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CN106737827B - Corner self-servo passive flexible hydraulic robot joint - Google Patents

Corner self-servo passive flexible hydraulic robot joint Download PDF

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Publication number
CN106737827B
CN106737827B CN201710035559.1A CN201710035559A CN106737827B CN 106737827 B CN106737827 B CN 106737827B CN 201710035559 A CN201710035559 A CN 201710035559A CN 106737827 B CN106737827 B CN 106737827B
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valve
groove
pressure oil
valve body
port
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CN106737827A (en
Inventor
蒋林
谢维
王翰
周亮
于志鹏
高旭敏
王钊
赵慧
朱建阳
田体先
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Wuhan University of Science and Engineering WUSE
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Wuhan University of Science and Engineering WUSE
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/146—Rotary actuators
    • B25J9/148—Rotary actuators of the oscillating vane-type

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Actuator (AREA)

Abstract

The invention provides a corner self-servo passive compliant hydraulic robot joint, which adopts the technical scheme that: the valve body (14) is concentrically arranged in a cylindrical cavity (32) of the cylinder body, two deep groove ball bearings (5) are concentrically arranged at the left end and the right end of the valve body (14), a driving bevel gear (13) is concentrically arranged on an output shaft shoulder at the right end of the valve body (14), a driven shaft (12) is arranged on a right end cover (7), a driven bevel gear (8) is concentrically arranged on a driven shaft (12), two connecting rods (9) are respectively and fixedly and symmetrically arranged at two ends of the driven shaft (12) through screws, and a driven arm (10) is arranged in the middle of the other end of each connecting rod (9); the invention has the characteristics of easy fixation of the fixed stop block, easy assembly, large joint output torque, balanced stress of the valve body, difficult displacement, good dynamic characteristic, high joint flexibility, high response speed and high control precision.

Description

Corner self-servo passive flexible hydraulic robot joint
Technical Field
The invention belongs to the technical field of robot joints, and particularly relates to a passive compliant hydraulic robot joint with a self-servo corner.
Background
The hydraulic corner servo technology combines hydraulic pressure and motor technology, utilizes respective advantages, directly drives a valve core by small torque of a motor to open a valve port, and enables high-pressure oil to act on a valve body, thereby obtaining large output torque. The hydraulic corner self-servo valve is a core element in a hydraulic control system, has the characteristics of high precision and quick response, and is widely applied to high-precision electromechanical integrated systems, aerospace vehicle-mounted driving systems and large-scale test equipment, so that the hydraulic corner self-servo valve is concerned by scientific and technical personnel at home and abroad.
The servo valve core of the servo valve in the patent technology of the easily-controlled hydraulic corner self-servo valve (ZL 201210033081.6) has the characteristics of convenience in preparation, balance of radial force and axial force applied to the valve core, good dynamic characteristic, small servo blind area and easiness in control, but has a complex structure, particularly, a plurality of complex inner oil ducts exist inside the valve core and the valve sleeve, the machining precision is difficult to guarantee, the output torque is not large enough, and a circular valve port design is adopted, so that the flow gain is nonlinear, and the problem of low precision is further caused.
The patent technology of 'a big moment of torsion hydraulic pressure of commentaries on classics valve formula corner is from servo valve' (ZL 201210514025.4) has overcome above-mentioned existing problem, and this servo valve has improved the circulation ability of system, the response speed that improves through joining in marriage a class on the valve core surface, but has fixed dog not easily fixable, does not well assemble and the valve body has adopted single bearing to support, causes the valve body atress to shift easily, increases valve body frictional force, influences the problem of flexibility.
Therefore, the corner self-servo passive compliant hydraulic robot joint is needed to be designed, wherein the fixed stop block is easy to fix and assemble, the joint output torque is large, the valve body is balanced in stress, not easy to shift, good in dynamic characteristic, high in joint flexibility, high in response speed and high in control precision.
Disclosure of Invention
Aiming at the problems in the prior art, the technical scheme adopted by the invention for solving the problems in the prior art is as follows:
a corner self-servo passive flexible hydraulic robot joint comprises a steering engine 19, a steering engine cover 2, a steering engine disc 18, a steering engine seat 3, a cylinder body 6, a valve sleeve 15, a valve core 17, a valve body 14, a fixed stop block 21, blades 25, a driving bevel gear 13, a driven shaft 12, a driven bevel gear 8, a gear cover 11, a connecting rod 9, a driven arm 10 and a connecting disc 1;
the valve body 14 is concentrically arranged in a cylinder cavity 32 of the cylinder body, the left end and the right end of the valve body 14 are concentrically provided with two deep groove ball bearings 5, the left end deep groove ball bearing is fixed in a left bearing groove 29 of the cylinder body, the right end deep groove ball bearing is fixed in a right bearing groove 33 of the cylinder body, the left end cover 4 is arranged at the left end of the cylinder body 6, the right end cover 7 is arranged at the right end of the cylinder body 6, an output shaft of the valve body 14 extends out of the right end cover 7, a driving bevel gear 13 is concentrically arranged on an output shaft shoulder at the right end of the valve body 14 and is positioned in an extending cavity of the right end cover 7, a driven shaft 12 is arranged on the right end cover 7, a gear cover 11 is arranged on the right end cover 7, a driven bevel gear 8 is concentrically arranged on a driven shaft 12, two connecting rods 9 are respectively and symmetrically arranged at the upper end and the, a driven arm 10 mounted concentrically at its distal end;
a fixed stop block 21 is arranged at the right upper part of the inner wall of the cylinder body 6, and the fixed stop block 21 is in movable fit with the valve body 14; the outer wall of the cylindrical cavity 37 of the valve body is provided with a blade 25, and the blade 25 is in movable fit with the cylinder body 6;
the valve sleeve 15 is concentrically arranged in the cylindrical cavity 37 of the valve body, the left end surface of the valve sleeve 15 and the left end surface of the valve body 14 are fixed together through a cylindrical pin, the right end of the valve core 17 penetrates through the valve sleeve 15 and is concentrically arranged in the cylindrical cavity 37 of the valve body, and the left end and the right end of the valve core 17 are respectively provided with two thrust ball bearings 16;
the steering engine 19 is fixed on the left end cover 4 through two steering engine bases 3, and an output shaft of the steering engine 19 is connected with an inner hole at the left end of the valve core 17 through two steering engine discs 18 which are connected through bolts by a concentric key;
a left end cover low-pressure oil channel 28 and a left end cover high-pressure oil channel 27 are correspondingly arranged above and below the left end cover 4, the outlet of the left end cover low-pressure oil channel 28 is a low-pressure oil outlet T, the inlet of the left end cover high-pressure oil channel 27 is a high-pressure oil inlet P, and the included angle between the circle center of the left end cover low-pressure oil channel 28 and the line connecting the circle center of the left end cover high-pressure oil channel 27 and the circle center of the left end cover 4 is 150 degrees;
the upper part of the cylinder body 6 is provided with a first cylinder body low-pressure oil channel 30 along the radial direction, a second cylinder body low-pressure oil channel 31 along the axial direction, the first cylinder body low-pressure oil channel 30 is communicated with the second cylinder body low-pressure oil channel 31, and the second cylinder body low-pressure oil channel 31 is communicated with the left end cover low-pressure oil channel 28; a cylinder body high-pressure oil channel 34 is arranged at the lower part of the cylinder body 6 along the axial direction, and the cylinder body high-pressure oil channel 34 is communicated with the left end cover high-pressure oil channel 27;
the inlet of the cylinder body first low-pressure oil channel 30 is communicated with the cylinder body low-pressure oil ring groove 36, the cylinder body low-pressure oil ring groove 36 is communicated with the valve body upper first low-pressure oil channel 20 and the valve body lower first low-pressure oil channel 26, the upper part and the lower part of the first radial low-pressure oil channel are communicated with the valve sleeve left T-shaped port 46, the valve sleeve left T-shaped port 46 is communicated with the rectangular groove on the valve core first annular boss 55, the rectangular groove on the valve core first annular boss 55 is communicated with the valve sleeve left A-shaped port 47, and the valve sleeve left A-shaped port 47 is communicated with the corresponding first working cavity 61 through the first rectangular valve port 44 of the valve body;
the inlet of the cylinder body second low-pressure oil channel 31 is communicated with the valve body low-pressure oil ring groove 43, the valve body low-pressure oil ring groove 43 is communicated with the valve body second low-pressure oil channel 22, the valve body second low-pressure oil channel 22 is communicated with the valve sleeve right T-shaped port 53, the valve sleeve right T-shaped port 53 is communicated with the rectangular groove on the fourth annular boss 58 of the valve core 17, the rectangular groove on the fourth annular boss 58 of the valve core 17 is communicated with the valve sleeve right B-shaped port 52, and the valve sleeve right B-shaped port 52 is communicated with the corresponding second working chamber 62 through the second rectangular valve port 45 of the valve body 14;
