Integrated lateral tilting mechanism driven by electro-hydraulic actuators

Abstract

The application provides an integrated side swing mechanism driven by an electro-hydraulic actuator, and relates to the technical field of hydraulic driving robots, which comprises a side swing support, a rotary oil distribution module, an electro-hydraulic actuator and a side swing push rod, the side swing support is provided with the rotary oil distribution module, the electro-hydraulic actuators are symmetrically arranged on the two sides of the side swing support, the first end of the electro-hydraulic actuator is connected with the rotary oil distribution module, the second end of the electro-hydraulic actuator is connected with the first end of the side swing push rod, the second end of the side swing push rod is connected with a connecting shaft on the side swing support, and the connecting shaft is connected with an external mechanical leg through a rotary end cover. The linear motion of the electro-hydraulic actuator is converted into side swing motion through the side swing push rod, and then the synchronous side swing motion of the external mechanical leg is realized. The side swing support, the electro-hydraulic actuator and a hydraulic oil supply and return channel are integrally arranged through the rotary oil distribution module, the hydraulic pipeline arrangement of the side swing mechanism is optimized, and the oil supply stability and the compactness of the side swing mechanism under the condition of periodic reciprocating motion are improved.

Description

Technical Field

[0001] This invention relates to the field of hydraulically driven robot technology, and in particular to an integrated side-swing mechanism driven by an electro-hydraulic actuator. Background Technology

[0002] Quadruped robots achieve maneuverability through the periodic swinging and alternating support of their legs. Their stability and terrain adaptability largely depend on the adjustable range of their feet in space. Besides the main load-bearing and propulsion degrees of freedom such as hip and knee pitch, the lateral swing degree of freedom plays a crucial role in the motion control of quadruped robots. Lateral swing allows for rapid adjustment of the foot's landing position in the lateral direction, thereby improving static and dynamic stability margins. This is particularly effective in reducing the risk of tipping over, especially during single-leg swing phases, crossing ditches, experiencing lateral disturbances, or situations with load bias. Lateral swing also supports lateral movement and crab-like maneuvers, enabling more flexible turning strategies and improving the ability to turn in small radii, turn in place, and navigate through narrow spaces. When walking on uneven terrain, lateral swing can be used for lateral compensation and center of gravity adjustment, suppressing roll and improving anti-slip capability. In high-dynamic gait, lateral swing can be used to adjust limb abduction and landing posture, improving contact conditions and impact distribution, thereby enhancing gait robustness and landing stability. Therefore, the lateral swing mechanism not only determines the feasible domain of foot planning, but is also an important piece of hardware for the stability control, steering maneuverability and adaptability to complex terrain of quadruped robots.

[0003] In existing hydraulic quadruped robots, lateral swing is achieved by directly outputting swing angular displacement using a hydraulic cylinder or rotary hydraulic actuator. However, the traditional cylinder solution often reveals certain limitations in applications with strong impact vibrations and complex environments: its structure typically includes specialized components such as a swing chamber and a swing seal, requiring high precision in machining and assembly as well as high sealing reliability, resulting in relatively low maintenance costs. Furthermore, under conditions of mud, dust, impact loads, and frequent reciprocating swings, the swing seal is more prone to wear and leakage risks. Multiple joints, valve blocks, and long pipelines pose potential leakage risks, leading to a large workload for on-site maintenance. Loose joints and worn hoses are more prominent reliability issues, causing performance degradation and affecting long-term reliability. Moreover, unlike traditional linear hydraulic push cylinders, hydraulic cylinders cannot easily integrate force and displacement sensors, making it difficult to directly obtain key state quantities related to control, hindering the achievement of high-precision displacement or force control.

[0004] Based on the above reasons, to meet the engineering requirements for the reliability and controllability of the side-swing joint of a hydraulic quadruped robot, this invention proposes an integrated side-swing mechanism driven by an electro-hydraulic actuator. The side-swing mechanism is integrated by rotating the oil distribution shaft and the electro-hydraulic actuator, avoiding the addition of extra oil pipes, joints, and valve blocks. The linear displacement of the electro-hydraulic actuator is converted into lateral angular displacement. Utilizing the advantage of easily integrating displacement, pressure, and other sensors and control units, high-precision closed-loop control and status feedback of the side-swing joint are achieved. Thus, a hydraulic push-cylinder type side-swing mechanism replaces the traditional hydraulic swing cylinder solution, realizing the leg side-swing drive function. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides an integrated side-swing mechanism driven by an electro-hydraulic actuator. By replacing the hydraulic swing cylinder with an electro-hydraulic actuator, the sealing difficulty of the side-swing mechanism is reduced, system leakage is reduced, and high-precision closed-loop control and status feedback of the side-swing joint are achieved.

