Electro-hydraulic servo joint based on hydraulic follow-up torque amplification principle

Abstract

The application discloses an electro-hydraulic servo joint based on a hydraulic following torque amplification principle, which comprises a joint outer ring, an upper end cover and a lower end cover arranged at the upper end and the lower end of the joint outer ring; a rotating shaft type valve sleeve for controlling an oil circuit is arranged in the cavity formed by the joint outer ring, the upper end cover and the lower end cover; a valve core which is in rotating cooperation with the rotating shaft type valve sleeve is arranged on the inner side of the rotating shaft type valve sleeve, and an oil inlet channel and an oil return channel are formed in the valve core; an isolation block is arranged between the upper end cover and the lower end cover, so that the internal hydraulic cavity is separated into two cavities; blades are connected to the outer circumferential surface of the rotating shaft type valve sleeve; the valve core is connected with the output shaft of a driving motor; an oil inlet waist type groove is arranged on the upper core body of the valve core; an oil inlet hole which is matched with the oil inlet waist type groove is arranged on the upper sleeve body of the rotating shaft type valve sleeve; an oil return waist type groove is arranged on the lower core body of the valve core; and an oil return hole which is matched with the oil return waist type groove is arranged on the lower sleeve body of the rotating shaft type valve sleeve. The application realizes high output torque under the condition of small motor input torque.

Description

Technical Field

[0001] This invention relates to the field of servo joint technology, and in particular to an electro-hydraulic servo joint based on the principle of hydraulic following torque amplification. Background Technology

[0002] With the continuous evolution of industrial automation technology, the application of robotics has gradually penetrated into many key fields, especially in scenarios such as precision manufacturing, medical rehabilitation, warehousing and logistics and complex assembly operations, where the demand for high-performance drive joints of humanoid robots and robotic arms continues to grow.

[0003] Hydraulic drive technology, as a key supporting means to achieve high power density and high load capacity, has been widely used in various complex robot systems. In particular, in humanoid robots and other systems with more stringent requirements for drive performance, response speed and structural compactness, hydraulic drive has shown significant advantages.

[0004] However, existing hydraulic drive systems still have significant shortcomings in terms of high-precision control and high-speed response. For example, traditional hydraulic systems generally rely on valve-controlled structures to achieve oil circuit regulation. This type of control method suffers from problems such as large energy loss, significant response delay, and high structural complexity, which limits its widespread use in application scenarios with high requirements for real-time performance and accuracy, and is particularly unfavorable for the deployment of highly integrated intelligent equipment such as humanoid robots.

[0005] On the other hand, in conventional solutions using hydraulic cylinders as joint drive elements, the inherent simplicity and rigidity of their structure often make it difficult to meet the dual requirements of positioning accuracy and response speed under complex load conditions. During dynamic control, hydraulic cylinders are easily affected by factors such as oil compressibility and flow lag, resulting in limited control accuracy and making it difficult to achieve the flexible movements and compliant control required by humanoid robots.

[0006] In addition, hydraulic cylinder systems typically require large valve control modules, resulting in complex overall structures and low integration, which is not conducive to building lightweight, modular drive units and further restricts their application in high-performance humanoid robot systems. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings or defects of traditional hydraulic systems and hydraulic cylinders in terms of control accuracy, response speed and efficiency in existing electro-hydraulic servo joints, and to provide an electro-hydraulic servo joint based on the principle of hydraulic following torque amplification.

[0008] This invention is implemented as follows:

[0009] An electro-hydraulic servo joint based on the principle of hydraulic following torque amplification includes a joint outer ring, an upper end cover, and a lower end cover arranged at the upper and lower ends of the joint outer ring. A rotary valve sleeve for controlling the oil circuit is disposed inside the cavity formed by the joint outer ring, the upper end cover, and the lower end cover. A valve core rotatably engages with the rotary valve sleeve on its inner side, and the valve core forms an oil inlet channel and a oil return channel. A partition block is arranged between the upper and lower end covers to separate the internal hydraulic cavity into two separate cavities. Blades are connected to the outer circumferential surface of the rotary valve sleeve for adjusting the pressure in the hydraulic cavity. When a pressure difference is formed between the left and right chambers, the force causes deflection, which drives the rotary valve sleeve to rotate around the central axis of the joint, outputting mechanical motion. The valve core is connected to the output shaft of the drive motor, which drives the valve core to rotate to control the flow path of the oil. The upper core body near the upper end cover of the valve core is provided with an oil inlet groove, and the upper valve sleeve body near the upper end cover of the rotary valve sleeve is provided with an oil inlet hole that mates with the oil inlet groove. The lower core body near the lower end cover of the valve core is provided with a return groove, and the lower valve sleeve body near the lower end cover of the rotary valve sleeve is provided with a return hole that mates with the return groove.

