A power pump and a robot

Abstract

The application provides a power pump and a robot, and belongs to the technical field of power pumps.The power pump comprises a pump body, a pump cover connected with the pump body, a pump cavity formed between the pump cover and the pump body, a gear assembly located in the pump cavity, and a wear-resistant assembly comprising a first gasket and a second gasket, wherein the first gasket and the second gasket are both located in the pump cavity, the gear assembly is in contact with the pump cavity through the first gasket close to one end of a low-pressure groove and a high-pressure groove, and the gear assembly is in contact with the pump cavity through the second gasket away from one end of the low-pressure groove and the high-pressure groove.The application has the beneficial effect that the gear assembly and the wear-resistant assembly composed of the first gasket and the second gasket are arranged in the pump cavity, which not only reduces running friction and wear, but also avoids local overheating and material fatigue caused by frequent start-stop or posture change of the robot, thereby ensuring the reliability of stable liquid supply of the mobile or collaborative robot.

Description

Technical Field

[0001] This invention belongs to the field of power pump technology, and relates to a power pump and a robot. Background Technology

[0002] In the field of robotics, especially in applications such as mobile robots, collaborative robots, and humanoid robots where space compactness, quiet operation, and long-term reliability are highly demanding, the power pump, as a core component of hydraulic drive, cooling circulation, or lubrication systems, directly affects the overall performance of the machine through its structural design.

[0003] Traditional gear pumps typically employ a direct mating mechanism between metal gears and metal end caps. Under high-speed or frequent start-stop conditions, dry friction or boundary lubrication can easily occur between the gear end face and the pump chamber wall, leading to localized temperature rise, material wear, and even engagement failure. Furthermore, the conventional separate pump body and cover structure often features complex sealing paths, making it prone to leakage or air intake during multi-position robot operation (such as tilting or flipping), affecting fluid supply stability. Additionally, to achieve isolation between high and low pressure areas, existing designs often require additional complex distribution mechanisms, increasing size and reducing system integration.

[0004] Therefore, existing robotic power pumps suffer from poor sealing, severe wear, short lifespan, and difficulty in embedding in confined spaces, leaving considerable room for improvement. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in the prior art by proposing a power pump and a robot.

[0006] The objective of this invention can be achieved through the following technical solution: a power pump, comprising: Pump body; The pump cover is provided with an inlet, an outlet, a low-pressure tank and a high-pressure tank. The inlet is connected to the low-pressure tank and the outlet is connected to the high-pressure tank. The pump cover is connected to the pump body and a pump cavity is formed between the pump cover and the pump body. The low-pressure tank and the high-pressure tank are both located in the pump cavity. Gear assembly located in the pump chamber; The wear-resistant component includes a first gasket and a second gasket, both of which are located in the pump chamber. The gear assembly contacts the end of the pump chamber near the low-pressure groove and the high-pressure groove via the first gasket, and the gear assembly contacts the end of the pump chamber away from the low-pressure groove and the high-pressure groove via the second gasket.

[0007] In the aforementioned power pump, both the first gasket and the second gasket are made of polyetheretherketone (PEEK).

[0008] In the aforementioned power pump, a motor assembly is also included. The pump body is provided with a motor cavity, and a rotation hole is formed between the pump cavity and the motor cavity. The motor assembly includes a rotating shaft, a stator, and a rotor. The stator and the rotor are both located in the motor cavity. The rotating shaft passes through the rotation hole. The stator is connected to the pump body. The rotor and the gear assembly are both connected to the rotating shaft.

[0009] In the aforementioned power pump, a bearing assembly is further included. The bearing assembly includes a first bearing, a second bearing, and a third bearing. The end of the rotating shaft near the rotor is rotatably connected to the pump body via the first bearing. The rotating shaft is rotatably connected to the rotating hole via the second bearing. The end of the rotating shaft near the gear assembly is rotatably connected to the pump body via the third bearing.

[0010] In the aforementioned power pump, the first bearing is a Teflon sliding bearing, the second bearing is a Teflon sliding bearing, and the third bearing is an aluminum alloy sliding bearing.

[0011] In the aforementioned power pump, the first bearing, the second bearing, and the third bearing are all configured as polyetheretherketone sliding bearings.

[0012] In the aforementioned power pump, the pump body is provided with an oil return hole, and the pump chamber is connected to the motor chamber through the oil return hole.

[0013] The aforementioned power pump also includes a controller, which is connected to the pump body and used to control the operation of the motor assembly.

