Integrated hydraulic oscillating cylinder joint

Abstract

The invention discloses an integrated hydraulic oscillating cylinder joint, and relates to the field of oscillating hydraulic cylinder structures. The problem of internal leakage of an existing blade type oscillating cylinder is solved; and the oscillating cylinder joint is complex in wiring and tedious in pipeline connection. A front end cover and a rear end cover are installed at the two ends of a swing cylinder rotating shaft respectively, a rotor blade and a stator blade are installed on the side face of the swing cylinder rotating shaft and the side face of an oil cavity of the rear end cover respectively, the rotor blade and the stator blade are each provided with two rectangular sealing rings, and the two rectangular sealing rings are in sealing fit with the front end cover, the rear end cover and / or the swing cylinder rotating shaft. The swing cylinder rotating shaft is a stepped shaft, two rotating shaft stepped faces are arranged at the two ends of the middle shaft section of the swing cylinder rotating shaft respectively, two elastic sealing structures are embedded in the inner sides of shaft holes of the front end cover and the rear end cover respectively, and the two elastic sealing structures are in sealing fit with the two rotating shaft stepped faces of the middle shaft section respectively. The method is used for reducing internal leakage of the blade type oscillating cylinder and improving the performance and reliability of the oscillating cylinder.

Description

Technical Field

[0001] The present invention relates to the field of swing hydraulic cylinder structures, and particularly to a new vane-type swing cylinder structure applied to the joints of hydraulic robots, specifically to an integrated hydraulic swing cylinder joint. Background Art

[0002] The research on hydraulic robots has important scientific significance and engineering value. They have high power density, large load capacity and impact resistance characteristics, showing irreplaceable advantages in extreme environment operations. Existing hydraulic robots such as the Atlas robot (2013) of Boston Dynamics in the United States, the TaeMu robot (2014) of Ritsumeikan University in Japan, and the LIGHT robot (2022) of the Korea Advanced Institute of Science and Technology, etc., mostly use linear hydraulic cylinders combined with link mechanisms for joint drive. This method has limitations in the range of motion and cannot achieve large-angle rotation. In addition, the joint size is too large, the structural layout is redundant, and external wires and rubber oil pipes are required for the transmission of control signals and hydraulic oil, which brings great obstacles to the installation and movement of the robot. A swing hydraulic cylinder is an actuator that converts hydraulic energy into a limited-angle rotational motion. The vane is driven by hydraulic oil to swing in the chamber, driving the output shaft to rotate. Its structure is more simplified than that of a linear cylinder, with higher space efficiency and torque density, and has broad application prospects on robot joints with limited volume.

[0003] Currently, swing hydraulic cylinders are mainly divided into three structural forms: gear-rack type, spiral type, and vane type. Among them, the gear-rack type swing cylinder has a large volume, is prone to wear during long-term use, and has large vibration and noise; the spiral swing cylinder has high processing difficulty and high cost, and it is difficult to achieve adaptive design and large-scale application on robot joints. In contrast, the vane type swing cylinder has a compact structure, fast response speed, and large rotation range, but there is a certain internal leakage problem, which will lead to a reduction in the working efficiency and service life of the system. Therefore, by improving the structure, reducing the internal leakage of the vane type swing cylinder and applying it to drive the joint rotation of the robot, new ideas can be provided for the drive research of hydraulic robots.

[0004] To sum up, due to the too large clearance between the vane and the inner wall of the cylinder body or insufficient processing accuracy (such as non-compliance with surface roughness standards) of the traditional vane type swing cylinder, the hydraulic oil in the high-pressure chamber often leaks to the low-pressure chamber through the clearance. At the same time, when the traditional vane type swing cylinder is applied to the joints of robot arms and legs, a large number of external data lines and rubber oil pipes are often required, which greatly limits the range of motion and poses challenges to the arrangement method of multi-degree-of-freedom series. Summary of the Invention

[0005] The object of the present invention is to solve the internal leakage problem existing in the existing vane type swing cylinder; and the problem of complex joint wiring and cumbersome pipeline connection of the swing cylinder, and further provide an integrated hydraulic swing cylinder joint.

[0006] The technical solution of the present invention is as follows: The integrated hydraulic swing cylinder joint includes a swing cylinder rotating shaft 11, a front end cover 18, a rear end cover 6, rotor vanes 14, stator vanes 15, two rectangular sealing rings 16 and two groups of elastic sealing structures. The front and rear ends of the swing cylinder rotating shaft 11 are rotatably and sealingly installed with the front end cover 18 and the rear end cover 6 respectively to form a closed oil chamber. The rotor vanes 14 and the stator vanes 15 are detachably installed on the side of the swing cylinder rotating shaft 11 and the side of the oil chamber of the rear end cover 6 respectively, and divide the closed oil chamber into a high-pressure chamber and a low-pressure chamber. Two rectangular sealing rings 16 are respectively arranged on the rotor vanes 14 and the stator vanes 15. The two rectangular sealing rings 16 are in sealing cooperation with the front end cover 18, the rear end cover 6 and / or the swing cylinder rotating shaft 11. The swing cylinder rotating shaft 11 is a stepped shaft. Two shaft step surfaces 11-3 are respectively arranged at both ends of the middle shaft section of the swing cylinder rotating shaft 11. Two end cover sealing grooves are respectively arranged on the inner sides of the shaft holes of the front end cover 18 and the rear end cover 6. Two groups of elastic sealing structures are respectively embedded in the two end cover sealing grooves. The two groups of elastic sealing structures are respectively in sealing cooperation with the two shaft step surfaces 11-3 of the middle shaft section.