[0010] Preferably, the upper core of the valve core is provided with two symmetrically arranged first oil inlet grooves and second oil inlet grooves; the lower core of the valve core is provided with two symmetrically arranged first oil return grooves and second oil return grooves.

[0011] Preferably, the upper valve sleeve body of the rotary valve sleeve is provided with a first left cavity oil inlet hole and a first right cavity oil inlet hole, a second left cavity oil inlet hole and a second right cavity oil inlet hole; the first oil inlet waist-shaped groove and the second oil inlet waist-shaped groove are tangentially connected to the first left cavity oil inlet hole and the first right cavity oil inlet hole, the second left cavity oil inlet hole and the second right cavity oil inlet hole, respectively.

[0012] Preferably, the lower valve sleeve body of the rotary valve sleeve is provided with a first left cavity oil return hole and a first right cavity oil return hole, a second left cavity oil return hole and a second right cavity oil return hole; the first oil return waist-shaped groove and the second oil return waist-shaped groove are tangentially connected to the first left cavity oil return hole and the first right cavity oil return hole, the second left cavity oil return hole and the second right cavity oil return hole, respectively.

[0013] Preferably, the center of the upper end cover forms a central through hole, which is connected to the rotating valve sleeve. On the inner circumferential surface where the upper end cover connects to the rotating valve sleeve, a left oil chamber inlet groove and a right oil chamber inlet groove are provided in the radial direction. The upper end cover has an axial through hole inside in the axial direction, so that the left oil chamber inlet groove is connected to the left chamber and the right oil chamber inlet groove is connected to the right chamber, so as to guide high-pressure oil into the left chamber and the right chamber respectively.

[0014] Preferably, the lower end cover has a central through hole at its center, which is connected to the pivot valve sleeve. The lower end cover has a left oil chamber return groove and a right oil chamber return groove on its inner circumferential surface connected to the pivot valve sleeve, and an axial through hole is provided inside the lower end cover, allowing the left oil chamber return groove to communicate with the left chamber and the right oil chamber return groove to communicate with the right chamber, thus guiding low-pressure oil from the left and right chambers respectively.

[0015] Preferably, one end of the blade is fixedly connected to the outer peripheral surface of the rotating valve sleeve, and one end of the isolation block is fixedly connected to the inner peripheral surface of the joint outer ring.

[0016] Preferably, the two ends of the swivel valve sleeve are provided with deep groove ball bearings, and there are bearing end caps on the outside of the deep groove ball bearings, which are radially and axially fixed by bearing end caps and screws.

[0017] Preferably, a flange is arranged on the outer side of the bearing end cover outside the upper end cover, and the top of the swivel valve sleeve is connected to the flange via a spline. The flange is used to install and cooperate with the linkage mechanism to realize the transmission of output torque. A rotary oil receiving ring is arranged on the outer side of the bearing end cover outside the lower end cover. The rotary oil receiving ring is installed between the drive motor and the bearing end cover, and its two ends are threadedly connected to the bearing end cover and the drive motor, respectively.

[0018] The rotating oil receiving ring is provided with an oil inlet groove and an oil return groove. The oil inlet groove and the oil return groove are staggered in the axial position of the rotating oil receiving ring and are respectively aligned with the corresponding oil inlet hole and oil return hole on the valve core.

[0019] Preferably, the drive motor is connected to the valve core via a key connection. The valve core has a keyway hole at its bottom end. The output shaft of the drive motor is embedded in the keyway hole via a key connection, so that the motor is connected to the valve core via its output shaft to drive the valve core to rotate. The top of the valve core has a valve core plug, which is used to seal the top through hole of the valve core.

[0020] The electro-hydraulic servo joint of the present invention, based on the principle of hydraulic following torque amplification, achieves high output torque under conditions of relatively small motor input torque through the principle of hydraulic following torque amplification, effectively improving drive efficiency and reducing dependence on high-power motors.

[0021] The electro-hydraulic servo joint of the present invention, based on the principle of hydraulic following torque amplification, adopts a valve core-valve sleeve structure to achieve direct control of the hydraulic passage, replacing the traditional servo valve and relief valve configuration. The system structure is simpler, the response speed is significantly improved, and the control accuracy is higher. At the same time, due to the reduction of control components and the optimization of the passage, internal leakage is reduced, and the overall energy efficiency is significantly improved.

