CN105179388B - The robot electro-hydraulic actuator of ball pump - Google Patents
The robot electro-hydraulic actuator of ball pump Download PDFInfo
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- CN105179388B CN105179388B CN201510571163.XA CN201510571163A CN105179388B CN 105179388 B CN105179388 B CN 105179388B CN 201510571163 A CN201510571163 A CN 201510571163A CN 105179388 B CN105179388 B CN 105179388B
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Abstract
The invention discloses a kind of robot electro-hydraulic actuator of ball pump, be provided with the cylinder cap (101) of ball pump (1) two enter oil extraction enter oil discharge outlet (121), ball pump (1) is rotated forward, hydraulic oil enters the working cylinder that oil discharge outlet (121) is discharged into double piston-rod cylinder from one on cylinder cap (101), oil in the inoperative cylinder of double piston-rod cylinder be back on cylinder cap (101) another enter oil discharge outlet (121), double piston-rod (7) stretches out acting；Ball pump (1) reversely rotates oil circuit reversely, and double piston-rod (7) is retracted；The oil flowed out from ball pump (1) overflow ducts (111) is communicated on elastic oil conservator (19), and is respectively communicated with through two check valves (15) in the oil extraction and drainback passage of working connection；The advantage of this patent is that electro-hydraulic actuator small volume, lightweight, running efficiency be high, energy consumption is low, available for exoskeleton suit and autonomous robot.
Description
Technical field
Patent of the present invention is related to a kind of electro-hydraulic actuator of robot ball pump.
Background technology
Robot industry occurs in that the development advanced by leaps and bounds in the whole world, and China is the maximum market of robot, but Chinese
Robot industry is big without strong.In order to promote the healthy and orderly development of robot market, Ministry of Industry and Information formulates《Robot industry
" 13 " development plan》, to carry forward vigorously the Applied D emonstration of industrial robot, exoskeleton suit and autonomous robot.
Exoskeleton suit and autonomous robot realize individual soldier and outdoor study, the field of helping the disabled of helping the elderly, consumption service field,
The major fields such as medical field have very important application prospect, by as another science and technology and industry after computer
Develop tide.
Exoskeleton suit and autonomous robot require that small all parts, compact conformation, energy consumption are small, currently as machine
The dynamical system of the core component of people has hydraulic-driven or motor direct-drive, wherein, the centralized liquid that hydraulic system is used
Press compartment system, central hydraulic source be used as by powerful, big flow a hydraulic pump, then by configure various valves and
Control system is assigned to pressure the position of each needs action, the problem of bringing is that power system architecture is heavy, power consumption greatly,
Service time of battery is short, by valve causing the sufficiently bulky of system, the energy loss that produces increased number of parts very more
Greatly, so that exoskeleton suit and autonomous robot are not suitable for for a long time in outside work.
Spherical compressor is a kind of variable displacement type mechanism of brand new of inventor herein's invention, its advantage be without entering/
Air bleeding valve, movement parts are few, vibration is small, mechanical efficiency is high, sealed reliable etc., particularly in micro-compressor field, high-pressure mini
Advantage is more obvious in terms of pump machines.By continuous research and development for many years, the structure and performance of spherical compressor update and
Optimization, current spherical compressor technology at home and abroad has been achieved for multiple patents, and the patent name that such as applicant has applied is
《A kind of anti-jamming actuating unit of spherical compressor》, Patent No. 201410554836.6 Chinese patent, be exactly special in early stage
A kind of more perfect new structure optimized on the basis of profit, is suitable for microstructure, pressure higher compressor or pump
Class machinery.Ball pump is exactly a kind of pump machines developed on the basis of spherical compressor patent.
Ball pump, which is used for robot dynamical system, many advantages, and the volume of robot dynamical system can be made to reduce, again
Amount mitigates, energy consumption reduction；But be due to ball pump be used for exoskeleton suit and autonomous robot when be by ball pump main shaft
Rotating drives the reciprocating motion of hydraulic piston expansion link, so that exoskeleton suit and autonomous robot are realized toward double action
Make, so high pressure oil discharge outlet and fixed low pressure oil inlet that ball pump neither one is fixed, but enter oil discharge outlet using two
Carry out alternately entering oil extraction, so, in spherical pump work, due to the presence of leakage, let out from spherical pump cylinder, rotating disk mating part
The space that the hydraulic oil of leakage is pooled between cylinder block, cylinder body and main shaft forms overflow oil sump, if the long-pending oil in overflow oil sump is not
Discharge, inevitably causes oil overflow pool space to produce high pressure, so that the axial seal of main shaft must because continuing leakage
It must strengthen that overflow could be prevented from axial leakage to motor side, and reinforced axial seal necessarily causes main shaft rotational resistance to increase
Greatly, energy consumption increase during rotation, so must being fulfilled for product of the discharge leakage in time in overflow oil sump during ball pump structure design
Oil will not just make the pressure rise of oil overflow pool space；But, due to the ball pump low pressure oil sucting cavity that now neither one is fixed,
The long-pending oil of overflow oil sump simply can not be discharged to low pressure oil sucting cavity；So will be to the hydraulic pressure of robot ball pump actuator
Oil circuit carries out special structure design to meet the requirement of the long-pending oil discharge overflow oil sump.Further, since robot is with spherical
The hydraulic circuit of pump actuator is a totally-enclosed system, the low pressure oil pocket that neither one is fixed, when the temperature is changed, hydraulic oil
The hydraulic oil volume of road system changes, so with ball pump actuator to carry out special structure design to expire to robot
Foot causes the requirement of hydraulic oil volumetric expansion due to temperature change.
The content of the invention
The purpose of the present invention is exactly to design a kind of electro-hydraulic actuator of robot ball pump, motor, ball pump and dual-active
Stopper rod cylinder is integrated, designs a kind of new electro-hydraulic actuator i.e. EHA, for exoskeleton suit and autonomous robot dynamical system
To improve the efficiency, reduction energy consumption, reduction weight and volume of electro-hydraulic actuator.