[0007] Furthermore, first square sealing grooves 14-2 and second square sealing grooves 15-1 penetrating through the outer side surfaces and the front and rear end surfaces of the vanes are respectively arranged on the rotor vanes 14 and the stator vanes 15. Two rectangular sealing rings 16 are respectively embedded in the first square sealing grooves 14-2 and the second square sealing grooves 15-1. The rotor vanes 14 are in sealing cooperation with the front end cover oil chamber end surface 18-4 of the front end cover 18, the rear end cover oil chamber end surface 6-7 of the rear end cover 6 and the oil chamber side surface of the rear end cover 6 through the rectangular sealing rings 16. The stator vanes 15 are in sealing cooperation with the front end cover oil chamber end surface 18-4 of the front end cover 18, the rear end cover oil chamber end surface 6-7 of the rear end cover 6 and the side surface of the swing cylinder rotating shaft 11 through the rectangular sealing rings 16.

[0008] Furthermore, the elastic sealing structure includes a second O-ring 8, a sealing ring support 9 and a wave spring 10. The second O-ring 8, the sealing ring support 9 and the wave spring 10 are coaxially embedded in the end cover sealing grooves of the front end cover 18 and / or the rear end cover 6 from the inside to the outside in sequence. The second O-ring 8 is in sealing cooperation with the shaft step surface 11-3 at the end of the middle shaft section of the swing cylinder rotating shaft 11.

[0009] Further, the integrated hydraulic swing cylinder joint further includes a first O-ring 7. The front end cover 18 and the rear end cover 6 are both hollow cylindrical shells with an opening at one end and a shaft hole at the other end. A seal ring groove 6-6 is provided on the end face of the opening side of the rear end cover 6. The first O-ring 7 is coaxially installed in the seal ring groove 6-6, and the first O-ring 7 is in sealing cooperation with the end face of the opening side of the front end cover 18.

[0010] Further, the integrated hydraulic swing cylinder joint further includes a first bearing end cover 2, a second bearing 3, a second bearing end cover 20 and a second bearing 19. The outer end parts of the shaft holes of the front end cover 18 and the rear end cover 6 are respectively coaxially installed with the second bearing 19 and the second bearing 3. The swing cylinder rotating shaft 11 is respectively rotatably connected to the front end cover 18 and the rear end cover 6 through the second bearing 19 and the second bearing 3. A second bearing end cover 20 and a first bearing end cover 2 are respectively arranged outside the second bearing 19 and the second bearing 3. The second bearing end cover 20 and the first bearing end cover 2 are respectively installed at the ends of the front end cover 18 and the rear end cover 6.

[0011] Further, the integrated hydraulic swing cylinder joint further includes a ring encoder 1. The ring encoder 1 is sleeved on the rear end part of the swing cylinder rotating shaft 11, and the ring encoder 1 is installed on the rear end face of the rear end cover 6.

[0012] Further, the integrated hydraulic swing cylinder joint further includes an electrical cabin cover 4 and a circuit board 5. An electrical cabin is provided on the rear end face of the rear end cover 6. The circuit board 5 is installed in the electrical cabin, and the electrical cabin cover 4 is arranged outside the electrical cabin.

[0013] Further, the integrated hydraulic swing cylinder joint further includes a servo valve 13 and two oil pressure sensors 12. The servo valve 13 is installed at the bottom of the rear end cover 6. Two oil pressure sensors 12 are symmetrically arranged on the left and right sides of the servo valve 13, and the two oil pressure sensors 12 are installed at the bottom of the rear end cover 6.

[0014] Furthermore, the swing cylinder rotating shaft 11 is of a hollow shaft structure. Inside the swing cylinder rotating shaft 11, there are a rotating shaft high-pressure oil passage 11-1 and a rotating shaft low-pressure oil passage 11-2. In the middle of the shaft hole of the rear end cover 6 and the middle of the shaft hole of the front end cover 18, there are respectively a high-pressure oil passage groove 6-2 and a low-pressure oil passage groove 18-2. The bottom surface of the high-pressure oil passage groove 6-2 is communicated with the rotating shaft high-pressure oil passage 11-1, and the bottom surface of the low-pressure oil passage groove 18-2 is communicated with the rotating shaft low-pressure oil passage 11-2. On the rear end cover 6, there is a rear end cover high-pressure oil passage 6-1. Both ends of the rear end cover high-pressure oil passage 6-1 respectively penetrate through the rear surface of the rear end cover 6 and the bottom surface of the high-pressure oil passage groove 6-2. On the rear end cover 6, there is a servo valve high-pressure oil passage 6-4. Both ends of the servo valve high-pressure oil passage 6-4 respectively penetrate through the lower surface of the rear end cover 6 and the bottom surface of the high-pressure oil passage groove 6-2. The port of the servo valve high-pressure oil passage 6-4 located on the lower surface of the rear end cover 6 is communicated with the servo valve 13. On the front end cover 18, there is a front end cover low-pressure oil passage 18-1. Both ends of the front end cover low-pressure oil passage 18-1 respectively penetrate through the rear end face of the front end cover 18 and the bottom surface of the low-pressure oil passage groove 18-2. On the rear end cover 6, there is a rear end cover low-pressure oil passage 6-3. Both ends of the rear end cover low-pressure oil passage 6-3 respectively penetrate through the front and rear end faces of the rear end cover 6 and are communicated with the front end cover low-pressure oil passage 18-1. On the front end cover 18, there is a front end cover low-pressure oil passage 18-3. Both ends of the front end cover low-pressure oil passage 18-3 respectively penetrate through the rear end face of the front end cover 18 and the bottom surface of the low-pressure oil passage groove 18-2. On the rear end cover 6, there is a servo valve low-pressure oil passage 6-5. Both ends of the servo valve low-pressure oil passage 6-5 respectively penetrate through the front end face and the lower end face of the rear end cover 6. The port of the servo valve low-pressure oil passage 6-5 located on the lower end face of the rear end cover 6 is communicated with the servo valve 13.

