Hydraulic cylinder and method for controlling the same, limb and robot

Abstract

This invention discloses a hydraulic cylinder and its control method, limb, and robot. The hydraulic cylinder includes: a cylinder body, an oil circuit assembly, and an energy storage body connected in sequence. The oil circuit assembly includes: an oil circuit structure, a first damping structure, a second damping structure, a first check valve, and a second check valve. The oil circuit structure forms an oil circuit, enabling the two ends of the first damping structure to connect to the upper half of the cylinder body and the energy storage body, the two ends of the second damping structure to connect to the lower half of the cylinder body and the energy storage body, the two ends of the first check valve to connect to the lower half of the cylinder body and the energy storage body, and the two ends of the second check valve to connect to the upper half of the cylinder body and the energy storage body. The flow direction of the first check valve and the second check valve is the same relative to the energy storage body. By connecting the various components through the oil circuit, the oil circuit of the hydraulic cylinder is concentrated on the oil circuit structure, greatly reducing the number of oil circuits arranged on other components, especially reducing the number of oil circuits arranged on the cylinder body, thus lowering the processing difficulty and cost of the hydraulic cylinder.

Description

Technical Field

[0001] This invention relates to the field of hydraulic cylinder technology, and more particularly to a hydraulic cylinder and its control method, limbs, and robots. Background Technology

[0002] A hydraulic cylinder is a linear drive mechanism used to push or pull loads, or to selectively resist movement under load using fluid pressure. Hydraulic cylinders can also reduce vibration and noise through resistance, specifically by compressing or releasing fluid to dissipate vibrational energy, thereby reducing vibration amplitude and duration, achieving shock absorption and cushioning.

[0003] In the prior art, in order to make the liquid in the hydraulic cylinder flow in the various components of the hydraulic cylinder, it is necessary to process an oil passage structure on the hydraulic cylinder to allow the liquid to flow. For example, the cylinder body of the hydraulic cylinder can accommodate the piston and the liquid, and the oil passage structure is processed on the cylinder wall, which makes the processing of the hydraulic cylinder difficult and costly.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a hydraulic cylinder and its control method, limb and robot, in order to address the above-mentioned defects of the prior art, and to solve the problems of high processing difficulty and high processing cost of hydraulic cylinders in the prior art.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A hydraulic cylinder includes: a cylinder body, an oil circuit assembly, and an accumulator connected in sequence; the oil circuit assembly includes:

[0008] Oil circuit structure;

[0009] The first damping structure, the second damping structure, the first check valve, and the second check valve are all disposed in the oil circuit structure;

[0010] The oil circuit structure forms an oil circuit, enabling the two ends of the first damping structure to be connected to the upper half of the cylinder and the energy storage body respectively, the two ends of the second damping structure to be connected to the lower half of the cylinder and the energy storage body respectively, the two ends of the first one-way valve to be connected to the lower half of the cylinder and the energy storage body respectively, and the two ends of the second one-way valve to be connected to the upper half of the cylinder and the energy storage body respectively.

[0011] Relative to the energy storage body, the flow direction of the first one-way valve is the same as that of the second one-way valve.

[0012] The hydraulic cylinder has a plurality of oil holes formed in the cylinder body, the oil holes being located in the upper half, and the axial height of each oil hole being different.

[0013] The cylinder block forms a channel, which is connected to the oil hole, the first damping structure, and the second one-way valve.

[0014] The hydraulic cylinder includes an inner cylinder and an outer cylinder; the oil hole is located in the upper half of the inner cylinder; and the channel is formed between the inner cylinder and the outer cylinder.

[0015] The hydraulic cylinder further includes a third check valve, the two ends of which are respectively connected to the channel and the upper half, and the flow direction of the third check valve is towards the upper half.

[0016] The hydraulic cylinder further includes:

[0017] The first piston is located inside the inner cylinder;

[0018] A piston rod, connected to the first piston, extends out of the cylinder body;

[0019] The energy storage body includes:

[0020] case;

[0021] The second piston is located inside the housing;

[0022] The elastic element is located on the side of the second piston away from the oil passage assembly.

