint of a robot. Background Art

[0002] Articulated robots are composed of multiple movable joints, which can realize complex movements and posture adjustments and have higher degrees of freedom. By controlling the movement of each joint, articulated robots can achieve high-precision position and posture control, which is suitable for tasks that require precise operation. At present, robot design often focuses on improving motion accuracy and flexibility, but there are deficiencies in stiffness. For example, when industrial robots are processing large loads, the lack of overall rigidity of the robot will lead to reduced processing accuracy and even damage to the tool. Therefore, how to improve the rigidity of the robot while ensuring the flexibility of the robot has become an important direction for the development of current robot technology. Optimizing the design of robot joints can significantly improve the rigidity of the robot, such as using high-performance servo motors and planetary reduction mechanisms to improve the transmission accuracy and load-bearing capacity of the joints. However, although this method improves the rigidity of the robot to a certain extent, it increases the complexity and cost of the robot, and it is still difficult to meet the rigidity requirements for large and heavy-load robots.

[0003] Hydraulic joints have the advantages of high torque density, strong impact load resistance and distributed drive, and are widely used in the field of robotics. However, most hydraulic rotary joints currently use valve-controlled servo systems, and the mechanisms are connected by hydraulic pipes. The integration is not high, and other power sources need to be connected externally, which is prone to leakage or pollution. In addition, they show weak rigidity when facing the load generated by the working actuator or the sudden reduction of load, which will cause the robot joints to respond slowly and have poor environmental adaptability under sudden working conditions. Summary of the invention

[0004] The purpose of the present invention is to address the defects of the prior art and provide a high-rigidity hydraulic joint for a robot, which adopts a blade-type swing cylinder as the joint actuator to output position and torque; at the same time, the hydraulic valve block is integrated into the side wall of the swing cylinder to increase the integration of the hydraulic joint, reduce the resistance and loss during the transmission of hydraulic oil, and reduce the risk of leakage; a speed regulating valve is added to the return oil circuit to apply back pressure under load conditions to prevent sudden advance and enhance the rigidity of the hydraulic joint.

[0005] In order to solve the above problems, the following solutions are adopted: A robot stiffness enhancement structure comprises a joint execution module, a control module, an oil replenishment module and a power module; the joint execution module comprises a rotating shaft and a cylinder body, a cavity is formed inside the cylinder body, and end covers of the cylinder body are arranged at both ends of the cavity; the end cover and the cylinder body form a sealed cavity, key grooves are arranged at both ends of the rotating shaft to transmit torque, rotor blades are arranged on the rotating shaft, stator blades are arranged in the cavity, the rotating shaft and the cylinder body are rotatably matched, and a sliding seal is formed between the rotor blades and the inner wall of the container; the stator blades divide the sealed cavity into a first oil cavity and a second oil cavity, the control module and the oil replenishment module are integrated into an integrated valve block and the cylinder body, and the control module comprises a first electromagnetic switch valve, a second electromagnetic switch valve, a first speed regulating valve and a second speed regulating valve; the first The electromagnetic switch valve and the first speed regulating valve are arranged in series, the second electromagnetic switch valve and the second speed regulating valve are arranged in series, the first electromagnetic switch valve and the first speed regulating valve are arranged on the first longitudinal oil passage connected to the first oil chamber; the second electromagnetic switch valve and the second speed regulating valve are arranged on the second longitudinal oil passage connected to the second oil chamber; the oil replenishment module includes a first one-way relief valve, a second one-way relief valve, a built-in one-way valve, and an accumulator; the first one-way relief valve is arranged on the oil passage connected to the first longitudinal oil passage and is connected in series with the accumulator; the second one-way relief valve is arranged on the oil passage connected to the first longitudinal oil passage and is connected in series with the accumulator, and the accumulator is connected to the oil drain port and the oil drain port of the control module, and a built-in one-way valve is arranged between the two.

[0006] As a further technical solution, the first side of the integrated valve block is sequentially provided with a first one-way overflow valve, a first solenoid switch valve, and a first speed regulating valve, and the second side of the integrated valve block opposite to the first side is sequentially provided with a second one-way overflow valve, a second solenoid switch valve, and a second speed regulating valve.