the outlet of the cylinder high-pressure oil channel 34 is communicated with the valve body high-pressure oil annular groove 42, the valve body high-pressure oil annular groove 42 is communicated with the valve body Z-shaped high-pressure oil channel 24, the valve body Z-shaped high-pressure oil channel 24 is respectively communicated with the valve sleeve left P port 49 and the valve sleeve right P port 50, the valve sleeve left P port 49 is communicated with the rectangular groove on the valve core second annular boss 56, the rectangular groove on the valve core second annular boss 56 is communicated with the valve sleeve right A port 48, and the valve sleeve right A port 48 is communicated with the corresponding first working cavity 61 through the valve body first rectangular valve port 44;
the valve sleeve right P port 50 is communicated with a rectangular groove on the valve core third annular boss 57, the rectangular groove on the valve core third annular boss 57 is communicated with the valve sleeve left B port 51, and the valve sleeve left B port 51 is communicated with a corresponding second working cavity 62 through a second rectangular valve port 45 of the valve body;
the driving bevel gear 13 is installed at the tail end of an output shaft of the valve body 14 through a round nut in the radial direction and is fixed in the circumferential direction through a flat key, deep groove ball bearings B65 are installed at two ends of the driven shaft 12, the inner ring of the deep groove ball bearing B65 is excessively matched with the driven shaft 12, and the outer ring of the deep groove ball bearing B65 is excessively matched with the right end cover 7; the driving bevel gear 13 is meshed with the driven bevel gear 8 at an angle of 90 degrees, and the driven bevel gear 8 is fixedly connected with the driven shaft 12 in the circumferential direction through a flat key; two ends of a deep groove ball bearing B65 are provided with bearing covers which are axially fixed, a connecting rod 9 is circumferentially fixed with a driven shaft 12 through a flat key and is axially and fixedly connected with the driven shaft 12 through a screw, a driven arm 10 is arranged between the two connecting rods 9 through a screw, and two connecting discs 1 are respectively arranged on a left side end rudder cover 2 and a right side end driven arm 10 through bolts;
the valve body 14 consists of a hollow cylinder, blades 25, a cylinder boss, a first shaft shoulder 38, a second shaft shoulder 39 and a valve body output shaft 40 in sequence from left to right; the outer diameter of the cylinder is the same as the nominal size of the inner diameter of the circular hole 35 of the cylinder body, a cylindrical cavity 37 of the valve body and a bearing groove 41 of the valve body are arranged in the cylinder, the inner diameter of the cylindrical cavity 37 of the valve body is the same as the nominal size of the outer diameter of the valve sleeve 15, two semicircular cylindrical pin holes with the same size are arranged at the left end of the cylindrical cavity 37 of the valve body, the two pin holes are distributed in an angle of 180 degrees, a cylindrical surface at the left end of the cylinder is provided with two sealing grooves of the valve body, a low-pressure oil ring groove 36 of the cylinder body is arranged between the two sealing grooves at the left end of the valve body;
a blade 25 is arranged below the outer wall of the cylinder, the length of the blade 25 is the difference between the length of the cylinder body cylindrical cavity 32 and the length of the cylinder boss of the valve body 14, and the difference between the upper cambered surface and the lower cambered surface of the blade 25 is half of the difference between the inner diameter of the cylinder body cylindrical cavity 32 and the outer diameter of the cylinder of the valve body 14; a strip-shaped sealing groove is formed in the center of the lower cambered surface of the blade 25 along the axial direction, the length of the strip-shaped sealing groove is equal to that of the blade 25, and a blade sealing strip is embedded in the strip-shaped sealing groove;
the outer diameter of the boss of the cylinder body of the valve body is the same as the nominal size of the inner diameter of the cylindrical cavity 32 of the cylinder body, the cylindrical surface of the boss of the cylinder body is provided with three valve body sealing grooves, a valve body low-pressure oil ring groove 43 and a valve body second low-pressure oil channel 22 are arranged between the left valve body sealing groove and the middle valve body sealing groove, and a valve body high-pressure oil ring groove 42 and a valve body broken line type high-pressure oil channel 24 are arranged between the middle valve body sealing;
a second rectangular valve port 45 is arranged on the hollow cylinder close to the cylindrical boss, a first rectangular valve port 44 is arranged on the hollow cylinder close to the left valve body sealing groove, and the first rectangular valve port 44 and the second rectangular valve port 45 are identical in size;
the plain line of the valve body broken line type high-pressure oil channel 24 port is positioned between the plain line at the center of the second rectangular valve port 45 and the plain line at the center of the first rectangular valve port 44, the included angle between the plain line at the center of the second rectangular valve port 45 and the plain line at the center of the first rectangular valve port 44 is theta, and the included angle is theta
Figure GDA0002173659700000051
In formula (1): b1Is the arc length of the inner wall of the blade; b2The arc length of the rectangular valve port on the hollow cylinder is long; r is the outer diameter of the hollow cylinder;
the length of the first shaft shoulder 38 of the valve body 14 is the distance from the boss of the cylinder body to the right end face of the cylinder body, the length of the second shaft shoulder 39 of the valve body 14 is the distance from the right end face of the first shaft shoulder 38 of the valve body 14 to the right end face of the right end cover 7, the left end of the valve body output shaft 40 is provided with a key groove, and the right end of the valve body output shaft 40 is circumferentially provided with threads.
The left end of the valve core 17 is provided with a key groove connected with the steering wheel disc 18; the valve core 17 is provided with a first annular boss 55, a second annular boss 56, a third annular boss 57, a fourth annular boss 58 and a fifth annular boss 59 from left to right, the right sides of the first annular boss 55, the second annular boss 56, the third annular boss 57 and the fourth annular boss 58 are respectively provided with two rectangular grooves with the same size, the two rectangular grooves are distributed in 180 degrees, and each two rectangular grooves are positioned on the same circumferential line; the two rectangular groove center lines of the first annular boss 55 and the three rectangular groove center lines of the third annular boss 57 are respectively positioned on two element lines in axial symmetry, the two rectangular groove center lines of the second annular boss 56 and the two rectangular groove center lines of the fourth annular boss 58 are respectively positioned on the other two element lines in axial symmetry, and the difference of each element line is 90 degrees;
a radial oil through groove 54 is formed in the left side of the valve core 17 close to the first annular boss 55, an axial oil through groove 60 is formed in the center of the right side of the valve core 17, the left end of the axial oil through groove 60 is communicated with the radial oil through groove 54, the two oil through grooves are distributed in an angle of 90 degrees, and the right end of the axial oil through groove 60 penetrates through the valve core 17.
The valve sleeve 15 consists of six annular bosses and five grooves, and the annular bosses and the grooves are alternately arranged; the left end ring-shaped boss of the valve sleeve is provided with two semicircular cylindrical pin holes which are arranged in an angle of 180 degrees; two rectangular ports are respectively arranged on the first groove and the fifth groove, the two rectangular ports are arranged in an angle of 180 degrees, the two rectangular ports on the first groove are valve sleeve left T ports 46, and the two rectangular ports on the fifth groove are valve sleeve right T ports 43; the left side and the right side of the three grooves in the middle of the valve sleeve 15 are respectively provided with a group of rectangular openings, and each group of rectangular openings consists of two rectangular openings which are arranged at an angle of 180 degrees; the sizes of the rectangular openings on the five grooves are the same, the central lines of the rectangular openings on the five grooves are all positioned on the same corresponding element line, and the sizes of the rectangular openings on the five grooves are the same as the sizes of the rectangular grooves of the four bosses on the valve core 17;
the left side surface of each group of rectangular openings on the left side of three grooves in the middle of the valve sleeve 15 and the right side surface of the adjacent annular boss are the same plane, and the right side surface of each group of rectangular openings on the right side of three grooves in the middle of the valve sleeve and the left side surface of the adjacent annular boss are the same plane; the six groups of rectangular ports in the middle of the valve sleeve 15 are a valve sleeve left A port 47, a valve sleeve right A port 48, a valve sleeve left P port 49, a valve sleeve right P port 50, a valve sleeve left B port 51 and a valve sleeve right B port 52 from left to right in sequence.