[0023] The hydraulic cylinder, wherein the oil circuit includes:

[0024] The first longitudinal oil passage and the first transverse oil passage are interconnected;

[0025] The second longitudinal oil passage and the second transverse oil passage are interconnected;

[0026] The third transverse oil passage and the inclined oil passage are interconnected;

[0027] The two ends of the first longitudinal oil passage are respectively connected to the lower half of the cylinder body and the first one-way valve;

[0028] The first transverse oil passage is connected to the first port of the second damping structure;

[0029] The two ends of the second longitudinal oil passage are respectively connected to the channel and the second check valve;

[0030] The second transverse oil passage is connected to the first port of the first damping structure;

[0031] The two ends of the third transverse oil passage are respectively connected to the second port of the first damping structure and the second port of the second damping structure;

[0032] The inclined oil passage is connected to the energy storage body.

[0033] A control method for a hydraulic cylinder as described in any of the above claims, comprising the steps of:

[0034] Control the damping value of the first damping structure and / or the second damping structure.

[0035] The control method for the hydraulic cylinder, wherein the damping value includes: a first damping value, a second damping value, and a third damping value, wherein the first damping value is less than the second damping value, and the second damping value is less than the third damping value; controlling the damping value of the first damping structure and / or the second damping structure includes at least one of the following steps:

[0036] The first damping structure and the second damping structure are configured with a first damping value;

[0037] The first damping structure and the second damping structure are configured with the second damping value;

[0038] The first damping structure and the second damping structure are configured with a third damping value;

[0039] The second damping structure is configured to a first damping value and the first damping structure is configured to a third damping value. Then the second damping structure is configured to a third damping value and the first damping structure is configured to a first damping value.

[0040] A limb, comprising: a hydraulic cylinder as described in any of the above.

[0041] A robot comprising: a hydraulic cylinder as described in any of the above, or a limb as described above.

[0042] Beneficial effects: The oil circuit structure forms an oil circuit and connects various components through the oil circuit. By concentrating the oil circuit of the hydraulic cylinder on the oil circuit structure, the number of oil circuits arranged on other components is greatly reduced, especially the number of oil circuits arranged on the cylinder body, which reduces the processing difficulty and processing cost of the hydraulic cylinder. Attached Figure Description

[0043] Figure 1 This is a first functional principle block diagram of the hydraulic cylinder in an embodiment of the present invention.

[0044] Figure 2 This is a second functional principle block diagram of the hydraulic cylinder in an embodiment of the present invention.

[0045] Figure 3This is a schematic diagram of the first functional principle of the hydraulic cylinder in an embodiment of the present invention.

[0046] Figure 4 This is a schematic diagram of the second functional principle of the hydraulic cylinder in an embodiment of the present invention.

[0047] Figure 5 This is a schematic diagram of the third function principle of the hydraulic cylinder in an embodiment of the present invention.

[0048] Figure 6 This is a schematic diagram of the hydraulic cylinder in an embodiment of the present invention.

[0049] Figure 7 This is an exploded view of the hydraulic cylinder in an embodiment of the present invention.

[0050] Figure 8 This is a bottom view of the hydraulic cylinder in an embodiment of the present invention.

[0051] Figure 9 yes Figure 8 Sectional view along line A.

[0052] Figure 10 yes Figure 8 Sectional view along line B.

[0053] Figure 11 This is a first structural schematic diagram of the oil circuit structure in an embodiment of the present invention.

[0054] Figure 12 This is a second structural schematic diagram of the oil circuit structure in an embodiment of the present invention.

[0055] Figure 13 This is a third structural schematic diagram of the oil circuit structure in an embodiment of the present invention.

[0056] Figure 14 This is a fourth structural schematic diagram of the oil circuit structure in an embodiment of the present invention.

[0057] Figure 15 This is a schematic diagram of the first distribution of the oil circuit within the oil circuit structure in an embodiment of the present invention.

[0058] Figure 16 This is a second schematic diagram of the distribution of oil circuits within the oil circuit structure in an embodiment of the present invention.

[0059] Figure 17 This is a schematic diagram of the third distribution of oil circuits within the oil circuit structure in an embodiment of the present invention.

[0060] Figure 18 This is a top view of the oil circuit structure in an embodiment of the present invention.

[0061] Figure 19 yes Figure 18 Sectional view along line C.

[0062] Figure 20 yes Figure 18 Sectional view along the middle D direction.

[0063] Figure 21 This is a side view of the oil circuit structure in an embodiment of the present invention.

[0064] Figure 22 yes Figure 21 Sectional view along line E.