[0007] As a further technical solution, the bottom surface of the integrated valve block is a sealed cavity formed by the end cover and the cylinder body; the top surface of the integrated valve block is sequentially provided with an accumulator, a first plug, a second plug, a first pressure sensor, and a second pressure sensor.

[0008] As a further technical solution, a first exhaust pneumatic valve and a second exhaust starting valve are arranged on the third side of the integrated valve block, and a power module is arranged on the fourth side opposite to the third side.

[0009] As a further technical solution, a first longitudinal oil channel and a second longitudinal oil channel are arranged on both sides of the cylinder stator blades along the longitudinal direction of the cylinder body. The first longitudinal oil channel connects the first oil chamber of the swing cylinder with the first pressure sensor, and the second longitudinal oil channel connects the second oil chamber of the swing cylinder with the second pressure sensor.

[0010] As a further technical solution, the power module includes a servo motor and a plug-in micro pump, which is fixed on the fourth side of the integrated valve block; and a third longitudinal oil channel and a fourth longitudinal oil channel are arranged from the top surface of the integrated valve block to the inside of the integrated valve block, respectively serving as the middle oil inlet and outlet and the oil drain port of the plug-in micro plunger pump, the fourth longitudinal oil channel connects the accumulator and the oil drain port of the plug-in micro pump, a built-in one-way valve is arranged near the oil drain port of the plug-in micro pump, and a first plug is arranged at the end for sealing, and a first radial oil channel is arranged along the axial bottom of the plug-in hole as the bottom oil inlet and outlet of the plug-in micro plunger pump.

[0011] As a further technical solution, a first axial oil passage is provided on the first side of the integrated valve block, the first axial oil passage is connected to the first longitudinal oil passage and the first electromagnetic switch valve, and a second axial oil passage is provided on the second side of the integrated valve block, the second axial oil passage is connected to the first radial oil passage and the first speed regulating valve; A third axial oil passage is provided on the second side of the integrated valve block, and the third axial oil passage is connected to the second longitudinal oil passage and the second electromagnetic switch valve. A fourth axial oil passage is provided on the second side of the integrated valve block, and the fourth axial oil passage is connected to the third longitudinal oil passage and the second speed regulating valve. A fifth axial oil passage is provided on the second side of the integrated valve block, and the fifth axial oil passage is connected to the first one-way relief valve, the fourth longitudinal oil passage and the second one-way relief valve.

[0012] As a further technical solution, a second radial oil passage is provided on the third side of the integrated valve block to connect the first exhaust start valve and the first one-way relief valve, and a third radial oil passage is provided on the third side of the integrated valve block to connect the second exhaust start valve, the second solenoid switch valve, the second speed control valve and the second one-way relief valve.

[0013] As a further technical solution, a fifth longitudinal oil passage is arranged on the top surface of the integrated valve block, and the fifth longitudinal oil passage serves as a process oil passage to connect the first electromagnetic switch valve and the second radial oil passage, and a first plug is arranged at the end of the fifth longitudinal oil passage for sealing. A sixth longitudinal oil passage is arranged on the top surface of the integrated valve block, and the sixth longitudinal oil passage connects the first speed regulating valve and the second radial oil passage, and a second plug is arranged at the end of the sixth longitudinal oil passage for sealing.

[0014] As a further technical solution, the rotor blades and stator blades are provided with sealing grooves opened along the axial direction, and a rectangular rubber sealing gasket is provided inside the sealing groove, which is interference fit with the sealing groove; the blade sealing gasket on the stator blade slides in contact with the outer circumferential surface of the rotating shaft, and the blade sealing gasket on the rotor blade slides in contact with the inner circumferential surface and end face of the inner wall of the cavity.

[0015] Compared with the prior art, the present invention has the following advantages and positive effects: (1) In order to solve the problem of low integration and poor rigidity of robot joints, electrostatic hydraulic actuation technology is adopted, blade-type swing cylinder is used as the joint actuator, and the valve block is integrated on the outside of the swing cylinder body, so that the hydraulic system does not have external hydraulic oil pipes, which helps to reduce the resistance and loss of oil during transmission and improve the response speed and efficiency of the system. At the same time, the high integration also greatly reduces the seals and connection points of the joints, reduces the risk of leakage and improves the anti-interference ability, so that the hydraulic joint fluid can better adapt to the complex and changing working environment.