The fixed stop block 21 is divided into two parts, namely an upper arc-shaped stop piece of the fixed stop block and a lower arc-shaped frustum stop block of the fixed stop block, the axial length of the upper part of the fixed stop block is the difference between the length of the cylindrical cavity 32 of the cylinder body and the length of the cylindrical boss of the valve body 14, and the difference between the upper arc surface and the lower arc surface of the lower arc-shaped frustum of the fixed stop block is half of the difference between the outer diameter of the cylinder body 6 and; the center of the lower cambered surface of the fixed stop block 21 is provided with a strip-shaped sealing groove along the axis direction, the length of the strip-shaped sealing groove is equal to that of the fixed stop block 21, and a stop block sealing strip is embedded in the strip-shaped sealing groove.
Two sides of a central circular hole of the cover body of the right end cover 7 are radially and symmetrically provided with annular sealing strip grooves 64, and annular sealing strips are embedded in the annular sealing strip grooves 64; the right end of the right end cover 7 is processed into a semi-closed box body 63, the box body 63 is a hollow incomplete cylinder, two planes are symmetrically arranged on the circumference of the box body 63, the extending length of the two planes is larger than the length of the cylinder part, threaded holes and bearing holes are symmetrically arranged on the two planes, and a through hole is formed in the center of a disc structure of the right end cover 7.
The nominal size of the outer diameter of the gear cover 11 is the same as the nominal size of the outer diameter of the right end cover box 63, a groove is formed in the middle of the gear cover 11, the nominal size of the inner part of the groove is the same as the nominal size of the extending part of the right end cover box 63, and a through hole is formed in the groove of the gear cover.
The left end of the connecting rod 9 is a hollow cylinder, the nominal size of the inner diameter of the cylinder is the same as the nominal size of the driven shaft 12, a key groove is formed in the side edge of the inner portion of the cylinder, the connecting rod 9 is connected with the driven shaft 12 in the circumferential direction through a flat key, stepped through holes are formed in the upper end and the lower end of the hollow cylinder, the connecting rod 9 is connected with the driven shaft 12 in the axial direction through a bolt, the middle section of the connecting rod 9 is in arc transition, the right end of the connecting rod.
The driven arm 10 is a hollow incomplete cylinder, the connecting side end of the driven arm 10 and the connecting rod 9 is of an open structure, four threaded holes are symmetrically formed in two circumferential horizontal side walls, the other end, extending outwards, of the driven arm 10 is of a closed structure, a plurality of threaded holes are formed in the end face of the closed end and matched with the threaded holes in the right connecting disc 1, and therefore the driven arm 10 is connected with the right connecting disc 1 through screws.
By adopting the technical scheme, the device main high-pressure oil inlet P enters the cylinder body high-pressure oil channel 34 through the left end cover high-pressure oil channel 27, then enters the valve body high-pressure oil annular groove 42, then enters the valve body broken line type high-pressure oil channel 24, and finally enters the valve sleeve left P port 49 and the valve sleeve right P port 50.
When the valve core 17 rotates counterclockwise relative to the valve sleeve 15, the high-pressure oil enters the rectangular groove on the second annular boss 56 of the valve core 17 from the valve sleeve left P port 49, then enters the valve sleeve right a port 48, finally enters the first working chamber 61 through the first rectangular valve port 44 of the valve body 14, pushes the vane 25 to rotate counterclockwise, so that the valve body 14 follows the valve core 17, and the low-pressure oil in the second working chamber 62 enters the valve sleeve right B port 52 through the second rectangular valve port 45 of the valve body 14, then enters the rectangular groove on the fourth annular boss 58 of the valve core 17, and finally enters the valve sleeve right T port 53.
When the valve core 17 rotates clockwise relative to the valve sleeve 15, the high-pressure oil enters the rectangular groove on the third annular boss 57 of the valve core 17 from the valve sleeve right P port 50, then enters the valve sleeve left B port 51, finally enters the second working chamber 62 through the second rectangular valve port 45 of the valve body 14, pushes the vane 25 to rotate clockwise, so that the valve body 14 follows the valve core 17 to move, and the low-pressure oil in the first working chamber 61 enters the valve sleeve left a port 47 through the first rectangular valve port 44 of the valve body 14, then enters the rectangular groove on the first annular boss 55 of the valve core 17, and finally enters the valve sleeve left T port 46.
The low-pressure oil of the valve sleeve left T-shaped port 46 enters the cylinder body low-pressure oil ring-shaped groove 36 through the valve body upper first low-pressure oil channel 20 and the valve body lower first low-pressure oil channel 26, then enters the cylinder body first low-pressure oil channel 30, and then enters the low-pressure oil outlet T through the left end cover low-pressure oil channel 28 to gradually flow back; the low-pressure oil in the right valve sleeve T port 53 enters the low-pressure oil ring groove 43 of the valve body through the second low-pressure valve body channel 22, then enters the left end cover low-pressure oil channel 28 through the second low-pressure cylinder body channel 31, and finally gradually flows back through the low-pressure oil outlet T.
When the valve sleeve left A port 47 is communicated with the first working chamber 61, the valve sleeve left B port 51 is communicated with the second working chamber 62, and the valve sleeve right A port 48 and the valve sleeve right B port 52 are not communicated with the first working chamber 61 and the second working chamber 62; when the valve housing right a port 48 communicates with the first working chamber 61, the valve housing right B port 52 communicates with the second working chamber 62, and the valve housing left a port 47 and the valve housing left B port 51 do not communicate with the first working chamber 61 and the second working chamber 62. Except as described above, the valve housing ports are not in communication with the first working chamber 61 and the second working chamber 62.
