A high-rigidity hydraulic joint for robots

Abstract

The present invention provides a high-rigidity hydraulic joint for robots, relating to the field of robotics. The joint utilizes a "hydraulic swing cylinder-servo motor" hybrid drive configuration, comprising a joint actuator module, a control module, an oil replenishment module, and a power module. The joint actuator module serves as the output mechanism for the robot's joint torque and angular position. The control module and oil replenishment module utilize an integrated design and are manufactured integrally with the outer cylinder body of the hydraulic swing cylinder. The power output module provides a power source for the joint and controls its rotational direction and speed in real time. Advantages of the hybrid drive configuration include: The hybrid drive configuration utilizes multi-module integrated manufacturing, resulting in high operating force, high integration, smooth transmission, and agile movement; and the integration of an adjustable damping system and a position locking system enhances adaptability to working conditions and improves the joint's stiffness characteristics.

Description

Technical Field

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

[0002] Articulated robots, comprised of multiple movable joints, enable complex motion and posture adjustments, possessing a high degree of freedom. By controlling the motion of each joint, they can achieve highly precise position and posture control, making them suitable for tasks requiring precise manipulation. Current robot design often focuses on improving motion accuracy and flexibility, but this often falls short in terms of rigidity. For example, when industrial robots are processing heavy loads, insufficient overall rigidity can lead to reduced machining accuracy and even damage to the tool. Therefore, improving rigidity while maintaining flexibility has become a key area of ​​current robotics development. Optimizing robot joint design can significantly improve rigidity, for example by employing high-performance servo motors and planetary reduction mechanisms to enhance the joint's transmission accuracy and load-bearing capacity. However, while this approach improves robot rigidity to a certain extent, it also increases complexity and cost, and remains difficult to meet rigidity requirements for large, heavy-load robots.

[0003] Hydraulic joints offer advantages such as high torque density, strong shock load resistance, and distributed drive, making them widely used in robotics. However, most hydraulic rotary joints currently use valve-controlled servo systems, with hydraulic pipes connecting the mechanisms. This results in low integration and requires external power sources, which can easily lead to leakage and contamination. Furthermore, they exhibit weak rigidity when exposed to sudden loads or reductions on actuators. This can lead to slow response times and poor environmental adaptability in robotic joints under sudden operating conditions. Summary of the Invention

[0004] The purpose of the present invention is to address the defects of the existing technology 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:

[0006] A robot stiffness enhancement structure 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 provided at both ends of the cavity; the end covers and the cylinder body form a sealed cavity, keyways are provided at both axial ends of the rotating shaft to transmit torque, rotor blades are provided on the rotating shaft, stator blades are provided 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 The electromagnetic switch valve and the first speed control valve are arranged in series, the second electromagnetic switch valve and the second speed control valve are arranged in series, the first electromagnetic switch valve and the first speed control valve are arranged on the first longitudinal oil passage connected to the first oil chamber; the second electromagnetic switch valve and the second speed control 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.

[0007] 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 control 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 control valve.

[0008] 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.

[0009] As a further technical solution, a first exhaust pneumatic valve and a second exhaust starting valve are provided on the third side of the integrated valve block, and a power module is provided on the fourth side opposite to the third side.

[0010] 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 and the first pressure sensor, and the second longitudinal oil channel connects the second oil chamber of the swing cylinder and the second pressure sensor.

[0011] As a further technical solution, the power module includes a servo motor and a cartridge-type 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, serving as the middle oil inlet and outlet and the oil drain port of the cartridge-type micro plunger pump respectively. The fourth longitudinal oil channel connects the accumulator and the oil drain port of the cartridge-type micro pump, and a built-in one-way valve is arranged near the oil drain port end of the cartridge-type micro pump, and a first plug is arranged at the end for sealing. A first radial oil channel is arranged along the axial bottom of the cartridge hole as the bottom oil inlet and outlet of the cartridge-type micro plunger pump.