The technical scheme is that, the robot electro-hydraulic actuator of ball pump, including motor, ball pump and double-piston
Bar cylinder component, it is characterized in that：Motor is connected input power with ball pump, and two of ball pump enter going out for oil discharge outlet and overflow ducts
Mouth is arranged on the end face of ball pump cylinder cap, and the overflow oil sump of overflow ducts and ball pump is connected；The work of double piston-rod cylinder component
Dynamic cylinder top, which is provided with the contiguous block being connected with cylinder cap, contiguous block, is provided with oil duct, spout hole and screw hole, on contiguous block
Oil duct junction and spout hole are arranged on the face that contiguous block is fitted with cylinder cap, corresponding oil duct junction and spout hole difference on contiguous block
It is connected with the outlet for entering oil discharge outlet and overflow ducts on cylinder cap, contiguous block is pressed on cylinder cap by screw fixing seal；
Two check valves are provided with the oil duct of contiguous block, an elastic oil conservator is connected on spout hole；Wherein：
Ball pump is rotated forward, and hydraulic oil enters oil discharge outlet discharge from one on cylinder cap, inside pressurized strut contiguous block
Oil duct enters after the oil in the working cylinder of double piston-rod cylinder, the inoperative cylinder of double piston-rod cylinder is forced out by being arranged on contiguous block
On oil duct be back on cylinder cap another enter oil discharge outlet, and be inhaled into ball pump, double piston-rod stretches out；Ball pump is anti-
To rotation, oil circuit reversely, retract by double piston-rod；Ball pump forward and reverse, which rotates to form two oil and flow to opposite working connection, to follow
Ring；The oil flowed out from ball pump overflow ducts is communicated on elastic oil conservator, and is respectively communicated with through two check valves in working connection
Oil extraction and drainback passage on, when oil pressure relief be more than working connection return pressure when, the list connected with drainback passage now
Opened to valve, overflow enters drainback passage and circulated with oil return into working connection；
The structure of the oil duct set on the contiguous block of pressurized strut and spout hole is：Two are provided with contiguous block
Axial diversion bolt hole and the spout hole of an axial direction, two water conservancy diversion bolts hole and spout hole enter row with two on cylinder cap respectively
The outlet port of hydraulic fluid port and overflow ducts is corresponding, on cylinder cap enter oil drain passage outlet be provided with water conservancy diversion bolt match in
Pressurized strut is fixed on cylinder cap by screw thread, the end face of cylinder cap and contiguous block end face patch two water conservancy diversion bolts of merga pass of pressurized strut
On；It is additionally provided with that outage is entered in two longitudinal directions and outage is entered in two axial directions on the contiguous block of pressurized strut；Row is entered in two longitudinal directions
One end of oilhole is connected with two water conservancy diversion bolts hole respectively, and the other end enters outage connection with two axial directions respectively；Two axial directions
Enter working cylinder and inoperative cylinder of the outage respectively with pressurized strut two ends to connect；By two water conservancy diversion bolts two of ball pump
Enter oil discharge outlet to connect with the working cylinder and inoperative cylinder at pressurized strut two ends respectively；Pasted by cylinder cap end face and the contiguous block of pressurized strut
Close, one end of spout hole and the overflow ducts outlet of ball pump are connected, the elastic oil conservator of other end connection one of spout hole；Making
Axially arranged on the contiguous block of dynamic cylinder to have two unidirectional valve openings, check valve is threadably secured installed in the middle part of unidirectional valve opening,
Unidirectional valve opening is blind hole, and its openend is sealed by A plugs；Be provided with the contiguous block on pressurized strut top horizontal pod apertures and
Longitudinal pod apertures, upper end and the spout hole of longitudinal pod apertures are connected, and the other end is connected with horizontal pod apertures, and the two of horizontal pod apertures
End leads to the oil-feed side joint of two check valves respectively；Outage connection is entered in the fuel-displaced side of two check valves with two longitudinal directions respectively；
The elastic oil conservator is one section of flexible emulsion tube, and one end of emulsion tube is connected to by screwed pipe joint
On the spout hole of contiguous block, other end closing；One is set to protect case outside emulsion tube, case is fixed by screws in connection
On block and the right end cap of pressurized strut；
The double piston-rod cylinder component includes pressurized strut, double piston-rod, left end cap, right end cap, flake joint and protection cylinder
Deng pressurized strut has the piston hole of left and right insertion, and left end cap and right end cap are threadedly attached in the two ends of piston hole respectively, double
Piston rod and the piston hole of pressurized strut match and form working cylinder and inoperative cylinder respectively at the two ends of pressurized strut, double piston-rod
Two ends stretched out from the two ends of piston hole and can left and right stretch；The right-hand member of double piston-rod is working end, and the right-hand member of double piston-rod is connected
There is flake joint, for connecting robot motion part；The left end of double piston-rod is non-operative end, and protection cylinder is to double piston-rod
Right-hand member is shielded, and protection cylinder is fixedly connected on left end cap；The left end of protection cylinder is connected with flake joint, is used as stress member
Part is used to install actuator；The piston hole mating part of the cylindrical and cylinder of double piston-rod piston body is provided with sealing knot
Structure, is provided with sealing structure in double piston-rod and left end cap, right end cap mating part, matches somebody with somebody in left end cap, right end cap and piston hole
The part of conjunction is provided with sealing structure.
It is an advantage of the invention that：
1st, due to the unique principal advantage of ball pump, with small volume, vibrate small the characteristics of, due to ball pump has can be just
The characteristics of to reversely rotating, so as to drive double piston-rod to stretch out or withdraw, the electro-hydraulic actuator (EHA) of design can be by electricity
Machine, ball pump, double piston-rod cylinder are integrated, and the hydraulic system of robot is eliminated numerous using distributed hydraulic power source scheme
Miscellaneous high-pressure oil pipe and electromagnetic hydraulic pressure reversal valve, can significantly reduce the weight, volume and power consumption of system, significantly simplify control system
System.
