CN112112846A - Hydraulic actuator for robot - Google Patents

Abstract

The invention discloses a hydraulic actuator for a robot, comprising a vane type swing hydraulic motor, a rotary encoder, a servo valve, a high-speed three-position four-way electromagnetic reversing valve, a pressure reducing valve, a one-way valve, an accumulator and two Pressure sensor, the vane swing hydraulic motor includes an output shaft and two independently closed cylinders, the upper half of each of the cylinders extending radially is a cavity, and the lower half is an integral structure with the cylinder The stator, the output shaft is rotatably connected with the stator surface grooves in the axial center of the two cylinders, each cylinder has a blade, the end surface of the blade is in contact with the inner wall of the cylinder, and the blade is in contact with the inner wall of the cylinder. The radial surface can be in contact with the surface of the stator, and the output shaft is fixedly connected with the two blades. The present invention greatly reduces energy consumption and increases instantaneous output, so that the swing joint can instantaneously obtain greater movement speed.

Description

Hydraulic Actuators for Robots

technical field

The invention specifically relates to a hydraulic actuator for a robot.

Background technique

The swing joint is derived from bionics, which provides connection support for rods with relative motion and drives the two connected rods to perform relative motion, similar to human arms, legs, and other motion forms. Swing joints are widely used in the field of robotics, such as robotic arms on assembly lines, various legged walking robots (biped robots, quadruped robots, etc.), and swing joints are the most basic driving units of the above robots. It determines the motion performance of the motion system, as the robot develops in the direction of higher speed motion, greater load bearing, higher motion accuracy, higher anti-interference and higher endurance. The basic requirements for higher-speed motion and greater load bearing on the swing joint are high power density, that is, the swing joint with small volume and low weight can achieve higher power output, which directly means that the swing joint can output greater driving force and Greater movement speed; higher endurance means low energy consumption, low energy consumption means that the remaining energy except the necessary work energy should be consumed as little as possible, on the one hand, energy saving, on the other hand, recycling energy; High anti-interference ability, which means that the swing joint can fully absorb and buffer the impact from the outside world; higher motion accuracy requires the basic motion state of the swing cylinder and its basic dynamic characteristics, that is, the use of sufficient integrated sensors to sense the swing joint in real time. Various motion parameters to achieve control.

At present, there are two main driving forms of swing joints: electric driving and hydraulic driving. For miniature joints, there are various new driving forms such as piezoelectric material driving, shape memory alloy driving and so on. Among them, an obvious problem of electric drive is that its power density is too low, and the motor output is too small to meet the needs of high-speed and high-load robots; hydraulic drive has high power density, but traditional articulated walking robots The applied hydraulic drives are all scattered hydraulic components, resulting in more installation parts for the leg and foot joints, and the hydraulic components are all traditionally designed structures, resulting in a large weight of the leg and foot joints, which is not conducive to the robot to achieve high-speed, high-load and high-jump goals. The traditional hydraulically driven swing joint does not realize the functions beneficial to the swing joint, such as effective buffering of impact energy, recovery and storage of impact energy, controllable release of impact energy and force burst.

SUMMARY OF THE INVENTION

Based on the above shortcomings, the purpose of the present invention is to provide a hydraulic actuator for a robot, which solves the problems that the current swing joint drive cannot realize shock buffering, shock energy absorption and storage, controllable re-release of shock energy, and force burst. and achieve higher power density.