[0015] Furthermore, the integrated hydraulic swing cylinder joint further includes four rotary seals 17. On both sides of the low-pressure oil passage groove 18-2 inside the front end cover 18 and on both sides of the high-pressure oil passage groove 6-2 inside the rear end cover 6, there are annular seal grooves, and the rotary seals 17 are coaxially installed in the annular seal grooves.

[0016] Compared with various existing vane type swing cylinders, the integrated hydraulic swing cylinder joint of the present invention specifically has the following beneficial effects: 1. Small internal leakage: The swing cylinder joint designed by the present invention can significantly reduce internal leakage through the innovative split vane design, combined with precise sealing design, manufacturing process upgrade and material innovation, thereby improving the energy efficiency and dynamic performance of the system.

[0017] 2. Tubeless design for easy assembly and connection: The present invention uses a 3D printed integrated oil passage to replace external pipelines, which can significantly reduce the leakage risk, lower the pressure loss, improve the system rigidity and response speed, and reduce the failures caused by pipeline vibration. This design greatly reduces the installation difficulty and maintenance cost. Meanwhile, by combining multiple swing cylinder joints in different ways, multiple degrees of freedom can be achieved within a limited space.

[0018] 3. Small size and compact structure: The swing cylinder joint designed in the present invention has a compact structure, with the overall thickness within 65 mm and the diameter only 95 mm. In addition, the hydraulic oil is directly transmitted through the pipelines inside the swing cylinder end cover, and after being regulated by the servo valve, it enters the A / B cavities inside the cylinder body, reducing the manufacturing difficulty and cost.

[0019] 4. Hollow structure design and concise appearance: A hollow structure is designed for the robot joint in the present invention, which is convenient for wiring. At the same time, wiring space and installation space for circuit boards are reserved inside the cylinder body, making the overall layout more regular and reasonable, the appearance more concise, and the installation and disassembly more convenient.

[0020] 5. High-speed response and high-precision control of the joint can be achieved: The present invention adopts a servo valve, an oil pressure sensor and a magnetic encoder to realize servo closed-loop control, which can sense the swing state in real time, control and regulate the oil pressure and flow rate, and achieve precise control. In order to accurately measure the rotational speed data within a limited space, an advanced ring magnetic encoder is adopted to ensure the convenience and accuracy of operation. Description of the Drawings

[0021] Figure 1 is the front view of the integrated hydraulic swing cylinder joint of the present invention. For the convenience of showing the main structure of the present invention, the connecting screws, pins, and some sealing rings are omitted to a certain extent in the figure; Figure 2 is the side view of the integrated hydraulic swing cylinder joint of the present invention; Figure 3 is the top view of the integrated hydraulic swing cylinder joint of the present invention; Figure 4 is the axonometric view of the integrated hydraulic swing cylinder joint of the present invention; Figure 5 is the exploded view of the integrated hydraulic swing cylinder joint of the present invention; Figure 6 is Figure 3 the sectional view at A-A; Figure 7 is Figure 1 the sectional view at B-B; Figure 8 is Figure 1 the sectional view at C-C; Figure 9 is Figure 1 the sectional view at D-D; Figure 10 is the working principle diagram of the integrated hydraulic swing cylinder joint of the present invention, at this time in the limit position, the stator vane is in contact with the rotor vane;Figure 11 This is the working principle diagram of the integrated hydraulic swing cylinder joint of the present invention. At this time, it is in the working state. The rotor blade drives the swing rod rotating shaft 11 to rotate under the push of the hydraulic oil.

[0022] In the figure: 1. Ring encoder; 2. First bearing end cover; 3. Second bearing; 4. Electrical cabin cover; 5. Circuit board; 6. Rear end cover; 7. First O-ring seal; 8. Second O-ring seal; 9. Seal support; 10. Wave spring; 11. Swing cylinder rotating shaft; 12. Oil pressure sensor; 13. Servo valve; 14. Rotor blade; 15. Stator blade; 16. Rectangular seal; 17. Rotary seal; 18. Front end cover; 19. Second bearing; 20. Second bearing end cover; 6-1. High-pressure oil circuit of the rear end cover; 6-2. High-pressure oil passage; 6-3. Low-pressure oil circuit of the rear end cover; 6-4. High-pressure oil circuit of the servo valve; 6-5. Low-pressure oil circuit of the servo valve; 6-6. Seal groove; 6-7. Oil chamber end face of the rear end cover; 11-1. High-pressure oil circuit of the rotating shaft; 11-2. Low-pressure oil circuit of the rotating shaft; 11-3. Step surface of the rotating shaft; 14-1. End face of the rotor blade; 14-2. First square seal groove; 15-1. Second square seal groove; 18-1. Low-pressure oil circuit of the front end cover; 18-2. Low-pressure oil passage; 18-3. Low-pressure oil circuit of the front end cover; 18-4. Oil chamber end face of the front end cover. Specific embodiments