2nd, it is connected using two check valves with ball pump spout hole, passes through elastic oil conservator and whole hydraulic system formation liquid
Push back road, it is ensured that ball pump overflow oil sump is always low pressure, reduces the seal request of main shaft axle envelope, reduces axial seal
To main shaft rotate resistance, while also make be in overflow oil sump in the rotating disk back side and main shaft all the time be in low pressure oil in, reduce
The resistance of high pressure liquid force feed, so as to reduce the power consumption of main shaft rotation, improves the efficiency of ball pump during main shaft rotation；Simultaneously
Elastic oil conservator ensure that the volume regulation of the hydraulic oil of the oil circulating system of closing.
Brief description of the drawings
Fig. 1：Robot of the present invention is with electro-hydraulic actuator configurations figure；
Fig. 2：A-A profiles in Fig. 1；
Fig. 3：B-B profiles in Fig. 1；
Fig. 4：E-E profiles in Fig. 1；
Fig. 5：C-C profiles in Fig. 1；
Fig. 6：D-D profiles in Fig. 1；
Fig. 7：Ball pump and the fit front view of group of motors；
Fig. 8：F-F profiles in Fig. 7；
Fig. 9：Ball pump and the fit left view of group of motors；
Figure 10：Pressurized strut front view；
Figure 11：G-G sectional views in Figure 10；
Figure 12：Pressurized strut left view；
Figure 13：Pressurized strut right view；
Figure 14：J-J sectional views in Figure 10；
Figure 15：H-H sectional views in Figure 10；
Figure 16：I-I sectional views in Figure 10；
Figure 17：N-N sectional views in Figure 12；
Figure 18：L-L sectional views in Figure 12；
Figure 19：K-K sectional views in Figure 11；
Figure 20：M-M sectional views in Figure 11；
Figure 21：P-P sectional views in Figure 13；
Figure 22：The electro-hydraulic actuator hydraulic schematic diagram of ball pump of the present invention；
Figure 23：Water conservancy diversion bolt arrangement schematic diagram.
In figure：1- ball pumps；2- motors；3- double piston-rod cylinder components；4- cases；5- flake joints；6- right end caps；7- is double
Piston rod；8- pressurized struts；9- left end caps；10- clips；11- protects cylinder；12- attachment screws；13-A plugs；14-B plugs；15-
Check valve；16- water conservancy diversion bolts；17-C plugs；18- pinching screws；19-- elasticity oil conservators.
101- cylinder caps；102- pistons；103- centrepins；104- rotating disks；105- cylinder bodies；106- cylinder block inserts；107- is put down
Weigh block；108- main shafts；109-A bearings；110- spindle carriers；111- overflow ducts；112- piston sleeves；113- pump cases；
114- piston inserts；115- power handles；116- rotating disk axle sleeves；117-B bearings；118- cylinder blocks；119- balancing weights；120- tightenings
Screw；121- enters oil discharge outlet；1001-V1 operating rooms；1002-V2 operating rooms.
201- motor right end caps；202- motor shafts；203- rotors；204- motor stators；205- motor housings；206-
Motor left end cap；207- motor bearings.
800- piston holes；801- water conservancy diversion bolts hole；The unidirectional valve openings of 802-；803- screw holes；804- axially enters outage；
805- spout holes；806- longitudinal directions pod apertures；807- longitudinally enters outage；808- transverse direction pod apertures；809- screwed holes.
Embodiment
As shown in Fig. 1 to Fig. 6, robot of the present invention includes motor 2, ball pump 1 and dual-active with electro-hydraulic actuator
Stopper rod cylinder component 3, motor 2 forms overall column structure after being connected with ball pump 1；Double piston-rod cylinder component 3 include pressurized strut 8,
Double piston-rod 7, left end cap 9, right end cap 6, flake joint 5 and protection cylinder 11 etc.；Pressurized strut 8 has the piston hole of left and right insertion
800, internal thread is provided at both ends with piston hole 800, as shown in Figure 10 to Figure 13；Left end cap 9 and right end cap 6 pass through spiral shell respectively
Line is connected to the two ends of piston hole 800；Double piston-rod 7 and the piston hole 800 of pressurized strut 8 match, and distinguish at the two ends of pressurized strut 8
Working cylinder and inoperative cylinder are formed, the two ends of double piston-rod 7 are isodiametric guide rod, and the piston body of double piston-rod 7 is located at two
In the middle of the guide rod at end, the diameter of the guide rod at two ends is less than the diameter of piston body, and two are formed in the left and right sides of piston body
Ring surface；The annular compartment that inoperative cylinder is made up of right end cap 6, piston hole 800, piston body right circular face and double piston-rod 7,
Working cylinder is the annular compartment constituted of ring surface and double piston-rod 7 on the left of left end cap 9, piston hole 800, piston body, dual-active
The two ends of stopper rod 7 stretched out from the two ends end caps center of piston hole 800 and can left and right stretch；The right-hand member of double piston-rod 7 is working end,
The right-hand member of double piston-rod 7 has been connected through a screw thread flake joint 5, for connecting robot motion part；The left end of double piston-rod 7
For non-operative end, the left end guide rod of protection 11 pairs of double piston-rods 7 of cylinder shields, and protection cylinder 11 passes through welding or bolt
The mode of connection is fixedly connected on left end cap 9；The left end of protection cylinder 11 has been connected through a screw thread flake joint 5, is used as stress
Element is used to install actuator；The mating part of piston hole 800 is provided with sealing structure the piston body of double piston-rod 7 is cylindrical,
Double piston-rod 7 is provided with sealing structure with left end cap 9, the mating part of right end cap 6 respectively, in left end cap 9, right end cap 6 and piston
The part that hole 800 coordinates is provided with sealing structure；When double piston-rod 7 is moved left and right, the Volume Changes of working cylinder and inoperative cylinder
It is equal.
One figure of eight clip 10 is installed in the medium position of motor 2 and the connector of ball pump 1, the blind end of clip 10 with
The mode of clamping be fastened on motor 2 and the connector of ball pump 1 it is cylindrical on, the openend of clip 10 is held in the outer of protection cylinder 11
On circle, by pinching screw 18 clip 10 be clamped in protection cylinder 11 it is cylindrical on, as Figure 1 and Figure 4.