[0022] The electro-hydraulic servo joint of the present invention, based on the principle of hydraulic following torque amplification, adopts a modular design for the entire joint. The valve core and valve sleeve are highly integrated into the joint housing, resulting in a compact structure and optimized size and weight. It is particularly suitable for multi-degree-of-freedom robotic arm systems with limited space and complex installation structures. It can be embedded as an independent drive module in various robot platforms and is especially suitable for humanoid robots with high requirements for dynamic performance and integration. It has good integration, maintainability and system scalability.

[0023] The electro-hydraulic servo joint of the present invention, based on the principle of hydraulic following torque amplification, can significantly improve control accuracy, response speed and energy efficiency, and has the characteristics of miniaturization and modularity. It is particularly suitable for humanoid robots and other applications with high joint performance requirements, and meets their application needs in terms of high precision and high dynamic response. Attached Figure Description

[0024] Figure 1 This is a cross-sectional schematic diagram of the electro-hydraulic servo joint based on the hydraulic following torque amplification principle of the present invention.

[0025] Figure 2 This is an overall schematic diagram of the electro-hydraulic servo joint based on the hydraulic following torque amplification principle of the present invention.

[0026] Figure 3 This is a side view of the valve core of the electro-hydraulic servo joint based on the hydraulic following torque amplification principle of the present invention.

[0027] Figure 4 This is a side view of the rotating valve sleeve of the electro-hydraulic servo joint based on the hydraulic following torque amplification principle of the present invention.

[0028] Figure 5 This is a schematic diagram of the oil inlet principle of the electro-hydraulic servo joint based on the hydraulic following torque amplification principle of the present invention.

[0029] Figure 6 This is a schematic diagram of the oil return principle of the electro-hydraulic servo joint based on the hydraulic following torque amplification principle of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1-Valve core; 2-Rotary valve sleeve; 3-Upper end cover; 4-Joint outer ring; 5-Isolation block; 6-Lower end cover; 7-Deep groove ball bearing; 8-Bearing end cover; 9-Screw; 10-O-ring seal; 11-Blade; 12-Right oil chamber return groove; 13-Left oil chamber return groove; 14-Right oil chamber inlet groove; 15-Left oil chamber inlet groove; 16-Valve core plug; 17-Flange; 18-Oil inlet hole; 19-Drive motor; 20-First inlet slot; 21-First oil return groove; 22-Oil return hole; 23-First left cavity oil inlet hole; 24-First right cavity oil inlet hole; 25-First right cavity oil return hole; 26-First left cavity oil return hole; 27-Second right cavity oil inlet hole; 28-Second left cavity oil inlet hole; 29-Second oil inlet groove; 30-Second left cavity oil return hole; 31-Second right cavity oil return hole; 32-Second oil return groove; 33-Rotating oil receiving ring; 34-Oil receiving ring inlet groove; 35-Oil receiving ring return groove. Detailed Implementation

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific 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.

[0033] See Figures 1 to 6 As shown in the exemplary embodiment of this application, the electro-hydraulic servo joint based on the hydraulic following torque amplification principle includes a joint outer ring 4 and an upper end cover 3 and a lower end cover 6 arranged at the upper and lower ends of the joint outer ring 4; a rotary valve sleeve 2 for controlling the oil circuit is provided inside the cavity formed by the joint outer ring and the upper and lower end covers; a valve core 1 that rotates with the rotary valve sleeve 2 is provided inside the rotary valve sleeve 2; an oil inlet channel and an oil return channel are formed inside the valve core 1, each connected to an oil inlet hole 18 and an oil return hole 22; an isolation block 5 is arranged between the upper end cover and the lower end cover to separate the internal hydraulic cavity to form two separate cavities, such as a left cavity and a right cavity; the rotary valve... A blade 11 is connected to the outer circumferential surface of sleeve 2. When a pressure difference is formed between the left and right chambers in the hydraulic cavity, the blade is deflected by the force, causing the rotary valve sleeve 2 to rotate around the central axis of the joint and output mechanical motion. The valve core 1 is connected to the output shaft of the drive motor 19. The drive motor 19 is used to drive the valve core to rotate in order to control the flow path of the oil. The upper core body near the upper end cover 3 of the valve core 1 is provided with an oil inlet groove. The upper valve sleeve body near the upper end cover of the rotary valve sleeve 2 is provided with an oil inlet hole that matches the oil inlet groove. The lower core body near the lower end cover 6 of the valve core 1 is provided with a return groove. The lower valve sleeve body near the lower end cover 6 of the rotary valve sleeve 2 is provided with a return hole that matches the return groove.