[0023] Specific embodiment 1: In combination with Figures 1 to 9 This specific embodiment is described. The integrated hydraulic swing cylinder joint of this embodiment includes a swing cylinder rotating shaft 11, a front end cover 18, a rear end cover 6, a rotor blade 14, a stator blade 15, two rectangular seals 16 and two groups of elastic seal structures. The front and rear ends of the swing cylinder rotating shaft 11 are rotatably and sealingly installed with the front end cover 18 and the rear end cover 6 respectively to form a closed oil chamber. The rotor blade 14 and the stator blade 15 are respectively detachably installed on the side of the swing cylinder rotating shaft 11 and the side of the oil chamber of the rear end cover 6 and divide the closed oil chamber into a high-pressure chamber and a low-pressure chamber. Two rectangular seals 16 are respectively provided on the rotor blade 14 and the stator blade 15. The two rectangular seals 16 are sealingly matched with the front end cover 18, the rear end cover 6 and / or the swing cylinder rotating shaft 11. The swing cylinder rotating shaft 11 is a stepped shaft. Two shaft step surfaces 11-3 are respectively provided at both ends of the middle shaft section of the swing cylinder rotating shaft 11. Two end cover seal grooves are respectively provided inside the shaft holes of the front end cover 18 and the rear end cover 6. Two groups of elastic seal structures are respectively installed in the two end cover seal grooves. The two groups of elastic seal structures are respectively sealingly matched with the two shaft step surfaces 11-3 of the middle shaft section.

[0024] In this embodiment, both the front end cover 18 and the rear end cover 6 are made of high-strength aluminum alloy material and manufactured by 3D printing technology.

[0025] In this embodiment, an elastic sealing structure is provided in the end - cover sealing grooves on the inner sides of the shaft holes of the front end - cover 18 and the rear end - cover 6. Through the action of the pre - tightening force, the O - ring seal 8 is closely attached to the two shaft step surfaces 11 - 3 of the swing cylinder rotating shaft 11 to achieve sealing. This vane - type swing cylinder adopts a compact design, can provide a relatively high output torque during operation, and can achieve large - angle rotational motion. Its structural design is reasonable and has excellent mechanical properties.

[0026] In order to overcome the internal leakage problem of the existing swing cylinder, the present invention proposes an innovative solution: a new structure is adopted for connection, and the traditional connection method between the vane and the rotating shaft is optimized to a direct fastening form. This improvement not only simplifies the internal structure of the cylinder block, but also reduces the process complexity of vane processing and assembly. At the same time, an elastic sealing mechanism is provided at the end of the oil cavity. Through the action of the pre - tightening force, it ensures reliable contact between the seal and the vane end face, effectively improving the leakage problem of the working medium through the mating clearance.

[0027] In order to overcome the problems of complex joint wiring and cumbersome pipeline connection of the swing cylinder, the present invention proposes an innovative solution: the control circuit is installed inside the swing cylinder housing through structural design, and the data line connection is carried out using a hollow structure; at the same time, an oil circuit is designed inside the front and rear end - covers of the swing cylinder and integrally formed by 3D printing technology. This solution avoids the complexity of external data lines and oil pipes, and the oil circuit can also be transmitted from one swing cylinder to the next through a rotating oil - passing structure, enabling multiple swing cylinder joints to be conveniently arranged in series, thereby forming a multi - degree - of - freedom joint driven by hydraulics.

[0028] The present invention provides an integrated swing cylinder joint applied to a hydraulic robot. With a relatively small external dimension, it can achieve large - angle output and reciprocating swing; the internal mechanical structure of the swing cylinder is precise and the oil - circuit layout is compact, enabling precise control and good sealing.

[0029] The present invention adopts a split - type vane structure in combination with a targeted sealing solution, and at the same time designs an internal oil - passing solution to achieve a tube - free design, realizing a new vane swing cylinder structure solution with large rotation angle, low internal leakage, and being convenient for manufacturing and assembly. The overall joint integrates drive and sensing, and arranges the lines and channels in a tube - free manner, and can be conveniently applied to the drive of robot joints with multiple degrees of freedom.

[0030] The present invention not only innovates in the structure of the swing cylinder, but also integrates advanced sensing technology. The sensing system uses a ring - type magnetic encoder 1 (integrated in the first bearing end - cover 2) to monitor the rotation angle of the rotating shaft in real - time, and cooperates with an oil - pressure sensor 12 (installed in the valve - block oil circuit) to form a closed - loop feedback. The overall structure realizes line layout, oil - circuit integration and lightweight design through 3D - printed high - strength aluminum alloy end - covers, and completes the highly integrated power transmission, multi - degree - of - freedom drive and data monitoring in a compact space.

