High-efficiency hydraulic joint integrated switching valve of robot

Abstract

A high-efficiency hydraulic joint integrated switch valve of a robot comprises a valve body, a valve element and a valve sleeve, the valve sleeve is fixed in the valve body, the valve element is coaxially installed in the valve sleeve in a sliding mode, the two axial ends of the valve element are connected with the valve sleeve in a sealed mode through valve element sealing rings respectively, and a valve element oil groove is formed in the position, between the two valve element sealing rings, of the outer wall of the valve element. A plurality of valve sleeve oil grooves corresponding to the valve element oil grooves are formed in the inner wall of the valve sleeve and in the oil groove area, the valve body is provided with oil ports independently communicated with the valve sleeve oil grooves, the oil ports are connected with effective cavities of the multi-cavity hydraulic cylinder through external oil ways, and the valve element drives the valve sleeve to rotate around a center shaft through a motor. Through a set of valve element and valve sleeve structure, the function that a plurality of two-position three-way switch valves control a plurality of effective cavities in the multi-cavity hydraulic cylinder to be communicated with a high-pressure or low-pressure oil way is achieved, and therefore the purposes that hydraulic joint driving is high in efficiency, high in integration, small in size and light in weight are achieved.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic transmission drive, and in particular to a high-efficiency hydraulic joint integrated switch valve for a robot. Background Art

[0002] Due to weight and volume constraints, the hydraulic systems of multi-legged robots, humanoid robots, seven- and six-degree-of-freedom hydraulic manipulators for underwater or other specialized environments, excavators, and unmanned construction machinery with wheel-leg composite chassis mostly utilize a single-pump-multiple-actuator architecture. However, single-pump-multiple-actuator hydraulic systems are inefficient. For example, the efficiency of traditional excavators ranges from 40% to 60%, depending on various energy-saving measures. For various robots and unmanned construction machinery, the increased number of degrees of freedom and joints leads to more dramatic variations in load power at the same joint at different times, and greater variations in load power between different joints at the same time, resulting in even lower drive efficiency. For example, data from relevant literature on hydraulic exoskeletons indicates an efficiency of only 17%. Furthermore, single-pump-multiple-actuator hydraulic systems are bulky, have complex piping, and require extensive control. When applied to multi-degree-of-freedom hydraulic manipulators, they lack the lightweighting and compactness achieved through joint actuation.

[0003] Therefore, although hydraulic drive has a significant advantage in power density compared to pure electric drive, low drive efficiency is one of the main reasons why some representative companies or research institutions have given up using hydraulic drive in legged robots or humanoid robots.

[0004] Existing invention patents, patent number: ZL201610361855.6, patent name: A multi-chamber hydraulic cylinder and its control system and control method, patent number: ZL201310574176.3, patent name: A variable-section hydraulic cylinder and its hydraulic control system and control method, patent number: ZL201410311711.0, patent name: A controllable variable-section hydraulic cylinder and its hydraulic control system and control method, and patent application number: 2025100993671 , the patent name is a high-efficiency continuous rotation hydraulic joint and control system, both of which propose a method to solve the low efficiency of the single pump source-multi-actuator hydraulic system of multi-joint hydraulic robots. The hydraulic cylinders in the above patents all adopt the structure of a multi-cavity hydraulic cylinder. Each effective cavity of the multi-cavity hydraulic cylinder is connected to a switch valve. Through the control of a series of switch valves, the series of cavities are connected to the high-pressure oil circuit or the low-pressure oil circuit, thereby realizing the output of different forces of the multi-cavity hydraulic actuator and matching it with different loads, and finally achieving efficient driving, such as Figure 1The system structure proposed in invention patent application 2025100993671 is shown in the figure. Each active cavity corresponds to a two-position, three-way on-off valve. Designs with multiple two-position, three-way on-off valves, whether independently designed or integrated using a manifold block and multi-cavity hydraulic cylinder, suffer from large size, complex piping, and a high number of control variables. This design does not utilize joint drive for lightweight, compact, and highly reliable designs. Summary of the Invention

[0005] The present invention addresses the deficiencies of the prior art and provides a high-efficiency hydraulic joint integrated switch valve for robots, which realizes the function of connecting multiple cavities with high-pressure or low-pressure oil circuits through a valve core and a valve sleeve structure, and a corresponding control method, thereby achieving the purpose of high integration of the switch valve, reducing its volume and reducing the overall weight.

[0006] cam, and the camming element is connected to the cam face by a camming screw thread, and the camming screw thread is connected to the cam face by a camming screw thread, and the camming screw thread is connected to the cam face by a camming screw thread.

[0007] In this embodiment, the valve core oil tank includes a high-pressure main oil tank, a low-pressure main oil tank and a valve core branch oil tank. The valve core branch oil tank includes multiple high-pressure oil tanks connected to the high-pressure main oil tank and multiple low-pressure oil tanks connected to the low-pressure main oil tank. The high-pressure oil tanks and the high-pressure oil tanks are not connected. The low-pressure main oil tank and the high-pressure main oil tank are respectively arranged at both ends of the valve core along the axial direction, and the low-pressure main oil tank and the high-pressure main oil tank are arranged along the circumferential direction of the valve core. The high-pressure oil tank and the low-pressure oil tank are arranged between the low-pressure main oil tank and the high-pressure main oil tank.