In order to solve the above problems, the technical solution adopted in the present invention is as follows: a hydraulic actuator mechanism for robots, including a vane type swing hydraulic motor, a rotary encoder, a servo valve, a high-speed three-position four-way electromagnetic reversing valve, a decompression valve, check valve, accumulator and two pressure sensors, the rotary encoder is installed at the tail of the vane swing hydraulic motor, and it is characterized in that: the vane swing hydraulic motor includes an output shaft and two independently closed cylinders , the upper half of each of the cylinders in the radial direction is a cavity, and the lower half is a stator integrated with the cylinder. Both sides of the stator are respectively provided with inner oil ports, and each of the inner The oil port is connected with an oil hole on the cylinder block, the output shaft is rotatably connected with the grooves on the stator surface in the axial center of the two cylinder blocks, and the outer parts of the two ends of the output shaft are respectively rotatably connected with the outer parts of the two cylinder blocks through the bearing pair. , the two cylinders are axially tightly connected and sealed to each other, each cylinder has a blade, the end surface of the blade is in contact with the inner wall of the cylinder, and the radial surface of the blade can be in contact with the surface of the stator. Contact, the output shaft is fixedly connected with the two vanes, and the two vanes are 180 degrees apart from the radial direction of the output shaft, so that the diagonal oil chambers of the two cylinders are high-pressure oil chambers or low-pressure oil chambers at the same time. The two cylinder blocks are the main cylinder and the auxiliary cylinder respectively. The two oil holes of the main cylinder are respectively connected to the two working oil ports of the servo valve through two pipelines. The oil port is connected to the external high pressure oil port through the pipeline, the oil return port of the servo valve is connected to the external low pressure oil port; the two oil holes of the auxiliary cylinder are respectively connected to the two working oil ports of the high-speed three-position four-way electromagnetic directional valve. , the oil inlet of the high-speed three-position four-way electromagnetic reversing valve is connected with the output port of the accumulator and the one-way valve respectively, and the oil return port of the high-speed three-position four-way electromagnetic reversing valve is connected with the external low pressure oil port. The input port of the valve is connected with the output port of the pressure reducing valve, and the inlet and outlet of the pressure reducing valve are respectively connected with the external high pressure oil port and the high pressure oil port of the servo valve; the operation of the mechanism under each working condition includes the following:

Low load condition: When the swing joint of the robot is in a low load state, the high-speed three-position four-way electromagnetic reversing valve is in the neutral position. At this time, the two working oil ports of the high-speed three-position four-way electromagnetic reversing valve and the external low-pressure oil At this time, the two oil chambers separated by the vanes of the auxiliary cylinder are connected to the external low pressure oil port, the vanes of the auxiliary cylinder are not affected by the hydraulic oil and are in a free swing state, and the master cylinder is controlled by the servo valve. For control movement, the auxiliary cylinder follows the movement of the main cylinder. At this time, the oil port connecting the accumulator and the high-speed three-position four-way electromagnetic reversing valve is in a closed state, and the oil port connecting the accumulator and the pressure reducing valve through the one-way valve is in a closed state. Then add oil to the accumulator to restore its internal pressure to the initial state;

Shock-absorbing condition: When the swinging joint of the robot is impacted by the outside world, the high-speed three-position four-way electromagnetic reversing valve is switched to the right position, and the auxiliary cylinder is connected to the accumulator through the high-speed three-position four-way electromagnetic reversing valve. The external impact force is transmitted to the auxiliary cylinder blade through the output shaft, and the auxiliary cylinder blade pushes the hydraulic oil in the oil cavity on one side into the accumulator, and the oil cavity on the other side of the auxiliary cylinder blade is connected with the external low-pressure oil port, and the external low-pressure oil The oil flows into the oil cavity on the other side through the low-pressure oil port to supplement the space created by the swing of the blade, and the accumulator accepts the hydraulic oil pushed by the auxiliary cylinder blades. load; shock energy storage condition: when the swing joint of the robot is subjected to external impact, the high-speed three-position four-way electromagnetic reversing valve is switched to the neutral position, and the accumulator is connected to the high-speed three-position four-way electromagnetic reversing valve. The road is closed, and a part of the hydraulic oil is squeezed into the accumulator due to the external impact. At this time, the hydraulic oil pressure in the accumulator is higher than the pressure supplemented by the pressure reducing valve to the accumulator under low load conditions, and there is a one-way Due to the valve action, the hydraulic oil in the accumulator can no longer flow back to the pressure reducing valve, thus realizing the storage of the external impact energy in the buffer impact condition;