[0034] In this embodiment, the outer ring 4 of the joint, together with the upper end cover 3 and the lower end cover 6, constitutes a hydraulic cavity shell structure, and the interior is formed by the isolation block 5 and the blade 11 to form a sealed compartment.

[0035] In the embodiments of this application, the valve core 1 is an integral rotating component, and its outer wall is provided with four symmetrically arranged waist-shaped grooves. Specifically, the upper core of the valve core is provided with two symmetrically arranged first oil inlet waist-shaped grooves 20 and second oil inlet waist-shaped grooves 29; the lower core of the valve core is provided with two symmetrically arranged first oil return waist-shaped grooves 21 and second oil return waist-shaped grooves 32.

[0036] In the embodiments of this application, the rotary valve sleeve 2 and the valve core 1 are coaxially mounted to form a main control oil circuit module. Structurally, it is divided into upper and lower parts, each with four oil inlet holes. The oil inlet holes are arranged in an axially symmetrical manner and each independently connects to the corresponding oil chamber and the oil inlet and outlet channels.

[0037] Specifically, the upper valve sleeve body of the rotary valve sleeve 2 is provided with a first left cavity oil inlet hole 23 and a first right cavity oil inlet hole 24, a second left cavity oil inlet hole 28 and a second right cavity oil inlet hole 27; wherein, the first oil inlet waist-shaped groove 20 is connected to the first left cavity oil inlet hole 23 and the first right cavity oil inlet hole 24; the second oil inlet waist-shaped groove 29 is tangentially connected to the second left cavity oil inlet hole 28 and the second right cavity oil inlet hole 27.

[0038] In the embodiments of this application, the lower valve sleeve body of the rotary valve sleeve 2 is provided with a first left cavity oil return hole 26 and a first right cavity oil return hole 25, and a second left cavity oil return hole 30 and a second right cavity oil return hole 31 that are tangentially connected; the first oil return waist-shaped groove 21 is tangentially connected to the first left cavity oil return hole and the first right cavity oil return hole, and the second oil return waist-shaped groove 32 is tangentially connected to the second left cavity oil return hole 30 and the second right cavity oil return hole 31.

[0039] In this embodiment, the upper end cover 3 has a central through hole at its center, which is used to connect to the rotary valve sleeve. On the inner circumferential surface connecting the upper end cover and the rotary valve sleeve, a left oil chamber inlet groove 15 and a right oil chamber inlet groove 14 are radially provided. The left oil chamber inlet groove communicates with the left cavity, and the right oil chamber inlet groove communicates with the right cavity, respectively guiding high-pressure oil into the left and right cavities. In this embodiment, the upper end cover 3 has a left oil chamber inlet groove 15 and a right oil chamber inlet groove 14, and an axial through hole or channel is provided inside them to connect the left / right oil chamber inlet grooves to the left and right cavities respectively, achieving directional oil supply.

[0040] In the embodiments of this application, a central through hole is formed at the center of the lower end cover 6, and the lower end cover is connected to the rotary valve sleeve through the central through hole. A left oil chamber return groove 13 and a right oil chamber return groove 12 are radially formed on the inner circumferential surface of the lower end cover connected to the rotary valve sleeve. The left oil chamber return groove communicates with the left cavity, and the right oil chamber return groove communicates with the right cavity, respectively guiding low-pressure oil to be discharged from the left and right cavities. In the embodiments of this application, the structure of the lower end cover 6 is similar to that of the upper end cover 3, and it is provided with a left oil chamber return groove 13 and a right oil chamber return groove 12. The left / right oil chamber return grooves are connected to the left and right cavities through their internal axial channels, enabling the return oil in the hydraulic cavity to be discharged, forming a complete return oil path.

[0041] In this embodiment, based on the above structure, when the drive motor 19 drives the valve core 1 to rotate, the inlet / return groove on the valve core 1 will form a conductive path with the corresponding inlet or return hole in the rotary valve sleeve 2, realizing instantaneous switching of oil flow and having a "zero-coverage" characteristic; at the same time, since the inlet / return groove structure is symmetrically arranged, when the inlet groove 15 of the left oil chamber is connected, the return groove 12 of the right oil chamber is also connected synchronously, thereby realizing the symmetrical synchronization of oil flow in and out of the left and right chambers and improving the consistency of control response.