[0006] Specifically, this invention provides an integrated side-swing mechanism driven by an electro-hydraulic actuator, comprising a side-swing bracket, a rotary oil distribution module, an electro-hydraulic actuator, and a side-swing push rod. The side-swing bracket is equipped with a rotary oil distribution module, which includes a rotary oil distribution shaft, a connecting valve block, and a cylinder oil distribution shaft. Connecting valve blocks are located at both ends of the rotary oil distribution shaft. A high-pressure oil passage and a low-pressure oil passage are arranged inside the rotary oil distribution shaft along its central axis. The high-pressure oil passage is connected to a high-pressure annular oil passage in the connecting valve block via a first high-pressure oil outlet and a second high-pressure oil outlet located at both ends of the rotary oil distribution shaft, respectively. The low-pressure oil passage is connected to a low-pressure annular oil passage in the connecting valve block via a first low-pressure oil outlet and a second low-pressure oil outlet located at both ends of the rotary oil distribution shaft, respectively. The connecting valve block is fixedly connected to the side-swing bracket via a connecting plate. The electro-hydraulic actuator is symmetrically arranged on both sides of the side-swing bracket. The first end of the electro-hydraulic actuator is connected to the connecting valve block via the cylinder oil distribution shaft. The unit is provided with a first high-pressure oil passage and a first low-pressure oil passage along its central axis. The first high-pressure oil passage is connected to the high-pressure annular oil passage of the valve block and the cylinder inlet of the electro-hydraulic actuator through the high-pressure oil outlet and high-pressure oil inlet provided on the cylinder distribution shaft. The first low-pressure oil passage is connected to the low-pressure annular oil passage of the valve block and the cylinder outlet of the electro-hydraulic actuator through the low-pressure oil outlet and low-pressure oil inlet provided on the cylinder distribution shaft. The connecting valve block is provided with multiple oil passages, which connect the high-pressure annular oil passage to the high-pressure annular oil passage of the valve block and the low-pressure annular oil passage to the low-pressure annular oil passage of the valve block. The second end of the electro-hydraulic actuator is connected to the first end of the side-swing push rod. The second end of the side-swing push rod is connected to the connecting shaft on the side-swing bracket. The connecting shaft is connected to the external mechanical leg through a rotating end cover. The side-swing push rod converts the linear motion of the electro-hydraulic actuator into side-swing motion, thereby realizing the synchronous side-swing motion of the external mechanical leg.

[0007] Preferably, the side-swing bracket includes a first bracket, a second bracket, a connecting sleeve, a connecting shaft, and a rotating end cap. The first bracket and the second bracket are trapezoidal in shape. The upper ends and middle parts of the first bracket and the second bracket are connected by the connecting sleeve. The connecting shaft is located at the lower end of the first bracket and the second bracket through the rotating end cap. The cross-section of the middle section of the connecting shaft is a regular hexagonal structure.

[0008] Furthermore, the first end of the high-pressure oil passage on the rotary oil distribution shaft is provided with a high-pressure oil inlet that penetrates the first end face of the rotary oil distribution shaft. At the positions near the first and second ends of the high-pressure oil passage, a first high-pressure oil outlet and a second high-pressure oil outlet that penetrate the outer arc wall of the rotary oil distribution shaft are respectively provided. The first end of the low-pressure oil passage on the rotary oil distribution shaft is provided with a low-pressure oil outlet that penetrates the second end face of the rotary oil distribution shaft. At the positions near the first and second ends of the low-pressure oil passage, a first low-pressure oil outlet and a second low-pressure oil outlet that penetrate the outer arc wall of the rotary oil distribution shaft are respectively provided.

[0009] Furthermore, the connecting valve block includes a valve body, a first lug, a second lug, and a third lug. The first lug is located on the first end face of the valve body. A first through hole is provided in the middle of the first lug. A high-pressure annular oil passage and a low-pressure annular oil passage are respectively provided on the inner arc surface of the first through hole. The second lug and the third lug are symmetrically located on the second end face of the valve body. A second through hole is provided in the middle of the second lug. A high-pressure annular oil passage of the valve block is provided on the inner arc surface of the second through hole. A third through hole is provided in the middle of the third lug. A low-pressure annular oil passage of the valve block is provided on the inner arc surface of the third through hole.

