Rotary valve assembly
A rotary valve subassembly includes a spool and a sleeve. The spool is positioned within the sleeve and rotatable relative to the sleeve. Rotating the spool relative to the sleeve can align a scalloped recess formed into an outer side surface of the spool with an inner circumferential recess formed into an inner side surface of the sleeve to fluidly-connect a pressurized fluid source and a low pressure fluid reservoir with a hydraulic actuator.
1. A method of operating a rotary valve assembly including a sleeve and a spool disposed within the sleeve, the method comprising:
rotating the spool relative to the sleeve to radially align at least one scalloped recess of a plurality of scalloped recesses formed into an outer side surface of the spool with an inner circumferential recess formed into an inner side surface of the sleeve, the at least one scalloped recess of the spool when radially aligned with the inner circumferential recess of the sleeve is configured to fluidly-connect:
a pressurized fluid source with one of a first portion or a second portion of a hydraulic actuator; and
a low pressure fluid reservoir with the other one of the first portion or the second portion of the hydraulic actuator;
wherein the sleeve comprises a tube-shaped body including an outer side surface and an inner side surface disposed on an opposite side of the tube-shaped body than the outer side surface, the inner side surface defining an axial chamber that axially extends through the tube-shaped body, the tube-shaped body comprising:
a plurality of inlet ports that extend radially through a thickness of the tube-shaped body, each inlet port in fluid communication with the axial chamber and defining an upstream opening at the outer side surface and a downstream opening at the inner side surface; and
a plurality of control ports that extend radially through the thickness of the tube-shaped body, each control port in fluid communication with the axial chamber and defining a first opening at the outer side surface and a second opening at the inner side surface.
2. The method of claim 1 , further comprising, when the at least one scalloped recess of the spool is radially aligned with the inner circumferential recess of the sleeve, communicating pressurized fluid from the pressurized fluid source through one or more inlet ports formed through the sleeve and into a cavity defined by the at least one scalloped recess of the spool and the inner circumferential recess of the sleeve.
3. The method of claim 2 , further comprising directing the pressurized fluid out of the cavity through at least one control port of a plurality of control ports of the sleeve and into the one of the first portion or the second portion of the hydraulic actuator.
4. The method of claim 3 , wherein the pressurized fluid, when received by the one of the first portion or the second portion of the hydraulic actuator, causing the hydraulic actuator to impart movement of a limb of a robot.
5. The method of claim 4 , wherein the limb of the robot comprises a leg.
6. The method of claim 4 , wherein the limb of the robot comprises an arm.
7. The method of claim 1 , further comprising rotating the spool relative to the sleeve to move the least one scalloped recess of the spool out of radial alignment with the inner circumferential recess of the sleeve, the at least one scalloped recess of the spool when out of radial alignment with the inner circumferential recess of the sleeve configured to fluidly-disconnect the pressurized fluid source from the one of the first portion or the second portion of the hydraulic actuator.
8. The method of claim 1 , further comprising, when the at least one scalloped recess of the spool is radially aligned with the inner circumferential recess of the sleeve, returning fluid from the other of the first portion or the second portion of the hydraulic actuator through one or more control ports formed through the sleeve and into an axial chamber of the spool via at least one return pressure port formed through the spool.
9. The method of claim 8 , further comprising directing the fluid out of the axial chamber of the spool through an axial exit port to the low pressure fluid reservoir via a fluid return line, the fluid return line fluidly connecting the axial exit port to the fluid reservoir.
10. The method of claim 1 , wherein each scalloped recess of the plurality of scalloped recesses comprises:
a head portion;
a body portion; and
a neck portion connecting the head portion to the body portion.
11. A method of operating a rotary valve assembly including a sleeve and a spool disposed within the sleeve, the method comprising:
rotating the spool relative to the sleeve to radially align at least one scalloped recess of a plurality of scalloped recesses formed into an outer side surface of the spool with an inner circumferential recess formed into an inner side surface of the sleeve, the at least one scalloped recess of the spool when radially aligned with the inner circumferential recess of the sleeve is configured to fluidly-connect:
a pressurized fluid source with one of a first portion or a second portion of a hydraulic actuator; and
a low pressure fluid reservoir with the other one of the first portion or the second portion of the hydraulic actuator;
wherein the spool comprises a tube-shaped body including the outer side surface and an inner side surface disposed on an opposite side of the tube-shaped body than the outer side surface, the inner side surface defining an axial chamber that axially extends through the tube-shaped body, the tube-shaped body comprising:
a plurality of return pressure ports that radially extend through a thickness of the tube-shaped body, each return pressure port in fluid communication with the axial chamber; and
the plurality of scalloped recesses formed on the outer side surface of the tube-shaped body, each scalloped recess extending radially into but not through the thickness of the tube-shaped body; and
wherein each scalloped recess of the plurality of scalloped recesses comprises:
a head portion;
a body portion; and
a neck portion connecting the head portion to the body portion.
12. The method of claim 11 , wherein the plurality of scalloped recesses include:
a first upper scalloped recess;
a second upper scalloped recess circumferentially spaced from the first upper scalloped recess;
a vertically flipped first lower scalloped recess; and
a vertically flipped second lower scalloped recess circumferentially spaced from the first lower scalloped recess,
wherein an orientation of each of the first and second lower scalloped recesses is vertically flipped in comparison to an orientation of each of the first and second upper scalloped recesses, and
wherein the first and second lower scalloped recesses are axially spaced from the first and second upper scalloped recesses.
13. The method of claim 11 , wherein the plurality of return pressure ports include:
a first upper return pressure port;
a second upper return pressure port circumferentially arranged around an upper portion/row of the tube-shaped body with the first upper return pressure port;
a first lower return pressure port; and
a second lower return pressure port circumferentially arranged around an upper portion/row of the tube-shaped body with the first lower return pressure port,
wherein an orientation of each of the first and second lower return pressure ports is horizontally flipped in comparison to an orientation of each of the first and second upper return pressure ports, and
wherein the first and second lower return pressure ports are axially spaced from the first and second upper return pressure ports.
14. The method of claim 13 , wherein:
the first upper return pressure port is circumferentially aligned with one of the first or second lower scalloped recesses and the second upper return pressure port is circumferentially aligned with the other one of the first or second lower scalloped recesses; and
the first lower return pressure port is circumferentially aligned with one of the first or second upper scalloped recesses and the second lower return pressure port is circumferentially aligned with the other one of the first or second upper scalloped recesses.
15. The method of claim 11 , wherein each scalloped recess of the plurality of scalloped recesses comprises a pear-shaped cross-section.
16. The method of claim 11 , wherein each scalloped recess extends radially into but not through the thickness of the tube-shaped body is recessed from the outer side surface at a depth, the depth defines one or more of:
a constant depth portion; or
a non-constant depth portion along a length of the scalloped recess.
17. The method of claim 16 , wherein the constant depth portion extends along a length of the neck portion of each scalloped recess of the plurality of scalloped recesses.
18. The method of claim 16 , wherein the non-constant depth portion extends along a length of at least one of the head portion or the body portion.
19. The method of claim 11 , wherein each return pressure port of the plurality of return pressure ports comprises:
a first portion;
a second portion; and
an intermediate portion connecting the first portion to the second portion.