Force bursting condition: When the swing joint of the robot has experienced the above three working conditions and is in a state of heavy load, the load is a one-way load, and the external impact is the reverse of the one-way load. At this time, the high-speed three The four-way electromagnetic reversing valve is switched to the left position, then the accumulator communicates with the other chamber of the auxiliary cylinder through the left position function of the high-speed three-position four-way electromagnetic reversing valve, which is just the opposite of the buffer impact condition. The stored impact energy is released and re-acted on the auxiliary cylinder blades to apply driving force to the main cylinder, so as to realize the overall external output of larger force and realize the function of force bursting.

The present invention also has the following technical features:

1. The arc-shaped contact surface of the output shaft and the stator is respectively provided with a plurality of unloading grooves along the axial direction, and the lowest end of the arc-shaped contact surface is respectively provided with an oil storage groove along the axial direction, which extends in the oil storage groove. There are multiple oil reservoir channels in the radial direction.

2. The radial surface and the end surface of the blade are respectively provided with unloading grooves.

3. Oil reservoir channels are respectively opened on the radial surface and the end surface of the blade.

4. The output shaft includes a carbon fiber shaft and an aluminum alloy shaft shell, and the aluminum alloy shaft shell is sleeved outside the carbon fiber shaft and is fixedly connected with it.

5. The cylinder body includes an aluminum alloy cylinder barrel, and the outer surface of the aluminum alloy cylinder barrel is wrapped with a carbon fiber layer.

6. The outer layer of the blade is aluminum alloy, and the interior is filled with carbon fiber lining.

The invention has the following advantages and beneficial effects: the invention realizes the functions that traditional swing joints do not have, such as shock buffering, shock energy absorption and storage, controllable re-release of shock energy, force burst, etc., and greatly increases the anti-interference ability of the system , greatly reducing the energy consumption of the swing joint. The lower weight is achieved through the composite design of a variety of low-density materials, which greatly reduces the weight of the entire joint, so that the swing joint has the same power input and the same weight. higher load capacity and higher energy saving capability. The double-layer oil cylinder is switched by control means, one-layer cylinder is used for low load, and two-layer cylinder is used for large load, which greatly reduces the energy consumption and increases the instantaneous output, so that the swing joint can instantly obtain a greater movement speed. The accumulator realizes energy absorption and storage, combined with the high-speed switch valve to realize the controllable release of energy, and the energy recovery mechanism is added, which further reduces the overall energy consumption of the system. The invention can be used for various robots with swing joints, such as mechanical arms, walking articulated robots, etc. It can drive the joints for high integration of swing motion and has the characteristics of high power density, independent buffering and absorption of external impact interference energy, and energy storage. And a new type of hydraulic actuator with controllable release energy and force burst. The hydraulic actuator for the new robot integrates an oil port pressure sensor and a rotary encoder, which can sense the actuator's output torque, output displacement, speed and other information in real time, providing an interface for high-precision motion control.

Description of drawings

1 is a perspective view one of the general assembly of the hydraulic actuator mechanism for a robot of the present invention;

2 is a perspective view 1 of the general assembly of the hydraulic actuator mechanism for a robot of the present invention;

FIG. 3 is a perspective view three of the general assembly of the hydraulic actuator mechanism for a robot according to the present invention;

4 is a front view of the hydraulic actuator mechanism for a robot of the present invention;

Fig. 5 is the B-B sectional view of Fig. 4;

Fig. 6 is the front view of the connection structure of the blade and the output shaft;

Fig. 7 is the A-A sectional view of Fig. 6;

Fig. 8 is the B-B sectional view of Fig. 6;

Fig. 9 is the right side view of Fig. 6;

Fig. 10 is the right bottom view of Fig. 6;

Fig. 11 is the perspective view of Fig. 6;

Figure 12 is a schematic diagram of the structure of an aluminum alloy cylinder;

Fig. 13 is A-A sectional view of Fig. 12;

Fig. 14 is the perspective view of Fig. 6;

Figure 15 is a schematic diagram of the oil circuit under working conditions;

Figure 16 is a schematic diagram of the oil circuit under low load conditions;

Figure 17 Schematic diagram of the oil circuit in the buffer shock condition;

Figure 18 Schematic diagram of the oil circuit in the storage impact energy condition.