[0010] Furthermore, the valve body is provided with multiple oil passages, including a first oil passage, a second oil passage, a third oil passage, a fourth oil passage, a fifth oil passage, and a sixth oil passage. The first end of the first oil passage is connected to the high-pressure annular oil passage. The first end of the second oil passage is connected to the middle of the first oil passage. The middle of the second oil passage is connected to the middle of the third oil passage. The first end of the third oil passage is connected to the high-pressure annular oil passage of the valve block. The second ends of the first, second, and third oil passages are all provided with oil port plugs. The first end of the fourth oil passage is connected to the low-pressure annular oil passage. The first end of the fifth oil passage is connected to the middle of the fourth oil passage. The middle of the fifth oil passage is connected to the middle of the sixth oil passage. The first end of the sixth oil passage is connected to the low-pressure annular oil passage of the valve block. The second ends of the fourth, fifth, and sixth oil passages are all provided with oil port plugs.

[0011] Preferably, the first end and the second end of the first high-pressure oil passage on the cylinder block oil distribution shaft are respectively provided with a plurality of high-pressure oil outlets and high-pressure oil inlets penetrating the outer arc wall of the cylinder block oil distribution shaft, and the first end and the second end of the first low-pressure oil passage on the cylinder block oil distribution shaft are respectively provided with a plurality of low-pressure oil outlets and low-pressure oil inlets penetrating the outer arc wall of the cylinder block oil distribution shaft.

[0012] Preferably, the cylinder block oil distribution shaft and the connecting valve block, as well as the rotary oil distribution shaft and the connecting valve block, are all sealed together by end caps.

[0013] Furthermore, the electro-hydraulic actuator includes a cylinder body, an electromagnetic servo valve, a piston rod, a guide rod, and a guide rod connecting plate. The first end of the cylinder body is connected to the connecting valve block through a cylinder body oil distribution shaft. The first end of the piston rod is located inside the cylinder body. The electromagnetic servo valve is located on the first side of the cylinder body. A displacement sensor is located on the second side of the cylinder body. The first end of the guide rod is located in the displacement sensor. The second end of the piston rod is connected to the second end of the guide rod through the guide rod connecting plate. A force sensor is located at the second end of the piston rod. A connecting lug is located at the second end of the guide rod connecting plate. The connecting lug is connected to the first end of the side swing push rod.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The integrated side-swing mechanism based on electro-hydraulic actuator drive provided by the present invention integrates the side-swing bracket, electro-hydraulic actuator and hydraulic supply and return oil channels through a rotary oil distribution module. This allows high-pressure oil and low-pressure oil to be directly delivered to the electro-hydraulic actuator via the rotary oil distribution shaft, connecting valve block and cylinder oil distribution shaft. This reduces the use of external hydraulic hoses, connecting joints and independent oil distribution valve blocks, which helps to simplify the hydraulic pipeline layout of the side-swing mechanism, reduce the space occupied by the pipeline and the risk of hydraulic oil leakage, avoid repeated bending, winding or stretching of the hydraulic pipeline with the side-swing movement, improve the oil supply stability of the side-swing mechanism under periodic reciprocating motion conditions, and improve the structural compactness of the mechanism.

[0015] 2. The integrated side-swing mechanism based on electro-hydraulic actuator driven by the present invention directly sets the electromagnetic servo valve on the cylinder body, shortens the hydraulic channel between the electromagnetic servo valve and the working chamber of the electro-hydraulic actuator, reduces the hydraulic volume and pressure loss introduced by the external connection pipeline, and helps to improve the response speed and side-swing angular displacement control accuracy of the electro-hydraulic actuator.

