CN105179388A - Electro-hydraulic actuator of spherical pump for robot - Google Patents

Abstract

Disclosed is an electro-hydraulic actuator of a spherical pump for a robot. Two oil feeding and discharging openings (121) for oil feeding and discharging are formed in a cylinder cover (101) of the spherical pump (1). When the spherical pump (1) rotates in the forward direction, high-pressure oil is discharged through one oil feeding and discharging opening (121) formed in the cylinder cover (101) and enters a working cylinder of a double-piston-rod cylinder, oil in a non-working cylinder of the double-piston-rod cylinder flows back to the other oil feeding and discharging opening (121) formed in the cylinder cover (101), and double piston rods (7) stretch out to do work. When the spherical pump (1) rotates in the reverse direction, an oil circuit is reverse, and the double piston rods (7) are drawn back. Oil flowing from an overflowing channel (111) of the spherical pump (1) is communicated to an elastic oil reservoir (19), and is communicated to an oil discharging channel and an oil return channel of a main oil circuit through two check valves (15). The electro-hydraulic actuator has the advantages of being small in size, light in weight, high in running efficiency and low in energy consumption, and being capable of being used in exoskeleton suits and autonomous walking robots.

Description

Robot ball pump electricity liquid actuator

Technical field

Patent of the present invention relates to a kind of robot ball pump electricity liquid actuator.

Background technique

There is the development of advancing by leaps and bounds in Robot industry, China is the maximum market of robot, but the Robot industry of China is strong greatly and not in the whole world.In order to promote the healthy and orderly development of robot market, Ministry of Industry and Information has formulated " Robot industry " 13 " development plan ", carry forward vigorously the Applied D emonstration of industrial robot, exoskeleton suit and autonomous robot.

Exoskeleton suit and autonomous robot realizing individual soldier and outdoor study, the field of helping the disabled of helping the elderly, consumption service field, the major fields such as medical field have very important application prospect, will become another science and technology and industry development tide after computer.

Exoskeleton suit and autonomous robot require that all component are little, compact structure, energy consumption is little, power system at present as the core component of robot has hydraulic driving or motor direct-drive, wherein, the centralized hydraulic separate distribution system that hydraulic system adopts, powerful by one, the oil hydraulic pump of large discharge is as central hydraulic source, by the various valve of configuration and control system, pressure distribution is needed the position of action again to each, the problem brought is that power system architecture is heavy, power consumption is large, service time of battery is short, the number of spare parts increased due to valve causes the volume of system very large more, the energy loss produced is very large, thus it is long-time at outside work to make exoskeleton suit and autonomous robot be not suitable for.

Spherical compressor is the variable capacity mechanism of a kind of brand new that inventor herein invents, its advantage be few without intake/exhaust valve, movement parts, vibrate little, mechanical efficiency is high, it is reliable etc. to seal, particularly in micro-compressor field, micro-high-pressure pump class mechanical aspects advantage is more obvious.Through continuous research and development for many years, the stuctures and properties of spherical compressor is updated and is optimized, current spherical compressor technology has achieved multiple patent at home and abroad, the patent name applied for as claimant is " the anti-jamming power mechanism of a kind of spherical compressor ", the patent No. is the Chinese patent of 201410554836.6, a kind of comparatively perfect new structure optimized on the basis of patent in early stage exactly, is suitable for the higher compressor of microstructure, pressure or pump machines.Ball pump is exactly a kind of pump machines developed on the basis of spherical compressor patent.

Ball pump is used for robot power system a lot of advantage, and the volume reduction of robot power system, weight saving, energy consumption can be made to reduce, but owing to when ball pump is used for exoskeleton suit and autonomous robot being the positive and negative to-and-fro motion transferring driving hydraulic piston flexible rod by ball pump main shaft, thus make exoskeleton suit and autonomous robot realize reciprocating action, so ball pump neither one the high pressure oil drain out fixed and the low pressure filler opening fixed, but adopt two and enter oil drain out and carry out replacing into oil extraction, like this, when ball pump works, due to the existence of leaking, from ball pump cylinder body, the hydraulic oil that rotating disk mating part leaks is pooled to cylinder block, space between cylinder body and main shaft forms overflow oil sump, if the long-pending oil in overflow oil sump is not discharged, inevitably oil overflow pool space is caused to produce high pressure because continuing leakage, thus make the axial seal of main shaft must strengthen stoping overflow from axial leakage to motor side, and reinforced axial seal must cause main shaft rotational resistance to increase, energy consumption during rotation increases, the pressure of oil overflow pool space just can not be made to raise so the long-pending oil that discharge is leaked in overflow oil sump in time must be met during ball pump structural design, but, due to the ball pump low pressure oil sucting cavity that now neither one is fixing, simply the long-pending oil of overflow oil sump can not be discharged to low pressure oil sucting cavity, so will to the hydraulic circuit of robot ball pump actuator carry out special structural design to meet overflow oil sump long-pending oil discharge requirement.In addition, hydraulic circuit due to robot ball pump actuator is a totally-enclosed system, the low pressure oil pocket that neither one is fixing, when the temperature is changed, the hydraulic oil volume of hydraulic oil pipe system changes, so will carry out special structural design to meet because temperature variation causes the requirement of hydraulic oil volumetric expansion to robot ball pump actuator.

Summary of the invention

Object of the present invention designs a kind of robot ball pump electricity liquid actuator exactly, integrated to motor, ball pump and double piston-rod cylinder, design a kind of novel electric liquid actuator and EHA, for exoskeleton suit and autonomous robot power system with improve electric liquid actuator efficiency, reduce energy consumption, reduce weight and volume.