[0014] In the aforementioned power pump, a pressure sensor is also included. The pressure sensor is connected to the pump cover and located at the liquid outlet. The pressure sensor is electrically connected to the controller. The pressure sensor is used to collect the pressure at the liquid outlet and feed it back to the controller, thereby enabling the controller to control the operation of the motor assembly based on the pressure collected by the pressure sensor.

[0015] In one of the aforementioned power pumps, the gear assembly is configured as a polyetheretherketone (PEEK) component.

[0016] A robot comprising the aforementioned power pump.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: By integrating the inlet, outlet, low-pressure tank, and high-pressure tank on the pump cover, and forming a pump cavity together with the pump body, and simultaneously setting a gear assembly and a wear-resistant component composed of a first gasket and a second gasket within the pump cavity, the integration efficiency of the power pump in the compact space of the robot is effectively improved. The gaskets are respectively located at both ends of the gear assembly, which not only reduces operating friction and wear, but also avoids local overheating and material fatigue caused by frequent robot start-stop or posture changes, thereby ensuring the reliability of long-term stable liquid supply in mobile or collaborative robots. The three bearings provide multi-point support for the rotating shaft, effectively coping with the complex loads generated by acceleration, vibration, or multi-degree-of-freedom posture changes during robot movement, improving the dynamic stability of the rotating shaft, preventing jamming or failure due to swaying or impact, and ensuring the power pump can operate smoothly when the robot is performing precise operations. It maintains stable and continuous liquid delivery performance even during operation or high-speed movement; Teflon sliding bearings are used near the motor end and rotating hole, utilizing their extremely low coefficient of friction to achieve low power consumption and low noise operation, meeting the robot's requirement for quiet operation; while aluminum alloy sliding bearings are used at the gear end, which takes into account both high load capacity and good heat dissipation, adapting to the robot's need for continuous operation under high load conditions. This differentiated bearing configuration optimizes the balance between cost and weight while ensuring performance; using polyetheretherketone (PEEK) sliding bearings for all bearings not only further reduces the overall pump weight, but also achieves a fully non-metallic friction pair design, completely avoiding the risk of metal wear debris contaminating the working medium—this is especially important for robots with high cleanliness requirements. PEEK sliding bearings can still operate reliably under oil-free lubrication conditions, greatly improving the robot system's maintenance-free nature and environmental adaptability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the power pump of the present invention.

[0019] Figure 2 This is an exploded view of the power pump of the present invention.

[0020] Figure 3 This is a top view of the power pump of the present invention.

[0021] Figure 4 for Figure 3 A cross-sectional view from the perspective of AA.

[0022] Figure 5 This is a schematic diagram of the pump body of the present invention.

[0023] Figure 6 This is a schematic diagram of the power pump of the present invention, which includes a controller and a pressure sensor.

[0024] In the diagram, 100 is the pump body; 110 is the motor cavity; 120 is the rotating hole; 130 is the oil return hole; 200 is the pump cover; 210 is the inlet; 220 is the outlet; 230 is the low-pressure tank; 240 is the high-pressure tank; 250 is the pump cavity; 300 is the gear assembly; 400 is the wear-resistant component; 410 is the first gasket; 420 is the second gasket; 500 is the motor assembly; 510 is the rotating shaft; 520 is the stator; 530 is the rotor; 600 is the bearing assembly; 610 is the first bearing; 620 is the second bearing; 630 is the third bearing; 700 is the controller; and 800 is the pressure sensor. Detailed Implementation

[0025] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0026] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0027] Furthermore, in this invention, descriptions involving terms such as "first," "second," and "a" are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0030] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

[0031] Example 1 like Figures 1 to 6 As shown, a power pump includes: Pump body 100; The pump cover 200 is provided with an inlet 210, an outlet 220, a low-pressure tank 230 and a high-pressure tank 240. The inlet 210 is connected to the low-pressure tank 230, and the outlet 220 is connected to the high-pressure tank 240. The pump cover 200 is connected to the pump body 100, and a pump cavity 250 is formed between the pump cover 200 and the pump body 100. The low-pressure tank 230 and the high-pressure tank 240 are both located in the pump cavity 250. Gear assembly 300, which is located in the pump chamber 250; The wear-resistant component 400 includes a first gasket 410 and a second gasket 420, both of which are located in the pump chamber 250. The gear assembly 300 contacts the end of the pump chamber 250 near the low-pressure groove 230 and the high-pressure groove 240 through the first gasket 410, and contacts the end of the pump chamber 250 away from the low-pressure groove 230 and the high-pressure groove 240 through the second gasket 420.