[0031] Specific implementation method 2: Combination Figures 1 to 9 To illustrate the present embodiment, the rotor blades 14 and stator blades 15 of the present embodiment are respectively provided with a first square sealing groove 14-2 and a second square sealing groove 15-1 which penetrate through the outer side surface and the front and rear end surfaces of the blades, and two rectangular sealing rings 16 are respectively embedded in the first square sealing groove 14-2 and the second square sealing groove 15-1. The rotor blades 14 are sealed with the front end cover oil chamber end face 18-4 of the front end cover 18, the rear end cover oil chamber end face 6-7 of the rear end cover 6 and the oil chamber side face of the rear end cover 6 through the rectangular sealing ring 16, and the stator blades 15 are sealed with the front end cover oil chamber end face 18-4 of the front end cover 18, the rear end cover oil chamber end face 6-7 of the rear end cover 6 and the side face of the swing cylinder shaft 11 through the rectangular sealing ring 16.

[0032] In this way, the integrated hydraulic swing cylinder joint of the present invention adopts an innovative sealing solution design to deal with the inherent internal leakage problem of the blade-type swing cylinder, and has achieved excellent results in practical applications. Figure 8 and Figure 9 , a first square sealing groove 14-2 is machined on the rotor blade 14, and a second square sealing groove 15-1 is machined on the stator blade 15 for sealing. Since leakage mainly occurs in the gap between the rotor blade end face 14-1 and the rear end cover oil chamber end face 6-7 and the front end cover oil chamber end face 18-4 in actual measurement, the present invention pioneered a split blade, and the cross-sections of the rotor blade 14 and the stator blade 15 are both "narrow at the top and wide at the bottom", and this design effectively reduces the area of the mating surface. Other components and connection relationships are the same as those of the first specific implementation method.

[0033] In this embodiment, a square sealing groove 14-2 is left on the rotor blade 14, and after the rectangular sealing ring 16 is installed, it is fixed to the swing cylinder shaft 11 by four screws. A first square sealing groove 14-2 is provided on the rotor blade 14, and a second square sealing groove 15-1 is provided on the stator blade 15, which are used to install the rectangular sealing ring 16 to prevent the high and low pressure chambers of the swing cylinder from being connected to each other, causing internal leakage problems.

[0034] Specific implementation method three: Combination Figures 1 to 9 To illustrate this embodiment, the elastic sealing structure of this embodiment includes a second O-ring 8, a sealing ring support 9 and a wave spring 10. The second O-ring 8, the sealing ring support 9 and the wave spring 10 are coaxially embedded in the end cover sealing groove of the front cover 18 and / or the rear cover 6 in sequence from the inside to the outside. The second O-ring 8 is sealingly matched with the shaft step surface 11-3 at the end of the middle shaft section of the swing cylinder shaft 11.

[0035] With such a setting, in addition to using split blades, the present invention also adopts the method of directly contacting the stepped surface 11-3 of the rotating shaft with the second O-ring 8, and uses the wave spring behind the second O-ring 8 to increase the contact force. End cover seal grooves are provided on the wall surfaces on both sides of the swing cylinder oil chamber, and the wave spring 10, the seal support 9, and the second O-ring 8 are installed to seal the oil chamber. These structural innovations together achieve reliable sealing, reduce internal leakage, significantly improve the performance and reliability of the swing cylinder, and make it possible to be widely applied to robot joints. The other components and connection relationships are the same as those in the first or second specific embodiment.

[0036] Specific embodiment four: Combining Figures 1 to 9 To illustrate this embodiment, the integrated hydraulic swing cylinder joint of this embodiment further includes a first O-ring 7. The front end cover 18 and the rear end cover 6 are both hollow cylindrical shells with an opening at one end and a shaft hole at the other end. A seal ring groove 6-6 is provided on the end face of the opening side of the rear end cover 6, and the first O-ring 7 is coaxially installed in the seal ring groove 6-6, and the first O-ring 7 is in sealing cooperation with the end face of the opening side of the front end cover 18.

[0037] With such a setting, referring to Figure 8 and Figure 9 , a seal ring groove 6-6 is machined on the mating surface of the front end cover 18 and the rear end cover 6 for sealing with the first O-ring 7. The other components and connection relationships are the same as those in the first, second or third specific embodiment.

[0038] In this embodiment, a seal ring groove 6-6 is provided on the joint surface of the front end cover 18 and the rear end cover 6 of the swing cylinder, and the two end covers are connected by screws. Countersunk head screws are provided, and the layout of the screws is analyzed for strength to meet the pressure requirement of up to 21 MPa. Four process holes are left on the front end cover 18 to facilitate the separation of the two end covers during disassembly. At the same time, the redundant structures on the front end cover 18 and the rear end cover 6 are removed for lightweight optimization.

[0039] Specific embodiment five: Combining Figures 1 to 9 To illustrate this embodiment, the integrated hydraulic swing cylinder joint of this embodiment further includes a first bearing end cover 2, a second bearing 3, a second bearing end cover 20, and a second bearing 19. The outer ends of the shaft holes of the front end cover 18 and the rear end cover 6 are respectively coaxially installed with the second bearing 19 and the second bearing 3. The swing cylinder rotating shaft 11 is respectively rotatably connected to the front end cover 18 and the rear end cover 6 through the second bearing 19 and the second bearing 3. A second bearing end cover 20 and a first bearing end cover 2 are respectively provided outside the second bearing 19 and the second bearing 3, and the second bearing end cover 20 and the first bearing end cover 2 are respectively installed at the ends of the front end cover 18 and the rear end cover 6. The other components and connection relationships are the same as those in the first, second, third or fourth specific embodiment.