[0016] 3. This invention achieves oil distribution between the rotary distribution shaft and the cylinder distribution shaft by connecting the high-pressure annular oil passage, the low-pressure annular oil passage, the high-pressure annular oil passage, and the low-pressure annular oil passage in the valve block. This ensures that the oil ports remain connected even when their relative circumferential positions change, thereby reducing the impact of assembly angle and movement angle on the hydraulic circuit connectivity and improving the reliability of the rotary distribution module. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the integrated side-swing mechanism driven by an electro-hydraulic actuator according to the present invention; Figure 2 This is a schematic diagram of the overall structure of the side-swing bracket of the present invention; Figure 3This is a front view of the rotary oil distribution module of the present invention; Figure 4 This is a front view of the rotating oil distribution shaft of the present invention; Figure 5 This is a cross-sectional view of the rotating oil distribution shaft GG of the present invention; Figure 6 This is a front view of the connecting valve block of the present invention; Figure 7 This is a first cross-sectional view of the connecting valve block of the present invention; Figure 8 This is a second sectional view of the connecting valve block of the present invention; Figure 9 This is a schematic diagram of the overall structure of the cylinder block oil distribution shaft of the present invention; Figure 10 This is a front view of the cylinder block oil distribution shaft of the present invention; Figure 11 This is a cross-sectional view of the cylinder block oil distribution shaft of the present invention along the GG direction; Figure 12 This is a schematic diagram of the overall structure of the electro-hydraulic actuator of the present invention; Figure 13 This is a front view of the electro-hydraulic actuator of the present invention.

[0018] Key reference numerals: Side-swing bracket 1; First bracket 11; Second bracket 12; Connecting sleeve 13; Connecting shaft 14; Rotating end cap 15; Rotating oil distribution module 2; Rotating oil distribution shaft 21; High-pressure oil passage 211; First high-pressure oil outlet 2111; Second high-pressure oil outlet 2112; Low-pressure oil passage 212; First low-pressure oil outlet 2121; Second low-pressure oil outlet 2122; High-pressure oil inlet 213; Low-pressure oil outlet 214; Connecting valve block 22; Valve body 221; First oil passage 2211; Second oil passage 2212; Third oil passage 2213; Fourth oil passage 2214; Fifth oil passage 2215; Sixth oil passage 2216; First lug 222; First through hole 2221; High pressure Annular oil passage 2222; low-pressure annular oil passage 2223; second lug 223; second through hole 2231; valve block high-pressure annular oil passage 2232; third lug 224; third through hole 2241; valve block low-pressure annular oil passage 2242; cylinder block oil distribution shaft 23; first high-pressure oil passage 231; high-pressure oil outlet 2311; high-pressure oil inlet 2312; first low-pressure oil passage 232; low-pressure oil outlet 2321; low-pressure oil inlet 2322; connecting plate 24; end cover 25; electro-hydraulic actuator 3; cylinder 31; electromagnetic servo valve 32; piston rod 33; displacement sensor 34; guide rod 35; force sensor 36; guide rod connecting plate 37; connecting lug 38; side swing push rod 4. Detailed Implementation

[0019] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0020] The present invention provides an integrated side-swing mechanism based on an electro-hydraulic actuator drive, such as... Figure 1 As shown, it includes a side-swing bracket 1, a rotary oil distribution module 2, an electro-hydraulic actuator 3, and a side-swing push rod 4. The rotary oil distribution module 2 is provided on the side-swing bracket 1. The electro-hydraulic actuator 3 is symmetrically arranged on both sides of the side-swing bracket 1. The first end of the electro-hydraulic actuator 3 is connected to the connecting valve block 22 through the cylinder oil distribution shaft 23. The second end of the electro-hydraulic actuator 3 is connected to the first end of the side-swing push rod 4. The second end of the side-swing push rod 4 is connected to the connecting shaft 14 on the side-swing bracket 1. The connecting shaft 14 is connected to the external mechanical leg through the rotary end cover 15 on the side-swing bracket 1.

[0021] like Figure 2 As shown, the side-swing bracket 1 includes a first bracket 11, a second bracket 12, a connecting sleeve 13, a connecting shaft 14, and a rotating end cap 15. The first bracket 11 and the second bracket 12 are trapezoidal in shape. The upper ends and middle parts of the first bracket 11 and the second bracket 12 are connected by the connecting sleeve 13. The connecting shaft 14 is located at the lower end of the first bracket 11 and the second bracket 12 through the rotating end cap 15. The cross-section of the middle section of the connecting shaft 14 is a regular hexagonal structure.

[0022] like Figure 3 As shown, the rotary oil distribution module 2 includes a rotary oil distribution shaft 21, a connecting valve block 22, and a cylinder oil distribution shaft 23. The first and second ends of the rotary oil distribution shaft 21 are provided with connecting valve blocks 22. The connecting valve blocks 22 are provided with connecting plates 24. The connecting valve blocks 22 are fixedly connected to the side swing bracket 11 through the connecting plates 24. The cylinder oil distribution shaft 23 is located at the lower end of the connecting valve blocks 22 and is used to connect the electro-hydraulic actuator 3.

