Hydraulic Robot Joint With Integrated Servo Valve for High Torque Density
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Solution Overview
Problem
Current robot joints with servo motors and reducers have low torque density and insensitive responses, limiting their performance and application in high-demand scenarios.
Innovation Solution
A hydraulically driven robot joint integrating a hydraulic cartridge rotary direct-drive valve and a vane oscillating cylinder, combined with detection elements like an electro-hydraulic servo valve, position sensor, and pressure sensor, for modular design and enhanced performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a servo motor with harmonic reducer or RV reducer is used, then the structure is widely used and reliable, but the torque density ratio is relatively low and response is not sensitive enough
Solution Approach 1:
The patent applies hydraulic drive technology to the robot joint, replacing traditional servo motor and reducer mechanisms with a hydraulic motor and valve system. This hydraulic architecture enables high torque density while maintaining reliability through proven hydraulic components and control mechanisms.
2Reliability
If a servo motor with harmonic reducer or RV reducer is used, then the structure is widely used and reliable, but the response is not sensitive enough
Solution Approach 1:
The hydraulic valve-controlled servo system provides wide frequency bandwidth and fast response characteristics. The electro-hydraulic servo valve enables rapid control signal response, while the hydraulic motor delivers immediate torque generation, achieving sensitive response while maintaining system reliability.
3Adaptability or versatility
If detection elements are modular integrated designed, then the robot joint meets current development requirements, but the device complexity increases
Solution Approach 1:
The patent integrates multiple detection elements (position sensors, velocity sensors, torque sensors, temperature sensors) and control components into a modular detection element assembly that is pre-assembled and pre-tested. This modular integration approach reduces overall system complexity by consolidating components while enhancing adaptability through standardized interfaces and configurable sensor combinations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides high power density and sensitive response, enabling accurate position and torque control, thus meeting current robot development requirements and expanding application occasions.
Implementation Method 1
a channel P and a channel T are also arranged inside the center rotating shaft, and a port P and a port T are provided at an upper end surface of the center rotating shaft
Implementation Method 2
the area formed by the cylinder body, the side convex ring, the upper cover and the lower cover is divided into a first working cavity and a second working cavity by the side convex vane and the stator
Data Source
AI summary
Disclosed is a hydraulically driven joint for a robot, which comprises a screw-in cartridge rotary direct-drive electro-hydraulic servo valve and a vane oscillating hydraulic cylinder special for a robot motion joint, the screw-in cartridge rotary direct drive electro-hydraulic servo valve is hereinafter referred to as a hydraulic cartridge rotary direct-drive valve and the vane oscillating hydraulic cylinder special for the robot motion joint is hereinafter referred to as a vane oscillating cylinder, a valve body installation cavity is prefabricated at one end of a center of a center rotating shaft of the vane oscillating cylinder, a shape of the valve body installation cavity is manufactured according to a shape of a plug-in portion of the hydraulic cartridge rotary direct-drive valve, and the hydraulic cartridge rotary direct-drive valve is plugged into the valve body installation cavity.