Among them, 1-carbon fiber shaft, 2-aluminum alloy shaft shell, 3-bearing end cover, 4-main cylinder, 5-auxiliary cylinder, 6-carbon fiber end cover, 9-accumulator, 11-first pressure sensor , 12-Servo valve, 14-Second pressure sensor, 17-Reducing valve, 19-High-speed three-position four-way solenoid valve, 21-Check valve, 22-Rotary encoder, 23-Tail carbon fiber end cap, 24- Tail aluminum alloy gland, 25- Auxiliary aluminum alloy cylinder, 27- Middle partition, 29- Main aluminum alloy cylinder, 30- Head aluminum alloy gland, 40- Aluminum alloy cylinder inner sealing O-ring, 41- Oil reservoir, 42- Main cylinder blade carbon fiber lining, 43- Auxiliary cylinder carbon fiber lining, 44- Bearing end cover rotary seal, 45- Bearing end cover O-ring, 46- Needle roller bearing, 47- Stop Port, 48- aluminum alloy cylinder barrel outer O-ring, 49- unloading groove, 50- auxiliary cylinder aluminum alloy blade, 52- master cylinder aluminum alloy blade, 57- pin, 59- oil storage groove, 60- first inner oil port, 61-second inner oil port, 62-weight reduction hollow hole.