[0008] In this embodiment, the outer cylindrical surface of the valve sleeve and the inner cylindrical surface of the valve body are interference fit, and the valve sleeve and the valve body are relatively constrained in the axial direction by the fitting of the step surfaces.

[0009] In this embodiment, the two ends of the valve core extend out of the valve sleeve, and the two ends of the valve core extending out of the valve sleeve are respectively installed on the inner rings of the first deep groove ball bearing and the second deep groove ball bearing. The upper and lower ends of the valve body are respectively installed with an upper end cover and a lower end cover. The inner ring structure of the lower end cover is installed on the outer ring of the first deep groove ball bearing, and the inner ring structure of the upper end cover is installed on the outer ring of the second deep groove ball bearing. The lower end cover is fixed to the lower end of the valve body, and the upper end cover is fixed to the upper end of the valve body. The lower end cover is sealed with the valve body through the first sealing gasket, and the upper end cover is sealed with the valve body through the second sealing gasket.

[0010] In this embodiment, the multiple high-pressure oil tanks and the multiple low-pressure oil tanks are arranged in a topological structure.

[0011] In this embodiment, the topology layout method is as follows:

[0012] Step S1: Assume that the number of corresponding effective cavities in the multi-cavity hydraulic cylinder is n; the total number of control quantities of the multi-cavity hydraulic cylinder is 2 n , let the maximum rotation angle of the valve core be α, and α is selected within the range of 0° to 360°. Let the path of the radial projection of each valve sleeve oil groove on the outer wall of the valve core as the valve core rotates be the control area, and adjacent control areas do not overlap;

[0013] All control areas are evenly divided into two equal circumferential lengths along the valve core rotation direction. n The length L of each rotating zone in the circumferential direction of the valve core is set to α / 2 n ;

[0014] Step S2: Mark the valve sleeve oil grooves in order from long to short as B k , k = 1, 2, 3...n; the valve sleeve oil groove is set at an angle β with the axial direction;

[0015] The total number of valve core oil grooves is 2 n Each high-pressure oil tank includes at least one high-pressure control oil tank provided in the control area and at least one high-pressure connecting oil tank provided in the non-control area; each low-pressure oil tank includes at least one low-pressure control oil tank provided in the control area and at least one low-pressure connecting oil tank provided in the non-control area; the high-pressure control oil tank and the low-pressure control oil tank in the same control area are parallel to each other, and the high-pressure control oil tank and the low-pressure control oil tank in the same control area are arranged alternately;

[0016] The number of valve sleeve oil grooves is n, and the valve sleeve oil grooves are arranged in order from long to short along the valve sleeve axial direction. Let the length of the valve sleeve oil groove projected on the valve core in the radial direction be L. k1 The length of the high-pressure control oil groove and the low-pressure control oil groove in the circumferential direction of the valve core is L k2 ; Then, B kThere are 2 high-pressure control oil grooves and low-pressure control oil grooves in the valve core control area corresponding to the valve sleeve oil groove. k In the same control area, the length of the valve sleeve oil groove is L k1 Less than the length L of the high-pressure control oil tank and the low-pressure control oil tank k2 , and L k2 -L k1 =S, S is the interval value of the artificial setting value, and S>0, the interval value S prevents the valve sleeve oil groove from connecting the low-pressure control oil groove and the high-pressure control oil groove of the same control area, and the L k2 The length is L / 2 k The projection of the valve sleeve oil groove in the control area is symmetrical with the low-pressure control oil groove and the high-pressure control oil groove. The interval between the adjacent low-pressure control oil groove and the high-pressure control oil groove in the same control area is L k2 ;

[0017] Step S3: Since each high-pressure oil tank and low-pressure oil tank may pass through multiple control areas, multiple high-pressure control oil tanks in each high-pressure oil tank are connected in series through high-pressure connecting oil tanks, and finally connected to the high-pressure main oil tank; low-pressure control oil tanks in each low-pressure oil tank are connected in series through low-pressure connecting oil tanks, and finally connected to the low-pressure main oil tank.

[0018] In this embodiment, the plurality of valve sleeve oil grooves are parallel to each other.

[0019] In this embodiment, the control amount of the multi-chamber hydraulic cylinder is x k , k = 1, 2, 3…n; let x k The value is 0 or 1. =0, indicating the B k The effective cavity of the multi-cavity hydraulic cylinder controlled by the oil port of the valve sleeve oil groove is connected to the low-pressure oil circuit. =1, indicating that the B k The effective cavity of the multi-cavity hydraulic cylinder controlled by the oil port corresponding to the oil groove of the valve sleeve is connected to the high-pressure oil circuit.

[0020] In this embodiment, the angle α is 360°.