[0032] In this embodiment, by integrating an inlet 210, an outlet 220, a low-pressure tank 230, and a high-pressure tank 240 on the pump cover 200, and forming a pump chamber 250 together with the pump body 100, and by setting a gear assembly 300 and a wear-resistant assembly 400 composed of a first gasket 410 and a second gasket 420 in the pump chamber 250, the integration efficiency of the power pump in the compact space of the robot is effectively improved. The gaskets are respectively set at both ends of the gear assembly 300, which not only reduces the friction and wear during operation, but also avoids local overheating and material fatigue caused by frequent start-stop or posture changes of the robot, thereby ensuring the reliability of long-term stable liquid supply in mobile or collaborative robots.

[0033] like Figures 1 to 6 As shown, based on the above embodiments, both the first gasket 410 and the second gasket 420 are configured as polyetheretherketone components.

[0034] In this embodiment, both the first gasket 410 and the second gasket 420 are made of polyetheretherketone (PEEK) material, which makes full use of its self-lubricating, low-friction, chemical corrosion-resistant and high dimensional stability properties. It is particularly suitable for complex environments where the internal space of the robot is limited, difficult to maintain and may come into contact with a variety of working media. It significantly reduces the energy consumption and noise of the pump under high-frequency and low-flow conditions, and meets the robot's requirements for a quiet and efficient fluid drive unit.

[0035] In other embodiments of the present invention, the first gasket 410 and the second gasket 420 may also be made of other high-performance engineering plastics or their composites with self-lubricating and wear-resistant properties, such as, but not limited to, polyimide (PI), polyamide-imide (PAI), polytetrafluoroethylene (PTFE) filled modified materials, etc.

[0036] like Figures 1 to 6 As shown, based on the above embodiment, a motor assembly 500 is also included. The pump body 100 is provided with a motor cavity 110. A rotating hole 120 is formed between the pump cavity 250 and the motor cavity 110. The motor assembly 500 includes a rotating shaft 510, a stator 520, and a rotor 530. The stator 520 and the rotor 530 are both located in the motor cavity 110. The rotating shaft 510 passes through the rotating hole 120. The stator 520 is connected to the pump body 100. The rotor 530 and the gear assembly 300 are both connected to the rotating shaft 510.

[0037] In this embodiment, a highly integrated electromechanical structure is achieved by embedding the motor assembly 500 within the motor cavity 110 of the pump body 100 and directly driving the gear assembly 300 with the rotating shaft 510. This design significantly reduces the overall size and weight, making it easy to embed in space-constrained areas such as robotic arm joints, mobile chassis, or humanoid robot torsos; it also eliminates the need for external couplings or transmission mechanisms, improving power transmission efficiency and enhancing the robot system's ability to respond quickly and control fluid precisely.

[0038] like Figures 1 to 6 As shown, based on the above embodiment, a bearing assembly 600 is also included. The bearing assembly 600 includes a first bearing 610, a second bearing 620, and a third bearing 630. The end of the rotating shaft 510 near the rotor 530 is rotatably connected to the pump body 100 through the first bearing 610. The rotating shaft 510 is rotatably connected to the rotating hole 120 through the second bearing 620. The end of the rotating shaft 510 near the gear assembly 300 is rotatably connected to the pump body 100 through the third bearing 630.

[0039] In this embodiment, three bearings are set to provide multi-point support for the rotating shaft 510, which effectively copes with the complex loads generated by the robot during movement due to acceleration, vibration or multi-degree-of-freedom posture changes, improves the dynamic stability of the rotating shaft 510, prevents jamming or failure caused by swaying or impact, and ensures that the power pump can maintain stable and continuous liquid delivery performance when the robot performs fine operations or high-speed movements.

[0040] like Figures 1 to 6 As shown, based on the above embodiments, the first bearing 610 is configured as a Teflon sliding bearing, the second bearing 620 is configured as a Teflon sliding bearing, and the third bearing 630 is configured as an aluminum alloy sliding bearing.

[0041] In this embodiment, Teflon sliding bearings are used near the motor end and the rotating hole 120, utilizing their extremely low coefficient of friction to achieve low power consumption and low noise operation, meeting the robot's requirements for quiet operation; while aluminum alloy sliding bearings are used at the gear end, which take into account both high load capacity and good heat dissipation, adapting to the robot's need to work continuously under high load conditions. This differentiated bearing configuration optimizes the balance between cost and weight while ensuring performance.

[0042] like Figures 1 to 6 As shown, based on the above embodiment, the pump body 100 is provided with an oil return hole 130, and the pump chamber 250 is connected to the motor chamber 110 through the oil return hole 130.