In order that double piston-rod cylinder component 3 is connected relatively reliable with ball pump 1, further in the contiguous block of pressurized strut 8
One screw hole 803 of upper setting, hole is threaded in the corresponding position of ball pump 1, by attachment screw 12 that contiguous block is firm
It is crimped on the end face of cylinder cap 101, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 6, Figure 11 to Figure 16, Figure 18.
The top of pressurized strut 8 protrudes the contiguous block being connected with ball pump 1, and two axial diversions are provided with contiguous block
Bolt hole 801 and the spout hole of an axial direction 805, as shown in Figure 11, Figure 12, Figure 16 and Figure 17；Two interactions of ball pump 1 are entered
Oil extraction enter oil discharge outlet 121 and the outlet of overflow ducts 111 is arranged on the end face of cylinder cap 101, overflow ducts 111 and ball pump
1 overflow oil sump is connected, as shown in Fig. 7 to Figure 10；Two water conservancy diversion bolts hole 801 and spout hole 805 on contiguous block respectively with
Two on the cylinder cap 101 of ball pump 1 enter oil discharge outlet 121 and overflow ducts 111 outlet position it is corresponding, such as Fig. 7, Fig. 8,
Shown in Fig. 9；The exit portion for entering oil drain passage 121 on cylinder cap 101 is provided with the internal thread matched with water conservancy diversion bolt 16, cylinder cap
Pressurized strut 8 is fixed on cylinder cap by end face patch two water conservancy diversion bolts 16 of merga pass of 101 end face and the contiguous block of pressurized strut 8
On 101, as shown in Figure 1, Figure 2, Figure 5；Oil duct junction and spout hole 805 on cylinder cap 101 respectively with entering oil discharge outlet 121 on contiguous block
And the outlet of overflow ducts 111 is connected, contiguous block is pressed on by screw fixing seal on the end face of cylinder cap 101；As Fig. 1 is arrived
Fig. 3, Fig. 5, Fig. 6, shown in Figure 10 to Figure 21, two longitudinal directions are additionally provided with the contiguous block of pressurized strut 8 and enter outage 807,
Two axial directions are set to enter outage 804 along the axis direction of piston hole 800 in pressurized strut 8；One end of outage 807 is entered in two longitudinal directions
Connected respectively with two water conservancy diversion bolts hole 801, the other end that outage 807 is entered in two longitudinal directions enters outage with two axial directions respectively
804 connect, and two axial directions are entered working cylinder and inoperative cylinder of the outage 804 respectively with the two ends of pressurized strut 8 and connected；Led by two
Flow bolt 16 just can two of ball pump 1 enter oil discharge outlet 121 respectively with two annular compartments at the two ends of pressurized strut 8 (i.e. work
Make cylinder and inoperative cylinder) connect；Fitted by the end face of cylinder cap 101 with the contiguous block of pressurized strut 8, one end of spout hole 805 and ball
The outlet of the overflow ducts 111 of shape pump 1 is connected, the elastic oil conservator 19 of other end connection one of spout hole 805；Due to this patent liquid
Pressure system is the hydraulic circuit of a closing, and temperature change can cause the oil expansion in oil circuit and make the volume increase of oil, elasticity
Oil conservator 19 is used for the Volume Changes for adjusting oily closed system；The elastic oil conservator 19 is one section of flexible emulsion tube,
One end of emulsion tube is connected on the spout hole 805 of contiguous block by screwed pipe joint, other end closing；Set outside emulsion tube
A protection case 4 is put, two screwed holes 809 are provided with the top of contiguous block, is also equipped with the right end cap 6 of pressurized strut 8
Screwed hole, case 4 is fixed by screws on the right end cap 6 of contiguous block and pressurized strut 8.
The unidirectional valve opening 802 of two axial directions is provided with along the axis direction of piston hole 800 on the contiguous block of pressurized strut 8,
Having in the unidirectional hole of valve opening 802 has external screw thread on internal thread, the excircle of check valve 15, check valve 15 passes through itself external screw thread
The middle part of unidirectional valve opening 802 is fixedly mounted on, unidirectional valve opening 802 is blind hole, and its openend is sealed by A plugs 13；In start
Horizontal pod apertures 808 and longitudinal pod apertures 806, the upper end and axial direction of longitudinal pod apertures 806 are provided with the contiguous block on 8 tops of cylinder
Spout hole 805 connect, the other end is connected with horizontal pod apertures 808, the two ends of horizontal pod apertures 808 respectively with two check valves
15 oil-feed side joint leads to；The fuel-displaced side of two check valves 15 is entered outage 807 with two longitudinal directions respectively and connected；For longitudinal water conservancy diversion
Hole 806 is easy to process with horizontal pod apertures 808, and aperture position after piercing is provided with fine thread, completes interior oil
The opening portion of longitudinal pod apertures 806 and horizontal pod apertures 808 is carried out respectively with fine thread plug B plugs 14 after road processing
Sealing blocking；Equally, enter two longitudinal directions after the processing of outage 807, fine thread is set in aperture, carried out by C plugs 17
Sealing blocking.