[0021] In this embodiment, the angle β is 30° to 60°.

[0022] By adopting the above scheme, the present invention has the following beneficial effects:

[0023] 1. The present invention adopts a set of valve core and valve sleeve structures, arranges a valve core oil groove on the valve core, arranges a valve sleeve oil groove on the valve sleeve, and utilizes the valve core to rotate in the valve sleeve to realize the conversion between the valve sleeve oil groove and the valve core oil groove between the intersection state and the separation state, thereby realizing the conversion function of multiple two-position three-way switch valves controlling the connection between multiple effective cavities in a multi-cavity hydraulic cylinder and the high-pressure oil circuit or the low-pressure oil circuit, thereby achieving the purpose of high efficiency, high integration, small size and lightweight of hydraulic joint drive.

[0024] 2. The multiple high-pressure oil tanks and multiple low-pressure oil tanks that constitute the valve core oil tank of the present invention are arranged in a topological structure through the topological structure arrangement method of the present invention. The multiple high-pressure oil tanks and low-pressure oil tanks are arranged in a topological structure, which can adapt to the arrangement and combination of different control quantities of the multi-cavity hydraulic cylinder. The oil circuit can be flexibly designed according to the number of effective cavities corresponding to the multi-cavity hydraulic cylinder to prevent the valve sleeve oil tank from connecting the low-pressure and high-pressure control oil tanks in the same control area, thereby improving the accuracy and reliability of the control.

[0025] 3. The present invention uses a motor to drive the valve core (the motor is preferably a stepping servo motor) to achieve the control of the connection between multiple effective cavities in a multi-cavity hydraulic cylinder and the high-pressure oil circuit or the low-pressure oil circuit. Compared with multiple high-frequency two-position three-way switch valves controlling multiple effective cavity modes in a multi-cavity hydraulic cylinder, the present invention has fewer control devices and moving structural parts, and therefore has higher reliability.

[0026] 4. In the present invention, the valve core and the valve sleeve at both ends form a dynamic seal through the first valve core sealing ring and the second valve core sealing ring; the lower end cover is sealed with the valve body through the first sealing gasket, the upper end cover is sealed with the valve body through the second sealing gasket, and the motor is sealed with the upper end cover through the sealing gasket, which effectively prevents hydraulic oil leakage and ensures the switching performance of the valve.

[0027] 5. The outer wall of the valve core of the present invention is provided with valve core oil grooves including a high-pressure main oil groove, a low-pressure main oil groove and a valve core branch oil groove, and the valve body is provided with corresponding oil ports. Through the matching accuracy of the valve core and the valve sleeve, the valve sleeve oil groove and the valve core branch oil groove are connected only when they are connected to each other, thereby realizing precise oil circuit control.

[0028] To sum up, the present invention realizes the function of multiple two-position three-way switch valves controlling the connection of multiple effective cavities in a multi-cavity hydraulic cylinder with high-pressure or low-pressure oil circuits through a set of valve core and valve sleeve structures, thereby achieving the purpose of high efficiency, high integration, small size and lightweight of hydraulic joint drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural principle diagram of an existing high-efficiency continuous rotation hydraulic joint.

[0030] Figure 2 The present invention is a three-dimensional Figure 1 .

[0031] Figure 3 The present invention is a three-dimensional Figure 2 .

[0032] Figure 4 It is a front view of the present invention.

[0033] Figure 5 for Figure 4 Cross-sectional view of DD surface.

[0034] Figure 6 It is a rear view of the present invention.

[0035] Figure 7 for Figure 6 Cross-sectional view of the EE plane.

[0036] Figure 8 The structure of the valve core of the present invention is shown in FIG. Figure 1 .

[0037] Figure 9 The structure of the valve core of the present invention is shown in FIG. Figure 2 .

[0038] Figure 10 It is a structural schematic diagram of the valve body of the present invention.

[0039] Figure 11 Schematic diagram of the structure of the valve sleeve of the present invention.

[0040] Figure 12 This is a topological structure diagram of the valve core oil groove after the valve core plane is unfolded when the number of effective cavities n=1 in the present invention.

[0041] Figure 13 This is a topological structure diagram of the valve core oil groove after the valve core plane is unfolded when the number of effective cavities n=2 in the present invention.

[0042] Figure 14 This is a topological structure diagram of the valve core oil groove after the valve core plane is unfolded when the number of effective cavities n=3 in the present invention.