[0016] (2) The hydraulic joint uses an electromagnetic switch valve to control the opening and closing of the swing cylinder oil inlet / return circuit to prevent the hydraulic joint from moving in the opposite direction due to the action of the load during operation and accurately control the joint position. At the same time, the back pressure of the swing cylinder oil inlet / return circuit is increased by setting a debugging valve to ensure the smooth operation of the hydraulic joint under sudden load changes. An exhaust start valve is set at the end of the oil circuit to remove air from the hydraulic system to reduce the starting power and enhance the joint stiffness characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] Figure 1 This is an exploded view of the swing type hydraulic joint in Example 1 of the present invention.

[0019] Figure 2 This is a schematic diagram of the assembly of the swing type hydraulic joint in Example 1 of the present invention.

[0020] Figure 3 This is a schematic diagram of the principle of the swing type hydraulic joint in Example 1 of the present invention.

[0021] Figure 4 Schematic diagram of the oil passage of the swing type hydraulic joint in Example 1 of the present invention Figure 1 .

[0022] Figure 5 Schematic diagram of the oil passage of the swing type hydraulic joint in Example 1 of the present invention Figure 2 .

[0023] Figure 6 Schematic diagram of the oil passage of the swing type hydraulic joint in Example 1 of the present invention Figure 3 .

[0024] Figure 7 This is a schematic diagram of the swing type hydraulic joint valve hole in Example 1 of the present invention.

[0025] In the figure, 1, rotating shaft; 2, cylinder body; 3, end cover; 4, first bolt; 5, rectangular rubber sealing pad; 6, first one-way relief valve; 7, first electromagnetic switch valve; 8, first speed regulating valve; 9, second one-way relief valve; 10, second electromagnetic switch valve; 11, second speed regulating valve; 12, accumulator; 13, first plug; 14, second plug; 15, first pressure sensor; 16, second pressure sensor; 17, first exhaust start valve; 18, second exhaust start valve; 19, built-in one-way valve; 20, plug-in micro pump; 21, second bolt; 22, motor bracket; 23, third bolt; 24, servo motor; 25, fourth bolt; 26, coupling; 201, first longitudinal oil passage; 202, second longitudinal oil passage; 203, The third longitudinal oil passage; 204, the fourth longitudinal oil passage; 205, the first radial oil passage; 206, the first axial oil passage; 207, the second axial oil passage; 208, the third axial oil passage; 209, the fourth axial oil passage; 210, the fifth axial oil passage; 211, the second radial oil passage; 212, the third radial oil passage; 213, the fifth longitudinal oil passage; 214, the sixth longitudinal oil passage; 215, the threaded hole one; 216, the threaded hole two; 217, the insertion hole; 218, the threaded hole three; 219, the threaded hole four; 220, the valve hole one; 221, the valve hole two; 222, the valve hole three; 223, the valve hole four; 224, the valve hole five; 225, the valve hole six; 226, the valve hole seven; 227, the valve hole eight; 228, the threaded hole five; 229, the threaded hole six. DETAILED DESCRIPTION

[0026] Glossary: The "first side surface, the second side surface, the third side surface, and the fourth side surface" in this embodiment are divisions made by regarding the integrated valve block as a rectangle; the division and definition are made with the axis of the cartridge micro pump as the boundary, and the side surface on one side is the first side surface, and the other side is the second side surface; the two surfaces through which the axis of the cartridge micro pump passes are the third side surface and the fourth side surface mentioned above; the surface where the cartridge micro pump is located is the fourth side surface, and the other opposite surface is the third side surface; the surface where the sealed cavity is located is the bottom surface, and the other opposite surface is the top surface; Please explain what standards and definitions are used for "axial", "radial" and "longitudinal" in this embodiment; the axial direction is along the circumferential axis of the inner wall of the cylinder body, the radial direction is along the installation axis of the plug-in micro pump, and the longitudinal direction is perpendicular to the plane established by the axial and radial directions.

[0027] Example 1 In a typical embodiment of the present invention, Figure 1-Figure 5 As shown, a high stiffness hydraulic joint is given.