[0012] As a further technical solution, a first axial oil passage is provided on the first side surface 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 surface of the integrated valve block, the second axial oil passage is connected to the first radial oil passage and the first speed regulating valve;

[0013] A third axial oil passage is provided on the second side of the integrated valve block, which 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, which 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, which is connected to the first one-way relief valve, the fourth longitudinal oil passage and the second one-way relief valve.

[0014] As a further technical solution, the third side of the integrated valve block is provided with a second radial oil channel connecting the first exhaust start valve and the first one-way relief valve, and the third side of the integrated valve block is provided with a third radial oil channel connecting the second exhaust start valve, the second solenoid switch valve, the second speed control valve and the second one-way relief valve.

[0015] As a further technical solution, a fifth longitudinal oil channel is provided on the top surface of the integrated valve block. The fifth longitudinal oil channel serves as a process oil channel to connect the first electromagnetic switch valve and the second radial oil channel. A first plug is provided at the end of the fifth longitudinal oil channel for sealing. A sixth longitudinal oil channel is provided on the top surface of the integrated valve block. The sixth longitudinal oil channel connects the first speed regulating valve and the second radial oil channel. A second plug is provided at the end of the sixth longitudinal oil channel for sealing.

[0016] As a further technical solution, the rotor blades and stator blades are provided with sealing grooves opened along the axial direction, and rectangular rubber sealing gaskets are provided inside the sealing grooves to interference fit with the sealing grooves. The blade sealing gaskets on the stator blades slide in contact with the outer circumferential surface of the rotating shaft, and the blade sealing gaskets on the rotor blades slide in contact with the inner circumferential surface and end face of the inner wall of the cavity.

[0017] Compared with the prior art, the present invention has the following advantages and positive effects:

[0018] (1) To address the current problems of low integration and poor rigidity of robot joints, electrostatic hydraulic actuation technology is adopted, using a vane-type swing cylinder as the joint actuator, and integrating an integrated valve block on the outside of the swing cylinder body, so that the hydraulic system does not have external hydraulic oil pipes. This 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 number of seals and connection points in the joints, reducing the risk of leakage while improving the anti-interference ability, so that the hydraulic joint fluid can better adapt to complex and changing working environments.

[0019] (2) The hydraulic joint uses an electromagnetic switch valve 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 accurately control the joint position; at the same time, the back pressure of the swing cylinder inlet / return oil circuit is increased by setting a debugging valve to ensure that the hydraulic joint operates smoothly 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

[0020] The accompanying drawings, 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.

[0021] Figure 1 This is an exploded view of the swing type hydraulic joint in Example 1 of the present invention.

[0022] Figure 2 This is a schematic diagram of the assembly of the swing type hydraulic joint in Example 1 of the present invention.

[0023] Figure 3 This is a schematic diagram of the principle of the swing type hydraulic joint in Example 1 of the present invention.

[0024] Figure 4 Schematic diagram of the oil passage of the swing type hydraulic joint in Example 1 of the present invention Figure 1 .

[0025] Figure 5 Schematic diagram of the oil passage of the swing type hydraulic joint in Example 1 of the present invention Figure 2 .

[0026] Figure 6 Schematic diagram of the oil passage of the swing type hydraulic joint in Example 1 of the present invention Figure 3 .

[0027] Figure 7 This is a schematic diagram of the swing type hydraulic joint valve hole in Example 1 of the present invention.

[0028] In the figure, 1, rotating shaft; 2, cylinder body; 3, end cover; 4, first bolt; 5, rectangular rubber gasket; 6, first one-way relief valve; 7, first solenoid switch valve; 8, first speed regulating valve; 9, second one-way relief valve; 10, second solenoid 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, cartridge 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 channel; 204, the fourth longitudinal oil channel; 205, the first radial oil channel; 206, the first axial oil channel; 207, the second axial oil channel; 208, the third axial oil channel; 209, the fourth axial oil channel; 210, the fifth axial oil channel; 211, the second radial oil channel; 212, the third radial oil channel; 213, the fifth longitudinal oil channel; 214, the sixth longitudinal oil channel; 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

[0029] Glossary:

[0030] The "first side surface, second side surface, third side surface, and 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 micropump as the boundary, with the side surface on one side being the first side surface and the other side being the second side surface; the two surfaces through which the axis of the cartridge micropump passes are the aforementioned third side surface and fourth side surface respectively; the surface on which the cartridge micropump is located is the fourth side surface, and the other surface opposite thereto is the third side surface; the surface on which the sealed cavity is located is the bottom surface, and the other opposite surface is the top surface;

[0031] In this embodiment, what are the standards for defining "axial", "radial" and "longitudinal" respectively? Please explain; the axial direction is along the circumferential axis of the inner wall of the cylinder, 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.

[0032] Example 1

[0033] In a typical embodiment of the present invention, Figure 1-Figure 5 As shown, a high stiffness hydraulic joint is given.

[0034] Electrostatic hydraulic rotary joints are often assembled in series using modular components, and the various mechanisms are mostly connected by hydraulic hard pipes, which have a low degree of integration. Not only are leaks easily generated at the interfaces, but poor sealing may also cause contamination of the hydraulic system. When the working actuator faces a sudden load or load reduction, 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, the present embodiment provides a high-rigidity hydraulic joint that uses 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 swing cylinder body 2 to increase the integration of the hydraulic joint, reduce resistance and loss during the transmission of hydraulic oil, and reduce the risk of leakage. A first speed regulating valve 8 and a second speed regulating valve 11 are 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. 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 starting power.

[0035] 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 2 and an end cover 3 are provided inside the joint execution module. The cylinder 2 is provided with end covers 3 at both ends to form a sealed cavity inside. The end covers 3 on both sides are fixed to the cylinder 2 by first bolts 4; stator blades are provided on the inner wall of the cylinder 2, and rotor blades are provided on the rotating shaft 1. The rotating shaft 1 and the cylinder 2 rotate in coordination, and a sliding seal is formed between the rotor blades and the inner wall of the container. At the same time, the stator blades cooperate to divide the sealed cavity into a high-pressure cavity and a low-pressure cavity; key slots are provided at both axial ends of the rotating shaft 1 to transmit torque on one side or both sides, and can drive one to two joints at the same time to prevent eccentric load torque.

[0036] In the axial direction of the rotating shaft, a rectangular sealing groove is opened in the middle of the rotating shaft rotor blade and the middle of the cylinder stator blade. The two sealing grooves are the same in shape and size. A rectangular rubber sealing gasket 5 is arranged in the sealing groove. The thickness, height and radial width of the sealing gasket are all greater than the thickness, height and radial width of the sealing groove to ensure that the two are interference fit; the rectangular rubber sealing gasket on the stator blade slides in contact with the outer circumference of the rotating shaft 1 and the end face of the end cover 3, and the rectangular rubber sealing gasket on the rotor blade slides in contact with the inner circumference of the inner wall of the cylinder body 2 and the end face of the end cover 3; the interference fit of the rectangular rubber sealing gasket is greater than 35% to ensure complete sealing of the inside of the swing cylinder under high-pressure conditions.

[0037] 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. 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 in FIG).

[0038] 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. The same valve can be used as the safety valve group of the oil replenishment module to achieve a rapid response to load changes. The first one-way relief valve 6 and the second one-way relief valve 9 are arranged opposite to each other.

[0039] The first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 can be normally open direct-acting electromagnetic cartridge valves, which realize the switching of the valve core position through electromagnetic signals. The same valve can be used to achieve the locking of the hydraulic joint output; the first electromagnetic switch valve 7 and the second electromagnetic switch valve 10 are arranged opposite to each other;

[0040] The first speed regulating valve 8 and the second speed regulating valve 11 can be cartridge valves with flow adjustment. The same valve can be used. The throttle opening can be adjusted according to different load conditions to change the damping when the oil returns. The side check valve provides free flow when the oil enters, realizing precise flow control. The first speed regulating valve 8 and the second speed regulating valve 11 are arranged opposite to each other.