As shown in figure 23, water conservancy diversion bolt 16 is nose threads part is hollow, in the middle part of screw thread threadingly cylinder
Circumferencial direction is provided with the tap hole of 2-4 radial directions, and position corresponding with tap hole sets water conservancy diversion on water conservancy diversion bolt hole 801
Ring, the width of guide ring is not less than the diameter of tap hole, and the diameter of guide ring is more than the diameter of water conservancy diversion bolt 16；As Fig. 2, Fig. 3,
Shown in Fig. 5, Fig. 9, Figure 15, Figure 17, on the end face of the cylinder cap 101 of ball pump 1 being provided with two enters oil discharge outlet 121, due to ball
Shape compressor is the operation characteristics of ball pump 1, and the oil inlet and oil discharge outlet of ball pump 1 are the forward and reverse rotations with motor
And alternately change, i.e., it is outage when motor is rotated forward, then is fuel feed hole during motor reversal；It is arranged on the contiguous block of pressurized strut 8
On two water conservancy diversion bolts hole 801 enter outage 121 with two on cylinder cap 101 respectively and connect, two on contiguous block longitudinal direction
Enter guide ring of the outage 807 respectively with two water conservancy diversion bolts hole 801 to connect, so, outage is entered from one of ball pump 1
The hydraulic oil of 121 discharges just enters outage 807 by a coupled logical water conservancy diversion bolt 16 into a corresponding longitudinal direction,
Again through the longitudinal direction enter outage 807 enter it is corresponding axially enter outage 804, meanwhile, another axial direction is entered in outage 804
Oil enter outage 807 through another longitudinal direction successively and another water conservancy diversion bolt 16 is back to another of ball pump 1 and enters oil extraction
Hole 121；As shown in Figure 11, Figure 13, Figure 14, Figure 19 to Figure 21, two axial directions enter oil discharge outlet 804 respectively with working cylinder and inoperative
Cylinder is connected, wherein, a longitudinal direction is entered oil discharge outlet 804 and is connected with the working cylinder positioned at the left end of pressurized strut 8, and another longitudinal direction is entered
Oil discharge outlet 807 is connected with the inoperative cylinder positioned at the right-hand member of pressurized strut 8, and the method for connection is the relevant position from piston hole 800
Enter outage 804 to two axial directions respectively and open a connecting hole, the method that electrical discharge machining can be used.
As shown in Fig. 1, Fig. 3, Fig. 6, Figure 11, Figure 16, Figure 18, the hydraulic oil warp flowed out from the overflow ducts 111 of ball pump 1
Enter longitudinal pod apertures 806 after spout hole 805, enter back into horizontal pod apertures 808, the two ends then through horizontal pod apertures 808 point
The oil-feed side of check valve 15 in two unidirectional valve openings 802 is not entered, while spout hole 805 is connected with elastic oil conservator 19；When
The oil-feed lateral pressure of check valve 15 is higher than the fuel-displaced lateral pressure of check valve 15 and reaches setting pressure difference, and check valve 15 is turned on；Unidirectionally
Valve 15 is passed through from low pressure, is conducive to overflow system to keep low pressure, is reduced ball pump 1 and is rotated brought energy loss；Two
The fuel-displaced side of individual check valve 15 is entered outage 807 with two longitudinal directions respectively and connected, when one of longitudinal direction is entered in outage 807
When hydraulic oil is low pressure, then enters the possible conducting of check valve 15 that outage 807 is connected with the longitudinal direction of the low pressure, make in overflow system
Higher than setting pressure hydraulic oil be back in working connection.
It is as shown in figure 22 the hydraulic schematic diagram of the present invention, ball pump 1 rotates forward, hydraulic oil is from one on cylinder cap 101
It is individual enter oil discharge outlet 121 discharge, through the oil duct inside the contiguous block of pressurized strut 8 enter double piston-rod cylinder working cylinder, double piston-rod cylinder
Inoperative cylinder in oil be forced out after be back on cylinder cap 101 by the oil duct being arranged on contiguous block another enter oil extraction
Mouth 121, and be inhaled into ball pump 1, double piston-rod 7 stretches out acting；Ball pump 1 is reversely rotated, and oil circuit is reverse, double piston-rod
7 retract；The forward and reverse of ball pump 1, which rotates, to be formed two oil and flows to opposite working connection circulation；From the overflow ducts of ball pump 1
The oil of 111 outflows are connected on elastic oil conservator 19, and are connected to through two check valves 15 the fuel-displaced and oil return of working connection
On passage, due to the effect of elastic oil conservator 19, when oil pressure relief is more than the oil return pressure for the working connection for being now in oil return state
During power, the check valve 15 connected with drainback passage now is opened, overflow by the check valve 15 enter drainback passage and with return
Oil enters working connection circulation.Above-mentioned flooding process is respectively connected with two logical check valves 15 entering oil discharge outlet 807 with two longitudinal directions
Alternately.
As shown in Fig. 7 to Fig. 9, the motor 2 used in this patent is direct current generator, and it is right that motor 2 includes motor shaft 202, motor
End cap 201, motor left end cap 206, rotor 203, motor stator 204, motor housing 205 and motor bearings 207, motor 2
Linear type, motor right end cap 201 is fixedly connected by screw thread with the spindle carrier 110 of ball pump 1, and motor shaft 202 passes through key
Transmission moment of torsion is connected with the main shaft 108 of ball pump 1.
Ball pump 1 includes cylinder cap 101, cylinder body 105, piston 102, piston insert 114, rotating disk 104, centrepin 103, main shaft
108th, spindle carrier 110, pump case 113, power handle 115, cylinder block 118, cylinder block insert 106 etc., cylinder cap 101, cylinder body
105th, cylinder block 118, spindle carrier 110 are fixedly connected sequentially to form the casing of ball pump 1, wherein, the left end of cylinder block 118 is set
It is equipped with internal thread, the right-hand member of cylinder block 118 is provided with external screw thread, is provided with step on the right side of cylinder cap 101 is cylindrical, it is cylindric
The right-hand member of pump case 113 be provided with compression step, the left end of pump case 113 is provided with what is be engaged with the right-hand member of cylinder block 118
Internal thread；First cylinder block 118, cylinder body 105, cylinder cap 101 are sequentially connected and carry out circumference by pin vertically during assembling and is determined
Position, then pump case 113 is sequentially passed through cylinder cap 101, cylinder body 105, the compression step of the right-hand member of pump case 113 is pressed on cylinder cap 101
Cylindrical step on, tapped one end of the left end of pump case 113 is threadedly attached in externally threaded the one of cylinder block 118
End, is successively pressed on cylinder cap 101, cylinder body 105 right-hand member of cylinder block 118 by screw thread；The right-hand member of spindle carrier 110 is provided with
The external screw thread matched with the left end internal thread of cylinder block 118, spindle carrier 110 is threadably secured the left side for being connected to cylinder block 118
End；The left end of spindle carrier 110 is provided with the internal thread matched with motor right end cap 201, and it is right to be connected to motor by internal thread
On the external screw thread of the right-hand member of end cap 201；In order to which the contiguous block with pressurized strut 8 is connected reliably, the end face of cylinder cap 101 is slightly protruded from outside pump
The right side of shell 113.