[0043] In this embodiment, by providing an oil return hole 130 to connect the pump chamber 250 and the motor chamber 110, the working medium flowing into the pump chamber 250 through the gap between the rotating shaft 510 and the second bearing 620 can be guided back to the motor chamber 110. This not only prevents liquid from accumulating at the sealed end and affecting the gear meshing accuracy, but also allows the return medium to be used to assist in cooling the internal bearings and rotor 530. This is suitable for robots to operate continuously for a long time or in high-temperature environments, helps to maintain the internal thermal balance of the power pump, and extends the life of key components.

[0044] like Figures 1 to 6 As shown, based on the above embodiment, a controller 700 is also included. The controller 700 is connected to the pump body 100 and is used to control the operation of the motor assembly 500.

[0045] In this embodiment, the integrated controller 700 enables the power pump to have local intelligent control capabilities, directly respond to the instructions of the robot's main control system, realize on-demand functions, reduce dependence on external control modules, simplify robot cable layout, and improve system integration and response speed.

[0046] like Figures 1 to 6As shown, based on the above embodiment, a pressure sensor 800 is also included. The pressure sensor 800 is connected to the pump cover 200 and located at the liquid outlet 220. The pressure sensor 800 is electrically connected to the controller 700. The pressure sensor 800 is used to collect the pressure at the liquid outlet 220 and feed it back to the controller 700, so that the controller 700 controls the operation of the motor assembly 500 according to the pressure collected by the pressure sensor 800.

[0047] In this embodiment, a pressure sensor 800 is configured at the liquid outlet 220 and forms a closed-loop feedback with the controller 700, enabling the power pump to sense and dynamically adjust the output pressure in real time to adapt to changes in the load of the robot end effector. This improves the accuracy and safety of fluid drive, avoids actuator vibration or loss of control due to sudden pressure changes, and provides reliable fluid power guarantee for high-precision operation.

[0048] like Figures 1 to 6 As shown, based on the above embodiments, the gear assembly 300 is configured as a polyetheretherketone (PEEK) component.

[0049] In this embodiment, the gear assembly 300 is made entirely of polyetheretherketone (PEEK), which not only significantly reduces operating noise and vibration, but also eliminates electrical sparks or magnetic interference that may be generated when metal gears mesh. In addition, PEEK gears have excellent fatigue resistance and can withstand the alternating stress caused by frequent start-stop of the robot, ensuring the reliability and consistency of long-term operation.

[0050] Example 2 like Figures 1 to 6 As shown, the difference between Embodiment 2 and Embodiment 1 is that the first bearing 610, the second bearing 620 and the third bearing 630 are all configured as polyetheretherketone sliding bearings.

[0051] In this embodiment, all bearings are uniformly made of polyetheretherketone (PEEK) sliding bearings, which not only further reduces the overall pump weight, but also achieves a fully non-metallic friction pair design, completely avoiding the risk of metal wear debris contaminating the working medium. This is especially important for robots with high cleanliness requirements. PEEK sliding bearings can still operate reliably under oil-free lubrication conditions, greatly improving the maintenance-free nature and environmental adaptability of the robot system.

[0052] like Figures 1 to 6 As shown, in general, the present invention provides a power pump specifically for robot systems. The overall structure is composed of multiple functional modules, including pump body 100, pump cover 200, gear assembly 300, wear-resistant assembly 400, motor assembly 500, bearing assembly 600, oil return channel, controller 700, and pressure sensing unit.

[0053] This power pump achieves a balance of lightweight, low noise, high reliability, and intelligent control by highly integrating fluid delivery, drive control, and status feedback into a compact cavity. It is particularly suitable for various robot applications with limited space, complex operating conditions, and stringent requirements for operational stability, such as fluid drive units in collaborative robotic arms, humanoid robots, mobile chassis hydraulic systems, or precision medical equipment.

[0054] During operation, the motor assembly 500 starts and drives the rotating shaft 510 to rotate. The rotating shaft 510 synchronously drives the gear assembly 300 located in the pump chamber 250 to mesh and rotate. Since the pump cover 200 is provided with a low-pressure groove 230 and a high-pressure groove 240 that are isolated from each other and are connected to the inlet 210 and the outlet 220 respectively, the gear assembly 300 will form a negative pressure on the suction side of the low-pressure groove 230 when rotating, thereby drawing the working liquid from the inlet 210. As the gear continues to rotate, the liquid is sealed between the teeth and pushed along the inner wall of the pump chamber 250 to the discharge side of the high-pressure groove 240, and finally discharged through the outlet 220, completing the quantitative liquid supply process. The entire fluid path is completely enclosed in the pump chamber 250 formed by the pump body 100 and the pump cover 200, which effectively prevents leakage and adapts to the multi-posture operation requirements of the robot.