[0043] In the accompanying drawings: 1. first screw; 2. lower end cover; 3. first sealing gasket; 4. first deep groove ball bearing; 5. first valve core sealing ring; 6. valve body; 7. valve sleeve; 8. valve core; 9. second valve core sealing ring; 10. second deep groove ball bearing; 11. second sealing gasket; 12. upper end cover; 13. second screw; 14. sealing gasket; 15. coupling; 16. motor; 17. third screw; 18. valve core oil groove; 181. low-pressure main oil groove; 182. high-pressure main oil groove; 183. high-pressure control oil groove; 184. high-pressure connecting oil groove; 185. low-pressure control oil groove; 186. low-pressure control oil groove; 19. valve sleeve oil groove; 20. control area. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] like Figures 2 to 11 As shown, a robot high-efficiency hydraulic joint integrated switch valve includes a valve core 8, a valve sleeve 7, a valve body 6, a first valve core sealing ring 5, a second valve core sealing ring 9, a first deep groove ball bearing 4, a second deep groove ball bearing 10, a lower end cover 2, an upper end cover 12, a first sealing gasket 3 and a second sealing gasket 11, a first screw 1, a second screw 13, a coupling 15, a motor 16, a third screw 17, and a sealing gasket 14.

[0047] like Figure 5 As shown, the valve sleeve 7 is fixed in the valve body 6, and the outer cylindrical surface of the valve sleeve 7 and the inner cylindrical surface of the valve body 6 adopt an interference fit, and the valve sleeve 7 and the valve body 6 realize axial relative constraint by the fitting of the step surface in the axial direction, and the valve core 8 is coaxially installed in the valve sleeve 7, and the valve core 8 and the valve sleeve 7 are slidably connected. The valve core 8 and the valve sleeve 7 adopt cylindrical surface fit, and the cylindrical surface processing realizes a reasonable fit tolerance, which not only ensures that the valve core 8 will not be stuck when rotating, but also avoids the hydraulic oil leakage affecting the switching performance of the valve, and the two ends of the valve core 8 are connected to the valve sleeve 7 respectively through the first valve core sealing ring 5 and the second valve core sealing ring 9, so that the valve core 8 and the two ends of the valve sleeve 7 form a dynamic seal, and the valve core 8 is connected to the motor 16 through the coupling 15, and the valve core 8 is driven by the motor 16 to rotate around the central axis in the valve sleeve 7;

[0048] The valve core 8 is respectively mounted on the inner rings of the first deep groove ball bearing 4 and the second deep groove ball bearing 10 at both ends extending out of the valve sleeve 7. The upper end cover 12 and the lower end cover 2 are respectively mounted on the upper and lower ends of the valve body 6. The inner ring structure of the lower end cover 2 is mounted on the outer ring of the first deep groove ball bearing 4, and the inner ring structure of the upper end cover 12 is mounted on the outer ring of the second deep groove ball bearing 10. The lower end cover 2 is fixedly connected to the lower end of the valve body 6 by a first screw 1, and the upper end cover 12 is fixedly connected to the upper end of the valve body 6 by a second screw 13. The lower end cover 2 is sealed with the valve body 6 by the first sealing gasket 3, and the upper end cover 12 is sealed with the valve body 6 by the second sealing gasket 11.

[0049] The motor 16 is fixed to the upper end cover 12 by a third screw 17 , and the motor 16 is sealed with the upper end cover 12 by a sealing gasket 14 .

[0050] A valve core oil groove 18 is provided on the outer wall of the valve core 8, between the first valve core sealing ring 5 and the second valve core sealing ring 9. The valve core oil groove 18 includes a high-pressure main oil groove 182, a low-pressure main oil groove 181, and a valve core branch oil groove. The valve body 6 is provided with a T port, a P port, and multiple oil ports connected to the effective chambers of the multi-chamber hydraulic cylinder respectively; the low-pressure main oil groove 181 is connected to the T port on the valve body through an oil circuit, and the high-pressure main oil groove 182 is connected to the P port on the valve body through an oil circuit;

[0051] The valve core branch oil groove includes a plurality of high-pressure oil grooves connected to the high-pressure main oil groove 182 and a plurality of low-pressure oil grooves connected to the low-pressure main oil groove 181. The high-pressure oil grooves are not connected to each other, and the high-pressure oil grooves and the low-pressure oil grooves are not connected. The low-pressure main oil groove 181 and the high-pressure main oil groove 182 are respectively arranged at both ends of the valve core 8 in the axial direction. The low-pressure main oil groove 181 and the high-pressure main oil groove 182 are arranged along the circumferential direction of the valve core 8. The outer wall of the valve core 8, the difference between the low-pressure main oil groove 181 and the high-pressure main oil groove 182 is set as an oil groove area, and the high-pressure oil groove and the low-pressure oil groove are arranged in the oil groove area.

[0052] On the inner wall of the valve sleeve 7, a plurality of valve sleeve oil grooves 19 corresponding to the high-pressure oil groove and the low-pressure oil groove are provided in the oil groove area. The number of the valve sleeve oil grooves 19 matches the number of corresponding effective cavities in the multi-cavity hydraulic cylinder. The number of oil ports on the valve body 6 matches the number of the valve sleeve oil grooves 19. Each valve sleeve oil groove 19 is respectively communicated with the corresponding oil port on the valve body 6. The matching accuracy between the valve core 8 and the valve sleeve 7 is such that the outer wall of the valve core 8 and the inner wall of the valve sleeve 7 are slidably connected and sealed to each other at the same time, so that the valve sleeve oil groove 19 on the valve sleeve 7 and the valve core branch oil groove on the valve core 8 are only communicated when they are connected to each other.