[0028] Electrostatic hydraulic rotary joints are often assembled in series using modular components, and the various mechanisms are mostly connected by hydraulic hard pipes, with a low degree of integration. Not only is it easy to leak at the interface, but it may also cause hydraulic system contamination due to poor sealing. When the working actuator is facing a load or a sudden reduction in load, the structure often exhibits weak rigidity, making the hydraulic joint poorly adaptable under sudden working conditions and difficult to effectively resist external impacts; based on this, this embodiment provides a high-rigidity hydraulic joint, using a blade-type swing cylinder as the output position and torque of the joint actuator; at the same time, the hydraulic valve block is integrated into the swing cylinder body 2 to increase the integration of the hydraulic joint, reduce the resistance and loss during the transmission of the hydraulic oil, and reduce the risk of leakage; the return oil circuit is equipped with a first speed regulating valve 8 and a second speed regulating valve 11 to provide back pressure under load conditions to prevent sudden advance and enhance the rigidity of the hydraulic joint; at the same time, a first exhaust start valve 17 and a second exhaust start valve 18 are set at the end of the oil circuit to remove air from the hydraulic system to reduce the starting power.

[0029] like Figure 1 and Figure 2 As shown, this example provides a high-rigidity swing-type hydraulic integrated joint, including a joint execution module, a control module, an oil replenishment module and a power module. A rotating shaft 1, a cylinder body 2 and an end cover 3 are arranged inside the joint execution module. The cylinder body 2 is provided with end covers 3 at both ends to form a sealed cavity inside, and the end covers 3 on both sides are fixed to the cylinder body 2 by first bolts 4; stator blades are arranged on the inner wall of the cylinder body 2, and rotor blades are arranged on the rotating shaft 1. The rotating shaft 1 and the cylinder body 2 are rotated together, and a sliding seal is formed between the rotor blades and the inner wall of the container, and at the same time, the stator blades are cooperated to divide the sealed cavity into a high-pressure cavity and a low-pressure cavity; key slots are arranged at both axial ends of the rotating shaft 1 to transmit torque on one side or both sides, and one to two joints can be driven at the same time to prevent eccentric load torque.

[0030] In the axial direction of the shaft, a rectangular sealing groove is provided in the middle of the shaft rotor blade and the middle of the cylinder stator blade. The two sealing grooves are of the same shape and size. A rectangular rubber sealing pad 5 is provided in each sealing groove. The thickness, height and radial width of the sealing pad are greater than the thickness, height and radial width of the sealing groove to ensure that the two are interference fit; the rectangular rubber sealing pad on the stator blade slides in contact with the outer circumferential surface of the shaft 1 and the end face of the end cover 3, and the rectangular rubber sealing pad on the rotor blade slides in contact with the inner circumferential surface of the inner wall of the cylinder body 2 and the end face of the end cover 3; the interference amount of the rectangular rubber sealing pad is greater than 35% to ensure complete sealing of the inside of the swing cylinder under high pressure conditions.

[0031] In this embodiment, the control module and the oil replenishment module are integrated into an integrated valve block, which is integrated with the outer side of the cylinder body 2. Figure 1 The front side of the integrated valve block is provided with a first one-way relief valve 6, a first electromagnetic switch valve 7, and a first speed regulating valve 8 in sequence. The second side of the integrated valve block (corresponding to Figure 1The rear side of the integrated valve block is provided with a second one-way relief valve 9, a second electromagnetic switch valve 10, and a second speed regulating valve 11 in sequence. Figure 1 The top surface of the integrated valve block is provided with an accumulator 12, a first plug 13, a second plug 14, a first pressure sensor 15, and a second pressure sensor 16 in sequence. The third side surface of the integrated valve block (corresponding to the Figure 1 A first exhaust start valve 17 and a second exhaust start valve 18 are provided on the right side of the figure.