Detailed ways

The patent of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in Figure 1-14, a hydraulic actuator mechanism for robots includes a vane-type swing hydraulic motor, a rotary encoder, a servo valve, a high-speed three-position four-way electromagnetic reversing valve, a pressure reducing valve, a one-way valve, The accumulator and two pressure sensors, the rotary encoder is installed at the tail of the vane swing hydraulic motor, the vane swing hydraulic motor is cylindrical, including the output shaft, the head carbon fiber end cover 6, the tail carbon fiber end cover 23, two Bearing end cover 5, two sets of needle roller bearings 46, head aluminum alloy gland 30, tail aluminum alloy gland 24, main aluminum alloy cylinder 29, auxiliary aluminum alloy cylinder 25, middle partition plate 27, head aluminum alloy gland The outer end of 30 is connected with the first bearing end cover, the first needle roller bearing is installed inside the first aluminum alloy gland 30, the outer side of the first aluminum alloy gland 30 is connected with the first carbon fiber end cover 6, and the first aluminum alloy gland 30 is connected with the first needle roller bearing. The inner side is fixedly connected with the main aluminum alloy cylinder 29, the main aluminum alloy cylinder 29 is fixedly connected with the auxiliary aluminum alloy cylinder 25 through the partition plate 27, and the auxiliary aluminum alloy cylinder 25 is fixedly connected with the inner side of the tail aluminum alloy gland 24. The outer end of the aluminum alloy gland 24 is connected with the second bearing end cover, the tail aluminum alloy gland 24 is equipped with a second needle roller bearing, and the output shaft is located inside the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25, The two ends of the output shaft are respectively connected with two needle roller bearings in rolling connection. The output shaft includes a carbon fiber shaft and an aluminum alloy shaft shell. The aluminum alloy shaft shell is fixedly installed outside the carbon fiber shaft. The main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder The outer surface of the cylinder 25 is also wrapped with a carbon fiber layer, and the output shaft includes a carbon fiber shaft 1 and an aluminum alloy shaft shell 2 , and the aluminum alloy shaft shell 2 is fixedly installed outside the carbon fiber shaft 1 . The inner extension of the main aluminum alloy cylinder barrel 29 and the auxiliary aluminum alloy cylinder barrel 25 is the upper half of the cavity, and the lower half is the stator integrated with the cylinder body. The weight reduction hollow hole 62 is opened on the stator. There are first and second inner oil ports 60.61 on both sides respectively, each of the inner oil ports is communicated with an oil hole on the cylinder body, and the output shaft is connected with the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25. The axial center of the stator surface grooves are rotatably connected, the main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25 are tightly and fixedly connected in the axial direction and are sealed to each other through the partition plate 27. The main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder There is a blade in each of the 25, the end face of the blade is in contact with the inner wall of the main aluminum alloy cylinder 29 or the auxiliary aluminum alloy cylinder 25, the radial surface of the blade can contact the surface of the stator, the output shaft is fixedly connected with the two blades, and the two The radial directions of the two blades extending from the output shaft differ by 180 degrees, so that the diagonal oil chambers of the two cylinders are high-pressure oil chambers or low-pressure oil chambers at the same time, and the two oil holes of the main aluminum alloy cylinder barrel 29 pass through the two oil holes respectively. The pipeline is connected to the two working oil ports of the servo valve, and each pipeline is equipped with a pressure sensor. The oil inlet of the servo valve is connected to the external high pressure oil port through the pipeline, and the return oil port of the servo valve is connected to the external low pressure oil port. Connection; the two oil holes of the auxiliary aluminum alloy cylinder barrel 25 are respectively connected with the two working oil ports of the high-speed three-position four-way electromagnetic reversing valve, and the oil inlet of the high-speed three-position four-way electromagnetic reversing valve is respectively connected with the accumulator. , The output port of the check valve is connected, the oil return port of the high-speed three-position four-way electromagnetic reversing valve is connected with the external low pressure oil port, the input port of the check valve is connected with the output port of the pressure reducing valve, and the inlet and outlet of the pressure reducing valve are respectively Connect with the external high pressure oil port and the high pressure oil port of the servo valve;

The side of the vane swing hydraulic motor is fixedly installed with a servo valve 12, a high-speed three-position four-way electromagnetic reversing valve 19 and a pressure reducing valve 17, and a check valve 21 is installed at the oil inlet of the pressure reducing valve 17 to prevent the oil from flowing back. The accumulator 9 can be bundled on the shell of the swing cylinder with a cable tie, or can be fixed with the head carbon fiber end cover 6 and the tail carbon fiber end cover 23 by machining the mounting bracket at the head and tail in the form of threads. The auxiliary cylinder carbon fiber lining 43 inside the auxiliary cylinder aluminum alloy blade layer 50 is glued together to form a whole, the head is fastened with pins, and the master cylinder blade carbon fiber lining 42 inside the main cylinder aluminum alloy blade layer 52 is glued. Connected together to form a whole, the head is fastened with a pin. The end faces of the head carbon fiber end cover 6 and the tail carbon fiber end cover 23 are embedded with metal threaded holes, and the two bearing end covers are respectively installed on the head carbon fiber end cover 6 and the tail carbon fiber end cover 23 by bolts, and a bearing end cover is installed near the shaft. Rotating the sealing ring 44, the outer ring is equipped with a bearing end cover O-ring 45, which ensures the double sealing effect of the axial and radial directions. The two needle roller bearings are respectively installed in the bearing installation space composed of the first bearing end cover and the head aluminum alloy gland 30 , the second bearing end cover and the tail aluminum alloy gland 24 . The head aluminum alloy gland 30, the tail aluminum alloy gland 24, the main aluminum alloy cylinder 29, the auxiliary aluminum alloy cylinder 25, the auxiliary cylinder aluminum alloy blade layer 50, the main cylinder aluminum alloy blade layer 52 and the middle partition plate 27 are composed of Two closed oil chambers, using rotary sealing ring to achieve two-layer swing cylinder oil chamber sealing. The basic structure of the two-layer swing cylinder is the same, but the blade directions are opposite, that is, the blades of the two-layer swing cylinder are on a straight line but the angle is different by 180 degrees, so that the diagonal oil chambers of the two-layer swing cylinders are high-pressure oil chambers or low-pressure oil chambers at the same time. This allows the output shaft to be balanced by the lateral force of the hydraulic oil.