[0053] Furthermore, the plurality of high-pressure oil tanks and the plurality of low-pressure oil tanks are arranged in a topological structure, and the topological structure arrangement method is as follows:

[0054] S1. Assume that the number of corresponding effective cavities in the multi-cavity hydraulic cylinder is n; the total number of control quantities of the multi-cavity hydraulic cylinder is 2 n , let the maximum rotation angle of the valve core be α, and α is selected within the range of 0° to 360°. Let the path of the radial projection of each valve sleeve oil groove on the outer wall of the valve core as the valve core rotates be the control area, and adjacent control areas do not overlap;

[0055] All control areas are evenly divided into two equal circumferential lengths along the valve core rotation direction. n The length L of each rotating zone in the circumferential direction of the valve core is set to α / 2 n ;

[0056] S2. Mark the valve sleeve oil grooves in order from long to short as B k k = 1, 2, 3…n; the valve sleeve oil groove and the projection of the valve sleeve center axis on the valve sleeve inner wall are provided with an angle β;

[0057] The total number of valve core oil grooves is 2 n Each high-pressure oil tank includes at least one high-pressure control oil tank provided in the control area and at least one high-pressure connecting oil tank provided in the non-control area; each low-pressure oil tank includes at least one low-pressure control oil tank provided in the control area and at least one low-pressure connecting oil tank provided in the non-control area; the high-pressure control oil tank and the low-pressure control oil tank in the same control area are parallel to each other, and the high-pressure control oil tank and the low-pressure control oil tank in the same control area are arranged alternately;

[0058] The number of valve sleeve oil grooves is n, and the valve sleeve oil grooves are arranged in order from long to short along the axial direction of the valve sleeve. In this embodiment, the multiple valve sleeve oil grooves are parallel to each other. Assume that the length of the valve sleeve oil groove projected on the valve core in the radial direction of the valve core is L. k1 The length of the high-pressure control oil groove and the low-pressure control oil groove in the circumferential direction of the valve core is L k2 ; Then, B k There are 2 high-pressure control oil grooves and low-pressure control oil grooves in the valve core control area corresponding to the valve sleeve oil groove. k In the same control area, the length of the valve sleeve oil groove is L k1 Less than the length L of the high-pressure control oil tank and the low-pressure control oil tank k2 , and L k2 -L k1 =S, S is the interval value of the artificial setting value, generally the minimum L k2 The value of L is 1 / 4 or 1 / 3, and the interval value S prevents the valve sleeve oil groove from connecting the low-pressure control oil groove and the high-pressure control oil groove of the same control area, and the L k2 The length is L / 2 k The projection of the valve sleeve oil groove in the control area is symmetrical with the low-pressure control oil groove and the high-pressure control oil groove. The interval between the adjacent low-pressure control oil groove and the high-pressure control oil groove in the same control area is L k2 ;

[0059] S3. Since each high-pressure oil tank and low-pressure oil tank may pass through multiple control areas, multiple high-pressure control oil tanks in each high-pressure oil tank are connected in series through high-pressure connecting oil tanks, and finally connected to the high-pressure main oil tank. The low-pressure control oil tanks in each low-pressure oil tank are connected in series through low-pressure connecting oil tanks, and finally connected to the low-pressure main oil tank.

[0060] In the above step S1, the control amount of the multi-chamber hydraulic cylinder is x k , k = 1, 2, 3…n; let x k The value is 0 or 1. =0, indicating the B k The effective cavity of the multi-cavity hydraulic cylinder controlled by the oil port of the valve sleeve oil groove is connected to the low-pressure oil circuit. =1, indicating that the B k The effective cavity of the multi-cavity hydraulic cylinder controlled by the oil port of the valve sleeve oil groove is connected to the high-pressure oil circuit. There are 2 combinations of control quantities of the multi-cavity hydraulic cylinder. n situation.

[0061] Example 1:

[0062] like Figure 12 As shown in FIG, when the number of effective cavities in a multi-cavity hydraulic cylinder is n=1, the topological structure diagram of the valve core oil groove after the valve core plane is unfolded, at this time k=1, assuming α=360°, β=45°.

[0063] Arrange the valve core oil groove on the valve core according to the topological structure layout method:

[0064] By calculation, the control area is evenly divided into two rotation areas with equal circumferential lengths along the valve core rotation direction. The length L of each rotation area is 180°. At this time, the length L of the high-pressure control oil groove and the low-pressure control oil groove in the valve core circumferential direction is calculated. 12 =180° / 2=90°;

[0065] A valve sleeve oil groove is set on the valve sleeve as the B1 valve sleeve oil groove, and two high-pressure control oil grooves and low-pressure control oil grooves are set on the valve core in the control area corresponding to the B1 valve sleeve oil groove, that is, a high-pressure control oil groove and a low-pressure control oil groove. The high-pressure control oil groove is connected to the high-pressure main oil groove through the high-pressure connecting oil groove, and the low-pressure control oil groove is connected to the low-pressure main oil groove through the low-pressure connecting oil groove.