[0032] Specifically, the first one-way relief valve 6 and the second one-way relief valve 9 can be compact cartridge valves that integrate the functions of a one-way valve and a relief valve, and can use the same valve. As the safety valve group of the oil replenishment module, a rapid response to load changes can be achieved; the first one-way relief valve 6 and the second one-way relief valve 9 are arranged opposite to each other; The first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 can be normally open direct-acting electromagnetic cartridge valves, and the valve core position is switched by electromagnetic signals. The same valve can be used to lock the output of the hydraulic joint; the first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 are arranged opposite to each other; The first speed regulating valve 8 and the second speed regulating valve 11 can be cartridge valves with flow adjustment, and the same valve can be used. The throttle opening can be adjusted according to different load conditions to change the damping when returning oil, and the side check valve provides free flow when inlet oil, so as to achieve precise flow control; the first speed regulating valve 8 and the second speed regulating valve 11 are arranged opposite to each other; The first pressure sensor 15 and the second pressure sensor 16 can be small threaded digital sensors, and can use the same sensor. The digital signal transmitted by the sensor can monitor the internal pressure of the hydraulic system and facilitate the implementation of the control method. The first exhaust start valve 17 and the second exhaust start valve 18 may be cartridge valves for exhausting air in the system to reduce starting power.

[0033] like Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, when the integrated valve block is processed, the first longitudinal oil passage 201 and the second longitudinal oil passage 202 arranged on both sides of the stator blade of the cylinder body 2 are first processed along the axial direction of the cylinder body, and the threaded hole 1 215 is processed at the outer end of the first longitudinal oil passage 201; the threaded hole 216 is processed at the outer end of the second longitudinal oil passage 202, and the first pressure sensor 15 is installed in the threaded hole 1 215; the second pressure sensor 16 is installed in the threaded hole 216, and the first longitudinal oil passage 201 and the second longitudinal oil passage 202 are respectively connected to the aforementioned sealed chamber of the swing cylinder and the oil inlet of the first pressure sensor 15 and the oil inlet of the second pressure sensor 16; and the first longitudinal oil passage 201 is connected to the high-pressure chamber or the low-pressure chamber, and the second longitudinal oil passage 202 is connected to the high-pressure chamber or the low-pressure chamber; Specifically, on the third side surface of the integrated valve block (corresponding to Figure 1 The center position of the left side in the figure) is radially processed along the tangent line of the cylinder body to install the insertion hole 217 (such as Figure 6 As shown), and on the outer side of the integrated valve block (corresponding to Figure 1 The third longitudinal oil passage 203 and the fourth longitudinal oil passage 204 are processed on the right side of the plug-in micro-plunger pump 20; the third longitudinal oil passage 203 and the fourth longitudinal oil passage 204 are respectively used as the middle oil inlet and outlet and the oil drain port of the plug-in micro-plunger pump 20, and the first radial oil passage 205 is axially processed along the insertion hole 217 as the bottom oil inlet and outlet of the plug-in micro-plunger pump 20, wherein the outer end of the third longitudinal oil passage 203 is processed with a threaded hole three 218, and the threaded hole three 218 is installed with a first plug 13 to prevent the hydraulic oil from leaking out, and the fourth longitudinal oil passage 204 is processed with a threaded installation of a built-in one-way valve 19 near the oil drain port of the plug-in micro-pump 20 to prevent the hydraulic oil from flowing back and damaging the pump core during the operation of the oil replenishment module, and the outer end of the fourth longitudinal oil passage 204 is processed with a threaded hole four 219 to install the accumulator 12 as the pressure oil source of the entire hydraulic system.

[0034] Specifically, on the left side of the integrated valve block (corresponding to Figure 1 A first axial oil passage 206 is processed on the front side of the integrated valve block, the bottom of which is connected to the first longitudinal oil passage 201, a valve hole 220 is processed at the outer end of the oil passage to install the first electromagnetic switch valve 7, and the oil passage connects the first longitudinal oil passage 201 and 1 port of the first electromagnetic switch valve 7; a second axial oil passage 207 is processed on the left side of the integrated valve block, a valve hole 221 is processed at the outer end of the oil passage to install the first speed regulating valve 8, and the oil passage connects the first radial oil passage 205 and 1 port of the first speed regulating valve 8.

[0035] Specifically, on the right side of the integrated valve block (corresponding to Figure 1A third axial oil passage 208 is machined on the rear side of the integrated valve block, the bottom of the oil passage is connected to the second longitudinal oil passage 202, a valve hole three 222 is machined at the outer end of the oil passage to install the second electromagnetic switch valve 10, and the oil passage is connected to the second longitudinal oil passage 202 and a port of the second electromagnetic switch valve 10; a fourth axial oil passage 209 is machined on the right side of the integrated valve block, a valve hole four 223 is machined at the outer end of the oil passage to install the second speed regulating valve 11, and the oil passage is connected to the fourth longitudinal oil passage 204 and a port of the second speed regulating valve 11; a fifth axial oil passage 210 is machined to pass through the right side, and valve holes five 224 and valve holes six 225 are machined at the two outer ends of the oil passage to install the first one-way relief valve 6 and the second one-way relief valve 9, and the oil passage is connected to the unmachined threaded section of the fourth longitudinal oil passage 204, a port of the first one-way relief valve 6 and a port of the second one-way relief valve 9.