The invention has the following advantages:
1. the quantity of the fixed check blocks and the quantity of the blades in the rotary valve are reduced compared with the prior art, the blades in the prior art are welded on the valve body, the fixed check blocks are welded on the cylinder body, but the fixed check blocks are welded on the cylinder body to easily deform the cylinder body, so that the installation mode of the fixed check blocks in the rotary valve is changed into mechanical fit, the installation of the blades is kept in a welding mode, the fixed check blocks are made into an upper part and a lower part, the lower part of each check block is arranged in the cylinder body to be movably matched with the valve body, the upper parts of the check blocks are provided with through holes, and the upper parts of the check blocks are fixed on the outer wall of the;
2. in the patent, the stroke of the blade is increased by reducing one blade and one fixed stop block respectively, so that the stroke is increased from original positive and negative 85 degrees to the current positive and negative 160 degrees, and the stroke is increased by nearly two times; it should be noted that, due to the reduction of the vanes, the output of the rotary valve force is reduced to 1/2, but the stroke is increased to twice of the original stroke, so that the effect of increasing the moment is not changed, but the single-vane structure of the new rotary valve is more in line with the actual production condition and requirement;
3. the left end and the right end of the valve body are concentrically provided with the two deep groove ball bearings, the left end deep groove ball bearing is concentrically fixed in the left bearing groove of the cylinder body, and the right end deep groove ball bearing is concentrically fixed in the right bearing groove of the cylinder body; according to the valve, the deep groove ball bearings at two ends of the valve body are supported, so that the valve body is not easy to shift due to stress, the friction force of the valve body is reduced, and the flexibility, the response speed and the control precision of joints are improved;
4. the angle of an oil path in the cylinder body structure is changed from 180 degrees of an oil inlet and an oil outlet in the prior art to 150 degrees, and the high-pressure oil channel penetrates through the blade because the fixed stop block and the blade are arranged at 180 degrees in the cylinder body structure, and if the high-pressure oil channel and the low-pressure oil channel are arranged at 180 degrees, the high-pressure oil channel and the low-pressure oil channel interfere with the fixed stop block, so that the low-pressure oil channel is arranged beside the fixed stop block;
5. compared with the prior art that the structure that the motor is arranged on the cylinder body is not well assembled, the steering engine is placed outside the left end cover at the left end of the whole device, the steering engine is placed in the steering engine through an extra cavity, and the output shaft of the steering engine is connected with the valve core through the steering engine disc, so that the end cover and the cylinder body in the patent are simple in structure and easy to assemble;
6. the output shaft of the valve core on the right side of the whole device is connected with a driven shaft, a connecting rod and a driven arm, so that the device structure can be used as a movable joint applied to a robot, the driven arm rotates around the driven shaft in the axial direction through the bevel gear connection between the output shaft of the valve core and the driven shaft, the rotary valve part is more in line with the actual application requirement, and the driven part is added at the right end of the rotary valve to form a movable hydraulic joint;
7. the working chambers in the valve are changed from four to two, so that the internal structure is simplified, the performance of the obtained device is more stable, the original valve body structure is easy to deviate, the service life is influenced, and the service life of the valve is prolonged;
8. the radial oil through groove 54 and the axial oil through groove 60 are added in the rotary valve, so that extrusion caused by oil leakage at two ends of the valve core can be balanced, oil leakage at any one end of the left end and the right end of the valve core can reach the other end through the two oil through grooves, and the phenomenon that the operation of the rotary valve is influenced by extrusion at one end of the valve core is avoided;
in conclusion, the invention has the characteristics of easy fixation of the fixed stop block, easy assembly, large joint output torque, balanced stress of the valve body, difficult displacement, good dynamic characteristic, high joint flexibility, high response speed and high control precision.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic sectional view taken along line A-A of FIG. 1;
FIG. 3 is a left side view of the left end cap;
FIG. 4 is a schematic cross-sectional view B-B of FIG. 3;
FIG. 5 is a left side view of the cylinder block;
FIG. 6 is a schematic cross-sectional view C-C of FIG. 5;
FIG. 7 is a left side view of the valve body;
FIG. 8 is a schematic cross-sectional view D-D of FIG. 7;
FIG. 9 is a bottom view of the valve body;
fig. 10 is a top view of the valve sleeve;
FIG. 11 is a schematic cross-sectional view E-E of FIG. 10;
FIG. 12 is a top view of the valve cartridge;
FIG. 13 is a schematic sectional view F-F of FIG. 12;
FIG. 14 is a schematic sectional view taken along line G-G of FIG. 1;
FIG. 15 is a schematic sectional view taken along line H-H of FIG. 1;
FIG. 16 is a right side view of the right end cap;
FIG. 17 is a schematic sectional view taken along line I-I of FIG. 16;
FIG. 18 is a right side view of the gear cover;
FIG. 19 is a schematic sectional view taken along line J-J of FIG. 18;
FIG. 20 is a top view of the connecting rod;
FIG. 21 is a schematic view of the K-K section of FIG. 20;
FIG. 22 is a front view of the slave arm;
fig. 23 is a right side view of the follower arm:
FIG. 24 is a schematic L-L sectional view of FIG. 22;
FIG. 25 is a right side view of the interface disc;
FIG. 26 is a schematic view of the section M-M of FIG. 25;
wherein: connecting disc 1, a steering engine cover 2, a steering engine seat 3, a left end cover 4, a deep groove ball bearing 5, a cylinder body 6, a left end cover 7, a driven bevel gear 8, a connecting rod 9, a driven arm 10, a gear cover 11, a driven shaft 12, a driving bevel gear 13, a valve body 14, a valve sleeve 15, a thrust ball bearing 16, a valve core 17, a steering engine disc 18, a steering engine 19, a first low-pressure oil channel 20 on the valve body, a fixed stop 21, a second low-pressure oil channel 22 on the valve body, a high-pressure oil channel 23 on the cylinder body, a broken-line type high-pressure oil channel 24 on the valve body, a blade 25, a first low-pressure oil channel 26 under the valve body, a high-pressure oil channel 27 on the left end cover, a low-pressure oil channel 28 on the left end cover, a left bearing groove 29 on the cylinder body, a first low-pressure oil channel 30 on the cylinder body, a second low-pressure oil channel 31, the valve body structure comprises a first shaft shoulder 38, a second shaft shoulder 39, a valve body output shaft 40, a valve body bearing groove 41, a valve body high-pressure oil ring groove 42, a valve body low-pressure oil ring groove 43, a first rectangular valve port 44, a second rectangular valve port 45, a valve sleeve left T port 46, a valve sleeve left A port 47, a valve sleeve right A port 48, a valve sleeve left P port 49, a valve sleeve right P port 50, a valve sleeve left B port 51, a valve sleeve right B port 52, a valve sleeve right T port 53, a radial oil through groove 54, a first annular boss 55, a second annular boss 56, a third annular boss 57, a fourth annular boss 58, a fifth annular boss 59, an axial oil through groove 60, a first working chamber 61, a second working chamber 62, a left end cover box body 63, an annular sealing strip groove 64 and a deep groove B65.
Detailed Description
The technical scheme of the invention is further specifically described by embodiments and with reference to the accompanying drawings, as shown in fig. 1-26, the corner self-servo passive compliant hydraulic robot joint comprises a steering engine 19, a steering engine cover 2, a steering engine disc 18, a steering engine seat 3, a cylinder body 6, a valve sleeve 15, a valve core 17, a valve body 14, a fixed stop 21, a blade 25, a driving bevel gear 13, a driven shaft 12, a driven bevel gear 8, a gear cover 11, a connecting rod 9, a driven arm 10 and a connecting disc 1;
as shown in fig. 1 and 2, a valve body 14 is concentrically installed in a cylinder body cylindrical cavity 32, two deep groove ball bearings 5 are concentrically installed at the left and right ends of the valve body 14, the left deep groove ball bearing is fixed in a cylinder body left bearing groove 29, the right deep groove ball bearing is fixed in a cylinder body right bearing groove 33, a left end cover 4 is installed at the left end of a cylinder body 6, a right end cover 7 is installed at the right end of the cylinder body 6, an output shaft of the valve body 14 extends out of the right end cover 7, a driving bevel gear 13 is concentrically installed on an output shaft shoulder at the right end of the valve body 14 in an extending cavity of the right end cover 7, a driven shaft 12 is installed on the right end cover 7, a gear cover 11 is installed on the right end cover 7, a driven bevel gear 8 is concentrically installed on a driven shaft 12, two connecting rods 9 are symmetrically installed at the upper and lower ends of the driven shaft 12 respectively through screws, a driven arm 10 is, a driven arm 10 mounted concentrically at its distal end;
as shown in fig. 2, a fixed stop 21 is arranged right above the inner wall of the cylinder 6, and the fixed stop 21 is movably matched with the valve body 14; the outer wall of the cylindrical cavity 37 of the valve body is provided with a blade 25, and the blade 25 is in movable fit with the cylinder body 6;
as shown in fig. 2, the valve sleeve 15 is concentrically installed in the cylindrical cavity 37 of the valve body, the left end surface of the valve sleeve 15 and the left end surface of the valve body 14 are fixed together by a cylindrical pin, the right end of the valve core 17 passes through the valve sleeve 15 and is concentrically installed in the cylindrical cavity 37 of the valve body, and the left end and the right end of the valve core 17 are respectively provided with two thrust ball bearings 16;
as shown in fig. 1, a steering engine 19 is fixed on a left end cover 4 through two steering engine bases 3, and an output shaft of the steering engine 19 is connected with an inner hole at the left end of a valve core 17 through two steering engine disks 18 which are connected through bolts in a concentric key way;