Identical with conventional spherical compressor structure, cylinder cap 101 and cylinder body 105 have hemispherical inner surface, and connection is formed
The spherical inner chamber of ball pump 1, piston 102 have spherical top surface, spherical top surface center stretch out a piston shaft, two it is angled
Side, enter oil discharge outlet and the two sides bottom of piston 102 formed piston boss, piston boss is semi-cylindrical in configuration, semicircle
The middle part of post is fluted, the piston pin hole for having insertion in the axial direction thereof；The piston axis hole that cylinder cap 101 is provided with, piston shaft
Diameter of axle size and piston axis hole match, formed and be rotatably assorted in piston shaft insertion piston axis hole, piston 102 can be around piston shaft
Axis is freely rotated in spherical inner chamber, and the spherical top surface of piston, which has the identical centre of sphere with spherical inner chamber and forms sealing and move, matches somebody with somebody
Close.Rotating disk 104 has turntable shaft, rotating disk sphere and rotating disk key seat；Spherical inner chamber and rotating disk that cylinder body 105 and cylinder cap 101 are constituted
Sphere has the identical centre of sphere, and rotating disk sphere is close to the dynamic cooperation of spherical inner chamber formation sealing；The two ends of the rotating disk key seat of rotating disk 104
For semicolumn groove, middle part is raised semicolumn；There is the rotating disk pin-and-hole of insertion on the axis direction of semicolumn.Centrepin
103 insertion piston bosses and rotating disk key seat, be provided with cylinder body 105 and cylinder block 118 axle hole of cylinder block that turntable shaft passes through and
Cylinder block axis hole；Spindle carrier 110 provides support for the rotation of main shaft 108, and one end of main shaft 108 is eccentric pivot hole and balance weight
107, the end of main shaft 108 is located at the cylindrical empty intracavitary of cylinder block 118, cylinder block 118, cylinder body 104 and main shaft 108 it
Between formed and be connected in a space, the eccentric pivot hole of turntable shaft insertion main shaft 108 with main shaft 108, the other end of main shaft 108 and electric
Arbor 202 is connected；Balance weight 107 is to adjust out-of-balance force when main shaft 108 rotates；Above-mentioned piston shaft and turntable shaft and main shaft
The centre of sphere for the spherical inner chamber that 108 axis is all made up of cylinder body 105 and cylinder cap 101, and the axis of piston shaft and turntable shaft
With the axis formation identical angle α of main shaft 108；The piston pin hole of the insertion piston 102 of centrepin 103 and the rotating disk of rotating disk 104
Cylinder hinge is formed in pin-and-hole, piston 102 is connected with rotating disk 104 by the way that the formation sealing of cylinder hinge is dynamic, and spherical inner chamber shape
Into being divided into V1 operating rooms 1001 and V2 operating rooms 1002.
In order to reduce the frictional resistance in rotor operating, reduce the abrasion of rotor component, keep high-precision persistent high efficiency fortune
Turn, improve the life-span of ball pump, in the mating part increase rotating disk axle sleeve 116 of turntable shaft and the eccentric pivot hole of main shaft 108, in master
Axle 108 holds 117 with the cylindrical fit part of cylinder block 118 increase B axle, and piston is increased in the mating part of piston shaft and piston axis hole
Axle sleeve 112；Rotating disk axle sleeve 116 and piston sleeve 112 use high-abrasive material.
Driving rotating disk 104 when main shaft 108 is rotated, rotating disk 104 is moved with piston 102；The motion of piston 102 is unique
Around the rotation of the axis of piston shaft, the motion of rotating disk 104 is synthesizing by two kinds of motions：One is the rotation around own axes, separately
One be its axis all the time by the centre of sphere of spherical inner chamber, and by summit of the centre of sphere of spherical inner chamber, cone angle be 2 α, axis and master
The virtual cone surface that the axis of axle 108 is overlapped is circumferentially mobile (i.e. the conical surface of the inswept above-mentioned cone of axis of rotating disk 104), mobile
The cycle synchronisation that rotates of cycle and main shaft 108；The motion of space above mechanism is all the motion for rotating property, therefore without Gao Zhen
Movement parts are moved, the composite result of this spatial movement is：Piston 102 and rotating disk 104 have a periodic opposing oscillatory, swing
Cycle is one times of main shaft swing circle, and the amplitude of swing is 4 α；The basic fortune changed by the use of this opposing oscillatory as volume
Dynamic key element, forms V1 operating rooms 1001 and V2 operating rooms 1002 that pressure alternately changes；In the operation process of ball pump 1, V1 work
The volume of room 1001 and V2 operating rooms 1002 is continually changing, and Tu8Zhong V1 operating rooms 1001 and V2 operating rooms 1002 are limiting conditions
Under situation, V1 operating rooms 1001 be 1 oil-feed of ball pump when original state, so Tu Zhong V1 operating rooms 1001 illustrate regime theory
Volume is maximum, and V2 operating rooms 1002 are the state after oil extraction terminates, so the diagram regime theory of Tu Zhong V2 operating rooms 1002 holds
Product is zero.
Oil inlet passage and oil drain passage are provided with the Internal Spherical Surface of cylinder cap 101, oil inlet passage is by connecting entering outside cylinder
Oilhole enters oil discharge outlet 121 with one on the end face of cylinder cap 101 and connected；Oil drain passage passes through the row outside the connection cylinder on cylinder cap 101
Oilhole with the end face of cylinder cap 101 another enter oil discharge outlet 121 and connect；Rotation and the spherical watch of piston 102 using piston 102
Face and the cooperation of the hemispherical inner surface of cylinder cap 101, connect as oil drain passage is entered with V1 operating rooms 1001 and V2 operating rooms 1002
Basic exercise key element that is logical or closing, so as to realize oil-feed and oil extraction control.