[0036] Specifically, on the bottom side of the integrated valve block (corresponding to Figure 1 The second radial oil passage 211 and the third radial oil passage 212 are processed on the right side of the figure, and the valve hole 226 and the valve hole 227 are processed at the outer ends of the oil passages. The valve hole 226 and the valve hole 227 are respectively installed with the first exhaust starting valve 17 and the second exhaust starting valve 18. The second radial oil passage 211 is connected to the oil inlet of the first exhaust starting valve 17, the third longitudinal oil passage 203 and the 2 ports of the first one-way relief valve 6, and the third radial oil passage 212 is connected to the oil inlet of the second exhaust starting valve 18, the 2 ports of the second solenoid switch valve 10, and the 2 ports of the second one-way relief valve 9.

[0037] Specifically, on the outer side of the integrated valve block (corresponding to Figure 1 A fifth longitudinal oil passage 213 is processed on the top surface of the integrated valve block as a process oil passage, the bottom of the oil passage is connected to the 2 ports of the first electromagnetic switch valve 7, and a threaded hole 228 is processed at the outer end of the oil passage to install the first plug 13 to prevent the hydraulic oil from leaking out; a sixth longitudinal oil passage 214 is processed on the outer side surface of the integrated valve block, the bottom of the oil passage is connected to the 2 ports of the first speed regulating valve 8, and a threaded hole 229 is processed at the outer end of the oil passage to install the second plug 14 to prevent the hydraulic oil from leaking out.

[0038] In this embodiment, the power module uses a servo motor 24 in series with a plug-in micro pump 20 to provide high-pressure oil. The plug-in micro pump 20 is fixed to the integrated valve block by a second bolt 21. The use of a plug-in pump can omit the inlet and outlet and the shell oil return pipeline, further enhancing the integration of the hydraulic joint; the motor bracket 22 is fixed to the integrated valve block by a third bolt 23, and the center mounting seat hole of the bracket is concentric with the center axis of the plug-in micro pump 20; the servo motor 24 is fixed to the upper mounting seat hole of the motor bracket 22 by a fourth bolt 25, and the servo motor 24 and the plug-in micro pump 20 are connected in series by a coupling 26.

[0039] The following combination Figure 2 The working principle of the hydraulic joint provided by the present invention is described.

[0040] As described above, the hydraulic joint provided by the present invention includes a joint execution module, a control module, an oil replenishment module and a power module, which can realize the output of joint torque and angle position.

[0041] Joint execution module such as Figure 1 As shown, a blade-type swing cylinder is used to output torque and angular position. The interior of the swing cylinder includes a rotating shaft 1, a cylinder body 2, an end cover 3 and a rectangular rubber sealing pad 5. The rotating shaft 1 is placed at the center of the cylinder body 2, and together with the end covers 3 on both sides thereof, forms an annular cavity; rotor blades are arranged on the rotating shaft 1, and stator blades are arranged on the cylinder body 2. Rectangular sealing grooves are arranged in the centers of the blades for interference installation of the rectangular rubber sealing pad 5. The annular cavity can be divided into two high-pressure chambers and a low-pressure chamber through sealing. By adjusting the conversion of the oil pressure in the two chambers, the rotor blades are driven to drive the rotating shaft 1 to output torque and angular position.

[0042] The control module includes Figure 1 and Figure 2 The first electromagnetic switch valve 7, the second electromagnetic switch valve 10, the first speed regulating valve 8 and the second speed regulating valve 11 are shown.