[0065] Figure 23 yes Figure 21 Sectional view along the F direction.

[0066] Figure 24 yes Figure 21 Sectional view along line G.

[0067] Figure 25 yes Figure 21 Sectional view along the H direction.

[0068] Figure 26 This is a bottom view of the oil circuit structure in an embodiment of the present invention.

[0069] Figure 27 yes Figure 26 Sectional view along line I.

[0070] Figure 28 This is a schematic diagram of the limb structure in an embodiment of the present invention.

[0071] Figure 29 This is a schematic diagram of the robot in an embodiment of the present invention.

[0072] Explanation of reference numerals in the attached figures:

[0073] 10. Cylinder block; 11. Inner cylinder; 111. Oil hole; 12. Outer cylinder; 13. Channel; 14. Inner cover; 141. Connecting hole; 15. Outer cover;

[0074] 20. Oil circuit assembly; 21. Oil circuit structure; 211. First longitudinal oil circuit; 212. First transverse oil circuit; 213. Second longitudinal oil circuit; 214. Second transverse oil circuit; 215. Third transverse oil circuit; 216. Inclined oil circuit; 22. First damping structure; 23. Second damping structure; 24. First check valve; 25. Second check valve;

[0075] 30. Energy storage body; 31. Shell; 311. Cylinder; 312. End cap; 32. Second piston; 33. Elastic element;

[0076] 40. Third check valve; 41. Ring cover; 42. Spring;

[0077] 51. First piston; 52. Piston rod. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0079] Please also refer to Figures 1-27 The present invention provides some embodiments of a hydraulic cylinder.

[0080] like Figures 1-2 As shown, the hydraulic cylinder of the present invention includes: a cylinder body 10, an oil circuit assembly 20, and an accumulator 30 connected in sequence; the oil circuit assembly 20 includes:

[0081] Oil circuit structure 21;

[0082] The first damping structure 22, the second damping structure 23, the first check valve 24 and the second check valve 25 are all disposed in the oil circuit structure 21;

[0083] The oil circuit structure 21 forms an oil circuit, enabling the two ends of the first damping structure 22 to be connected to the upper half of the cylinder 10 and the energy storage body 30 respectively; the two ends of the second damping structure 23 to be connected to the lower half of the cylinder 10 and the energy storage body 30 respectively; the two ends of the first one-way valve 24 to be connected to the lower half of the cylinder 10 and the energy storage body 30 respectively; and the two ends of the second one-way valve 25 to be connected to the upper half of the cylinder 10 and the energy storage body 30 respectively. The flow direction of the first one-way valve 24 and the flow direction of the second one-way valve 25 are the same relative to the energy storage body 30.

[0084] Specifically, such as Figure 6 As shown, the hydraulic cylinder consists of three parts: cylinder body 10, hydraulic circuit assembly 20, and accumulator 30. These three parts are arranged sequentially and connected to form a long, narrow structure, allowing for application in long, narrow limbs, such as arms and legs, offering better adaptability. The hydraulic circuit structure 21 forms the hydraulic circuits and connects the various components. By concentrating the hydraulic circuits of the hydraulic cylinder on the hydraulic circuit structure 21, the number of hydraulic circuits on other components, especially on the cylinder body 10, is greatly reduced, thus lowering the processing difficulty and cost of the hydraulic cylinder.

[0085] Specifically, the hydraulic circuit 21 connects the cylinder 10, the damping structure, the check valves, and the accumulator 30. There are two check valves: a first check valve 24 and a second check valve 25, which restrict the flow direction of the hydraulic oil within the cylinder 10. There are also two damping structures: a first damping structure 22 and a second damping structure 23. These structures adjust the damping value of the hydraulic oil flow; a higher damping value makes the hydraulic oil flow more difficult, while a lower damping value makes it easier. By controlling the damping value of the damping structures, the flow of the hydraulic oil within the cylinder 10 is altered. A first piston 51 exists within the cylinder 10. The movement of the first piston 51 within the cylinder 10 pushes the hydraulic oil within the cylinder 10. By controlling the damping value of the damping structures, the ease with which the first piston 51 moves within the cylinder 10 can be adjusted.