[0066] Example 2:

[0067] like Figure 13 The figure shows the topological structure of the spool oil groove after the spool plane is unfolded when the number of effective cavities in a multi-cavity hydraulic cylinder is n=2. In this case, k=1,2, α=360°, and β=45°. The spool branch oil groove on the spool is laid out according to the topological structure layout method:

[0068] By calculation, the control area is evenly divided into 2 2 = 4 rotation zones, the length L of each rotation zone is 360° / 2 2 =90°; at this time, the length L of the high-pressure control oil groove and the low-pressure control oil groove in the control area where the valve sleeve oil groove of Article B1 is located in the circumferential direction of the valve core 12 = 90° / 2 = 90°; Article B2: The length L of the high-pressure control oil groove and the low-pressure control oil groove in the control area where the valve sleeve oil groove is located in the circumferential direction of the valve core 22=90° / 2 2 =45°;

[0069] Two valve sleeve oil grooves are arranged in order from long to short in the axial direction of the valve sleeve, and are set as the B1 valve sleeve oil groove and the B2 valve sleeve oil groove in order from long to short. A total of 2 valve sleeve oil grooves are set on the valve core. 2 = 4 valve core branch oil grooves, a total of two high-pressure control oil grooves and low-pressure control oil grooves are provided in the control area where the valve sleeve oil groove of line B1 is located, and a total of four high-pressure control oil grooves and low-pressure control oil grooves are provided in the control area where the valve sleeve oil groove of line B2 is located, namely two high-pressure control oil grooves and two low-pressure control oil grooves; the high-pressure control oil grooves and low-pressure control oil grooves are arranged at intervals in the control area, and the high-pressure control oil grooves in the same valve core branch oil groove are connected through the high-pressure connecting oil groove and finally connected to the high-pressure main oil groove, and the low-pressure control oil grooves in the same valve core branch oil groove are connected through the low-pressure connecting oil groove and finally connected to the low-pressure main oil groove;

[0070] Example 3:

[0071] like Figure 14 The figure shows the topological structure of the spool oil groove after the spool plane is unfolded when the number of effective cavities in a multi-cavity hydraulic cylinder is n=3. In this case, k=1, 2, 3, α=360°, and β=45°. The spool branch oil groove on the spool is laid out according to the topological structure layout method:

[0072] By calculation, the control area is evenly divided into 2 3 =8 rotation zones, the length L of each rotation zone is 360° / 2 3 =45°; Article B1 The length L of the high-pressure control oil groove and the low-pressure control oil groove in the control area where the valve sleeve oil groove is located in the circumferential direction of the valve core 12 = 90° / 2 = 90°; Article B2: The length L of the high-pressure control oil groove and the low-pressure control oil groove in the control area where the valve sleeve oil groove is located in the circumferential direction of the valve core 22 =90° / 2 2 =45°; Article B3: The length L of the high-pressure control oil groove and the low-pressure control oil groove in the control area where the valve sleeve oil groove is located in the circumferential direction of the valve core 32 =90° / 2 3 =11.25°;

[0073] Three valve sleeve oil grooves are arranged in order from long to short in the axial direction of the valve sleeve, and are set as the B1 valve sleeve oil groove, the B2 valve sleeve oil groove and the B3 valve sleeve oil groove in order from long to short. A total of 2 valve sleeve oil grooves are set on the valve core. 3=8 valve core branch oil grooves, the control area where the valve sleeve oil groove of Line B1 is located has two high-pressure control oil grooves and low-pressure control oil grooves, namely one high-pressure control oil groove and one low-pressure control oil groove; the control area where the valve sleeve oil groove of Line B2 is located has four high-pressure control oil grooves and low-pressure control oil grooves, namely two high-pressure control oil grooves and two low-pressure control oil grooves; the control area where the valve sleeve oil groove of Line B3 is located has eight high-pressure control oil grooves and low-pressure control oil grooves, namely four high-pressure control oil grooves and four low-pressure control oil grooves; the high-pressure control oil grooves and low-pressure control oil grooves are arranged at intervals in the control area, and the high-pressure control oil grooves in the same valve core branch oil groove are connected through the high-pressure connecting oil groove, and finally connected to the high-pressure main oil groove, and the low-pressure control oil grooves in the same valve core branch oil groove are connected through the low-pressure connecting oil groove, and finally connected to the low-pressure main oil groove.