[0041] The first pressure sensor 15 and the second pressure sensor 16 can be small screw-type digital sensors, and can use the same sensor. The digital signals transmitted by the sensors can monitor the internal pressure of the hydraulic system and facilitate the implementation of the control method.

[0042] The first exhaust starting valve 17 and the second exhaust starting valve 18 may be cartridge valves, which are used to remove air from the system to reduce starting power.

[0043] 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 provided 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 outer end of the first longitudinal oil passage 201 is processed with a threaded hole 215; the outer end of the second longitudinal oil passage 202 is processed with a threaded hole 216, and the first pressure sensor 15 is installed in the threaded hole 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 cavity 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;

[0044] Specifically, on the third side of the integrated valve block (corresponding to Figure 1 The center position of the left side) is radially processed along the tangent line of the cylinder body to install the plug-in micro plunger pump 20. The plug-in 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 channel 203 and the fourth longitudinal oil channel 204 are processed (on the right side in the figure); the third longitudinal oil channel 203 and the fourth longitudinal oil channel 204 serve as the middle oil inlet and outlet and the oil drain port of the plug-in micro plunger pump 20 respectively, and the first radial oil channel 205 is processed axially 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 channel 203 is processed with a threaded hole three 218, and the threaded hole three 218 is installed with a first plug 13 to prevent leakage of hydraulic oil, and the fourth longitudinal oil channel 204 is processed with a threaded hole four 219 near the oil drain port of the plug-in micro pump 20 to install a built-in one-way valve 19 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 channel 204 is processed with a threaded hole four 219 to install the accumulator 12 as the pressure oil source of the entire hydraulic system.

[0045] 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, and the bottom is connected to the first longitudinal oil passage 201. A valve hole 1 220 is processed at the outer end of the oil passage to install the first electromagnetic switch valve 7. The oil passage connects the first longitudinal oil passage 201 and the first electromagnetic switch valve 7. A second axial oil passage 207 is processed on the left side of the integrated valve block, and a valve hole 221 is processed at the outer end of the oil passage to install the first speed regulating valve 8. The oil passage connects the first radial oil passage 205 and the first speed regulating valve 8.

[0046] 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, and a valve hole three 222 is machined at the outer end of the oil passage to install the second solenoid switch valve 10, and the oil passage is connected to the second longitudinal oil passage 202 and 1 port of the second solenoid switch valve 10; a fourth axial oil passage 209 is machined on the right side of the integrated valve block, and 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 1 port of the second debugging valve 11; a fifth axial oil passage 210 is machined to pass through to the right side, and valve holes five 224 and valve holes six 225 are machined at both outer ends of the oil passage to install the first one-way relief valve 6 and the second one-way relief valve 9, respectively, and the oil passage is connected to the unmachined threaded section of the fourth longitudinal oil passage 204, 1 port of the first one-way relief valve 6 and 1 port of the second one-way relief valve 9.

[0047] 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 in the figure), and the valve hole seven 226 and the valve hole eight 227 are processed at the outer ends of the oil passages. The valve hole seven 226 and the valve hole eight 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 electromagnetic switch valve 10 and the 2 ports of the second one-way relief valve 9.

[0048] Specifically, on the outer side of the integrated valve block (corresponding to Figure 1 A fifth longitudinal oil passage 213 is machined 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 machined at the outer end of the oil passage to install a first plug 13 to prevent leakage of the hydraulic oil; a sixth longitudinal oil passage 214 is machined 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 control valve 8, and a threaded hole 229 is machined at the outer end of the oil passage to install a second plug 14 to prevent leakage of the hydraulic oil.

[0049] 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 housing return oil pipelines, 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.

[0050] The following combination Figure 2 The working principle of the hydraulic joint provided by the present invention is described.

[0051] 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 angular position.

[0052] 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 gasket 5. The rotating shaft 1 is placed in 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 provided on the rotating shaft 1, and stator blades are provided on the cylinder body 2. A rectangular sealing groove is provided in the center of the blades for interference installation of the rectangular rubber sealing gasket 5. The annular cavity can be divided into two high-pressure chambers and low-pressure chambers 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.