[0086] The flow direction of a check valve is unidirectional; it can flow towards or away from the accumulator 30. If two check valves have the same flow direction, there are two possibilities. The first possibility is... Figure 1 As shown, the flow direction of the first check valve 24 and the flow direction of the second check valve 25 both flow away from the accumulator 30; when the first piston 51 just begins to move, the hydraulic oil in the cylinder 10 mainly flows to the accumulator 30 through the damping structure, and the ease with which the first piston 51 begins to move is mainly determined by the damping structure. The second case, as... Figure 2 As shown, the flow direction of the first check valve 24 and the second check valve 25 both flow towards the accumulator 30. The hydraulic oil in the cylinder 10 mainly flows to the accumulator 30 through the check valves. The ease with which the first piston 51 initially moves is primarily determined by the accumulator 30. Later in the movement of the first piston 51, after the accumulator 30 has accumulated a certain amount of energy, the ease with which the first piston 51 moves in the later stages is mainly determined by the damping structure. Therefore, the flow direction of the check valves can be configured according to the specific application scenario.

[0087] In a preferred implementation of this invention, such as Figures 3-5 and Figure 7 As shown, the cylinder body 10 forms a plurality of oil holes 111, which are located in the upper part, and the axial height of each oil hole 111 is different.

[0088] Specifically, an oil hole 111 is formed on the upper half of the cylinder body 10, through which hydraulic oil inside the cylinder body 10 can pass. There are multiple oil holes 111, each with a different height. When the first piston 51 moves to the position of the oil hole 111, it gradually seals each oil hole 111; when the first piston 51 moves away from the position of the oil hole 111, it gradually opens each oil hole 111.

[0089] In a preferred implementation of this invention, such as Figures 3-5 , Figure 9 and Figure 10 As shown, the cylinder body 10 forms a channel 13, which is connected to the oil hole 111, the first damping structure 22 and the second one-way valve 25 respectively.

[0090] Specifically, the cylinder block 10 forms a channel 13, which is connected to the oil hole 111. The channel 13 is also connected to the first damping structure 22 and the second one-way valve 25, so the upper part of the cylinder block 10, the first damping structure 22 and the second one-way valve 25 are connected through the oil hole 111 and the channel 13.

[0091] In a preferred implementation of this invention, such as Figures 7-10 As shown, the cylinder body 10 includes an inner cylinder 11 and an outer cylinder 12; the oil hole 111 is located in the upper half of the inner cylinder 11; the channel 13 is formed between the inner cylinder 11 and the outer cylinder 12.

[0092] Specifically, the cylinder block 10 adopts a two-layer cylindrical structure, with an inner cylinder 11 and an outer cylinder 12. A channel 13 is formed between the inner cylinder 11 and the outer cylinder 12, and the oil hole 111 is located in the upper half of the inner cylinder 11. The two-layer cylindrical structure is easier to process and has a lower cost. Both the inner cylinder 11 and the outer cylinder 12 are connected to the oil passage structure 21.

[0093] In a preferred implementation of this invention, such as Figures 7-10 As shown, the cylinder body 10 also includes an inner cover 14; the inner cover 14 covers the inner cylinder 11 and is located inside the outer cylinder 12. The cylinder body 10 also includes an outer cover 15; the outer cover 15 covers the outer cylinder 12.

[0094] In a preferred implementation of this invention, such as Figures 3-5 and Figure 9 As shown, the hydraulic cylinder also includes a third check valve 40, the two ends of which are connected to the channel 13 and the upper half, respectively, and the flow direction of the third check valve 40 is towards the upper half.

[0095] Specifically, when the first piston 51 moves upward, to prevent it from touching the top of the cylinder 10, the oil hole 111 is positioned at a certain distance from the top of the cylinder 10. After the first piston 51 moves upward and covers the uppermost oil hole 111, the hydraulic oil between the first piston 51 and the top of the cylinder 10 cannot flow into the oil hole 111, thus preventing the first piston 51 from continuing to move upward and touching the top of the cylinder 10. When the first piston 51 moves downward, because it blocks the uppermost oil hole 111, the hydraulic oil in the channel 13 cannot enter the space between the first piston 51 and the top of the cylinder 10 through the oil hole 111, making it difficult for the first piston 51 to move downward. By configuring the third check valve 40, when the first piston 51 moves downward, the hydraulic oil in the channel 13 can enter the space between the first piston 51 and the top of the cylinder 10 through the third check valve 40, allowing the first piston 51 to move downward smoothly. The third check valve 40 is located on the inner cover 14, and a connecting hole 141 is formed on the inner cover 14. The connecting hole 141 is connected to the channel 13. The third check valve 40 includes an annular cover 41 and a spring 42. The annular cover 41 covers the connecting hole 141, and the spring 42 provides elastic force for the annular cover 41 to seal the connecting hole 141. The hydraulic oil in the channel 13 can enter the connecting hole 141 to push open the annular cover 41 and enter the inner cylinder 11. The hydraulic oil in the inner cylinder 11 cannot push open the annular cover 41.

