Hydraulically driven joint for robot

A hydraulically driven joint for a robot, comprising:

• a hydraulic cartridge rotary direct-drive valve and a vane oscillating cylinder, wherein a valve body installation cavity is prefabricated at one end of a center of a center rotating shaft of the vane oscillating cylinder, a shape of the valve body installation cavity is manufactured according to a shape of a plug-in portion of the hydraulic cartridge rotary direct-drive valve, the hydraulic cartridge rotary direct-drive valve is plugged into the valve body installation cavity, and a drive motor of the hydraulic cartridge rotary direct-drive valve is exposed on the center rotating shaft;
• wherein the vane oscillating cylinder further comprises an upper cover, a cylinder body, a stator, a lower cover and a side convex vane, the center rotating shaft is connected with the side convex vane through a side convex ring, the stator is arranged at a radial end of the side convex vane relative to the side convex ring when the side convex vane is in a zero position state, an inner wall of the stator is in clearance fit with a corresponding outer wall of the side convex ring, the stator is independent of the side convex ring and is fixedly arranged in a radial position, an area formed by the cylinder body, the side convex ring, the upper cover and the lower cover is divided into a first working cavity and a second working cavity by the side convex vane and the stator, and a first oil port and a second oil port are arranged in the inner wall of the valve body installation cavity;
• the first oil port is connected with the first working cavity through a first built-in pipeline, the second oil port is connected with the second working cavity through a second built-in pipeline, a channel P and a channel T are also arranged inside the center rotating shaft, and a port P and a port T are provided at an upper end surface of the center rotating shaft;
• an other end of the center rotating shaft is fixedly connected with an angle sensor, a bottom of the lower cover is covered with a sealing hood, the sealing hood is connected with a base of the angle sensor through a bolt along a center hole of the angle sensor, a pressure sensor is fixedly installed in an empty cavity formed by the sealing hood and the center rotating shaft, wherein the pressure sensor is fixedly installed on the center rotating shaft, and an induction joint of the pressure sensor is connected with the first oil port and the second oil port;
• and
• the port P, the port T, a port A and a port B of the hydraulic cartridge rotary direct-drive valve are arranged according to corresponding ports of the vane oscillating cylinder, under normal working conditions, hydraulic oil at a port P of the vane oscillating cylinder is communicated with one of the first oil port or the second oil port through an internal pipeline of the hydraulic cartridge rotary direct-drive valve, and the other one of the first oil port or the second oil port is communicated with a port T of the vane oscillating cylinder through the internal pipeline of the hydraulic cartridge rotary direct-drive valve.