Technological scheme of the present invention is, robot ball pump electricity liquid actuator, comprise motor, ball pump and double piston-rod cylinder component, it is characterized in that: motor is connected input power with ball pump, two outlets of entering oil drain out and overflow ducts of ball pump are arranged on the end face of ball pump cylinder cap, and the overflow oil sump of overflow ducts and ball pump is connected; The pressurized strut top of double piston-rod cylinder component is provided with the contiguous block be connected with cylinder cap, contiguous block is provided with oil duct, overflow hole and screw hole, oil duct junction on contiguous block and overflow hole are arranged on the face that contiguous block and cylinder cap fit, oil duct junction corresponding on contiguous block and overflow hole are connected with the outlet of entering oil drain out and overflow ducts on cylinder cap respectively, and contiguous block is pressed on cylinder cap by screw fixing seal; In the oil duct of contiguous block, be provided with two one-way valves, overflow hole connects an elasticity oil conservator; Wherein:

Ball pump rotates forward, high pressure oil enters oil drain out from cylinder cap and discharges, oil duct through pressurized strut contiguous block inside enters the clutch release slave cylinder of double piston-rod cylinder, after oil in the inoperative cylinder of double piston-rod cylinder is forced out by the oil duct be arranged on contiguous block be back on cylinder cap another enter oil drain out, and being inhaled in ball pump, double piston-rod stretches out; Ball pump counterrotating, oil circuit is reverse, and double piston-rod is retracted; Ball pump forward and counterrotating form two oil and flow to contrary working connection circulation; The oil flowed out from ball pump overflow ducts is communicated to elasticity oil conservator, and be communicated with respectively in the oil extraction and drainback passage of working connection through two one-way valves, when oil pressure relief is greater than the return pressure of working connection, the one-way valve opens be communicated with drainback passage now, overflow enters drainback passage and enters working connection circulation with oil return;

The structure of the described oil duct that arranges on the contiguous block of pressurized strut and overflow hole is: the overflow hole being provided with two axial diversion bolts hole and an axis on contiguous block, two water conservancy diversion bolts hole and overflow hole are corresponding with the exit position that two on cylinder cap enter oil drain out and overflow ducts respectively, oil drain passage outlet of entering on cylinder cap is provided with the internal thread matched with water conservancy diversion bolt, and the end face of cylinder cap and the contiguous block end face of pressurized strut paste merga pass two water conservancy diversion bolts and pressurized strut is fixed on cylinder cap; The contiguous block of pressurized strut is also provided with two longitudinal directions and enters oil drainage hole and two axis enter oil drainage hole; One end that two longitudinal directions enter oil drainage hole is connected with two water conservancy diversion bolts hole respectively, and the other end enters oil drainage hole with two axis respectively and connects; Two axis are entered oil drainage hole and are connected with the clutch release slave cylinder at pressurized strut two ends and inoperative cylinder respectively; Enter oil drain out by two water conservancy diversion bolts two of ball pump to be communicated with inoperative cylinder with the clutch release slave cylinder at pressurized strut two ends respectively; Fitted by the contiguous block of cylinder cap end face and pressurized strut, one end of overflow hole and the overflow ducts of ball pump export to be connected, and the other end of overflow hole connects an elasticity oil conservator; The contiguous block of pressurized strut is axially provided with two unidirectional valve openings, and one-way valve is fixedly mounted on the middle part of unidirectional valve opening by screw thread, and unidirectional valve opening is blind hole, and its opening end is sealed by A plug; The contiguous block on pressurized strut top is provided with horizontal pod apertures and longitudinal pod apertures, and the upper end of longitudinal pod apertures and overflow hole are connected, and the other end and horizontal pod apertures are connected, and the two ends of horizontal pod apertures lead to the oil-feed side joint of two one-way valves respectively; The fuel-displaced side of two one-way valves is entered oil drainage hole with two longitudinal directions respectively and is connected;

Described elasticity oil conservator is one section and has flexible emulsion tube, and one end of emulsion tube is connected on the overflow hole of contiguous block by screwed pipe joint, and the other end is closed; Protect case in emulsion tube outer installment one, case is fixed by screws on the right end cap of contiguous block and pressurized strut;

Described double piston-rod cylinder component comprises pressurized strut, double piston-rod, left end cap, right end cap, flake joint and protection cylinder etc., pressurized strut has the through piston hole in left and right, left end cap and right end cap are respectively by the two ends being threaded in piston hole, the piston hole of double piston-rod and pressurized strut matches and forms clutch release slave cylinder and inoperative cylinder respectively at the two ends of pressurized strut, and the two ends of double piston-rod are stretched out from the two ends of piston hole and can be stretched left and right; The right-hand member of double piston-rod is working end, and the right-hand member of double piston-rod is connected with flake joint, for connecting robot motion parts; The left end of double piston-rod is non-operative end, and the right-hand member of protection cylinder to double piston-rod shields, and protection cylinder is fixedly connected on left end cap; The left end of protection cylinder is connected with flake joint, as forced element for installing actuator; The cylindrical of double piston-rod piston body and the piston hole mating part of start cylinder are provided with sealing configuration, double piston-rod and left end cap, right end cap mating part are provided with sealing configuration, and the part coordinated with piston hole at left end cap, right end cap is provided with sealing configuration.