[0023] Specifically, the cylinder block oil distribution shaft 23 and the connecting valve block 22, as well as the rotating oil distribution shaft 21 and the connecting valve block 22, are all sealed and connected by end caps 25.

[0024] like Figure 4 and Figure 5 As shown, a high-pressure oil passage 211 and a low-pressure oil passage 212 are arranged inside the rotating oil distribution shaft 21 along its central axis. The first end of the high-pressure oil passage 211 on the rotating oil distribution shaft 21 is provided with a high-pressure oil inlet 213 that penetrates the first end face of the rotating oil distribution shaft 211. At the positions near the first and second ends of the high-pressure oil passage 211, a first high-pressure oil outlet 2111 and a second high-pressure oil outlet 2112 that penetrate the outer arc wall of the rotating oil distribution shaft 21 are respectively provided. The first end of the low-pressure oil passage 212 on the rotating oil distribution shaft 21 is provided with a low-pressure oil outlet 214 that penetrates the second end face of the rotating oil distribution shaft 211. At the positions near the first and second ends of the low-pressure oil passage 212, a first low-pressure oil outlet 2121 and a second low-pressure oil outlet 2122 that penetrate the outer arc wall of the rotating oil distribution shaft 21 are respectively provided.

[0025] like Figure 6 , Figure 7 and Figure 8 As shown, the connecting valve block 22 includes a valve body 221, a first lug 222, a second lug 223, and a third lug 224. The first lug 222 is located on the first end face of the valve body 221. A first through hole 2221 is provided in the middle of the first lug 222. A high-pressure annular oil passage 2222 and a low-pressure annular oil passage 2223 are respectively provided on the inner arc surface of the first through hole 2221. The second lug 223 and the third lug 224 are symmetrically located on the second end face of the valve body 221. A second through hole 2231 is provided in the middle of the second lug 223. A high-pressure annular oil passage 2232 of the valve block is provided on the inner arc surface of the second through hole 2231. A third through hole 2241 is provided in the middle of the third lug 224. A low-pressure annular oil passage 2242 of the valve block is provided on the inner arc surface of the third through hole 2241.

[0026] like Figure 6 , Figure 7 and Figure 8 As shown, the valve body 221 is provided with multiple oil passages, including a first oil passage 2211, a second oil passage 2212, a third oil passage 2213, a fourth oil passage 2214, a fifth oil passage 2215, and a sixth oil passage 2216. The first end of the first oil passage 2211 is connected to the high-pressure annular oil passage 2222. The first end of the second oil passage 2212 is connected to the middle of the first oil passage 2211. The middle of the second oil passage 2212 is connected to the middle of the third oil passage 2213. The first end of the third oil passage 2213 is connected to the high-pressure annular oil passage 2232 of the valve block. The first oil passage 2211... Oil port plugs are provided at the second end of the second oil passage 2212 and the second end of the third oil passage 2213. The first end of the fourth oil passage 2214 is connected to the low-pressure annular oil passage 2223. The first end of the fifth oil passage 2215 is connected to the middle of the fourth oil passage 2214. The middle of the fifth oil passage 2215 is connected to the middle of the sixth oil passage 2216. The first end of the sixth oil passage 2216 is connected to the low-pressure annular oil passage 2242 of the valve block. Oil port plugs are provided at the second end of the fourth oil passage 2214, the second end of the fifth oil passage 2215 and the second end of the sixth oil passage 2216.

[0027] Specifically, the high-pressure oil passage 211 on the rotary distribution shaft 21 is connected to the high-pressure annular oil passage 2222 in the connecting valve block 22 through the first high-pressure oil outlet 2111 and the second high-pressure oil outlet 2112 located at both ends of the rotary distribution shaft 21. The low-pressure oil passage 212 on the rotary distribution shaft 21 is connected to the low-pressure annular oil passage 2223 in the connecting valve block 22 through the first low-pressure oil outlet 2121 and the second low-pressure oil outlet 2122 located at both ends of the rotary distribution shaft 21.