as shown in fig. 2, 4 and 6, a left end cover low pressure oil passage 28 and a left end cover high pressure oil passage 27 are correspondingly arranged above and below the left end cover 4, an outlet of the left end cover low pressure oil passage 28 is a low pressure oil outlet T, an inlet of the left end cover high pressure oil passage 27 is a high pressure oil inlet P, and an included angle between a line connecting the circle center of the left end cover low pressure oil passage 28 and the circle center of the left end cover high pressure oil passage 27 and the circle center of the left end cover 4 is 150 degrees;
as shown in fig. 2 to 15, a cylinder first low-pressure oil passage 30 is provided in the upper portion of the cylinder 6 in the radial direction, a cylinder second low-pressure oil passage 31 is provided in the axial direction, the cylinder first low-pressure oil passage 30 communicates with the cylinder second low-pressure oil passage 31, and the cylinder second low-pressure oil passage 31 communicates with the left end cover low-pressure oil passage 28; a cylinder body high-pressure oil channel 34 is arranged at the lower part of the cylinder body 6 along the axial direction, and the cylinder body high-pressure oil channel 34 is communicated with the left end cover high-pressure oil channel 27;
as shown in fig. 2-15, the inlet of the cylinder first low-pressure oil channel 30 is communicated with the cylinder low-pressure oil ring groove 36, the cylinder low-pressure oil ring groove 36 is communicated with the first low-pressure oil channel 20 on the valve body and the first low-pressure oil channel 26 under the valve body, the upper and lower parts of the first radial low-pressure oil channel are communicated with the valve sleeve left T-shaped port 46, the valve sleeve left T-shaped port 46 is communicated with the rectangular groove on the first annular boss 55 of the valve core, the rectangular groove on the first annular boss 55 of the valve core is communicated with the valve sleeve left a-shaped port 47, and the valve sleeve left a-shaped port 47 is communicated 61 with the corresponding first working chamber through the first rectangular valve port 44 of;
as shown in fig. 2 to 15, the inlet of the cylinder second low-pressure oil passage 31 is communicated with the valve body low-pressure oil annular groove 43, the valve body low-pressure oil annular groove 43 is communicated with the valve body second low-pressure oil passage 22, the valve body second low-pressure oil passage 22 is communicated with the valve sleeve right T-shaped port 53, the valve sleeve right T-shaped port 53 is communicated with the rectangular groove on the fourth annular boss 58 of the valve core 17, the rectangular groove on the fourth annular boss 58 of the valve core 17 is communicated with the valve sleeve right B-port 52, and the valve sleeve right B-port 52 is communicated with the corresponding second working chamber 62 through the second rectangular valve port 45 of the valve body 14;
as shown in fig. 2-15, the outlet of the cylinder high-pressure oil channel 34 is communicated with the valve body high-pressure oil ring groove 42, the valve body high-pressure oil ring groove 42 is communicated with the valve body Z-shaped high-pressure oil channel 24, the valve body Z-shaped high-pressure oil channel 24 is communicated with the valve sleeve left P port 49 and the valve sleeve right P port 50 respectively, the valve sleeve left P port 49 is communicated with the rectangular groove on the valve core second annular boss 56, the rectangular groove on the valve core second annular boss 56 is communicated with the valve sleeve right a port 48, and the valve sleeve right a port 48 is communicated with the corresponding first working chamber 61 through the valve body first rectangular valve port 44;
as shown in fig. 10 and 12, the valve sleeve right P port 50 is communicated with the rectangular groove on the valve core third annular boss 57, the rectangular groove on the valve core third annular boss 57 is communicated with the valve sleeve left B port 51, and the valve sleeve left B port 51 is communicated with the corresponding second working chamber 62 through the second rectangular valve port 45 of the valve body;
as shown in fig. 1, the driving bevel gear 13 is radially installed at the tail end of an output shaft of the valve body 14 through a round nut and fixed circumferentially through a flat key, the two ends of the driven shaft 12 are provided with deep groove ball bearings B65, the inner ring of the deep groove ball bearing B65 is excessively matched with the driven shaft 12, and the outer ring is excessively matched with the right end cover 7; the driving bevel gear 13 is meshed with the driven bevel gear 8 at an angle of 90 degrees, and the driven bevel gear 8 is fixedly connected with the driven shaft 12 in the circumferential direction through a flat key; two ends of a deep groove ball bearing B65 are provided with bearing covers which are axially fixed, a connecting rod 9 is circumferentially fixed with a driven shaft 12 through a flat key and is axially and fixedly connected with the driven shaft 12 through a screw, a driven arm 10 is arranged between the two connecting rods 9 through a screw, and two connecting discs 1 are respectively arranged on a left side end rudder cover 2 and a right side end driven arm 10 through bolts;
as shown in fig. 8, the valve body 14 is composed of a hollow cylinder, a vane 25, a cylinder boss, a first shoulder 38, a second shoulder 39 and a valve body output shaft 40 in sequence from left to right; the outer diameter of the cylinder is the same as the nominal size of the inner diameter of the circular hole 35 of the cylinder body, a cylindrical cavity 37 of the valve body and a bearing groove 41 of the valve body are arranged in the cylinder, the inner diameter of the cylindrical cavity 37 of the valve body is the same as the nominal size of the outer diameter of the valve sleeve 15, two semicircular cylindrical pin holes with the same size are arranged at the left end of the cylindrical cavity 37 of the valve body, the two pin holes are distributed in an angle of 180 degrees, a cylindrical surface at the left end of the cylinder is provided with two sealing grooves of the valve body, a low-pressure oil ring groove 36 of the cylinder body is arranged between the two sealing grooves at the left end of the valve body;
a blade 25 is arranged below the outer wall of the cylinder, the length of the blade 25 is the difference between the length of the cylinder body cylindrical cavity 32 and the length of the cylinder boss of the valve body 14, and the difference between the upper cambered surface and the lower cambered surface of the blade 25 is half of the difference between the inner diameter of the cylinder body cylindrical cavity 32 and the outer diameter of the cylinder of the valve body 14; a strip-shaped sealing groove is formed in the center of the lower cambered surface of the blade 25 along the axial direction, the length of the strip-shaped sealing groove is equal to that of the blade 25, and a blade sealing strip is embedded in the strip-shaped sealing groove;
the outer diameter of the boss of the cylinder body of the valve body is the same as the nominal size of the inner diameter of the cylindrical cavity 32 of the cylinder body, the cylindrical surface of the boss of the cylinder body is provided with three valve body sealing grooves, a valve body low-pressure oil ring groove 43 and a valve body second low-pressure oil channel 22 are arranged between the left valve body sealing groove and the middle valve body sealing groove, and a valve body high-pressure oil ring groove 42 and a valve body broken line type high-pressure oil channel 24 are arranged between the middle valve body sealing;
a second rectangular valve port 45 is arranged on the hollow cylinder close to the cylindrical boss, a first rectangular valve port 44 is arranged on the hollow cylinder close to the left valve body sealing groove, and the first rectangular valve port 44 and the second rectangular valve port 45 are identical in size;
as shown in fig. 9, the plain line of the valve body broken line type high-pressure oil passage 24 is located between the plain line at the center of the second rectangular valve port 45 and the plain line at the center of the first rectangular valve port 44, the included angle between the plain line at the center of the second rectangular valve port 45 and the plain line at the center of the first rectangular valve port 44 is θ, and the included angle is equal to
Figure GDA0002173659700000161
In formula (1): b1Is the arc length of the inner wall of the blade; b2Is a rectangular valveThe arc length of the mouth on the hollow cylinder; r is the outer diameter of the hollow cylinder;
as shown in fig. 8, the length of the first shoulder 38 of the valve body 14 is the distance from the boss of the cylinder body to the right end face of the cylinder body, the length of the second shoulder 39 of the valve body 14 is the distance from the right end face of the first shoulder 38 of the valve body 14 to the right end face of the right end cover 7, the left end of the valve body output shaft 40 is provided with a key groove, and the right end of the valve body output shaft 40 is circumferentially provided with threads.
As shown in fig. 12 and 13, a key groove connected with the steering wheel disk 18 is arranged at the left end of the valve core 17; the valve core 17 is provided with a first annular boss 55, a second annular boss 56, a third annular boss 57, a fourth annular boss 58 and a fifth annular boss 59 from left to right, the right sides of the first annular boss 55, the second annular boss 56, the third annular boss 57 and the fourth annular boss 58 are respectively provided with two rectangular grooves with the same size, the two rectangular grooves are distributed in 180 degrees, and each two rectangular grooves are positioned on the same circumferential line; the two rectangular groove center lines of the first annular boss 55 and the three rectangular groove center lines of the third annular boss 57 are respectively positioned on two element lines in axial symmetry, the two rectangular groove center lines of the second annular boss 56 and the two rectangular groove center lines of the fourth annular boss 58 are respectively positioned on the other two element lines in axial symmetry, and the difference of each element line is 90 degrees;
as shown in fig. 13, a radial oil through groove 54 is formed in the left side of the valve core 17 near the first annular boss 55, an axial oil through groove 60 is formed in the center of the right side of the valve core 17, the left end of the axial oil through groove 60 is communicated with the radial oil through groove 54, the two oil through grooves are distributed at 90 degrees, and the right end of the axial oil through groove 60 penetrates through the valve core 17.