Advantage of the present invention is:

1, due to the principal advantage of ball pump uniqueness, have volume little, vibrate little feature, due to ball pump has can the feature of forward and counterrotating, thus drive double piston-rod stretch out or regain, motor, ball pump, double piston-rod cylinder can integrate by the electric liquid actuator (EHA) of design, the hydraulic system of robot adopts distributed hydraulic power scheme, eliminate numerous and diverse high-pressure oil pipe and electromagnetic hydraulic pressure selector valve, significantly can reduce the weight of system, volume and power consumption, significantly simplify control system.

2, two one-way valves are adopted to be connected with ball pump overflow hole, oil hydraulic circuit is formed by elasticity oil conservator and whole hydraulic system, ensure that ball pump overflow oil sump is always low pressure, reduce the seal request of main shaft shaft seal, reduce the resistance that axial seal rotates main shaft, also make to be in the rotating disk back side in overflow oil sump and main shaft is in low pressure oil all the time simultaneously, decrease the resistance of high pressure liquid force feed when main shaft rotates, thus reduce the power consumption of main shaft rotation, improve the efficiency of ball pump; Elasticity oil conservator ensure that the volume-adjustment of the hydraulic oil of closed oil circulating system simultaneously.

Accompanying drawing explanation

Fig. 1: robot electricity consumption liquid actuator configurations figure of the present invention;

A-A sectional drawing in Fig. 2: Fig. 1;

B-B sectional drawing in Fig. 3: Fig. 1;

E-E sectional drawing in Fig. 4: Fig. 1;

C-C sectional drawing in Fig. 5: Fig. 1;

D-D sectional drawing in Fig. 6: Fig. 1;

Fig. 7: ball pump and the fit plan view of group of motors;

F-F sectional drawing in Fig. 8: Fig. 7;

Fig. 9: ball pump and the fit left view of group of motors;

Figure 10: pressurized strut plan view;

G-G sectional view in Figure 11: Figure 10;

Figure 12: pressurized strut left view;

Figure 13: pressurized strut right elevation;

J-J sectional view in Figure 14: Figure 10;

H-H sectional view in Figure 15: Figure 10;

I-I sectional view in Figure 16: Figure 10;

N-N sectional view in Figure 17: Figure 12;

L-L sectional view in Figure 18: Figure 12;

K-K sectional view in Figure 19: Figure 11;

M-M sectional view in Figure 20: Figure 11;

P-P sectional view in Figure 21: Figure 13;

Figure 22: ball pump electricity liquid actuator hydraulic schematic diagram of the present invention;

Figure 23: water conservancy diversion bolt arrangement schematic diagram.

In figure: 1-ball pump; 2-motor; 3-double piston-rod cylinder component; 4-case; 5-flake joint; 6-right end cap; 7-double piston-rod; 8-pressurized strut; 9-left end cap; 10-clip; 11-protects cylinder; 12-attachment screw; 13-A plug; 14-B plug; 15-one-way valve; 16-water conservancy diversion bolt; 17-C plug; 18-clamping screw; 19--elasticity oil conservator.

101-cylinder cap; 102-piston; 103-centrepin; 104-rotating disk; 105-cylinder body; 106-cylinder block insert; 107-equilibrium block; 108-main shaft; 109-A bearing; 110-spindle carrier; 111-overflow ducts; 112-piston sleeve; 113-pump casing; 114-piston insert; 115-power handle; 116-rotating disk axle sleeve; 117-B bearing; 118-cylinder block; 119-balancing weight; 120-Cock screw; 121-enters oil drain out; 1001-V1 working room; 1002-V2 working room.

201-motor right end cap; 202-motor shaft; 203-rotor; 204-motor stator; 205-motor housing; 206-motor left end cap; 207-motor bearings.

800-piston hole; 801-water conservancy diversion bolt hole; The unidirectional valve opening of 802-; 803-screw hole; 804-axially enters oil drainage hole; 805-overflow hole; The longitudinal pod apertures of 806-; 807-longitudinally enters oil drainage hole; The horizontal pod apertures of 808-; 809-tapped hole.

Embodiment

As shown in Fig. 1 to Fig. 6, robot of the present invention electricity consumption liquid actuator comprises motor 2, ball pump 1 and double piston-rod cylinder component 3, and motor 2 is connected the overall column structure of rear formation with ball pump 1; Double piston-rod cylinder component 3 comprises pressurized strut 8, double piston-rod 7, left end cap 9, right end cap 6, flake joint 5 and protection cylinder 11 etc.; Pressurized strut 8 has the through piston hole in left and right 800, is provided with internal thread, as shown in Figure 10 to Figure 13 at the two ends of piston hole 800; Left end cap 9 and right end cap 6 are respectively by the two ends being threaded in piston hole 800; Double piston-rod 7 matches with the piston hole 800 of pressurized strut 8, clutch release slave cylinder and inoperative cylinder is formed respectively at the two ends of pressurized strut 8, the two ends of double piston-rod 7 are isodiametric guide rod, the piston body of double piston-rod 7 is positioned in the middle of the guide rod at two ends, the diameter of the guide rod at two ends is less than the diameter of piston body, forms two ring surfaces in the left and right sides of piston body; The annular cavity that inoperative cylinder is made up of right end cap 6, piston hole 800, piston body right circular face and double piston-rod 7, clutch release slave cylinder is by the annular cavity formed of ring surface and double piston-rod 7 on the left of left end cap 9, piston hole 800, piston body, and the two ends of double piston-rod 7 are stretched out from the two ends end cap central authorities of piston hole 800 and can stretch left and right; The right-hand member of double piston-rod 7 is working end, and the right-hand member of double piston-rod 7 has been threaded connection flake joint 5, for connecting robot motion parts; The left end of double piston-rod 7 is non-operative end, and the left end guide rod of protection cylinder 11 pairs of double piston-rods 7 shields, and protection cylinder 11 is fixedly connected on left end cap 9 by welding or bolted mode; The left end of protection cylinder 11 has been threaded connection flake joint 5, as forced element for installing actuator; Double piston-rod 7 piston body cylindrical and piston hole 800 mating part are provided with sealing configuration, respectively left end cap 9, right end cap 6 mating part are provided with sealing configuration at double piston-rod 7, the part coordinated with piston hole 800 at left end cap 9, right end cap 6 is provided with sealing configuration; When double piston-rod 7 moves left and right, clutch release slave cylinder is equal with the Volume Changes of inoperative cylinder.