[0028] like Figure 9 , Figure 10 and Figure 11 As shown, a first high-pressure oil passage 231 and a first low-pressure oil passage 232 are provided inside the cylinder oil distribution shaft 23 along its central axis. The first and second ends of the first high-pressure oil passage 231 on the cylinder oil distribution shaft 23 are respectively provided with multiple high-pressure oil outlets 2311 and high-pressure oil inlets 2312 penetrating the outer arc wall of the cylinder oil distribution shaft 23. The first and second ends of the first low-pressure oil passage 232 on the cylinder oil distribution shaft 23 are respectively provided with multiple low-pressure oil outlets 2321 and low-pressure oil inlets 2322 penetrating the outer arc wall of the cylinder oil distribution shaft.

[0029] Specifically, the first high-pressure oil passage 231 on the cylinder block distribution shaft 23 is connected to the valve block high-pressure annular oil passage 2232 in the connecting valve block 22 and the cylinder block oil inlet in the electro-hydraulic actuator 3 via the high-pressure oil outlet 2311 and high-pressure oil inlet 2312 provided on the cylinder block distribution shaft 23, respectively. The first low-pressure oil passage 232 on the cylinder block distribution shaft 23 is connected to the connecting valve block 22 via the low-pressure oil outlet 2321 and low-pressure oil inlet 2322 provided on the cylinder block distribution shaft 23, respectively. The valve block low-pressure annular oil passage 2242 in the valve block is connected to the cylinder outlet in the electro-hydraulic actuator 3. The valve block 22 has multiple oil passages inside. The high-pressure annular oil passage 2222 is connected to the high-pressure annular oil passage 2232 of the valve block through the first oil passage 2211, the second oil passage 2212 and the third oil passage 2213. The low-pressure annular oil passage 2223 is connected to the low-pressure annular oil passage 2242 of the valve block through the fourth oil passage 2214, the fifth oil passage 2215 and the sixth oil passage 2216.

[0030] like Figure 12 and Figure 13 As shown, the electro-hydraulic actuator 3 includes a cylinder body 31, an electromagnetic servo valve 32, a piston rod 33, a guide rod 35, and a guide rod connecting plate 37. The first end of the cylinder body 31 is connected to the connecting valve block 22 through the cylinder body oil distribution shaft 23. The first end of the piston rod 33 is located inside the cylinder body 31. The electromagnetic servo valve 32 is located on the first side of the cylinder body 31. A displacement sensor 34 is located on the second side of the cylinder body 31. The first end of the guide rod 35 is located in the displacement sensor 34. The second end of the piston rod 33 is connected to the second end of the guide rod 35 through the guide rod connecting plate 37. A force sensor 36 is located at the second end of the piston rod 33. A connecting lug 38 is located at the second end of the guide rod connecting plate 37. The connecting lug 38 is connected to the first end of the side swing push rod 4.

[0031] This invention provides an integrated side-swing mechanism based on an electro-hydraulic actuator drive, such as... Figures 1-13As shown, it includes a side-swing bracket 1, a rotary oil distribution module 2, an electro-hydraulic actuator 3, and a side-swing push rod 4. In actual operation, the oil flows sequentially through the high-pressure oil inlet 213 on the rotary oil distribution shaft 21, through the high-pressure oil passage 211 on the rotary oil distribution shaft 21, through the first high-pressure oil outlet 2111 and the second high-pressure oil outlet 2112 on the high-pressure oil passage 211, into the high-pressure annular oil passage 2222 on the connecting valve block 22, through the first oil passage 2211, the second oil passage 2212 and the third oil passage 2213, into the valve block high-pressure annular oil passage 2232 on the connecting valve block 22, and further enters the first high-pressure oil passage 231 through the high-pressure oil inlet 2312 on the cylinder block oil distribution shaft 23, and enters the electro-hydraulic actuator 3 through the high-pressure oil outlet 2311. The low-pressure oil in the electro-hydraulic actuator 3 flows sequentially from the low-pressure outlet 2321 into the first low-pressure oil passage 232 of the high-pressure outlet 2311, then into the valve block low-pressure annular oil passage 2242 in the connecting valve block 22 through the low-pressure inlet 2322, and then into the low-pressure annular oil passage 2223 through the fourth oil passage 2214, the fifth oil passage 2215 and the sixth oil passage 2216. It then flows further into the low-pressure oil passage 212 through the first low-pressure outlet 2121 and the second low-pressure outlet 2122 on the rotating oil distribution shaft 21, and finally flows out from the low-pressure oil outlet 214, thus realizing the circulation of oil in the electro-hydraulic actuator 3. The linear motion of the electro-hydraulic actuator 3 is converted into lateral motion by the lateral push rod 4, thereby realizing the synchronous lateral motion of the external mechanical leg.