The rotating disk being made up of power handle 115, track confined planes is provided between cylinder body 105 and cylinder block 118 synchronous dynamic
Force mechanisms, power handle 115 is the symmetrical dumbbell shape structure in two ends, and power handle 115 is fixed on turntable shaft turns round fortune in company with rotating disk
Dynamic, the movement locus face that the two ends of power handle 115 are in contact with cylinder block 118 in turning course constitutes track confined planes；Power handle
115 do gyration in company with rotating disk 104, and revolving body space is formed between cylinder body 105, cylinder block 118 and main shaft 108, so
There are enough spaces to ensure that power handle 10 can be turned round freely between cylinder body 105, cylinder block 118 and main shaft 108.For letter
Change processing technology and reliability, be provided with the track confined planes being in contact with the two ends of power handle 115 PEEK, copper or other
The cylinder block insert 106 that elastic abrasion-proof material is made；Cylinder block insert 106 is used as the track confined planes near dead-centre position, cylinder
Housing insert 106 is arranged on the two ends of power handle 115 and track confined planes when power handle 115 is turned near the dead-centre position of mechanism
The stroke range of contact.
As shown in figure 8, setting overflow ducts 111 on cylinder body 105, cylinder cap 101, the outlet of overflow ducts 111 is arranged on
On the end face of cylinder cap 101, the hydraulic oil leaked from cylinder body 105, the mating part of rotating disk 104 is pooled to cylinder body 105, cylinder block 118
Space between main shaft 108 forms overflow oil sump, if this partial compromise oil is not discharged, inevitably because Leakage Energy is continuous
Increase causes overflow oil sump to produce high pressure, and overflow ducts 111 overflow through being connected with overflow oil sump after cylinder cap 101 and cylinder body 105
The high pressure long-pending oil of overflow oil sump will be imported hydraulic main circuit by circulation road 111, so as to reduce the pressure of overflow oil sump.In main shaft
The part coordinated between 108 and spindle carrier 110 is provided with A bearings 109, reduces rubbing between spindle carrier 110 and main shaft 108
Wipe；Balancing weight 119 is additionally provided with the bottom of main shaft 108, balancing weight 119 is fixed on the bottom of main shaft 108 by holding screw 120
On axle journal.Sealing is provided with the axle journal that spindle carrier 110 and main shaft 108 coordinate, the sealing prevents oil overflow as axle envelope
Oil in pond leaks into the coupling part of ball pump 1 and motor 2, and it is always low pressure to be due to the overflow oil sump of the present invention, so
Axle envelope is with common O-ring, it is not necessary to reinforced axle envelope, reduces the rotational resistance of main shaft 108.
Claims (4)
1. the robot electro-hydraulic actuator of ball pump, including motor (2), ball pump (1) and double piston-rod cylinder component (3), its
It is characterized in：Motor (2) is connected input power with ball pump (1), and two of ball pump (1) enter oil discharge outlet (121) and overflow ducts
(111) outlet is arranged on the cylinder cap of ball pump (1) (101) end face, the oil overflow of overflow ducts (111) and ball pump (1)
Pond is connected；Pressurized strut (8) top of double piston-rod cylinder component (3) is provided with the contiguous block being connected with cylinder cap (101), contiguous block
The oil duct junction and spout hole (805) being provided with oil duct, spout hole (805) and screw hole, contiguous block are arranged on contiguous block and cylinder
Cover (101) end face laminating face on, on contiguous block corresponding oil duct junction and spout hole (805) respectively with cylinder cap (101)
The outlet for entering oil discharge outlet (121) and overflow ducts (111) is connected, and contiguous block is pressed on cylinder cap by screw fixing seal
(101) on；Two check valves (15) are provided with the oil duct of contiguous block, an elastic oil storage is connected on spout hole (805)
Device (19)；Wherein：
Ball pump (1) is rotated forward, and hydraulic oil enters oil discharge outlet (121) discharge from one on cylinder cap (101), through pressurized strut (8)
Oil duct inside contiguous block, which enters after the oil in the working cylinder of double piston-rod cylinder, the inoperative cylinder of double piston-rod cylinder is forced out, to be passed through
The oil duct being arranged on contiguous block be back on cylinder cap (101) another enter oil discharge outlet (121), and be inhaled into ball pump
(1) in, double piston-rod (7) stretches out；Ball pump (1) is reversely rotated, and oil circuit reversely, retract by double piston-rod (7)；Ball pump (1) is just
Opposite working connection circulation is flowed to two oil are formed with reverse rotation；The oil flowed out from the overflow ducts (111) of ball pump (1)
It is communicated on elastic oil conservator (19), and is respectively communicated with through two check valves (15) in the oil extraction and drainback passage of working connection,
When oil pressure relief is more than the return pressure of working connection, the check valve (15) connected with drainback passage now is opened, and overflow is entered
Enter drainback passage and circulated with oil return into working connection.