[0074] According to Example 3 Figure 14 The arrangement of the valve sleeve oil groove and the valve sleeve oil groove, the valve sleeve oil groove No. B1, the valve sleeve oil groove No. B2 and the valve sleeve oil groove No. B3 are connected to the oil port A, the oil port B and the oil port C respectively, and the ends of the valve sleeve oil groove No. B1, the valve sleeve oil groove No. B2 and the valve sleeve oil groove No. B3 connected to the oil port A, the oil port B and the oil port C are on the same straight line parallel to the axis, and the valve core 8 rotates relative to the valve sleeve 7 under the drive of the motor 16 When the valve core 8 and the valve sleeve 7 make clockwise relative rotational motion, the valve sleeve oil groove moves from left to right on the plane where the valve core is unfolded, and the B1 valve sleeve oil groove, the B2 valve sleeve oil groove and the B3 valve sleeve oil groove respectively intersect with the high-pressure control oil groove or the low-pressure control oil groove of the corresponding control area, thereby realizing the communication between the B1 valve sleeve oil groove, the B2 valve sleeve oil groove and the B3 valve sleeve oil groove and the high-pressure control oil groove or the low-pressure control oil groove.

[0075] Specifically: Figure 14 In the initial state shown in the figure, due to the existence of the interval value S, at this time, one end of the valve sleeve oil groove of line B1, the valve sleeve oil groove of line B2 and the valve sleeve oil groove of line B3 intersects with the low-pressure control oil groove of the corresponding control area, and the other end is spaced S from the adjacent high-pressure control oil groove. When the valve sleeve 7 and the valve core 8 rotate relative to each other by more than 0 0 to 45 0 When the oil grooves of valve sleeve B1, B2 and B3 will keep the first high-pressure control oil groove intersecting, so that the oil ports A, B and C are connected to the high-pressure oil circuit. At this time, the control amount of the multi-chamber hydraulic cylinder is x k This is equivalent to the control quantity of three two-position three-way switch valves being [1 1 1].

[0076] When the valve sleeve 7 and valve core 8 continue to rotate to 45 0 to 90 0When the oil groove of valve sleeve B1 and valve sleeve B2 will keep intersecting with high pressure control oil groove, so that oil port A and oil port B are connected with high pressure oil circuit, while the oil groove of valve sleeve B3 will intersect with low pressure control oil groove, so that oil port C is connected with low pressure oil circuit. At this time, the control amount x of multi-chamber hydraulic cylinder is k The control quantity equivalent to three two-position three-way switching valves is [1 1 0].

[0077] According to the above action, the valve sleeve 7 and the valve core 8 rotate relative to each other at 90 degrees. 0 ~135 0 , 135 0 ~180 0 , 180 0 ~225 0 , 225 0 ~270 0 , 270 0 ~15 0 、315 0 ~360 0 In the interval, the control quantity x of the multi-cavity hydraulic cylinder k The control quantities equivalent to the three two-position three-way switch valves and the conduction controls of the three cavities A, B, and C are [1 0 1], [1 0 0], [0 1 1], [0 1 0], [0 0 1], [0 0 0].

[0078] To sum up, by controlling the relative positions of the valve sleeve 7 and the valve core 8, the connection control of the three ports A, B, and C with the high-pressure oil circuit or the low-pressure oil circuit can be realized, and when switching from one control state to another, the above-mentioned adjustment is a sequential adjustment. For example, when switching from [1 1 1] to [1 0 0], it is necessary to pass through the [1 1 0] and [1 0 1] states in sequence, avoiding the original state step of directly switching from [1 1 1] to [1 0 0], which is in line with the characteristics of continuous joint load changes of articulated robots.

[0079] The contents illustrated in the above embodiments should be understood as these embodiments are only used to more clearly illustrate the present invention, and are not used to limit the scope of the present invention. After reading the present invention, various equivalent modifications of the present invention by those skilled in the art shall fall within the scope defined by the claims attached to this application.

Claims

1. A high-efficiency hydraulic joint integrated switch valve for a robot, comprising a valve body, a valve core, and a valve sleeve, characterized in that: The valve sleeve is fixed in the valve body, and the valve core is coaxially slidably installed in the valve sleeve. The axial ends of the valve core are sealed with the valve sleeve through valve core sealing rings respectively. A valve core oil groove is provided on the outer wall of the valve core and between the two valve core sealing rings; a plurality of valve sleeve oil grooves corresponding to the valve core oil grooves are provided on the inner wall of the valve sleeve and in the oil groove area, and an oil port that is separately connected to each valve sleeve oil groove is provided on the valve body. The oil port is connected to the effective cavity of the multi-cavity hydraulic cylinder through an external oil circuit, and the valve core is driven by a motor to rotate around the central axis in the valve sleeve. The matching accuracy between the valve core and the valve sleeve is such that when the valve core rotates in the valve sleeve, the valve sleeve oil groove and the valve core oil groove are switched between an intersection state and a separation state.

2. The robot high-efficiency hydraulic joint integrated switch valve according to claim 1 is characterized in that: The valve core oil groove includes a high-pressure main oil groove, a low-pressure main oil groove and a valve core branch oil groove. The valve core branch oil groove includes multiple high-pressure oil grooves connected to the high-pressure main oil groove and multiple low-pressure oil grooves connected to the low-pressure main oil groove. The high-pressure oil grooves and the high-pressure oil grooves are not connected. The low-pressure main oil groove and the high-pressure main oil groove are respectively arranged at both ends of the valve core along the axial direction, and the low-pressure main oil groove and the high-pressure main oil groove are arranged along the circumferential direction of the valve core. The high-pressure oil groove and the low-pressure oil groove are arranged between the low-pressure main oil groove and the high-pressure main oil groove.