[0043] Among them, the first electromagnetic switch valve 7 and the first speed regulating valve 8 are arranged in series, and the second electromagnetic switch valve 10 and the second speed regulating valve 11 are arranged in series. The first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 control the on-off of the oil circuit through electrical signals. When the joint needs to move or output torque, the first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 are opened to ensure the normal circulation of hydraulic oil. When the joint needs to stop moving, the first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 are closed to lock the joint position. The first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 are usually switched at the same time to adapt to the working conditions, and the electromagnetic switch valves generally adopt the normally open position to ensure the normal movement of the joint; the first speed regulating valve 8 and the second speed regulating valve 11 are used to provide back pressure for the joint when it is under load or load mutation conditions, and adjust the throttle opening according to the load working condition requirements, so as to output a specified flow rate, and enhance the stiffness of the hydraulic joint in the face of load changes by stabilizing the rotation speed of the swing cylinder.

[0044] The oil replenishment module includes Figure 1 and Figure 2 The first one-way relief valve 6, the second one-way relief valve 9, the built-in one-way valve 19, and the accumulator 12 are shown. When the system pressure is too high, the first one-way relief valve 6 and the second one-way relief valve 9 are mainly safety valves, and the accumulator 12 absorbs the impact caused by the excessive pressure to protect the system components from damage; when the system pressure is normal, the first one-way relief valve 6 and the second one-way relief valve 9 prevent the oil from flowing back to the accumulator 12; when the system pressure is too low, the internal pressure oil of the accumulator 12 replenishes the oil to the low-pressure system through the one-way relief valve to maintain the system pressure stable.

[0045] The oil drain port of the plug-in micro pump 20 is connected to the accumulator 12 to maintain the pressure in the pump housing stable, and the built-in one-way valve 19 can prevent component damage caused by the backflow of pressurized oil.

[0046] The power module includes Figure 1 and Figure 2 The plug-in micro pump 20 and servo motor 24 are shown. The plug-in micro pump 20 is a bidirectional quantitative pump. The servo motor 24 drives the plug-in micro pump 20 to output oil into the hydraulic system. By changing the direction of the servo motor 24, the delivery direction of the pressure oil in the system is changed, thereby changing the rotation direction of the hydraulic joint; by changing the speed of the servo motor 24, the output flow rate is changed, thereby changing the output angular velocity of the hydraulic joint.

[0047] In summary, the present invention adopts a highly efficient electrostatic control system. Compared with the prior art, the control module and the oil replenishment module are manufactured in an integrated manner with the actuator cylinder body through an integrated design, with a compact structure, and the hydraulic system can be implemented without external hydraulic oil pipes, which helps to reduce the resistance and loss of oil during transmission and improve the response speed and efficiency of the system. An electromagnetic switch valve is used to control the opening and closing of the swing cylinder inlet / return oil circuit to prevent the hydraulic joint from moving in the opposite direction due to the action of the load during operation, and to accurately control the position of the joint; at the same time, a debugging valve is set to increase the back pressure of the swing cylinder inlet / return oil circuit to ensure the smooth operation of the hydraulic joint under load mutation conditions.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot high-rigidity hydraulic joint, characterized in that: It includes a joint execution module, a control module, an oil replenishment module and a power module; the joint execution module includes a rotating shaft and a cylinder body, a cavity is formed inside the cylinder body, and end covers of the cylinder body are arranged at both ends of the cavity; the end cover and the cylinder body form a sealed cavity, key grooves are arranged at both ends of the rotating shaft to transmit torque, rotor blades are arranged on the rotating shaft, and stator blades are arranged in the cavity, the rotating shaft and the cylinder body rotate in coordination, and a sliding seal is formed between the rotor blades and the inner wall of the container; the stator blades divide the sealed cavity into a first oil cavity and a second oil cavity, the control module and the oil replenishment module are integrated into an integrated valve block and the cylinder body, and the control module includes a first electromagnetic switch valve, a second electromagnetic switch valve, a first speed regulating valve and a second speed regulating valve; the first electromagnetic switch valve and The first speed regulating valve is arranged in series, the second electromagnetic switch valve and the second speed regulating valve are arranged in series, the first electromagnetic switch valve and the first speed regulating valve are arranged on the second radial oil passage connected to the first oil chamber; the second electromagnetic switch valve and the second speed regulating valve are arranged on the third radial oil passage connected to the second oil chamber; the oil replenishing module includes a first one-way relief valve, a second one-way relief valve, a built-in one-way valve, and an accumulator; the first one-way relief valve is arranged on the oil passage connected to the second radial oil passage and is connected in series with the accumulator; the second one-way relief valve is arranged on the oil passage connected to the third radial oil passage and is connected in series with the accumulator, and the accumulator is connected to the oil drain port and the oil drain port of the control module, and a built-in one-way valve is arranged between the two.

2. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: The first side of the integrated valve block is sequentially provided with a first one-way relief valve, a first electromagnetic switch valve, and a first speed regulating valve, and the second side of the integrated valve block opposite to the first side is sequentially provided with a second one-way relief valve, a second electromagnetic switch valve, and a second speed regulating valve.

3. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: The bottom surface of the integrated valve block is a sealed cavity formed by the end cover and the cylinder body; the top surface of the integrated valve block is provided with an accumulator, a first plug, a second plug, a first pressure sensor, and a second pressure sensor in sequence.

4. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: The first exhaust pneumatic valve and the second exhaust starting valve are arranged on the third side surface of the integrated valve block, and the power module is arranged on the fourth side surface opposite to the third side surface.

5. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: The cylinder stator blades are provided with a first longitudinal oil passage and a second longitudinal oil passage along the longitudinal direction of the cylinder. The first longitudinal oil passage connects the first oil chamber of the swing cylinder with the first pressure sensor, and the second longitudinal oil passage connects the second oil chamber of the swing cylinder with the second pressure sensor.

6. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: The power module includes a servo motor and a plug-in micro pump, which is fixed on the fourth side of the integrated valve block; and a third longitudinal oil channel and a fourth longitudinal oil channel are arranged from the top surface of the integrated valve block to the inside of the integrated valve block, respectively serving as the middle oil inlet and outlet and the oil drain port of the plug-in micro plunger pump, the fourth longitudinal oil channel is connected to the accumulator and the oil drain port of the plug-in micro pump, a built-in one-way valve is arranged near the oil drain port end of the plug-in micro pump, a first plug is arranged at the end of the fourth longitudinal oil channel for blocking, and a first radial oil channel is arranged along the axial bottom of the plug-in hole as the bottom oil inlet and outlet of the plug-in micro plunger pump.

7. The robot high-rigidity hydraulic joint according to claim 6, characterized in that: A first axial oil passage is provided on the first side of the integrated valve block, the first axial oil passage is connected to the first longitudinal oil passage and the first electromagnetic switch valve, and a second axial oil passage is provided on the second side of the integrated valve block, the second axial oil passage is connected to the first radial oil passage and the first speed regulating valve; A third axial oil passage is provided on the second side of the integrated valve block, and the third axial oil passage is connected to the second longitudinal oil passage and the second electromagnetic switch valve. A fourth axial oil passage is provided on the second side of the integrated valve block, and the fourth axial oil passage is connected to the third longitudinal oil passage and the second speed regulating valve. A fifth axial oil passage is provided on the second side of the integrated valve block, and the fifth axial oil passage is connected to the first one-way relief valve, the fourth longitudinal oil passage and the second one-way relief valve.

8. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: A second radial oil passage is provided on the third side of the integrated valve block to connect the first exhaust start valve and the first one-way relief valve. A third radial oil passage is provided on the third side of the integrated valve block to connect the second exhaust start valve, the second solenoid switch valve, the second speed regulating valve and the second one-way relief valve.

9. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: A fifth longitudinal oil passage is arranged on the top surface of the integrated valve block. The fifth longitudinal oil passage serves as a process oil passage to connect the first electromagnetic switch valve and the second radial oil passage. A first plug is arranged at the end of the fifth longitudinal oil passage for sealing. A sixth longitudinal oil passage is arranged on the top surface of the integrated valve block. The sixth longitudinal oil passage connects the first speed regulating valve and the second radial oil passage. A second plug is arranged at the end of the sixth longitudinal oil passage for sealing.

10. The robot high-rigidity hydraulic joint according to claim 1, characterized in that: The rotor blades and stator blades are provided with sealing grooves opened along the axial direction, and rectangular rubber sealing pads are provided inside the sealing grooves to be interference fit with the sealing grooves. The blade sealing pads on the stator blades slide in contact with the outer circumferential surface of the rotating shaft, and the blade sealing pads on the rotor blades slide in contact with the inner circumferential surface and end surface of the inner wall of the cavity.

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