[0042] In this embodiment, the synchronous adjustment of the oil inlet and outlet states of the left and right chambers is achieved through the partitioned linkage control of the double-set oil inlet waist-shaped grooves and the double-set oil return waist-shaped grooves; combined with the guiding effect of the axial through holes in the upper and lower end covers and the paired oil grooves, a closed-loop oil circuit system with a compact structure and clear path is formed.

[0043] In this embodiment, one end of the blade is fixedly connected to the outer circumferential surface of the rotating valve sleeve. When a pressure difference is formed between the left and right chambers in the hydraulic chamber, the blade is pushed to deflect, thereby driving the rotating valve sleeve 2 to rotate around the central axis of the joint and output mechanical motion. In this embodiment, one end of the isolation block is fixedly connected to the inner circumferential surface of the outer ring of the joint to separate the left and right chambers and avoid oil flow interference.

[0044] In the embodiments of this application, to improve the mechanical stability of the entire machine, deep groove ball bearings 7 are provided at both ends of the rotary valve sleeve 2, and bearing end caps 8 are provided on the outside of the deep groove ball bearings 7. The bearing end caps and screws 9 are used for radial and axial fixation. O-rings 10 are provided at each sealing surface to seal the mating surface and prevent oil leakage, such as the sealing surfaces of the upper end cap 3, the lower end cap 6 and the rotary valve sleeve.

[0045] In the embodiments of this application, a flange 17 is arranged on the outer side of the bearing end cover on the outer side of the upper end cover 3. The top of the rotating shaft valve sleeve is connected to the flange 17 by a spline. The flange 17 is used to install and cooperate with the linkage mechanism to realize the effective and reliable transmission of output torque.

[0046] In the embodiments of this application, in order to solve the problem of oil circuit interference that may occur when the oil inlet hole 18 and the oil return hole 22 change during the rotation of the valve core 1, a rotating oil receiving ring 33 is arranged on the outside of the bearing end cover 8 on the outside of the lower end cover 6, based on the axial offset of the oil inlet hole and the oil return hole of the valve core 1, to realize the dynamic decoupling between the rotating element and the fixed oil circuit. The rotating oil receiving ring 33 is installed between the drive motor 19 and the bearing end cover 8, and its two ends are threadedly connected to the bearing end cover 8 and the drive motor 19 respectively, forming a reliable sealed intermediate connection interface.

[0047] In the embodiments of this application, the inner circular surface of the rotating oil receiving ring 33 is provided with two axially arranged grooves, namely the oil receiving ring inlet groove 33 and the oil receiving ring return groove 35. The oil receiving ring inlet groove and the oil receiving ring return groove are staggered in the axial position of the rotating oil receiving ring 33 and are respectively aligned with the corresponding oil inlet hole 18 and oil return hole 22 on the valve core 1. Each groove is provided with a radial through hole to realize the conductive connection between the external high and low pressure oil and the inlet / return groove on the valve core. Since the body of the rotating oil receiving ring 33 remains stationary, its internal grooves form a stable oil channel, which can effectively avoid oil circuit interference and sealing failure caused by valve core rotation, and improve the system reliability and structural compatibility during oil circuit switching.

[0048] In the embodiments of this application, the drive motor 19 is connected to the top structure of the valve core by a key connection. The bottom end of the valve core is provided with a keyway hole. The output shaft of the drive motor is embedded in the keyway hole by a key connection, so that the motor is connected to the valve core through its output shaft to drive the valve core to rotate.

[0049] In this embodiment, the valve core has a valve core plug 16 at its top, which is used to seal the top through hole of the valve core to ensure stable system oil pressure.

[0050] In this embodiment, the hydraulically driven joint has technical advantages such as fast response, compact structure, dual-chamber synchronization, and reliable sealing, and is especially suitable for hydraulic execution system scenarios with high integration and high precision control requirements.

[0051] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0052] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of the equivalents of the claims be included within the invention.