The main aluminum alloy cylinder 29 and the auxiliary aluminum alloy cylinder 25 are designed with a stop 47, which is convenient for installation, an outer ring statically seals the aluminum alloy cylinder outer O-ring 48, and an inner ring statically seals the aluminum alloy cylinder inner seal. The O-ring 40 is provided with an unloading groove and an oil storage groove in the contact part with the aluminum alloy shaft shell 2. When the aluminum alloy shaft shell 2 rotates, the oil from the high-pressure oil chamber is squeezed into the main aluminum alloy cylinder barrel 29 , The contact part of the auxiliary aluminum alloy cylinder 25 and the aluminum alloy shaft shell 2, the unloading groove makes the pressure of the squeezed high-pressure hydraulic oil stepwise lose, so that the pressure loss of the high-pressure oil is extremely small when it reaches the oil storage tank, and the aluminum alloy shaft shell 2 The oil attached to the upper part enters the oil reservoir to ensure a certain lubricating performance, and also ensures that the high-pressure oil will not enter the low-pressure oil chamber through this. At the same time, the radial and end faces of the aluminum alloy blade layers of the main and auxiliary cylinders are respectively provided with radial unloading grooves, end face unloading grooves, end face oil channels and radial oil channels. The principle is the same as the above-mentioned aluminum alloy shaft shell 2. The oil sealing principle is similar. The opening of the unloading groove reduces the deformation of the blade and enhances the radial and end face sealing effect of the blade, which greatly improves the volume efficiency of the swing cylinder and the system is more energy-saving. In this embodiment, the relative motion layer relies on aluminum alloy sprayed with tungsten carbide material with high hardness and high wear resistance to achieve wear resistance, and a weight-reducing hollow is provided on the heavier components to further reduce the weight.

The specific working process of the mechanism is as follows: the mechanism works under four typical cyclic basic working conditions, namely low load working condition, shock buffering working condition, impact energy storage working condition, and force burst working condition. The specific working principle of the device is explained.

As shown in Figure 15-18, the operating conditions of this mechanism include the following:

1. Low load condition: When the swing joint of the robot is in a low load state, the high-speed three-position four-way electromagnetic reversing valve is in the neutral position. At this time, the two working oil ports of the high-speed three-position four-way electromagnetic reversing valve and the external The low-pressure oil port is connected. At this time, the two oil chambers separated by the blades of the auxiliary cylinder are connected to the external low-pressure oil port. The blades of the auxiliary cylinder are not affected by the hydraulic oil and are in a free swing state. The auxiliary cylinder follows the movement of the master cylinder. At this time, the oil port connecting the accumulator and the high-speed three-position four-way electromagnetic reversing valve is in a closed state, and it is connected to the pressure reducing valve through the one-way valve. The oil port replenishes oil for the accumulator to restore its internal pressure to the initial state;

2. Impact buffering condition: When the swing joint of the robot is impacted by the outside world, the high-speed three-position four-way electromagnetic reversing valve is switched to the right position, and the auxiliary cylinder passes through the high-speed three-position four-way electromagnetic reversing valve and the accumulator. The external impact force is transmitted to the auxiliary cylinder blade through the output shaft, the auxiliary cylinder blade pushes the hydraulic oil in the oil cavity on one side into the accumulator, and the oil cavity on the other side of the auxiliary cylinder blade is connected with the external low pressure oil port. The external low-pressure oil flows into the oil cavity on the other side through the low-pressure oil port to supplement the space created by the swing of the blade, and the accumulator accepts the hydraulic oil pushed by the auxiliary cylinder blades. the load of the master cylinder;