At the medium position of motor 2 and ball pump 1 connecting body, one figure of eight clip 10 is installed; the closed end of clip 10 is fastened in the mode held on the cylindrical of motor 2 and ball pump 1 connecting body; the opening end of clip 10 is held on the cylindrical of protection cylinder 11; by clamping screw 18, clip 10 is clamped on the cylindrical of protection cylinder 11, as Figure 1 and Figure 4.

Be connected more reliable in order to make double piston-rod cylinder component 3 with ball pump 1, further a screw hole 803 is set on the contiguous block of pressurized strut 8, in ball pump 1 corresponding position, tapped hole is set, by attachment screw 12, contiguous block is firmly crimped on cylinder cap 101 end face, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 6, Figure 11 to Figure 16, Figure 18.

The top of pressurized strut 8 is extruded with the contiguous block be connected with ball pump 1, contiguous block is provided with the overflow hole 805 of two axial diversion bolts hole 801 and an axis, as shown in Figure 11, Figure 12, Figure 16 and Figure 17; Two outlets of entering oil drain out 121 and overflow ducts 111 of entering oil extraction alternately of ball pump 1 are arranged on the end face of cylinder cap 101, and overflow ducts 111 is connected, as shown in Fig. 7 to Figure 10 with the overflow oil sump of ball pump 1; Two water conservancy diversion bolts hole 801 on contiguous block and overflow hole 805 are corresponding with two positions entering the outlet of oil drain out 121 and overflow ducts 111 on the cylinder cap 101 of ball pump 1 respectively, as shown in Fig. 7, Fig. 8, Fig. 9; The exit portion entering oil drain passage 121 on cylinder cap 101 is provided with the internal thread matched with water conservancy diversion bolt 16, the end face of the end face of cylinder cap 101 and the contiguous block of pressurized strut 8 pastes merga pass two water conservancy diversion bolts 16 and pressurized strut 8 is fixed on cylinder cap 101, as shown in Figure 1, Figure 2, Figure 5; On contiguous block, oil duct junction and overflow hole 805 are connected with the outlet of entering oil drain out 121 and overflow ducts 111 on cylinder cap 101 respectively, and contiguous block is pressed on the end face of cylinder cap 101 by screw fixing seal; As shown in Fig. 1 to Fig. 3, Fig. 5, Fig. 6, Figure 10 to Figure 21, the contiguous block of pressurized strut 8 is also provided with two longitudinal directions and enters oil drainage hole 807, pressurized strut 8 arranges two axis along piston hole 800 axial direction and enters oil drainage hole 804; One end that two longitudinal directions enter oil drainage hole 807 is connected with two water conservancy diversion bolts hole 801 respectively, the other end that two longitudinal directions enter oil drainage hole 807 enters oil drainage hole 804 with two axis respectively and connects, and two axis are entered oil drainage hole 804 and connected with the clutch release slave cylinder at pressurized strut 8 two ends and inoperative cylinder respectively; Just two of ball pump 1 can be entered oil drain out 121 by two water conservancy diversion bolts 16 to be communicated with two annular cavitys (i.e. clutch release slave cylinder and inoperative cylinder) at pressurized strut 8 two ends respectively; Fitted by the contiguous block of cylinder cap 101 end face and pressurized strut 8, the outlet of one end of overflow hole 805 and the overflow ducts 111 of ball pump 1 is connected, and the other end of overflow hole 805 connects an elasticity oil conservator 19; Because this patent hydraulic system is a closed oil hydraulic circuit, temperature variation can cause the oil in oil circuit expand and the volume of oil is increased, and elasticity oil conservator 19 is for regulating the Volume Changes of oil sealing closed system; Described elasticity oil conservator 19 is one section and has flexible emulsion tube, and one end of emulsion tube is connected on the overflow hole 805 of contiguous block by screwed pipe joint, and the other end is closed; Protect case 4 in emulsion tube outer installment one, be provided with two tapped holes 809 at the top of contiguous block, the right end cap 6 of pressurized strut 8 is also provided with tapped hole, and case 4 is fixed by screws on the right end cap 6 of contiguous block and pressurized strut 8.

The contiguous block of pressurized strut 8 is provided with along the axial direction of piston hole 800 the unidirectional valve opening 802 of two axis, in unidirectional valve opening 802 hole, there is internal thread, the excircle of one-way valve 15 has outside thread, one-way valve 15 is fixedly mounted on the middle part of unidirectional valve opening 802 by self outside thread, unidirectional valve opening 802 is blind hole, and its opening end is sealed by A plug 13; The contiguous block on pressurized strut 8 top is provided with horizontal pod apertures 808 and longitudinal pod apertures 806, the upper end of longitudinal pod apertures 806 is connected with axial overflow hole 805, the other end and horizontal pod apertures 808 are connected, and the two ends of horizontal pod apertures 808 lead to the oil-feed side joint of two one-way valves 15 respectively; The fuel-displaced side of two one-way valves 15 is entered oil drainage hole 807 with two longitudinal directions respectively and is connected; Easy to process in order to longitudinal pod apertures 806 and horizontal pod apertures 808, position, aperture is after piercing provided with fine thread, after completing internal galleries processing, carry out sealing blocking respectively with fine thread plug B plug 14 to the open part of longitudinal pod apertures 806 and horizontal pod apertures 808; Equally, after two longitudinal directions enter oil drainage hole 807 processing, fine thread is set in aperture, carries out sealing blocking by C plug 17.