As shown in fig. 10 and 11, the valve sleeve 15 is composed of six annular bosses and five grooves, which are alternately arranged; the left end ring-shaped boss of the valve sleeve is provided with two semicircular cylindrical pin holes which are arranged in an angle of 180 degrees; two rectangular ports are respectively arranged on the first groove and the fifth groove, the two rectangular ports are arranged in an angle of 180 degrees, the two rectangular ports on the first groove are valve sleeve left T ports 46, and the two rectangular ports on the fifth groove are valve sleeve right T ports 43; the left side and the right side of the three grooves in the middle of the valve sleeve 15 are respectively provided with a group of rectangular openings, and each group of rectangular openings consists of two rectangular openings which are arranged at an angle of 180 degrees; the sizes of the rectangular openings on the five grooves are the same, the central lines of the rectangular openings on the five grooves are all positioned on the same corresponding element line, and the sizes of the rectangular openings on the five grooves are the same as the sizes of the rectangular grooves of the four bosses on the valve core 17;
as shown in fig. 10 and 11, the left side surface of each group of rectangular openings on the left side of the three middle grooves of the valve sleeve 15 and the right side surface of the adjacent annular boss are in the same plane, and the right side surface of each group of rectangular openings on the right side of the three middle grooves and the left side surface of the adjacent annular boss are in the same plane; the six groups of rectangular ports in the middle of the valve sleeve 15 are a valve sleeve left A port 47, a valve sleeve right A port 48, a valve sleeve left P port 49, a valve sleeve right P port 50, a valve sleeve left B port 51 and a valve sleeve right B port 52 from left to right in sequence.
As shown in fig. 2 and 14, the fixed stopper 21 is divided into two parts, namely a fixed stopper upper arc-shaped blocking piece and a fixed stopper lower arc-shaped frustum-shaped stopper, the axial length of the fixed stopper upper part is the difference between the length of the cylinder body cylindrical cavity 32 and the length of the cylinder body 14 cylindrical boss, and the difference between the upper arc surface and the lower arc surface of the fixed stopper lower arc-shaped frustum is half of the difference between the outer diameter of the cylinder body 6 and the outer diameter of the cylinder body 14; the center of the lower cambered surface of the fixed stop block 21 is provided with a strip-shaped sealing groove along the axis direction, the length of the strip-shaped sealing groove is equal to that of the fixed stop block 21, and a stop block sealing strip is embedded in the strip-shaped sealing groove.
As shown in fig. 1 and 17, annular sealing strip grooves 64 are radially and symmetrically formed in two sides of a central circular hole of the cover body of the right end cover 7, and annular sealing strips are embedded in the annular sealing strip grooves 64; the right end of the right end cover 7 is processed into a semi-closed box 63, the box 63 is a hollow incomplete cylinder, two planes are symmetrically arranged on the box 63 in the circumferential direction, the extending length of the two planes is larger than the length of the cylinder part, threaded holes and bearing holes are formed in the two planes, and a through hole is formed in the center of a disc structure of the right end cover 7.
As shown in fig. 1, 18 and 19, the nominal size of the outer diameter of the gear cover 11 is the same as the nominal size of the outer diameter of the right end cover box 63, a groove is arranged in the middle of the gear cover 11, the nominal size of the inner part of the groove is the same as the nominal size of the extending part of the right end cover box 63, and a through hole is arranged in the groove of the gear cover.
As shown in fig. 20 and 21, the left end of the connecting rod 9 is a hollow cylinder, the nominal size of the inner diameter of the cylinder is the same as the nominal size of the driven shaft 12, the side edge of the inside of the cylinder is provided with a key groove, so that the connecting rod 9 is connected with the driven shaft 12 in the circumferential direction through a flat key, the upper end and the lower end of the hollow cylinder are provided with step-shaped through holes, the connecting rod 9 is connected with the driven shaft 12 in the axial direction through a bolt, the middle section of the connecting rod 9 is in arc transition, the right.
As shown in fig. 22, 23 and 24, the driven arm 10 is a hollow incomplete cylinder, the connecting end of the driven arm 10 and the connecting rod 9 is an open structure, four threaded holes are symmetrically formed in two circumferential horizontal side walls, the other end of the driven arm 10 extending outwards is a closed structure, and a plurality of threaded holes are formed in the end face of the closed end and matched with the threaded holes in the right connecting disc 1, so that the driven arm 10 is connected with the right connecting disc 1 through screws.
By adopting the technical scheme, the device main high-pressure oil inlet P enters the cylinder body high-pressure oil channel 34 through the left end cover high-pressure oil channel 27, then enters the valve body high-pressure oil annular groove 42, then enters the valve body broken line type high-pressure oil channel 24, and finally enters the valve sleeve left P port 49 and the valve sleeve right P port 50.
When the valve core 17 rotates counterclockwise relative to the valve sleeve 15, the high-pressure oil enters the rectangular groove on the second annular boss 56 of the valve core 17 from the valve sleeve left P port 49, then enters the valve sleeve right a port 48, finally enters the first working chamber 61 through the first rectangular valve port 44 of the valve body 14, pushes the vane 25 to rotate counterclockwise, so that the valve body 14 follows the valve core 17, and the low-pressure oil in the second working chamber 62 enters the valve sleeve right B port 52 through the second rectangular valve port 45 of the valve body 14, then enters the rectangular groove on the fourth annular boss 58 of the valve core 17, and finally enters the valve sleeve right T port 53.
When the valve core 17 rotates clockwise relative to the valve sleeve 15, the high-pressure oil enters the rectangular groove on the third annular boss 57 of the valve core 17 from the valve sleeve right P port 50, then enters the valve sleeve left B port 51, finally enters the second working chamber 62 through the second rectangular valve port 45 of the valve body 14, pushes the vane 25 to rotate clockwise, so that the valve body 14 follows the valve core 17 to move, and the low-pressure oil in the first working chamber 61 enters the valve sleeve left a port 47 through the first rectangular valve port 44 of the valve body 14, then enters the rectangular groove on the first annular boss 55 of the valve core 17, and finally enters the valve sleeve left T port 46.
The low-pressure oil of the valve sleeve left T-shaped port 46 enters the cylinder body low-pressure oil ring-shaped groove 36 through the valve body upper first low-pressure oil channel 20 and the valve body lower first low-pressure oil channel 26, then enters the cylinder body first low-pressure oil channel 30, and then enters the low-pressure oil outlet T through the left end cover low-pressure oil channel 28 to gradually flow back; the low-pressure oil in the right valve sleeve T port 53 enters the low-pressure oil ring groove 43 of the valve body through the second low-pressure valve body channel 22, then enters the left end cover low-pressure oil channel 28 through the second low-pressure cylinder body channel 31, and finally gradually flows back through the low-pressure oil outlet T.
When the valve sleeve left A port 47 is communicated with the first working chamber 61, the valve sleeve left B port 51 is communicated with the second working chamber 62, and the valve sleeve right A port 48 and the valve sleeve right B port 52 are not communicated with the first working chamber 61 and the second working chamber 62; when the valve housing right a port 48 communicates with the first working chamber 61, the valve housing right B port 52 communicates with the second working chamber 62, and the valve housing left a port 47 and the valve housing left B port 51 do not communicate with the first working chamber 61 and the second working chamber 62. Except as described above, the valve housing ports are not in communication with the first working chamber 61 and the second working chamber 62.