[0040] Specific embodiment six: CombiningFigures 1 to 9 Regarding this embodiment, the integrated hydraulic swing cylinder joint of this embodiment further includes a ring encoder 1. The ring encoder 1 is sleeved on the rear end portion of the swing cylinder rotating shaft 11, and the ring encoder 1 is installed on the rear end face of the rear end cover 6.

[0041] With such an arrangement, a ring magnetic encoder 1 is installed on one side of the swing cylinder rotating shaft 11, which can accurately detect the rotation position in real time, thereby improving the working accuracy and response speed of the swing cylinder. The other components and connection relationships are the same as those in the first, second, third, fourth, or fifth specific embodiments.

[0042] Specific embodiment seven: Combining Figures 1 to 9 Regarding this embodiment, the integrated hydraulic swing cylinder joint of this embodiment further includes an electrical cabin cover 4 and a circuit board 5. There is an electrical cabin on the rear side end face of the rear end cover 6. The circuit board 5 is embedded in the electrical cabin, and the electrical cabin cover 4 is arranged outside the electrical cabin.

[0043] With such an arrangement, the control circuit board 5 is fixed in the space inside the rear end cover 6 by screws, and the electrical cabin cover 4 is arranged in the installation area of the circuit board 5, which can be sealed as needed. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, or sixth specific embodiments.

[0044] Specific embodiment eight: Combining Figures 1 to 9 Regarding this embodiment, the integrated hydraulic swing cylinder joint of this embodiment further includes a servo valve 13 and two oil pressure sensors 12. The servo valve 13 is installed at the bottom of the rear end cover 6, and two symmetrically arranged oil pressure sensors 12 are respectively arranged on the left and right sides of the servo valve 13. The two oil pressure sensors 12 are installed at the bottom of the rear end cover 6.

[0045] With such an arrangement, the servo valve 13 and the oil pressure sensors 12 are installed on the swing cylinder joint, realizing the integration of joint drive and sensing, and increasing the control accuracy. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0046] Specific embodiment nine: Combining Figures 1 to 9Regarding this embodiment, the swing cylinder rotating shaft 11 of this embodiment has a hollow shaft structure. Inside the swing cylinder rotating shaft 11, there are a rotating shaft high-pressure oil passage 11-1 and a rotating shaft low-pressure oil passage 11-2. In the middle of the shaft hole of the rear end cover 6 and the middle of the shaft hole of the front end cover 18, there are respectively a high-pressure oil passage groove 6-2 and a low-pressure oil passage groove 18-2. The bottom surface of the high-pressure oil passage groove 6-2 is communicated with the rotating shaft high-pressure oil passage 11-1, and the bottom surface of the low-pressure oil passage groove 18-2 is communicated with the rotating shaft low-pressure oil passage 11-2. On the rear end cover 6, there is a rear end cover high-pressure oil passage 6-1. Both ends of the rear end cover high-pressure oil passage 6-1 respectively penetrate through the rear surface of the rear end cover 6 and the bottom surface of the high-pressure oil passage groove 6-2. On the rear end cover 6, there is a servo valve high-pressure oil passage 6-4. Both ends of the servo valve high-pressure oil passage 6-4 respectively penetrate through the lower surface of the rear end cover 6 and the bottom surface of the high-pressure oil passage groove 6-2. The port of the servo valve high-pressure oil passage 6-4 located on the lower surface of the rear end cover 6 is communicated with the servo valve 13. On the front end cover 18, there is a front end cover low-pressure oil passage 18-1. Both ends of the front end cover low-pressure oil passage 18-1 respectively penetrate through the rear end face of the front end cover 18 and the bottom surface of the low-pressure oil passage groove 18-2. On the rear end cover 6, there is a rear end cover low-pressure oil passage 6-3. Both ends of the rear end cover low-pressure oil passage 6-3 respectively penetrate through the front and rear end faces of the rear end cover 6 and are communicated with the front end cover low-pressure oil passage 18-1. On the front end cover 18, there is a front end cover low-pressure oil passage 18-3. Both ends of the front end cover low-pressure oil passage 18-3 respectively penetrate through the rear end face of the front end cover 18 and the bottom surface of the low-pressure oil passage groove 18-2. On the rear end cover 6, there is a servo valve low-pressure oil passage 6-5. Both ends of the servo valve low-pressure oil passage 6-5 respectively penetrate through the front end face and the lower end face of the rear end cover 6. The port of the servo valve low-pressure oil passage 6-5 located on the lower end face of the rear end cover 6 is communicated with the servo valve 13.

[0047] With such a setting, the present invention adopts an innovative tubeless oil circuit design. The hydraulic oil directly enters the internal flow path of the swing cylinder and finally realizes output on the swing cylinder rotating shaft 11. The high-pressure oil enters the high-pressure oil passage groove 6-2 from the rear end cover high-pressure oil passage 6-1. Subsequently, a part enters the servo valve 13 through the servo valve high-pressure oil passage 6-4, and a part is transmitted to the next joint through the rotating shaft high-pressure oil passage 11-1. The low-pressure oil liquid converges in the low-pressure oil passage groove 18-2 through the servo valve low-pressure oil passage 6-5, the front end cover low-pressure oil passage 18-3 and the part of the next joint that returns through the rotating shaft low-pressure oil passage 11-2, and then returns through the front end cover low-pressure oil passage 18-1 and the rear end cover low-pressure oil passage 6-3. The oil liquid is distributed to the A / B cavities inside the cylinder block through the precisely machined valve plate oil circuit, drives the rotor blade 14 to swing, and realizes output through the swing cylinder rotating shaft 11. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, or eighth specific embodiments.