3. Condition of storing impact energy: When the swing joint of the robot is subjected to external impact, the high-speed three-position four-way electromagnetic reversing valve is switched to the neutral position, and the accumulator is connected with the high-speed three-position four-way electromagnetic reversing valve. The oil circuit Closed, due to external impact, part of the hydraulic oil is squeezed into the accumulator. At this time, the hydraulic oil pressure in the accumulator is higher than the pressure that the pressure reducing valve supplements the accumulator under low load conditions, and there is a one-way valve. Therefore, the hydraulic oil in the accumulator can no longer flow back to the pressure reducing valve in the reverse direction, thus realizing the storage of the external impact energy in the buffering impact condition;

4. Force bursting condition: When the swing joint of the robot has experienced the above 3 working conditions and is in a state of large load, the load is a one-way load, and the external impact is the reverse of the one-way load. At this time The high-speed three-position four-way electromagnetic reversing valve is switched to the left position, then the accumulator communicates with the other chamber of the auxiliary cylinder through the left-position function of the high-speed three-position four-way electromagnetic reversing valve, which is just opposite to the shock buffering condition. The impact energy stored in the energy accumulator is released and re-acted on the auxiliary cylinder blades to apply a driving force to the main cylinder, thereby realizing the overall external output of a larger force and realizing the function of force bursting.

Summarizing the above four working conditions, it can be seen that the device realizes the functions of shock buffering, shock energy absorption and storage, controllable re-release of shock energy, and force burst, which are not available in traditional hydraulic swing joints.

Claims (7)

1. The utility model provides a hydraulic actuator mechanism for robot, includes vane type swing hydraulic motor, rotary encoder, servovalve, high-speed three-position four-way electromagnetic directional valve, relief pressure valve, check valve, energy storage ware and two pressure sensor, rotary encoder installs at vane type swing hydraulic motor afterbody, its characterized in that: the blade swing hydraulic motor comprises an output shaft and two cylinder bodies which are respectively independent and closed, wherein the inner part of each cylinder body is provided with a containing cavity along the radial direction, the lower half part of each cylinder body is provided with a stator which is integrated with the cylinder body into a whole, two sides of each stator are respectively provided with an inner oil port, each inner oil port is communicated with an oil hole on the cylinder body, the output shaft is rotationally connected with a stator surface groove at the axial center of the two cylinder bodies, the outer parts of two ends of the output shaft are respectively rotationally connected with the outer parts of the two cylinder bodies through a bearing pair, the two cylinder bodies are axially and tightly fixedly connected and mutually sealed, each cylinder body is internally provided with a blade, the end surface of each blade is in fit contact with the inner wall of the cylinder body, the radial surface of each blade can be in contact with the surface of the stator, the output shaft is fixedly connected, the diagonal oil cavities of the two cylinder bodies are high-pressure oil cavities or low-pressure oil cavities at the same time, the two cylinder bodies are a main cylinder and an auxiliary cylinder respectively, two oil holes of the main cylinder are connected with two working oil ports of a servo valve respectively through two pipelines, each pipeline is provided with a pressure sensor, an oil inlet of the servo valve is connected with an external high-pressure oil port through a pipeline, and an oil return port of the servo valve is connected with an external low-pressure oil port; two oil holes of the auxiliary cylinder are respectively connected with two working oil ports of the high-speed three-position four-way electromagnetic directional valve, an oil inlet of the high-speed three-position four-way electromagnetic directional valve is respectively connected with an energy accumulator and an output port of the one-way valve, an oil return port of the high-speed three-position four-way electromagnetic directional valve is connected with an external low-pressure oil port, an input port of the one-way valve is connected with an output port of the pressure reducing valve, and an inlet and an outlet of the pressure reducing valve are respectively connected with an; the mechanism comprises the following operation under various working conditions:

and (3) low load working condition: when a swing joint of the robot is in a low-load state, the high-speed three-position four-way electromagnetic reversing valve is in a middle position, two working oil ports of the high-speed three-position four-way electromagnetic reversing valve are communicated with an external low-pressure oil port, two oil cavities separated by blades of an auxiliary cylinder are communicated with the external low-pressure oil port, the blades of the auxiliary cylinder are not acted by hydraulic oil and are in a free swing state, a main cylinder is controlled to move under the control action of a servo valve, the auxiliary cylinder moves along with the main cylinder, an oil port communicated with the high-speed three-position four-way electromagnetic reversing valve by an energy accumulator is in a closed state, and an oil port communicated with a pressure reducing valve through a one-way valve supplements oil for the energy accumulator so as;

buffering impact working conditions: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the right position, the auxiliary cylinder is communicated with the energy accumulator through the high-speed three-position four-way electromagnetic directional valve, the external impact force is transmitted to the auxiliary cylinder blade through the output shaft, the auxiliary cylinder blade pushes hydraulic oil in the oil cavity on one side to enter the energy accumulator, the oil cavity on the other side of the auxiliary cylinder blade is communicated with the external low-pressure oil port, external low-pressure oil flows into the oil cavity on the other side through the low-pressure oil port to supplement the space generated by the blade due to swing, the energy accumulator receives the hydraulic oil pushed by the auxiliary cylinder blade, the energy accumulator buffers the external impact, and the load of the; storage impact energy working condition: when the swing joint of the robot is impacted by the outside, the high-speed three-position four-way electromagnetic directional valve is switched to the middle position, an oil way communicated with the energy accumulator and the high-speed three-position four-way electromagnetic directional valve is closed, and when part of hydraulic oil is squeezed into the energy accumulator by external impact, the pressure of the hydraulic oil in the energy accumulator is higher than the pressure supplemented to the energy accumulator by the pressure reducing valve under the working condition of low load, the hydraulic oil in the energy accumulator can not flow back to the pressure reducing valve in a reverse direction under the action of the one-way valve, so that the external impact energy in the impact buffering working condition can be stored; force burst condition: when the swing joint of the robot is in a heavy load state after undergoing the 3 working conditions, the load is a one-way load, external impact acts as the reverse direction of the one-way load, the high-speed three-position four-way electromagnetic directional valve is switched to the left position, the energy accumulator can be communicated with the other cavity of the auxiliary cylinder through the left position of the high-speed three-position four-way electromagnetic directional valve, the impact energy stored by the energy accumulator is released to act on the blades of the auxiliary cylinder again just opposite to the impact buffering working condition, and driving force is applied to the main cylinder, so that larger acting force is output outwards in general, and the function of force bursting is realized.

2. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the arc-shaped contact surface of the output shaft and the stator is respectively provided with a plurality of unloading grooves along the axial direction, the lowest end of the arc-shaped contact surface is respectively provided with an oil storing groove along the axial direction, and a plurality of oil storing channels are radially arranged in the oil storing grooves.

3. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the radial surface and the end surface of the blade are respectively provided with an unloading groove.

4. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the radial surface and the end surface of the blade are respectively provided with an oil collecting channel.

5. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the output shaft comprises a carbon fiber shaft center and an aluminum alloy shaft shell, and the aluminum alloy shaft shell is sleeved outside the carbon fiber shaft center and fixedly connected with the carbon fiber shaft center.

6. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the cylinder body include the aluminum alloy cylinder, aluminum alloy cylinder outside parcel have the carbon fiber layer.

7. The hydraulic actuator mechanism for a robot according to claim 1, wherein: the outer layer of the blade is aluminum alloy, and the carbon fiber lining is filled inside the blade.

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