[0032] The integrated side-swing mechanism driven by an electro-hydraulic actuator provided by this invention integrates the side-swing bracket, electro-hydraulic actuator, and hydraulic supply and return channels through a rotary oil distribution module. This allows high-pressure and low-pressure oil to be directly delivered to the electro-hydraulic actuator via the rotary oil distribution shaft, connecting valve block, and cylinder oil distribution shaft. This reduces the use of external hydraulic hoses, connectors, and independent oil distribution valve blocks, simplifying the hydraulic pipeline layout of the side-swing mechanism, reducing pipeline space occupation and the risk of hydraulic oil leakage, and avoiding repeated bending, entanglement, or stretching of hydraulic pipelines during side-swing motion. This improves the oil supply stability of the side-swing mechanism under periodic reciprocating motion conditions and enhances the structural compactness of the mechanism. By directly mounting the electromagnetic servo valve on the cylinder body, the hydraulic passage between the electromagnetic servo valve and the working chamber of the electro-hydraulic actuator is shortened, reducing the hydraulic volume and pressure loss introduced by external connecting pipelines. This improves the response speed and side-swing angular displacement control accuracy of the electro-hydraulic actuator. By connecting the high-pressure annular oil passage, low-pressure annular oil passage, high-pressure annular oil passage, and low-pressure annular oil passage in the valve block, the oil distribution between the rotary distribution shaft and the cylinder distribution shaft is realized, so that each oil port can still maintain communication when the relative position of the circumferential direction changes. This reduces the influence of assembly angle and movement angle on the hydraulic circuit connection status and improves the reliability of the rotary distribution module.

[0033] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An integrated side-swing mechanism based on an electro-hydraulic actuator drive, characterized in that: It includes a side-swing bracket, a rotary oil distribution module, an electro-hydraulic actuator, and a side-swing push rod. The side swing bracket is equipped with a rotary oil distribution module, which includes a rotary oil distribution shaft, a connecting valve block, and a cylinder block oil distribution shaft. Both ends of the rotary oil distribution shaft are equipped with connecting valve blocks. The rotary oil distribution shaft has a high-pressure oil passage and a low-pressure oil passage arranged inside along its central axis. The high-pressure oil passage is connected to the high-pressure annular oil passage in the connecting valve block through the first high-pressure oil outlet and the second high-pressure oil outlet at both ends of the rotary oil distribution shaft, respectively. The low-pressure oil passage is connected to the low-pressure annular oil passage in the connecting valve block through the first low-pressure oil outlet and the second low-pressure oil outlet at both ends of the rotary oil distribution shaft, respectively. The connecting valve block is fixedly connected to the side swing bracket through a connecting plate. The electro-hydraulic actuators are symmetrically arranged on both sides of the side-swing bracket. The first end of each actuator is connected to the connecting valve block via a cylinder distribution shaft. Inside the cylinder distribution shaft, along its central axis, are a first high-pressure oil passage and a first low-pressure oil passage. The first high-pressure oil passage connects to the high-pressure annular oil passage of the valve block and the cylinder inlet of the electro-hydraulic actuator via a high-pressure outlet and a high-pressure inlet on the cylinder distribution shaft, respectively. The first low-pressure oil passage connects to the low-pressure annular oil passage of the valve block via a low-pressure outlet and a low-pressure inlet on the cylinder distribution shaft, respectively. The high-pressure annular oil passage is connected to the cylinder outlet of the electro-hydraulic actuator. The connecting valve block has multiple oil passages inside, which connect the high-pressure annular oil passage to the high-pressure annular oil passage of the valve block and the low-pressure annular oil passage to the low-pressure annular oil passage of the valve block. The second end of the electro-hydraulic actuator is connected to the first end of the side-swing push rod. The second end of the side-swing push rod is connected to the connecting shaft on the side-swing bracket. The connecting shaft is connected to the external mechanical leg through the rotating end cover. The side-swing push rod converts the linear motion of the electro-hydraulic actuator into side-swing motion, thereby realizing the synchronous side-swing motion of the external mechanical leg.

2. The integrated side-swing mechanism based on electro-hydraulic actuator drive according to claim 1, characterized in that: The side-swing bracket includes a first bracket, a second bracket, a connecting sleeve, a connecting shaft, and a rotating end cap. The first bracket and the second bracket are trapezoidal in shape. The upper ends and middle parts of the first bracket and the second bracket are connected by the connecting sleeve. The connecting shaft is located at the lower end of the first bracket and the second bracket through the rotating end cap. The cross-section of the middle section of the connecting shaft is a regular hexagonal structure.