The protective scope of the present invention is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present invention by those skilled in the art without departing from the scope and spirit of the present invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

Claims (7)

1. The utility model provides a gentle and agreeable hydraulic pressure robot joint of corner self-servo passive which characterized in that: the steering gear comprises a steering gear (19), a steering gear cover (2), a steering gear disc (18), a steering gear seat (3), a cylinder body (6), a valve sleeve (15), a valve core (17), a valve body (14), a fixed stop block (21), blades (25), a driving bevel gear (13), a driven shaft (12), a driven bevel gear (8), a gear cover (11), a connecting rod (9), a driven arm (10) and a connecting disc (1);
the valve body (14) is concentrically arranged in a cylindrical cavity (32) of the cylinder body, the left end and the right end of the valve body (14) are concentrically provided with two deep groove ball bearings (5), the left end deep groove ball bearing (5) is concentrically fixed in a left bearing groove (29) of the cylinder body, the right end deep groove ball bearing (5) is concentrically fixed in a right bearing groove (33) of the cylinder body, a left end cover (4) is arranged at the left end of the cylinder body (6), a right end cover (7) is arranged at the right end of the cylinder body (6), an output shaft of the valve body (14) extends out of the right end cover (7), a driving bevel gear (13) is concentrically arranged on an output shaft shoulder at the right end of the valve body (14) and is arranged in a cavity of the right end cover (7), a driven shaft (12) is arranged on the right end cover (7), a gear cover (11) is arranged on the right end cover (7), and a driven, two connecting rods (9) are respectively and fixedly and symmetrically arranged at two ends of a driven shaft (12) through screws, a driven arm (10) is arranged in the middle of the other end of each connecting rod (9), two connecting discs (1) are concentrically arranged on a left rudder cover (2), and one connecting disc is concentrically arranged at the tail end of the driven arm (10);
a fixed stop block (21) is arranged at the right upper part of the inner wall of the cylinder body (6), and the fixed stop block (21) is in movable fit with the valve body (14); the outer wall of the cylindrical cavity (37) of the valve body is provided with a blade (25), and the blade (25) is in movable fit with the cylinder body (6);
the valve sleeve (15) is concentrically arranged in the cylindrical cavity (37) of the valve body, the left end surface of the valve sleeve (15) and the left end surface of the valve body (14) are fixed together through a cylindrical pin, the right end of the valve core (17) penetrates through the valve sleeve (15) and is concentrically arranged in the cylindrical cavity (37) of the valve body, and the left end and the right end of the valve core (17) are respectively provided with two thrust ball bearings (16);
the steering engine (19) is fixed on the left end cover (4) through two steering engine bases (3), and an output shaft of the steering engine (19) is concentrically connected with an inner hole at the left end of the valve core (17) through two steering engine disks (18) connected through bolts;
a left end cover low-pressure oil channel (28) and a left end cover high-pressure oil channel (27) are correspondingly arranged above and below the left end cover (4), an outlet of the left end cover low-pressure oil channel (28) is a low-pressure oil outlet T, an inlet of the left end cover high-pressure oil channel (27) is a high-pressure oil inlet P, and an included angle formed by the circle center of the left end cover low-pressure oil channel (28) and the line connecting the circle center of the left end cover high-pressure oil channel (27) and the circle center of the left end cover (4) is 150 degrees;
the upper part of the cylinder body (6) is provided with a first cylinder body low-pressure oil channel (30) along the radial direction, and is provided with a second cylinder body low-pressure oil channel (31) along the axial direction, the first cylinder body low-pressure oil channel (30) is communicated with the second cylinder body low-pressure oil channel (31), and the second cylinder body low-pressure oil channel (31) is communicated with the left end cover low-pressure oil channel (28); a cylinder body high-pressure oil channel (34) is arranged at the lower part of the cylinder body (6) along the axial direction, and the cylinder body high-pressure oil channel (34) is communicated with the left end cover high-pressure oil channel (27);
the inlet of a first low-pressure oil channel (30) of the cylinder body is communicated with a low-pressure oil ring groove (36) of the cylinder body, the low-pressure oil ring groove (36) of the cylinder body is communicated with a first low-pressure oil channel (20) on the valve body and a first low-pressure oil channel (26) under the valve body, the upper part and the lower part of the first radial low-pressure oil channel are communicated with a left T-shaped port (46) of the valve sleeve, the left T-shaped port (46) of the valve sleeve is communicated with a rectangular groove on a first annular boss (55) of the valve core, the rectangular groove on the first annular boss (55) of the valve core is communicated with a left A-shaped port (47) of the valve sleeve, and the left A-shaped port (47) of the valve sleeve is communicated with;
the inlet of a second low-pressure oil channel (31) of the cylinder body is communicated with a low-pressure oil ring groove (43) of the valve body, the low-pressure oil ring groove (43) of the valve body is communicated with a second low-pressure oil channel (22) of the valve body, the second low-pressure oil channel (22) of the valve body is communicated with a right T port (53) of the valve sleeve, the right T port (53) of the valve sleeve is communicated with a rectangular groove on a fourth annular boss (58) of the valve core (17), the rectangular groove on the fourth annular boss (58) of the valve core (17) is communicated with a right B port (52) of the valve sleeve, and the right B port (52) of the valve sleeve is communicated with a corresponding second working cavity (62) through a second rectangular valve port (45;
an outlet of the cylinder body high-pressure oil channel (34) is communicated with a valve body high-pressure oil annular groove (42), the valve body high-pressure oil annular groove (42) is communicated with a valve body Z-shaped high-pressure oil channel (24), the valve body Z-shaped high-pressure oil channel (24) is respectively communicated with a valve sleeve left P port (49) and a valve sleeve right P port (50), the valve sleeve left P port (49) is communicated with a rectangular groove on a valve core second annular boss (56), a rectangular groove on the valve core second annular boss (56) is communicated with a valve sleeve right A port (48), and the valve sleeve right A port (48) is communicated with a corresponding first working cavity (61) through a valve body first rectangular valve port (44);
the valve sleeve right P port (50) is communicated with a rectangular groove on a valve core third annular boss (57), the rectangular groove on the valve core third annular boss (57) is communicated with a valve sleeve left B port (51), and the valve sleeve left B port (51) is communicated with a corresponding second working cavity (62) through a second rectangular valve port (45) of the valve body;
the driving bevel gear (13) is radially installed at the tail end of an output shaft of the valve body (14) through a round nut and fixed in the circumferential direction through a flat key, deep groove ball bearings B (65) are installed at two ends of the driven shaft (12), the inner rings of the deep groove ball bearings B (65) are excessively matched with the driven shaft (12), and the outer rings of the deep groove ball bearings B (65) are excessively matched with the right end cover (7); the driving bevel gear (13) is meshed with the driven bevel gear (8) at an angle of 90 degrees, and the driven bevel gear (8) is fixedly connected with the driven shaft (12) in the circumferential direction through a flat key; two ends of a deep groove ball bearing B (65) are provided with bearing covers which are axially fixed, connecting rods (9) are circumferentially fixed with a driven shaft (12) through flat keys and are axially fixedly connected with the driven shaft (12) through screws, a driven arm (10) is arranged between the two connecting rods (9) through screws, and two connecting discs (1) are respectively arranged on a left side end rudder cover (2) and a right side end driven arm (10) through bolts;
the valve body (14) consists of a hollow cylinder, blades (25), a cylinder boss, a first shaft shoulder (38), a second shaft shoulder (39) and a valve body output shaft (40) from left to right in sequence; the outer diameter of the cylinder is the same as the nominal size of the inner diameter of a circular hole (35) of the cylinder body, a cylindrical cavity (37) of the valve body and a bearing groove (41) of the valve body are formed in the cylinder, the inner diameter of the cylindrical cavity (37) of the valve body is the same as the nominal size of the outer diameter of a valve sleeve (15), two semicircular pin holes with the same size are formed in the left end of the cylindrical cavity (37) of the valve body, the two pin holes are distributed in an angle of 180 degrees, a cylindrical surface at the left end of the cylinder is provided with two sealing grooves of the valve body, a low-pressure oil ring groove (36) of the cylinder body is formed between the two sealing grooves at the left end of the valve body (14), and a;
a blade (25) is arranged below the outer wall of the cylinder, the length of the blade (25) is the difference between the length of the cylindrical cavity (32) of the cylinder body and the length of the cylindrical boss of the valve body (14), and the difference between the upper cambered surface and the lower cambered surface of the blade (25) is half of the difference between the inner diameter of the cylindrical cavity (32) of the cylinder body and the outer diameter of the cylinder of the valve body (14); a strip-shaped sealing groove is formed in the center of the lower cambered surface of the blade (25) along the axis direction, the length of the strip-shaped sealing groove is equal to that of the blade (25), and a blade sealing strip is embedded in the strip-shaped sealing groove;
the outer diameter of the boss of the cylinder body of the valve body is the same as the nominal size of the inner diameter of the cylindrical cavity (32) of the cylinder body, the cylindrical surface of the boss of the cylinder body is provided with three valve body sealing grooves, a valve body low-pressure oil annular groove (43) and a valve body second low-pressure oil channel (22) are arranged between the left valve body sealing groove and the middle valve body sealing groove, and a valve body high-pressure oil annular groove (42) and a valve body fold line type high-pressure oil channel (24) are arranged between the middle valve;
a second rectangular valve port (45) is arranged on the hollow cylinder close to the cylindrical boss, a first rectangular valve port (44) is arranged on the hollow cylinder close to the left valve body sealing groove, and the first rectangular valve port (44) and the second rectangular valve port (45) are the same in size;
the plain line of the valve body broken line type high-pressure oil channel (24) port is positioned in the middle of the plain line at the center of the second rectangular valve port (45) and the plain line at the center of the first rectangular valve port (44), the included angle between the plain line at the center of the second rectangular valve port (45) and the plain line at the center of the first rectangular valve port (44) is theta, and the included angle is theta
Figure FDA0002226913390000041
In formula (1): b1Is the arc length of the inner wall of the blade; b2The arc length of the rectangular valve port on the hollow cylinder is long; r is the outer diameter of the hollow cylinder;
the length of a first shaft shoulder (38) of the valve body (14) is the distance from a boss of a cylinder of the valve body to the right end face of the cylinder body, the length of a second shaft shoulder (39) of the valve body (14) is the distance from the right end face of the first shaft shoulder (38) of the valve body (14) to the right end face of the right end cover (7), a key groove is formed in the left end of the valve body output shaft (40), and threads are machined in the circumferential direction of the right end of the valve body output shaft (;
the left end of the valve core (17) is provided with a key groove connected with a steering engine disc (18); the valve core (17) is provided with a first annular boss (55), a second annular boss (56), a third annular boss (57), a fourth annular boss (58) and a fifth annular boss (59) from left to right, the right sides of the first annular boss (55), the second annular boss (56), the third annular boss (57) and the fourth annular boss (58) are respectively provided with two rectangular grooves with the same size, the two rectangular grooves are distributed in 180 degrees, and each two rectangular grooves are positioned on the same circumferential line; two rectangular groove center lines of the first annular boss (55) and two rectangular groove center lines of the third annular boss (57) are respectively positioned on two element lines in axial symmetry, two rectangular groove center lines of the second annular boss (56) and two rectangular groove center lines of the fourth annular boss (58) are respectively positioned on the other two element lines in axial symmetry, and each element line has a 90-degree difference;
a radial oil through groove (54) is formed in the position, close to a first annular boss (55), of the left side of the valve core (17), an axial oil through groove (60) is formed in the center of the right side of the valve core (17), the left end of the axial oil through groove (60) is communicated with the radial oil through groove (54), the two oil through grooves are distributed in an angle of 90 degrees, and the right end of the axial oil through groove (60) penetrates through the valve core (17).