[0096] In a preferred implementation of this invention, such as Figures 3-5 , Figure 7 , Figure 9 and Figure 10 As shown, the hydraulic cylinder further includes:

[0097] The first piston 51 is located inside the inner cylinder 11;

[0098] The piston rod 52 is connected to the first piston 51 and extends outside the cylinder 10.

[0099] Specifically, a piston rod 52 is connected to the first piston 51. A through hole is formed at the top of the cylinder 10, through which the piston rod 52 extends to the outside of the cylinder 10. The movement of the piston rod 52 can drive the first piston 51 to move. The inner cover 14 and the outer cover 15 form a through hole, and the piston rod 52 is sealed to the inner wall of the through hole.

[0100] In a preferred implementation of this invention, such as Figures 7-10 As shown, the energy storage body 30 includes:

[0101] Casing 31;

[0102] The second piston 32 is located inside the housing 31;

[0103] The elastic element 33 is located on the side of the second piston 32 away from the oil passage assembly 20.

[0104] Specifically, the housing 31 is connected to the oil passage structure 21, and the second piston 32 moves within the housing 31. When the first piston 51 moves downward, the pressure of the hydraulic oil in the lower half of the cylinder 10 increases, and the cylinder 10 supplies hydraulic oil to the accumulator 30. The amount of hydraulic oil in the housing 31 increases, and the hydraulic oil pushes the second piston 32 to move, compressing the elastic element 33, causing the elastic element 33 to store energy. When the first piston 51 moves upward, the pressure of the hydraulic oil in the lower half of the cylinder 10 decreases, the elastic element 33 recovers its deformation, pushing the second piston 32 upward, and the accumulator 30 supplies hydraulic oil to the cylinder 10. The housing 31 includes a cylinder 311 and an end cap 312, with the end cap 312 connected to the cylinder 311.

[0105] In a preferred implementation of this invention, such as Figures 11-27 As shown, the oil circuit includes:

[0106] The first longitudinal oil passage 211 and the first transverse oil passage 212 are interconnected;

[0107] The second longitudinal oil passage 213 and the second transverse oil passage 214 are interconnected;

[0108] The third transverse oil passage 215 and the inclined oil passage 216 are interconnected;

[0109] The first longitudinal oil passage 211 is connected to the lower half of the cylinder 10 and the first check valve 24 at both ends; the first transverse oil passage 212 is connected to the first port of the second damping structure 23 at both ends; the second longitudinal oil passage 213 is connected to the channel 13 and the second check valve 25 at both ends; the second transverse oil passage 214 is connected to the first port of the first damping structure 22 at both ends; the third transverse oil passage 215 is connected to the second port of the first damping structure 22 and the second port of the second damping structure 23 at both ends; and the inclined oil passage 216 is connected to the energy storage body 30.