2. the robot according to claim 1 electro-hydraulic actuator of ball pump, it is characterized in that：It is described in pressurized strut (8)
The structure of the oil duct and spout hole (805) that are set on contiguous block is：Two axial diversion bolts hole are provided with contiguous block
(801) and an axial direction spout hole (805), two water conservancy diversion bolts hole (801) and spout hole (805) respectively with cylinder cap (101)
On two enter oil discharge outlet (121) and the outlet port of overflow ducts (111) is corresponding, enter oil drain passage on cylinder cap (101)
(111) outlet is provided with the internal thread matched with water conservancy diversion bolt (16), the end face of cylinder cap (101) and the connection of pressurized strut (8)
Block end face patch two water conservancy diversion bolts (16) of merga pass are fixed on pressurized strut (8) on cylinder cap (101)；Company in pressurized strut (8)
Connect and be additionally provided with that outage (807) is entered in two longitudinal directions and outage (804) is entered in two axial directions on block；Outage is entered in two longitudinal directions
(807) one end is connected with two water conservancy diversion bolts hole (801) respectively, and the other end enters outage (804) with two axial directions respectively and connect
Logical, two axial directions are entered working cylinder and inoperative cylinder of the outage (804) respectively with pressurized strut (8) two ends and connected；Led by two
Flow bolt (16) enters working cylinder and inoperative cylinder of the oil discharge outlet (121) respectively with pressurized strut (8) two ends two of ball pump (1)
Connection；Fitted by cylinder cap (101) end face with the contiguous block of pressurized strut (8), one end and the ball pump (1) of spout hole (805)
Overflow ducts (111) outlet is connected, the elastic oil conservator (19) of other end connection one of spout hole (805)；Company in pressurized strut (8)
Connect it is axially arranged on block have two unidirectional valve openings (802), check valve (15) is threadably secured installed in unidirectional valve opening (802)
Middle part, unidirectional valve opening (802) is blind hole, and its openend is sealed by A plugs (13)；On the contiguous block on pressurized strut (8) top
Horizontal pod apertures (808) and longitudinal pod apertures (806) are provided with, upper end and the spout hole (805) of longitudinal pod apertures (806) connect
Logical, the other end is connected with horizontal pod apertures (808), and the two ends of horizontal pod apertures (808) are entered with two check valve (15) respectively
Oily side joint leads to；Outage (807) connection is entered in the fuel-displaced side of two check valves (15) with two longitudinal directions respectively.
3. the robot according to claim 1 electro-hydraulic actuator of ball pump, it is characterized in that：The elastic oil conservator (19)
It is one section of flexible emulsion tube, one end of emulsion tube is connected on the spout hole of contiguous block (805) by screwed pipe joint,
The other end is closed；One is set to protect case (4) outside emulsion tube, case (4) is fixed by screws in contiguous block and pressurized strut
(8) on right end cap (6).
4. the robot according to claim 1 electro-hydraulic actuator of ball pump, it is characterized in that：The double piston-rod cylinder component
(3) pressurized strut (8), double piston-rod (7), left end cap (9), right end cap (6), flake joint (5) and protection cylinder (11), start are included
Cylinder (8) has the piston hole (800) of left and right insertion, and left end cap (9) and right end cap (6) are threadedly attached in piston hole respectively
(800) piston hole (800) of two ends, double piston-rod (7) and pressurized strut (8) matches and distinguishes shape at the two ends of pressurized strut (8)
Into working cylinder and inoperative cylinder, the two ends of double piston-rod (7) stretched out from the two ends of piston hole (800) and can left and right stretch；Dual-active
The right-hand member of stopper rod (7) is working end, and the right-hand member of double piston-rod (7) is connected with flake joint (5), for connecting robot motion portion
Part；The left end of double piston-rod (7) is non-operative end, and protection cylinder (11) shields to the right-hand member of double piston-rod (7), protects cylinder
(11) it is fixedly connected on left end cap (9)；The left end of protection cylinder (11) is connected with flake joint (5), is used for as force-summing element
Actuator is installed；It is provided with piston hole (800) mating part of the cylindrical and pressurized strut (8) of double piston-rod (7) piston body close
Seal structure, sealing structure is provided with double piston-rod (7) and left end cap (9), right end cap (6) mating part, left end cap (9),
The part that right end cap (6) coordinates with piston hole (800) is provided with sealing structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510571163.XA CN105179388B (en) | 2015-09-09 | 2015-09-09 | The robot electro-hydraulic actuator of ball pump |
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| CN201510571163.XA CN105179388B (en) | 2015-09-09 | 2015-09-09 | The robot electro-hydraulic actuator of ball pump |
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| CN105179388B true CN105179388B (en) | 2017-10-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105782159B (en) * | 2016-04-27 | 2017-10-10 | 南京航空航天大学 | A kind of hydraulic rotating actuator |
| CN105937514B (en) * | 2016-06-28 | 2018-01-05 | 华中科技大学无锡研究院 | A kind of electro-hydraulic actuator of energy-storage type ball pump |
| CN107044276B (en) * | 2017-04-26 | 2022-04-12 | 深圳市中安动力科技有限公司 | Novel intelligence well cementation sliding sleeve |
| CN107855512B (en) * | 2018-01-10 | 2023-11-24 | 江苏天宏机械工业有限公司 | Shoulder pole type blocking mechanism |
| CN108161984B (en) * | 2018-02-12 | 2023-09-01 | 深圳市球形动力科技有限公司 | Hydraulic joint module of robot |
| CN108161979B (en) * | 2018-02-12 | 2023-09-15 | 深圳市球形动力科技有限公司 | Robot hydraulic joint |
| CN110685970A (en) * | 2019-10-22 | 2020-01-14 | 深圳市中安动力科技有限公司 | Miniature electro-hydraulic linear actuator |
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| JP4704855B2 (en) * | 2005-08-25 | 2011-06-22 | 日立オートモティブシステムズ株式会社 | Pump device |
| CN202209329U (en) * | 2011-08-17 | 2012-05-02 | 北京长宇利华液压系统工程设计有限公司 | Double-piston rod relative motion oil cylinder |
| CN102772867B (en) * | 2012-07-30 | 2014-10-22 | 泸州天府液压件有限公司 | Low-pressure carbon dioxide intelligent fire-fighting vehicle |
| CN204961463U (en) * | 2015-09-09 | 2016-01-13 | 西安正安环境技术有限公司 | Ball pump electricity liquid actuator for robot |
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Effective date of registration: 20230817 Address after: A706, Block A, TCL Building, No. 6 Gaoxinyuan 1st Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Patentee after: Shenzhen Spherical Power Technology Co.,Ltd. Address before: No. 1604, building 1, Kaiyuan commercial and residential building, Beilin Industrial Park, Beilin District, Xi'an City, Shaanxi Province, 710043 Patentee before: XI'AN ZHENGAN ENVIRONMENTAL TECHNOLOGY Co.,Ltd. |