As shown in figure 23, the nose threads part that water conservancy diversion bolt 16 is is hollow, at the middle part of screw thread, threadingly the circumferencial direction of cylinder is provided with 2-4 radial tap holes, position corresponding to tap hole on water conservancy diversion bolt hole 801 arranges guide ring, the width of guide ring is not less than the diameter of tap hole, and the diameter of guide ring is greater than the diameter of water conservancy diversion bolt 16, as shown in Fig. 2, Fig. 3, Fig. 5, Fig. 9, Figure 15, Figure 17, the end face of the cylinder cap 101 of ball pump 1 is provided with two and enters oil drain out 121, due to the operation characteristics of spherical compressor and ball pump 1, the filler opening of ball pump 1 and oil drain out alternately change along with the forward of motor and counterrotating, namely being oil drainage hole when motor rotates forward, is then oil inlet hole during motor reversal, two the water conservancy diversion bolts hole 801 be arranged on pressurized strut 8 contiguous block enter oil drainage hole 121 with two on cylinder cap 101 respectively and connect, two longitudinal directions on contiguous block are entered oil drainage hole 807 and are connected with the guide ring of two water conservancy diversion bolts hole 801 respectively, like this, enter from one of ball pump 1 hydraulic oil that oil drainage hole 121 discharges just to enter a corresponding longitudinal direction by a coupled logical water conservancy diversion bolt 16 and enter oil drainage hole 807, enter oil drainage hole 807 through this longitudinal direction again to enter into and corresponding axially enter oil drainage hole 804, simultaneously, another axially enter that oil in oil drainage hole 804 longitudinally enters that oil drainage hole 807 and another water conservancy diversion bolt 16 be back to ball pump 1 through another successively another enter oil drainage hole 121, as shown in Figure 11, Figure 13, Figure 14, Figure 19 to Figure 21, two axis are entered oil drain out 804 and are connected with inoperative cylinder with clutch release slave cylinder respectively, wherein, a longitudinal direction is entered oil drain out 804 and is connected with the clutch release slave cylinder being positioned at pressurized strut 8 left end, another longitudinally enters oil drain out 807 and is connected with the inoperative cylinder being positioned at pressurized strut 8 right-hand member, the method connected is that relevant position is entered oil drainage hole 804 respectively to two axis and opened an attachment hole from piston hole 800, can adopt the method for electric discharge machining.

As shown in Fig. 1, Fig. 3, Fig. 6, Figure 11, Figure 16, Figure 18, the hydraulic oil flowed out from the overflow ducts 111 of ball pump 1 enters longitudinal pod apertures 806 after overflow hole 805, enter horizontal pod apertures 808 again, then enter into the oil-feed side of two unidirectional valve opening 802 one-way valves 15 respectively through the two ends of horizontal pod apertures 808, overflow hole 805 and elasticity oil conservator 19 are connected simultaneously; When one-way valve 15 oil-feed side pressure higher than one-way valve 15 fuel-displaced side pressure and reach setting pressure reduction, one-way valve 15 conducting; One-way valve 15 selects low pressure to pass through, and is conducive to overflow system and keeps low pressure, reduce ball pump 1 and rotate the energy loss brought; The fuel-displaced side of two one-way valves 15 is entered oil drainage hole 807 with two longitudinal directions respectively and is connected, when longitudinally the hydraulic oil entered in oil drainage hole 807 is low pressure for one of them, then enter the one-way valve 15 possibility conducting that oil drainage hole 807 is communicated with the longitudinal direction of this low pressure, the hydraulic oil higher than setting pressure in overflow system is back in working connection.

Be hydraulic schematic diagram of the present invention as shown in figure 22, ball pump 1 rotates forward, high pressure oil enters oil drain out 121 from cylinder cap 101 and discharges, oil duct through pressurized strut 8 contiguous block inside enters the clutch release slave cylinder of double piston-rod cylinder, after oil in the inoperative cylinder of double piston-rod cylinder is forced out by the oil duct be arranged on contiguous block be back on cylinder cap 101 another enter oil drain out 121, and being inhaled in ball pump 1, double piston-rod 7 stretches out acting; Ball pump 1 counterrotating, oil circuit is reverse, and double piston-rod 7 is retracted; Ball pump 1 forward and counterrotating form two oil and flow to contrary working connection circulation; The oil flowed out from the overflow ducts 111 of ball pump 1 is connected to elasticity oil conservator 19, and be connected on the fuel-displaced of working connection and drainback passage through two one-way valves 15, due to the effect of elasticity oil conservator 19, when oil pressure relief is greater than the return pressure of the working connection being now in oil return state, the one-way valve 15 be communicated with drainback passage is now opened, and overflow enters drainback passage by this one-way valve 15 and enters working connection circulation with oil return.Above-mentioned flooding process hockets entering with two longitudinal directions two one-way valves 15 that oil drain out 807 is connected respectively.