[0110] Specifically, to reduce processing difficulty, the oil circuit mainly adopts longitudinal and transverse oil circuits, supplemented by inclined oil circuits 216. For example... Figure 9 , Figure 13 , Figure 16 and Figure 19As shown, there are two longitudinal oil passages, namely the first longitudinal oil passage 211 and the second longitudinal oil passage 213. The upper end of the first longitudinal oil passage 211 is connected to the lower half of the cylinder 10, and the lower end of the first longitudinal oil passage 211 is connected to the first check valve 24. For example, a first mounting groove for mounting the first check valve 24 can be formed at the lower end of the first longitudinal oil passage 211. The opening of the first mounting groove faces the energy storage body 30, so that the first check valve 24 is connected to the energy storage body 30. The first check valve 24 is connected to the cylinder 10 and the energy storage body 30 respectively through the first longitudinal oil passage 211. The upper end of the second longitudinal oil passage 213 is connected to the channel 13, and the lower end of the second longitudinal oil passage 213 is connected to the second check valve 25. For example, a second mounting groove for mounting the second check valve 25 can be formed at the lower end of the second longitudinal oil passage 213, with the opening of the second mounting groove facing the accumulator 30, so that the second check valve 25 is connected to the accumulator 30. The second check valve 25 is connected to the cylinder block 10 and the accumulator 30 respectively through the second longitudinal oil passage 213. Figure 13 , Figure 16 and Figure 23 As shown, the first transverse oil passage 212 is connected to the first longitudinal oil passage 211, and the first transverse oil passage 212 is connected to the first port of the second damping structure 23. The second damping structure 23 is connected to the cylinder block 10 through the first transverse oil passage 212 and the first longitudinal oil passage 211. Figure 12 and Figure 15 As shown, the second transverse oil passage 214 is connected to the second longitudinal oil passage 213. The second transverse oil passage 214 is connected to the first port of the first damping structure 22. The first damping structure 22 is connected to the cylinder block 10 through the second transverse oil passage 214 and the second longitudinal oil passage 213. Figure 14 , Figure 17 , Figure 20 and Figure 25 As shown, the two ends of the third transverse oil passage 215 are respectively connected to the second port of the first damping structure 22 and the second port of the second damping structure 23, as shown. Figure 14 , Figure 17 and Figure 27 As shown, the third transverse oil passage 215 is connected to the inclined oil passage 216, and the inclined oil passage 216 is connected to the energy storage body 30. The connection between the damping structure and the energy storage body 30 is achieved through the third transverse oil passage 215 and the inclined oil passage 216.

[0111] Based on the hydraulic cylinder described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for the hydraulic cylinder.

[0112] The hydraulic cylinder control method of this invention includes the following steps:

[0113] Step S100: Control the damping value of the first damping structure and / or the second damping structure.

[0114] Specifically, the hydraulic cylinder is controlled by adjusting the damping values ​​of the first and second damping structures, thereby changing the cylinder's movement state. A smaller damping value makes the hydraulic cylinder move more easily; a larger damping value makes it less likely to move. At least three different damping values ​​are configured according to different scenarios. These damping values ​​include a first damping value, a second damping value, and a third damping value, wherein the first damping value is smaller than the second damping value, and the second damping value is smaller than the third damping value.

[0115] Step S100 specifically includes at least one of the following steps:

[0116] Step S110: Configure the first damping structure and the second damping structure to a first damping value;

[0117] Step S120: Configure the first damping structure and the second damping structure to the second damping value;

[0118] Step S130: Configure the first damping structure and the second damping structure to a third damping value;

[0119] Step S140: Configure the second damping structure to the first damping value and configure the first damping structure to the third damping value, then configure the second damping structure to the third damping value and configure the first damping structure to the first damping value.

[0120] Specifically, a first damping value is used when the hydraulic cylinder is in a high-frequency operating state. A second damping value is used when the hydraulic cylinder is in a low-frequency operating state. A third damping value is used when the hydraulic cylinder is in a stationary state. When both the first and second damping structures use the first damping value, the first piston moves very easily within the cylinder, which is beneficial for the high-frequency operation of the hydraulic cylinder. When both the first and second damping structures use the second damping value, the first piston moves relatively easily within the cylinder, which is beneficial for the low-frequency operation of the hydraulic cylinder. When both the first and second damping structures use the third damping value, the first piston does not move easily within the cylinder, which helps the hydraulic cylinder maintain its position.

[0121] In some repetitive activities, the damping value needs to be adjusted periodically. The first damping structure and the second damping structure adopt the first damping value and the third damping value respectively, and the two alternate. This makes it easier for the first piston to move in the middle position of the cylinder, and it is not easy for the first piston to move at both ends of the cylinder. The damping of the cylinder exhibits periodic changes.

[0122] like Figure 28 As shown, based on the hydraulic cylinder described in any of the above embodiments, the present invention also provides an embodiment of a limb.

[0123] The limb of the present invention includes: a hydraulic cylinder circuit structure as described in any of the above embodiments, or a hydraulic cylinder as described in any of the above embodiments. The limb may be an arm, finger, leg, or torso; the arm may be the upper arm or lower arm; and the leg may be the thigh or calf.