[0053] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An electro-hydraulic servo joint based on the principle of hydraulic following torque amplification, characterized in that, The system includes an outer ring, an upper end cap, and a lower end cap located at the upper and lower ends of the outer ring. A rotary valve sleeve for controlling the hydraulic circuit is installed inside the cavity formed by the outer ring, the upper end cap, and the lower end cap. A valve core, which rotatably engages with the rotary valve sleeve, is located inside the valve core, which forms an inlet and a return oil channel. An isolation block is arranged between the upper and lower end caps to separate the internal hydraulic chambers into two separate cavities. Blades are connected to the outer circumferential surface of the rotary valve sleeve to create a pressure difference between the left and right cavities within the hydraulic chamber. When subjected to force, the valve core deflects, causing the rotary valve sleeve to rotate around the central axis of the joint, thus outputting mechanical motion. The valve core is connected to the output shaft of the drive motor, which drives the valve core to rotate to control the flow path of the oil. The upper core body near the upper end cover of the valve core is provided with an oil inlet groove, and the upper valve sleeve body near the upper end cover of the rotary valve sleeve is provided with an oil inlet hole that mates with the oil inlet groove. The lower core body near the lower end cover of the valve core is provided with a return groove, and the lower valve sleeve body near the lower end cover of the rotary valve sleeve is provided with a return hole that mates with the return groove.

2. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 1, characterized in that, The upper part of the valve core is provided with two symmetrically arranged first oil inlet grooves and second oil inlet grooves; the lower part of the valve core is provided with two symmetrically arranged first oil return grooves and second oil return grooves.

3. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 2, characterized in that, The upper valve sleeve of the rotary valve sleeve is provided with a first left cavity oil inlet hole and a first right cavity oil inlet hole, a second left cavity oil inlet hole and a second right cavity oil inlet hole; the first oil inlet waist-shaped groove and the second oil inlet waist-shaped groove are tangentially connected to the first left cavity oil inlet hole and the first right cavity oil inlet hole, the second left cavity oil inlet hole and the second right cavity oil inlet hole, respectively.

4. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 3, characterized in that, The lower valve sleeve of the rotary valve sleeve is provided with a first left cavity oil return hole and a first right cavity oil return hole, a second left cavity oil return hole and a second right cavity oil return hole; the first oil return waist-shaped groove and the second oil return waist-shaped groove are tangentially connected to the first left cavity oil return hole and the first right cavity oil return hole, the second left cavity oil return hole and the second right cavity oil return hole, respectively.

5. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 1, characterized in that, The upper end cover has a central through hole at its center, which is connected to the rotating valve sleeve. On the inner circumferential surface where the upper end cover connects to the rotating valve sleeve, a left oil chamber inlet groove and a right oil chamber inlet groove are provided in the radial direction. The upper end cover has an axial through hole inside, which connects the left oil chamber inlet groove to the left chamber and the right oil chamber inlet groove to the right chamber, so as to guide high-pressure oil into the left and right chambers respectively.

6. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 1, characterized in that, The lower end cover has a central through hole at its center, which is connected to the pivot valve sleeve. On the inner circumferential surface of the lower end cover connected to the pivot valve sleeve, there are left oil chamber return grooves and right oil chamber return grooves in the radial direction. The lower end cover has an axial through hole inside, so that the left oil chamber return groove is connected to the left chamber and the right oil chamber return groove is connected to the right chamber, so as to guide the low-pressure oil to be discharged from the left chamber and the right chamber respectively.

7. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 1, characterized in that, One end of the blade is fixedly connected to the outer circumferential surface of the rotating valve sleeve, and one end of the isolation block is fixedly connected to the inner circumferential surface of the outer ring of the joint.

8. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 1, characterized in that, The swivel valve sleeve is equipped with deep groove ball bearings at both ends, and bearing end caps are located on the outside of the deep groove ball bearings. The bearing end caps and screws are used for radial and axial fixation.

9. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 8, characterized in that, A flange is arranged on the outer side of the bearing end cover outside the upper end cover. The top of the rotary valve sleeve is connected to the flange via a spline. The flange is used to install and cooperate with the linkage mechanism to realize the transmission of output torque. A rotary oil receiving ring is arranged on the outer side of the bearing end cover outside the lower end cover. The rotary oil receiving ring is installed between the drive motor and the bearing end cover, and its two ends are threaded to the bearing end cover and the drive motor, respectively. The rotary oil receiving ring is provided with an oil inlet groove and an oil return groove. The oil inlet groove and the oil return groove are staggered in the axial position of the rotary oil receiving ring and are aligned with the corresponding oil inlet hole and oil return hole on the valve core, respectively.

10. The electro-hydraulic servo joint based on the hydraulic following torque amplification principle according to claim 1, characterized in that, The drive motor is connected to the valve core via a key connection. The valve core has a keyway hole at its bottom end. The output shaft of the drive motor is embedded in the keyway hole via a key connection, so that the motor is connected to the valve core through its output shaft to drive the valve core to rotate. The top of the valve core has a valve core plug, which is used to seal the top through hole of the valve core.

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