[0048] Specific Embodiment Ten: In combination with Figures 1 to 9To describe this embodiment, the integrated hydraulic swing cylinder joint of this embodiment further includes four rotary seals 17. Annular seal grooves are provided on both sides of the low-pressure oil passage 18-2 inside the front end cover 18 and on both sides of the high-pressure oil passage 6-2 inside the rear end cover 6, and the rotary seals 17 are coaxially installed in the annular seal grooves.

[0049] With such an arrangement, the annular seal grooves on both sides of the high- and low-pressure oil passages inside the front and rear end faces are used to install the rotary seals 17 to seal the high-pressure oil passage 6-2 and the low-pressure oil passage 18-2. The other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth specific embodiments.

[0050] Working principle Combined with Figures 1 to 11 To describe the working principle of the integrated hydraulic swing cylinder joint of the present invention: In terms of the oil circuit layout, during operation, hydraulic oil enters the internal flow passage through the oil port reserved at the bottom of the rear end cover 6, and then enters the servo valve 13 through the rotary oil passage joint and the valve plate. The output of the servo valve 13 then enters the internal oil chamber of the cylinder block through the internal flow passage, pushing the rotor blade 14 to drive the swing cylinder rotating shaft 11 to rotate together. The swing cylinder rotating shaft 11 is hollow inside and has a flow passage, which can not only transmit torque, but also transfer the high- and low-pressure oil circuits to the next joint, and can also conduct wiring through the inner hole, thus ensuring the compactness of the structure to the greatest extent.

[0051] In terms of the arrangement of electrical components, a space for arranging the circuit board 5 is reserved inside the rear end cover 6. By designing the circuit board 5 with a specific shape, the electrical components can be encapsulated inside the swing cylinder, avoiding the structural complexity caused by external control circuits. At the same time, an annular magnetic encoder 1 is installed on one side of the swing cylinder rotating shaft 11, which can accurately detect the rotation position in real time, thereby improving the working accuracy and response speed of the swing cylinder.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features in this embodiment; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. Integrated hydraulic swing cylinder joint, characterized in that: It includes a swing cylinder rotating shaft (11), a front end cover (18), a rear end cover (6), rotor blades (14), stator blades (15), two rectangular sealing rings (16) and two groups of elastic sealing structures. The front and rear ends of the swing cylinder rotating shaft (11) are respectively rotatably and sealingly installed with the front end cover (18) and the rear end cover (6) to form a closed oil cavity. The rotor blades (14) and the stator blades (15) are respectively detachably installed on the side of the swing cylinder rotating shaft (11) and the side of the oil cavity of the rear end cover (6) and divide the closed oil cavity into a high-pressure cavity and a low-pressure cavity. Two rectangular sealing rings (16) are respectively arranged on the rotor blades (14) and the stator blades (15). The two rectangular sealing rings (16) are in sealing cooperation with the front end cover (18), the rear end cover (6) and / or the swing cylinder rotating shaft (11). The swing cylinder rotating shaft (11) is a stepped shaft. Two rotating shaft stepped surfaces (11-3) are respectively arranged at both ends of the middle shaft section of the swing cylinder rotating shaft (11). Two end cover sealing grooves are respectively arranged on the inner sides of the shaft holes of the front end cover (18) and the rear end cover (6). Two groups of elastic sealing structures are respectively embedded in the two end cover sealing grooves. The two groups of elastic sealing structures are respectively in sealing cooperation with the two rotating shaft stepped surfaces (11-3) of the middle shaft section.

2. The integrated hydraulic swing cylinder joint according to claim 1, characterized in that: First square sealing grooves (14-2) and second square sealing grooves (15-1) penetrating through the outer side surface and the front and rear end surfaces are respectively arranged on the rotor blades (14) and the stator blades (15). Two rectangular sealing rings (16) are respectively embedded in the first square sealing grooves (14-2) and the second square sealing grooves (15-1). The rotor blades (14) are in sealing cooperation with the front end cover oil cavity end surface (18-4) of the front end cover (18), the rear end cover oil cavity end surface (6-7) of the rear end cover (6) and the oil cavity side surface of the rear end cover (6) through the rectangular sealing rings (16). The stator blades (15) are in sealing cooperation with the front end cover oil cavity end surface (18-4) of the front end cover (18), the rear end cover oil cavity end surface (6-7) of the rear end cover (6) and the side surface of the swing cylinder rotating shaft (11) through the rectangular sealing rings (16).

3. The integrated hydraulic swing cylinder joint according to claim 1 or 2, characterized in that: The elastic sealing structure includes a second O-ring (8), a sealing ring support (9) and a wave spring (10). The second O-ring (8), the sealing ring support (9) and the wave spring (10) are coaxially embedded in the end cover sealing groove of the front end cover (18) and / or the rear end cover (6) from the inside to the outside in sequence. The second O-ring (8) is in sealing cooperation with the rotating shaft stepped surface (11-3) at the end of the middle shaft section of the swing cylinder rotating shaft (11).