As shown in Fig. 7 to Fig. 9, this patent motor 2 used is direct current generator, motor 2 comprises motor shaft 202, motor right end cap 201, motor left end cap 206, rotor 203, motor stator 204, motor housing 205 and motor bearings 207, motor 2 linearly type, motor right end cap 201 is fixedly connected with the spindle carrier 110 of ball pump 1 by screw thread, and motor shaft 202 is connected transmitting torque by key with the main shaft 108 of ball pump 1.

Ball pump 1 comprises cylinder cap 101, cylinder body 105, piston 102, piston insert 114, rotating disk 104, centrepin 103, main shaft 108, spindle carrier 110, pump casing 113, power handle 115, cylinder block 118, cylinder block insert 106 etc., cylinder cap 101, cylinder body 105, cylinder block 118, spindle carrier 110 is fixedly connected sequentially and forms the casing of ball pump 1, wherein, the left end of cylinder block 118 is provided with internal thread, the right-hand member of cylinder block 118 is provided with outside thread, the right side cylindrical of cylinder cap 101 is provided with step, the right-hand member of cylindric pump casing 113 is provided with compression step, the left end of pump casing 113 is provided with the internal thread matched with cylinder block 118 right-hand member, first cylinder block 118, cylinder body 105, cylinder cap 101 connected vertically successively during assembling and carry out circumferential registration by pin, again pump casing 113 is passed cylinder cap 101, cylinder body 105 successively, the compression step of pump casing 113 right-hand member is pressed on the cylindrical step of cylinder cap 101, tapped one end of pump casing 113 left end is threaded connection the externally threaded one end at cylinder block 118, by screw thread, cylinder cap 101, cylinder body 105 is pressed on successively the right-hand member of cylinder block 118, the right-hand member of spindle carrier 110 is provided with the outside thread matched with cylinder block 118 left end internal thread, and spindle carrier 110 is fixedly connected on the left end of cylinder block 118 by screw thread, the left end of spindle carrier 110 is provided with the internal thread matched with motor right end cap 201, is connected on the outside thread of motor right end cap 201 right-hand member by internal thread, in order to be connected reliably with the contiguous block of pressurized strut 8, the end face of cylinder cap 101 slightly protrudes from the right side of pump casing 113.

Identical with the spherical compressor structure of routine, cylinder cap 101 and cylinder body 105 have hemispherical inner surface, be connected to form the spherical inner chamber of ball pump 1, the side that piston 102 has spherical end face, a piston shaft stretches out in spherical end face central authorities, two angled, the piston pin boss entering oil drain out and formed in bottom, piston 102 bi-side, piston pin boss is semi-cylindrical in configuration, the middle part of semicolumn is fluted, has through piston pin hole in the axial direction thereof; The piston axis hole that cylinder cap 101 is provided with, diameter of axle size and the piston axis hole of piston shaft match, piston shaft inserts in piston axis hole to be formed and is rotatably assorted, piston 102 freely can rotate in spherical inner chamber around the axis of piston shaft, and the spherical end face of piston and spherical inner chamber have the identical centre of sphere being formed and seal to move and coordinate.Rotating disk 104 has turntable shaft, rotating disk sphere and rotating disk key seat; The spherical inner chamber that cylinder body 105 and cylinder cap 101 are formed has the identical centre of sphere with rotating disk sphere, and rotating disk sphere is close to spherical inner chamber and is formed the dynamic cooperation of sealing; The two ends of the rotating disk key seat of rotating disk 104 are semicolumn groove, and middle part is protruding semicolumn; The axial direction of semicolumn has through rotating disk pin-and-hole.Centrepin 103 inserts piston pin boss and rotating disk key seat, and cylinder body 105 and cylinder block 118 are provided with axle hole of cylinder block and cylinder block axis hole that turntable shaft passes through; Spindle carrier 110 is that the rotation of main shaft 108 provides support, one end of main shaft 108 is eccentric pivot hole and equilibrium block 107, this end of main shaft 108 is positioned at the cylindrical cavity of cylinder block 118, at cylinder block 118, between cylinder body 104 and main shaft 108, form a space, be connected with main shaft 108 in the eccentric pivot hole of turntable shaft insertion main shaft 108, the other end of main shaft 108 is connected with motor shaft 202; Unbalanced force when equilibrium block 107 is in order to regulate main shaft 108 to rotate; The axis of above-mentioned piston shaft and turntable shaft and main shaft 108 all passes through the centre of sphere of the spherical inner chamber of cylinder body 105 and cylinder cap 101 formation, and the axis of piston shaft and turntable shaft and the axis of main shaft 108 form identical angle α; Centrepin 103 inserts in the piston pin hole of piston 102 and the rotating disk pin-and-hole of rotating disk 104 and forms cylinder hinge, and piston 102 and rotating disk 104 form sealing by cylinder hinge and be dynamically connected, and spherical inner chamber formation is divided into V1 working room 1001 and V2 working room 1002.

In order to reduce the surface friction drag in rotor running, reduce the wearing and tearing of rotor component, keep the running of highi degree of accuracy persistent high efficiency, improve the life-span of ball pump, rotating disk axle sleeve 116 is increased at the mating part of the eccentric pivot hole of turntable shaft and main shaft 108, increase B bearing 117 in main shaft 108 and cylinder block 118 cylindrical fit part, increase piston sleeve 112 at the mating part of piston shaft and piston axis hole; Rotating disk axle sleeve 116 and piston sleeve 112 all adopt high-abrasive material.