[0124] Based on the hydraulic cylinder or hydraulic cylinder circuit structure or limb described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0125] The robot of the present invention includes: a hydraulic cylinder circuit structure as described in any of the above embodiments, a hydraulic cylinder as described in any of the above embodiments, or a limb as described in any of the above embodiments.

[0126] Robots can be special robots, wheeled robots, legged robots, crawler robots, squirming robots, flying robots, floating robots, diving robots, ground robots, underground robots, space robots, SCARA robots, parallel robots, master-slave robots, collaborative robots, etc. Robots can be single-armed or multi-armed. Figure 29 It is a wheeled robot with bionic arms, wherein any one of the bionic arms may include the limbs or the hydraulic cylinders described in any of the above embodiments.

[0127] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A hydraulic cylinder, characterized in that, include: The cylinder block, hydraulic circuit assembly, and accumulator are connected in sequence; the hydraulic circuit assembly includes: Oil circuit structure; The first damping structure, the second damping structure, the first check valve, and the second check valve are all disposed in the oil circuit structure; The oil circuit structure forms an oil circuit, enabling the two ends of the first damping structure to be connected to the upper half of the cylinder and the energy storage body respectively, the two ends of the second damping structure to be connected to the lower half of the cylinder and the energy storage body respectively, the two ends of the first one-way valve to be connected to the lower half of the cylinder and the energy storage body respectively, and the two ends of the second one-way valve to be connected to the upper half of the cylinder and the energy storage body respectively. Relative to the energy storage body, the flow direction of the first one-way valve is the same as that of the second one-way valve; The cylinder body forms a plurality of oil holes, and the cylinder body forms a channel, the channel being connected to the oil holes, the first damping structure and the second one-way valve respectively; The cylinder body includes an inner cylinder and an outer cylinder; the oil hole is located in the upper half of the inner cylinder; the channel is formed between the inner cylinder and the outer cylinder.

2. The hydraulic cylinder according to claim 1, characterized in that, The axial heights of the oil holes are different for each of them.

3. The hydraulic cylinder according to claim 2, characterized in that, The hydraulic cylinder also includes a third check valve, the two ends of which are connected to the channel and the upper half, respectively, and the flow direction of the third check valve is towards the upper half.

4. The hydraulic cylinder according to claim 3, characterized in that, The hydraulic cylinder also includes: The first piston is located inside the inner cylinder; A piston rod, connected to the first piston, extends out of the cylinder body; The energy storage body includes: case; The second piston is located inside the housing; The elastic element is located on the side of the second piston away from the oil passage assembly.

5. The hydraulic cylinder according to any one of claims 2 to 4, characterized in that, The oil circuit includes: The first longitudinal oil passage and the first transverse oil passage are interconnected; The second longitudinal oil passage and the second transverse oil passage are interconnected; The third transverse oil passage and the inclined oil passage are interconnected; The two ends of the first longitudinal oil passage are respectively connected to the lower half of the cylinder body and the first one-way valve; The first transverse oil passage is connected to the first port of the second damping structure; The two ends of the second longitudinal oil passage are respectively connected to the channel and the second check valve; The second transverse oil passage is connected to the first port of the first damping structure; The two ends of the third transverse oil passage are respectively connected to the second port of the first damping structure and the second port of the second damping structure; The inclined oil passage is connected to the energy storage body.

6. A control method for a hydraulic cylinder as described in any one of claims 1 to 5, characterized in that, Including the following steps: Control the damping value of the first damping structure and / or the second damping structure.

7. The control method for a hydraulic cylinder according to claim 6, characterized in that, The damping value includes: a first damping value, a second damping value, and a third damping value, wherein the first damping value is less than the second damping value, and the second damping value is less than the third damping value; controlling the damping value of the first damping structure and / or the second damping structure includes at least one of the following steps: The first damping structure and the second damping structure are configured with a first damping value; The first damping structure and the second damping structure are configured with the second damping value; The first damping structure and the second damping structure are configured with a third damping value; The second damping structure is configured to a first damping value and the first damping structure is configured to a third damping value. Then the second damping structure is configured to a third damping value and the first damping structure is configured to a first damping value.

8. A limb, characterized in that, include: The hydraulic cylinder according to any one of claims 1 to 5.

9. A robot, characterized in that, include: The hydraulic cylinder according to any one of claims 1 to 5, or the limb according to claim 8.

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