[0053] 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.

[0054] Among them, the first solenoid switch valve 7 and the first speed regulating valve 8 are arranged in series, and the second solenoid switch valve 10 and the second speed regulating valve 11 are arranged in series. The first solenoid switch valve 7 and the second solenoid 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 solenoid switch valve 7 and the second solenoid switch valve 10 are opened to ensure the normal circulation of hydraulic oil. When the joint needs to stop moving, the first solenoid switch valve 7 and the second solenoid switch valve 10 are closed to lock the joint position. The first solenoid switch valve 7 and the second solenoid switch valve 10 are usually switched at the same time to adapt to the working conditions, and the solenoid switch valves generally adopt the normally open position to ensure 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 the specified flow, and enhance the stiffness of the hydraulic joint in the face of load changes by stabilizing the rotation speed of the swing cylinder.

[0055] The oil replenishment module includes Figure 1 and Figure 2 The diagram shows 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. When the system pressure is too high, the first and second one-way relief valves 6 and 9 primarily serve as safety valves, while the accumulator 12 absorbs the impact of the excessive pressure, protecting system components from damage. When the system pressure is normal, the first and second one-way relief valves 6 and 9 prevent the oil from flowing back into the accumulator 12. When the system pressure is too low, the pressurized oil in the accumulator 12 flows through the one-way relief valves to replenish the low-pressure system, maintaining a stable system pressure.

[0056] 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. The built-in one-way valve 19 can prevent damage to components caused by the backflow of pressurized oil.

[0057] 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 fixed-displacement pump. The servo motor 24 drives the plug-in micro pump 20 to deliver oil to the hydraulic system. By changing the direction of the servo motor 24, the direction of the pressurized 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.

[0058] In summary, the present invention adopts a highly efficient electrostatic control system. Compared with the existing technology, 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 is realized 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 reverse movement 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 inlet / return oil circuit is increased by setting a debugging valve to ensure the smooth operation of the hydraulic joint under sudden load changes.

[0059] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A high-rigidity hydraulic joint for a robot, characterized in that: The invention relates to a method for making an oil filling device for an oil pump, wherein the oil filling device is provided with an oil pump, and the oil filling device is provided with an oil pump. The ... The first speed control valve is arranged in series, the second solenoid switch valve and the second speed control valve are arranged in series, the first solenoid switch valve and the first speed control valve are arranged on the second radial oil passage connected to the first oil chamber; the second solenoid switch valve and the second speed control valve are arranged on the third radial 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 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. 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 sequentially provided with an accumulator, a first plug, a second plug, a first pressure sensor, and a second pressure sensor.

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 cartridge-type 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, serving as the middle oil inlet and outlet and the oil drain port of the cartridge-type micro plunger pump respectively. The fourth longitudinal oil channel is connected to the accumulator and the oil drain port of the cartridge-type micro pump, and a built-in one-way valve is arranged near the end of the oil drain port of the cartridge-type micro pump. A first plug is provided at the end of the fourth longitudinal oil channel for sealing, and a first radial oil channel is arranged along the axial bottom of the cartridge hole as the bottom oil inlet and outlet of the cartridge-type 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 a first side surface of the integrated valve block, the first axial oil passage being connected to the first longitudinal oil passage and the first electromagnetic switch valve; a second axial oil passage is provided on a second side surface of the integrated valve block, the second axial oil passage being 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, which 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, which 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, which 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 starting 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 starting valve, the second solenoid switch valve, the second speed control 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 provided 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 provided at the end of the fifth longitudinal oil passage for sealing. A sixth longitudinal oil passage is provided 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 provided 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 in the axial direction, and rectangular rubber sealing gaskets are provided inside the sealing grooves to interference fit with the sealing grooves. The blade sealing gaskets on the stator blades slide in contact with the outer circumferential surface of the rotating shaft, and the blade sealing gaskets on the rotor blades slide in contact with the inner circumferential surface and end face of the inner wall of the cavity.

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