Drive rotating disk 104 when main shaft 108 rotates, rotating disk 104 drives piston 102 to move; The motion of piston 102 is rotations of unique axis around piston shaft, the motion of rotating disk 104 is by the synthesis of two kinds of motions: one is the rotation around own axes, another is that its axis is all the time by the centre of sphere of spherical inner chamber, and be summit with the centre of sphere of spherical inner chamber, cone angle is the virtual cone surface circumference mobile (i.e. the conical surface of the inswept above-mentioned cone of the axis of rotating disk 104) of the dead in line of 2 α, axis and main shaft 108, the cycle synchronisation that the cycle of movement and main shaft 108 rotate; The motion of above spatial mechanism is all the motion rotating character, therefore there is no high oscillating movement part, the synthesis result of this spatial motion is: piston 102 and rotating disk 104 have a periodic opposing oscillatory, and the cycle of swing is one times of main shaft period of rotation, and the amplitude of swing is 4 α; Utilize this opposing oscillatory as the basic exercise key element of volume-variation, the V1 working room 1001 that mineralization pressure alternately changes and V2 working room 1002; In ball pump 1 operation process, the volume of V1 working room 1001 and V2 working room 1002 constantly changes, Tu8Zhong V1 working room 1001 and V2 working room 1002 are the situations under ultimate state, original state when V1 working room 1001 is ball pump 1 oil-feed, so Tu Zhong V1 working room 1001 shown position theoretical displacement is maximum, V2 working room 1002 for oil extraction terminate after state, so Tu Zhong V2 working room 1002 shown position theoretical displacement is zero.

The inner ball surface of cylinder cap 101 is provided with oil inlet passage and oil drain passage, and oil inlet passage enters oil drain out 121 by the oil inlet hole be communicated with outside cylinder with on cylinder cap 101 end face and is communicated with; By the oil drainage hole outside the connection cylinder on cylinder cap 101, another enters oil drain out 121 and is communicated with oil drain passage with on cylinder cap 101 end face; Utilize coordinating of the hemispherical inner surface of the spherical surface of the rotation of piston 102 and piston 102 and cylinder cap 101, as the basic exercise key element entered oil drain passage and V1 working room 1001 and to be communicated with V2 working room 1002 or to close, thus realize oil-feed and oil extraction controls.

The rotating disk synchronous dynamic mechanism be made up of power handle 115, track confined planes is provided with between cylinder body 105 and cylinder block 118, power handle 115 is dumbbell shape structures of two ends symmetry, power handle 115 is fixed in company with rotating disk rotation motion on turntable shaft, and the movement locus face that turning course medium power handle 115 two ends contact with cylinder block 118 forms track confined planes; Power handle 115 does rotation motion in company with rotating disk 104, at cylinder body 105, forms solid of rotation space between cylinder block 118 and main shaft 108, thus at cylinder body 105, enough spaces will be had between cylinder block 118 and main shaft 108 to ensure that power handle 10 can freely turn round.In order to simplified processing process and reliability, the track confined planes contacted with power handle 115 two ends is provided with the cylinder block insert 106 that PEEK, copper or other elastic abrasion-proof materials are made; Cylinder block insert 106 is as the track confined planes near dead center position, and cylinder block insert 106 is arranged on the stroke range that when power handle 115 turns near the dead center position of mechanism, power handle 115 two ends contact with track confined planes.

As shown in Figure 8, at cylinder body 105, cylinder cap 101 is arranged overflow ducts 111, the outlet of overflow ducts 111 is arranged on the end face of cylinder cap 101, from cylinder body 105, the hydraulic oil that rotating disk 104 mating part leaks is pooled to cylinder body 105, space between cylinder block 118 and main shaft 108 forms overflow oil sump, if do not discharge this part Leakage Energy, inevitably overflow oil sump is caused to produce high pressure because Leakage Energy constantly increases, overflow ducts 111 is through cylinder cap 101 and cylinder body 105 is rear and overflow oil sump is connected, overflow ducts 111 will import hydraulic main circuit the high hematocrit oil of overflow oil sump, thus reduce the pressure of overflow oil sump.The part coordinated between main shaft 108 with spindle carrier 110 is provided with A bearing 109, reduces the friction between spindle carrier 110 and main shaft 108; Also be provided with balancing weight 119 in main shaft 108 bottom, balancing weight 119 is fixed on the axle journal of main shaft 108 bottom by Cock screw 120.The axle journal that spindle carrier 110 coordinates with main shaft 108 is provided with sealing, sealing prevents the oil in overflow oil sump from leaking into the attachment portion of ball pump 1 and motor 2 as shaft seal, because overflow oil sump of the present invention is for being always low pressure, so the common O type circle of shaft seal, do not need reinforced shaft seal, reduce the rotational resistance of main shaft 108.

Claims (4)

1. robot ball pump electricity liquid actuator, comprise motor (2), ball pump (1) and double piston-rod cylinder component (3), it is characterized in that: motor (2) is connected input power with ball pump (1), two outlets of entering oil drain out (121) and overflow ducts (111) of ball pump (1) are arranged on cylinder cap (101) end face of ball pump (1), and overflow ducts (111) is connected with the overflow oil sump of ball pump (1), pressurized strut (8) top of double piston-rod cylinder component (3) is provided with the contiguous block be connected with cylinder cap (101), contiguous block is provided with oil duct, overflow hole (805) and screw hole, oil duct junction on contiguous block and overflow hole (805) are arranged on the face that contiguous block and cylinder cap (101) end face fit, oil duct junction corresponding on contiguous block and overflow hole (805) are connected with the outlet of entering oil drain out (121) and overflow ducts (111) on cylinder cap (101) respectively, contiguous block is pressed on cylinder cap (101) by screw fixing seal, two one-way valves (15) are provided with, the upper connection elasticity oil conservator (19) of overflow hole (805) in the oil duct of contiguous block, wherein:

Ball pump (1) rotates forward, high pressure oil enters oil drain out (121) from cylinder cap (101) and discharges, oil duct through pressurized strut (8) contiguous block inside enters the clutch release slave cylinder of double piston-rod cylinder, after oil in the inoperative cylinder of double piston-rod cylinder is forced out by the oil duct be arranged on contiguous block be back on cylinder cap (101) another enter oil drain out (121), and being inhaled in ball pump (1), double piston-rod (7) stretches out; Ball pump (1) counterrotating, oil circuit is reverse, and double piston-rod (7) is retracted; Ball pump (1) forward and counterrotating form two oil and flow to contrary working connection circulation; The oil flowed out from the overflow ducts (111) of ball pump (1) is communicated to elasticity oil conservator (19), and be communicated with respectively in the oil extraction and drainback passage of working connection through two one-way valves (15), when oil pressure relief is greater than the return pressure of working connection, the one-way valve (15) be communicated with drainback passage is now opened, and overflow enters drainback passage and enters working connection circulation with oil return.

2. robot according to claim 1 ball pump electricity liquid actuator, it is characterized in that: the structure of the described oil duct that arranges on the contiguous block of pressurized strut (8) and overflow hole (805) is: the overflow hole (805) being provided with two axial diversion bolts hole (801) and an axis on contiguous block, two water conservancy diversion bolts hole (801) and overflow hole (805) are corresponding with the exit position that two on cylinder cap (101) enter oil drain out (121) and overflow ducts (111) respectively, the outlet of entering oil drain passage (111) on cylinder cap (101) is provided with the internal thread matched with water conservancy diversion bolt (16), the end face of cylinder cap (101) and the contiguous block end face of pressurized strut (8) paste merga pass two water conservancy diversion bolts (16) and pressurized strut (8) are fixed on cylinder cap (101), the contiguous block of pressurized strut (8) is also provided with two longitudinal directions and enters oil drainage hole (807) and two axis enter oil drainage hole (804), one end that two longitudinal directions enter oil drainage hole (807) is connected with two water conservancy diversion bolts hole (801) respectively, the other end enters oil drainage hole (804) with two axis respectively and connects, and two axis are entered oil drainage hole (804) and connected with the clutch release slave cylinder at pressurized strut (8) two ends and inoperative cylinder respectively, enter oil drain out (121) by two water conservancy diversion bolts (16) two of ball pump (1) to be communicated with inoperative cylinder with the clutch release slave cylinder at pressurized strut (8) two ends respectively, fitted by the contiguous block of cylinder cap (1) end face and pressurized strut (8), one end of overflow hole (805) and the overflow ducts (111) of ball pump (1) export to be connected, and the other end of overflow hole (805) connects an elasticity oil conservator (19), the contiguous block of pressurized strut (8) is axially provided with two unidirectional valve openings (802), one-way valve (15) is fixedly mounted on the middle part of unidirectional valve opening (802) by screw thread, unidirectional valve opening (802) is blind hole, and its opening end is by A plug (13) sealing, the contiguous block on pressurized strut (8) top is provided with horizontal pod apertures (808) and longitudinal pod apertures (806), upper end and the overflow hole (805) of longitudinal pod apertures (806) are connected, the other end and horizontal pod apertures (808) are connected, and the two ends of horizontal pod apertures (808) lead to the oil-feed side joint of two one-way valves (15) respectively, the fuel-displaced side of two one-way valves (15) is entered oil drainage hole (807) with two longitudinal directions respectively and is connected.

3. robot according to claim 1 ball pump electricity liquid actuator, it is characterized in that: described elasticity oil conservator (19) is one section and has flexible emulsion tube, one end of emulsion tube is connected on the overflow hole (805) of contiguous block by screwed pipe joint, and the other end is closed; Protect case (4) in emulsion tube outer installment one, case (4) is fixed by screws on the right end cap (6) of contiguous block and pressurized strut (8).

4. robot according to claim 1 ball pump electricity liquid actuator, it is characterized in that: described double piston-rod cylinder component (3) comprises pressurized strut (8), double piston-rod (7), left end cap (9), right end cap (6), flake joint (5) and protection cylinder (11), pressurized strut (8) has the through piston hole in left and right (800), left end cap (9) and right end cap (6) are respectively by the two ends being threaded in piston hole (800), double piston-rod (7) matches with the piston hole (800) of pressurized strut (8) and forms clutch release slave cylinder and inoperative cylinder respectively at the two ends of pressurized strut (8), the two ends of double piston-rod (7) are stretched out from the two ends of piston hole (800) and can be stretched left and right, the right-hand member of double piston-rod (7) is working end, and the right-hand member of double piston-rod (7) is connected with flake joint (5), for connecting robot motion parts, the left end of double piston-rod (7) is non-operative end, and protection cylinder (11) right-hand member to double piston-rod (7) shields, and protection cylinder (11) is fixedly connected on left end cap (9), the left end of protection cylinder (11) is connected with flake joint (5), as forced element for installing actuator, the cylindrical of double piston-rod (7) piston body and piston hole (800) mating part of start cylinder (8) are provided with sealing configuration, double piston-rod (7) and left end cap (9), right end cap (6) mating part are provided with sealing configuration, and the part coordinated with piston hole (800) at left end cap (9), right end cap (6) is provided with sealing configuration.