4. The integrated hydraulic swing cylinder joint according to claim 3, characterized in that: The integrated hydraulic swing cylinder joint further includes a first O-ring (7). The front end cover (18) and the rear end cover (6) are both hollow cylindrical shells with an opening at one end and a shaft hole at the other end. A sealing ring groove (6-6) is arranged on the end surface of the opening side of the rear end cover (6). The first O-ring (7) is coaxially embedded in the sealing ring groove (6-6). The first O-ring (7) is in sealing cooperation with the end surface of the opening side of the front end cover (18).

5. The integrated hydraulic swing cylinder joint according to claim 1 or 4, characterized in that: The integrated hydraulic swing cylinder joint further includes a first bearing end cover (2), a second bearing (3), a second bearing end cover (20) and a second bearing (19). The outer end parts of the shaft holes of the front end cover (18) and the rear end cover (6) are coaxially fitted with the second bearing (19) and the second bearing (3) respectively. The swing cylinder rotating shaft (11) is rotatably connected to the front end cover (18) and the rear end cover (6) through the second bearing (19) and the second bearing (3) respectively. The second bearing end cover (20) and the first bearing end cover (2) are respectively arranged outside the second bearing (19) and the second bearing (3). The second bearing end cover (20) and the first bearing end cover (2) are respectively installed at the ends of the front end cover (18) and the rear end cover (6).

6. The integrated hydraulic swing cylinder joint according to claim 5, wherein: The integrated hydraulic swing cylinder joint further includes a ring encoder (1). The ring encoder (1) is sleeved on the rear end part of the swing cylinder rotating shaft (11), and the ring encoder (1) is installed on the rear end face of the rear end cover (6).

7. The integrated hydraulic swing cylinder joint according to claim 6, characterized in that: The integrated hydraulic swing cylinder joint further includes an electrical cabin cover (4) and a circuit board (5). An electrical cabin is provided on the rear end face of the rear end cover (6). The circuit board (5) is installed in the electrical cabin, and the electrical cabin cover (4) is arranged outside the electrical cabin.

8. The integrated hydraulic swing cylinder joint according to claim 7, characterized in that: The integrated hydraulic swing cylinder joint further includes a servo valve (13) and two oil pressure sensors (12). The servo valve (13) is installed at the bottom of the rear end cover (6). Two symmetrically arranged oil pressure sensors (12) are respectively arranged on the left and right sides of the servo valve (13), and the two oil pressure sensors (12) are installed at the bottom of the rear end cover (6).

9. The integrated hydraulic swing cylinder joint according to claim 8, characterized in that: The swing cylinder rotating shaft (11) is of a hollow shaft structure. Inside the swing cylinder rotating shaft (11), there are a rotating shaft high-pressure oil passage (11-1) and a rotating shaft low-pressure oil passage (11-2). In the middle of the shaft hole of the rear end cover (6) and the middle of the shaft hole of the front end cover (18), there are respectively a high-pressure oil passage groove (6-2) and a low-pressure oil passage groove (18-2). The bottom surface of the high-pressure oil passage groove (6-2) is communicated with the rotating shaft high-pressure oil passage (11-1), and the bottom surface of the low-pressure oil passage groove (18-2) is communicated with the rotating shaft low-pressure oil passage (11-2). On the rear end cover (6), there is a rear end cover high-pressure oil passage (6-1). Both ends of the rear end cover high-pressure oil passage (6-1) respectively penetrate through the rear surface of the rear end cover (6) and the bottom surface of the high-pressure oil passage groove (6-2). On the rear end cover (6), there is a servo valve high-pressure oil passage (6-4). Both ends of the servo valve high-pressure oil passage (6-4) respectively penetrate through the lower surface of the rear end cover (6) and the bottom surface of the high-pressure oil passage groove (6-2). The port of the servo valve high-pressure oil passage (6-4) located on the lower surface of the rear end cover (6) is communicated with the servo valve (13). On the front end cover (18), there is a front end cover low-pressure oil passage (18-1). Both ends of the front end cover low-pressure oil passage (18-1) respectively penetrate through the rear end face of the front end cover (18) and the bottom surface of the low-pressure oil passage groove (18-2). On the rear end cover (6), there is a rear end cover low-pressure oil passage (6-3). Both ends of the rear end cover low-pressure oil passage (6-3) respectively penetrate through the front and rear end faces of the rear end cover (6) and are communicated with the front end cover low-pressure oil passage (18-1). On the front end cover (18), there is a front end cover low-pressure oil passage (18-3). Both ends of the front end cover low-pressure oil passage (18-3) respectively penetrate through the rear end face of the front end cover (18) and the bottom surface of the low-pressure oil passage groove (18-2). On the rear end cover (6), there is a servo valve low-pressure oil passage (6-5). Both ends of the servo valve low-pressure oil passage (6-5) respectively penetrate through the front end face and the lower end face of the rear end cover (6). The port of the servo valve low-pressure oil passage (6-5) located on the lower end face of the rear end cover (6) is communicated with the servo valve (13).

10. The integrated hydraulic swing cylinder joint according to claim 9, characterized in that: The integrated hydraulic swing cylinder joint further includes four rotary seals (17). On both sides of the low-pressure oil passage groove (18-2) inside the front end cover (18) and on both sides of the high-pressure oil passage groove (6-2) inside the rear end cover (6), there are annular seal grooves, and the rotary seals (17) are coaxially installed in the annular seal grooves.

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