3. The robot high-efficiency hydraulic joint integrated switch valve according to claim 2, characterized in that: The outer cylindrical surface of the valve sleeve and the inner cylindrical surface of the valve body adopt interference fit, and the valve sleeve and the valve body achieve axial relative constraint through the fit of the step surface in the axial direction.

4. The robot high-efficiency hydraulic joint integrated switch valve according to claim 2, characterized in that: The two ends of the valve core extend out of the valve sleeve, and the two ends of the valve core extending out of the valve sleeve are respectively installed on the inner rings of the first deep groove ball bearing and the second deep groove ball bearing. The upper and lower ends of the valve body are respectively installed with an upper end cover and a lower end cover. The inner ring structure of the lower end cover is installed on the outer ring of the first deep groove ball bearing, and the inner ring structure of the upper end cover is installed on the outer ring of the second deep groove ball bearing. The lower end cover is fixed to the lower end of the valve body, and the upper end cover is fixed to the upper end of the valve body. The lower end cover is sealed with the valve body through the first sealing gasket, and the upper end cover is sealed with the valve body through the second sealing gasket.

5. The robot high-efficiency hydraulic joint integrated switch valve according to any one of claims 2 to 4, characterized in that: The multiple high-pressure oil tanks and the multiple low-pressure oil tanks are arranged in a topological structure.

6. The robot high-efficiency hydraulic joint integrated switch valve according to claim 5, characterized in that: The topology layout method is as follows: Step S1: Assume that the number of corresponding effective cavities in the multi-cavity hydraulic cylinder is n; the total number of control quantities of the multi-cavity hydraulic cylinder is 2 n , let the maximum rotation angle of the valve core be α, let the path of the radial projection of each valve sleeve oil groove on the outer wall of the valve core along with the rotation of the valve core be defined as the control area, and adjacent control areas do not overlap; all control areas are evenly divided into two equal circumferential lengths along the rotation direction of the valve core. n The length L of each rotating zone in the circumferential direction of the valve core is set to α / 2 n ; Step S2: Mark the valve sleeve oil grooves in order from long to short as B k , k = 1, 2…n; the valve sleeve oil groove is set at an angle β with the axial direction; The total number of valve core oil grooves is 2 n Each high-pressure oil tank includes at least one high-pressure control oil tank provided in the control area and at least one high-pressure connecting oil tank provided in the non-control area; each low-pressure oil tank includes at least one low-pressure control oil tank provided in the control area and at least one low-pressure connecting oil tank provided in the non-control area; the high-pressure control oil tank and the low-pressure control oil tank in the same control area are parallel to each other, and the high-pressure control oil tank and the low-pressure control oil tank in the same control area are arranged alternately; The number of valve sleeve oil grooves is n, and the valve sleeve oil grooves are arranged in order from long to short along the valve sleeve axial direction. Let the length of the valve sleeve oil groove projected on the valve core in the radial direction be L. k1 The length of the high-pressure control oil groove and the low-pressure control oil groove in the circumferential direction of the valve core is L k2 ; B k There are 2 high-pressure control oil grooves and low-pressure control oil grooves in the valve core control area corresponding to the valve sleeve oil groove. k In the same control area, L k2 -L k1 =S, S is the interval value of the artificial setting value, and S>0, the L k2 The length is L / 2 k The projection of the valve sleeve oil groove is arranged symmetrically with the center of the low-pressure control oil groove in the same control area. The interval between adjacent low-pressure control oil grooves and high-pressure control oil grooves in the same control area is L k2 ; Step S3, connect the multiple high-pressure control oil tanks in each high-pressure oil tank in series through the high-pressure connecting oil tank, and finally connect them to the high-pressure main oil tank; connect the low-pressure control oil tanks in each low-pressure oil tank in series through the low-pressure connecting oil tank, and finally connect them to the low-pressure main oil tank.

7. The robot high-efficiency hydraulic joint integrated switch valve according to claim 6, characterized in that: The multiple valve sleeve oil grooves are parallel to each other.

8. The robot high-efficiency hydraulic joint integrated switch valve according to claim 6, characterized in that: In step S1, the control amount of the multi-chamber hydraulic cylinder is x k , k = 1, 2, 3…n; let x k The value is 0 or 1. =0, indicating the B k The effective cavity of the multi-cavity hydraulic cylinder controlled by the oil port of the valve sleeve oil groove is connected to the low-pressure oil circuit. =1, indicating that the B k The effective cavity of the multi-cavity hydraulic cylinder controlled by the oil port corresponding to the oil groove of the valve sleeve is connected to the high-pressure oil circuit.

9. The robot high-efficiency hydraulic joint integrated switch valve according to claim 6, characterized in that: The α is 360°.

10. The robot high-efficiency hydraulic joint integrated switch valve according to claim 6, characterized in that: The β is 30° to 60°.

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