3. The integrated side-swing mechanism based on electro-hydraulic actuator drive according to claim 1, characterized in that: The first end of the high-pressure oil passage on the rotating oil distribution shaft is provided with a high-pressure oil inlet that penetrates the first end face of the rotating oil distribution shaft. At the first and second ends of the high-pressure oil passage, a first high-pressure oil outlet and a second high-pressure oil outlet that penetrate the outer arc wall of the rotating oil distribution shaft are respectively provided. The first end of the low-pressure oil passage on the rotating oil distribution shaft is provided with a low-pressure oil outlet that penetrates the second end face of the rotating oil distribution shaft. At the first and second ends of the low-pressure oil passage, a first low-pressure oil outlet and a second low-pressure oil outlet that penetrate the outer arc wall of the rotating oil distribution shaft are respectively provided.

4. The integrated side-swing mechanism based on electro-hydraulic actuator drive according to claim 1, characterized in that: The connecting valve block includes a valve body, a first lug, a second lug, and a third lug. The first lug is located on the first end face of the valve body. A first through hole is provided in the middle of the first lug. A high-pressure annular oil passage and a low-pressure annular oil passage are respectively provided on the inner arc surface of the first through hole. The second lug and the third lug are symmetrically located on the second end face of the valve body. A second through hole is provided in the middle of the second lug. A high-pressure annular oil passage of the valve block is provided on the inner arc surface of the second through hole. A third through hole is provided in the middle of the third lug. A low-pressure annular oil passage of the valve block is provided on the inner arc surface of the third through hole.

5. The integrated side-swing mechanism based on electro-hydraulic actuator drive according to claim 4, characterized in that: The valve body is provided with multiple oil passages, including a first oil passage, a second oil passage, a third oil passage, a fourth oil passage, a fifth oil passage, and a sixth oil passage. The first end of the first oil passage is connected to the high-pressure annular oil passage. The first end of the second oil passage is connected to the middle of the first oil passage. The middle of the second oil passage is connected to the middle of the third oil passage. The first end of the third oil passage is connected to the high-pressure annular oil passage of the valve block. The second ends of the first, second, and third oil passages are all provided with oil port plugs. The first end of the fourth oil passage is connected to the low-pressure annular oil passage. The first end of the fifth oil passage is connected to the middle of the fourth oil passage. The middle of the fifth oil passage is connected to the middle of the sixth oil passage. The first end of the sixth oil passage is connected to the low-pressure annular oil passage of the valve block. The second ends of the fourth, fifth, and sixth oil passages are all provided with oil port plugs.

6. The integrated side-swing mechanism based on electro-hydraulic actuator drive according to claim 1, characterized in that: The first and second ends of the first high-pressure oil passage on the cylinder block oil distribution shaft are respectively provided with multiple high-pressure oil outlets and high-pressure oil inlets penetrating the outer arc wall of the cylinder block oil distribution shaft. The first and second ends of the first low-pressure oil passage on the cylinder block oil distribution shaft are respectively provided with multiple low-pressure oil outlets and low-pressure oil inlets penetrating the outer arc wall of the cylinder block oil distribution shaft.

7. The integrated side-swing mechanism based on electro-hydraulic actuator drive according to claim 1, characterized in that: The cylinder block oil distribution shaft and the connecting valve block, as well as the rotary oil distribution shaft and the connecting valve block, are all sealed together by end caps.

8. The integrated side-swing mechanism based on electro-hydraulic actuator drive according to claim 1, characterized in that: The electro-hydraulic actuator includes a cylinder body, an electromagnetic servo valve, a piston rod, a guide rod, and a guide rod connecting plate. The first end of the cylinder body is connected to the connecting valve block via a cylinder body oil distribution shaft. The first end of the piston rod is located inside the cylinder body. The electromagnetic servo valve is located on the first side of the cylinder body. A displacement sensor is located on the second side of the cylinder body. The first end of the guide rod is located in the displacement sensor. The second end of the piston rod is connected to the second end of the guide rod via the guide rod connecting plate. A force sensor is located at the second end of the piston rod. A connecting lug is located at the second end of the guide rod connecting plate, and the connecting lug is connected to the first end of the side-swing push rod.

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