[0055] To ensure long-term stable operation, the two axial ends of the gear assembly 300 are in contact with the end face of the pump chamber 250 through the first shim 410 and the second shim 420, respectively, forming a wear-resistant pair. These shims are preferably made of polyetheretherketone material, which has excellent self-lubricating properties and wear resistance, significantly reducing friction loss and heat generation, and is especially suitable for frequent start-stop and variable load conditions of the robot. At the same time, the rotating shaft 510 is supported at multiple points through three sliding bearings, which effectively suppresses the sway of the rotor 530 caused by the robot's motion acceleration or vibration, and ensures smooth transmission.

[0056] In addition, the pump body 100 is provided with an oil return hole 130, which connects the pump chamber 250 and the motor chamber 110. The working medium flowing into the pump chamber 250 through the gap between the rotating shaft 510 and the second bearing 620 can be guided back to the motor chamber 110, which not only avoids the accumulation of liquid at the sealing end from affecting the gear accuracy, but also helps to cool the internal components.

[0057] The controller 700 is integrated on the pump body 100. It receives real-time signals from the pressure sensor 800 at the outlet 220, constructs a closed-loop control system, and dynamically adjusts the motor speed to maintain the set output pressure. This allows for precise response to load changes in the robot's end effector. The entire system requires no external transmission mechanism, is compact, responds quickly, and is easy to maintain, fully meeting the core requirements of modern intelligent robots for efficient, quiet, and reliable fluid power sources.

[0058] like Figures 1 to 6 As shown, a robot includes the aforementioned power pump.

Claims

1. A power pump, characterized in that, include: Pump body; The pump cover is provided with an inlet, an outlet, a low-pressure tank and a high-pressure tank. The inlet is connected to the low-pressure tank and the outlet is connected to the high-pressure tank. The pump cover is connected to the pump body and a pump cavity is formed between the pump cover and the pump body. The low-pressure tank and the high-pressure tank are both located in the pump cavity. Gear assembly located in the pump chamber; The wear-resistant component includes a first gasket and a second gasket, both of which are located in the pump chamber. The gear assembly contacts the end of the pump chamber near the low-pressure groove and the high-pressure groove via the first gasket, and the gear assembly contacts the end of the pump chamber away from the low-pressure groove and the high-pressure groove via the second gasket.

2. The power pump according to claim 1, characterized in that: Both the first gasket and the second gasket are made of polyetheretherketone (PEEK).

3. A power pump according to claim 1, characterized in that: It also includes a motor assembly. The pump body is provided with a motor cavity, and a rotation hole is formed between the pump cavity and the motor cavity. The motor assembly includes a rotating shaft, a stator, and a rotor. The stator and the rotor are both located in the motor cavity. The rotating shaft passes through the rotation hole. The stator is connected to the pump body. The rotor and the gear assembly are both connected to the rotating shaft.

4. A power pump according to claim 3, characterized in that: It also includes a bearing assembly, which includes a first bearing, a second bearing, and a third bearing. The end of the rotating shaft near the rotor is rotatably connected to the pump body via the first bearing. The rotating shaft is rotatably connected to the rotating hole via the second bearing. The end of the rotating shaft near the gear assembly is rotatably connected to the pump body via the third bearing.

5. A power pump according to claim 4, characterized in that: The first bearing is a Teflon sliding bearing, the second bearing is a Teflon sliding bearing, and the third bearing is an aluminum alloy sliding bearing.

6. A power pump according to claim 4, characterized in that: The first bearing, the second bearing, and the third bearing are all configured as polyetheretherketone sliding bearings.

7. A power pump according to claim 3, characterized in that: The pump body is provided with an oil return hole, and the pump chamber is connected to the motor chamber through the oil return hole.

8. A power pump according to claim 3, characterized in that: It also includes a controller, which is connected to the pump body and is used to control the operation of the motor assembly.

9. A power pump according to claim 8, characterized in that: It also includes a pressure sensor, which is connected to the pump cover and located at the outlet. The pressure sensor is electrically connected to the controller. The pressure sensor is used to collect the pressure at the outlet and feed it back to the controller, so that the controller controls the operation of the motor assembly according to the pressure collected by the pressure sensor.

10. A robot, characterized in that, Includes a power pump according to any one of claims 1 to 9.

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