2. The corner self-servo passive compliant hydraulic robot joint of claim 1, wherein: the valve sleeve (15) consists of six annular bosses and five grooves, and the annular bosses and the grooves are alternately arranged; the left end ring-shaped boss of the valve sleeve is provided with two semicircular cylindrical pin holes which are arranged in an angle of 180 degrees; two rectangular ports are respectively arranged on the first groove and the fifth groove, the two rectangular ports are arranged in an angle of 180 degrees, the two rectangular ports on the first groove are left T-shaped ports (46) of the valve sleeve, and the two rectangular ports on the fifth groove are right T-shaped ports (43) of the valve sleeve; the left side and the right side of the three grooves in the middle of the valve sleeve (15) are respectively provided with a group of rectangular openings, and each group of rectangular openings consists of two rectangular openings which are mutually arranged at an angle of 180 degrees; the sizes of the rectangular openings on the five grooves are the same, the central lines of the rectangular openings on the five grooves are all positioned on the same corresponding element line, and the sizes of the rectangular openings on the five grooves are the same as the sizes of the rectangular grooves of the four bosses on the valve core (17);
the left side surface of each group of rectangular openings on the left side of three grooves in the middle of the valve sleeve (15) and the right side surface of the adjacent annular boss are in the same plane, and the right side surface of each group of rectangular openings on the right side of the three grooves in the middle of the valve sleeve and the left side surface of the adjacent annular boss are in the same plane; six groups of rectangular ports in the middle of the valve sleeve (15) are a valve sleeve left A port (47), a valve sleeve right A port (48), a valve sleeve left P port (49), a valve sleeve right P port (50), a valve sleeve left B port (51) and a valve sleeve right B port (52) from left to right in sequence.
3. The corner self-servo passive compliant hydraulic robot joint of claim 1, wherein: the fixed stop block (21) is divided into two parts, namely an upper arc-shaped stop piece of the fixed stop block and a lower arc-shaped frustum stop block of the fixed stop block, the axial length of the upper part of the fixed stop block is the difference between the length of the cylindrical cavity (32) of the cylinder body and the length of the cylindrical boss of the valve body (14), and the difference between the upper arc surface and the lower arc surface of the lower arc-shaped frustum of the fixed stop block is half of the difference between the outer diameter of the cylinder body (6) and the outer diameter; the center of the lower cambered surface of the fixed stop block (21) is provided with a strip-shaped sealing groove along the axis direction, the length of the strip-shaped sealing groove is equal to that of the fixed stop block (21), and a stop block sealing strip is embedded in the strip-shaped sealing groove.
4. The corner self-servo passive compliant hydraulic robot joint of claim 1, wherein: two sides of a central circular hole of the cover body of the right end cover (7) are radially and symmetrically provided with annular sealing strip grooves (64), and annular sealing strips are embedded in the annular sealing strip grooves (64); the right end of the right end cover (7) is processed into a semi-closed box body (63), the box body (63) is a hollow incomplete cylinder, two planes are symmetrically arranged in the circumferential direction of the box body (63), the extending lengths of the two planes are larger than the length of the cylinder part, threaded holes and bearing holes are formed in the two planes, and a through hole is formed in the center of a disc structure of the right end cover (7).
5. The corner self-servo passive compliant hydraulic robot joint of claim 1, wherein: the nominal size of the outer diameter of the gear cover (11) is the same as the nominal size of the outer diameter of the right end cover box body (63), a groove is formed in the middle of the gear cover (11), the nominal size of the inner part of the groove is the same as the nominal size of the extending part of the right end cover box body (63), and a through hole is formed in the groove of the gear cover.
6. The corner self-servo passive compliant hydraulic robot joint of claim 1, wherein: connecting rod (9) left end is the hollow circular cylinder, and cylinder internal diameter nominal size is the same with driven shaft (12) nominal size, and the keyway has been seted up to the inside side of cylinder for connecting rod (9) are connected through the parallel key with driven shaft (12) circumference, and open all have the stairstepping through-hole on the hollow circular cylinder lower extreme, make connecting rod (9) and driven shaft (12) axial pass through bolted connection, and connecting rod (9) middle section is the arc transition, and the right-hand member is two symmetrical planes, and the through-hole has been seted up to the symmetry on the two planes.
7. The corner self-servo passive compliant hydraulic robot joint of claim 1, wherein: the driven arm (10) is a hollow incomplete cylinder, the connecting side end of the driven arm (10) and the connecting rod (9) is of an open structure, four threaded holes are symmetrically formed in two circumferential horizontal side walls, the other end extending outwards of the driven arm (10) is of a closed structure, a plurality of threaded holes are formed in the end face of the closed end and matched with the threaded holes in the right connecting disc (1), and therefore the driven arm (10) is connected with the right connecting disc (1) through screws.
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DE102018205637A1 (en) * 2018-04-13 2019-10-17 Festo Ag & Co. Kg Rotary drive device and robotic arm of a robot equipped therewith
CN108608459B (en) * 2018-08-09 2020-07-28 江苏钧微动力科技有限公司 Hydraulic drive joint for robot
CN109483589B (en) * 2018-12-28 2024-01-05 武汉科技大学 Hydraulic corner self-servo compliant driver easy to process
CN113246172A (en) * 2021-05-28 2021-08-13 武汉科技大学 Parallel double-drive three-degree-of-freedom hydraulic joint
CN113263521A (en) * 2021-06-28 2021-08-17 武汉科技大学 Multi-stage rigidity-adjustable passive flexible swing joint
CN113386121B (en) * 2021-07-08 2022-11-01 武汉科技大学 Series hydraulic servo passive compliant joint
CN113370202A (en) * 2021-07-08 2021-09-10 武汉科技大学 Double-blade hydraulic servo compliant driver
CN113858258B (en) * 2021-10-08 2024-06-21 武汉科技大学 Continuous rotary hydraulic joint for axially distributing oil
CN116079780A (en) * 2023-01-04 2023-05-09 之江实验室 Integrated follow-up robot hydraulic joint shaft and robot

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