Integrated electro-hydraulic servo rotary actuator

Abstract

The present invention provides an integrated electro-hydraulic servo rotary actuator, which modularly integrates hydraulic actuators, hydraulic control elements, hydraulic power elements, sensors, motors and control systems, which can not only greatly improve the power density ratio, power volume ratio and simplify the system, but also facilitate system installation control, online real-time monitoring and intelligent protection. It includes a spiral swing cylinder, an integrated motor pump, an integrated valve block, an accumulator, a controller, and an RVDT angle sensor. The spiral swing cylinder includes a cylinder body, an output shaft, and a piston. The inner cavity of the cylinder body is provided with the piston and the output shaft. The piston is meshed with the corresponding first meshing inner teeth of the inner cavity of the cylinder body through external spiral teeth. The outer cylindrical surface of the piston is gap-matched with the inner wall annular surface of the inner cavity of the cylinder body. The connecting end of the output shaft is meshed with the inner spiral left teeth of the positioning cavity of the piston through external spiral left teeth.

Description

Technical Field

[0001] The present invention relates to the technical field of servo actuators, in particular to an integrated electro-hydraulic servo rotary actuator. Background Art

[0002] Since hydraulic drive has the advantages of high power density and smooth movement, it is used in some rotary joints with large loads or high control accuracy requirements. At present, the main hydraulic rotary actuators are: spiral swing cylinders, blade swing cylinders, gear rack swing cylinders, and combinations of linear cylinders and ball joints.

[0003] At present, hydraulic rotary mechanisms are being vigorously developed at home and abroad, and various forms of applications are being developed. Chinese patent application 201910318497.42 announced "a hydraulic system and robotic arm of a rotary electro-hydraulic actuator". The device uses a typical closed hydraulic circuit to control the reciprocating movement of the rack and pinion swing cylinder, but the device has disadvantages such as low control accuracy, low power density, and lack of integration and intelligence.

[0004] At present, the valve industry mainly uses rack and pinion swing cylinders. Since their power density ratio and power volume ratio are much smaller than those of spiral swing cylinders, they are limited in places with high space requirements such as the shipbuilding industry and the petrochemical industry. In addition, whether the use of rack and pinion swing cylinders or spiral swing cylinders, the hydraulic energy is provided by hydraulic pump stations or hydraulic units, which will cause the power density ratio and power volume ratio to be small. When the hydraulic pump station is used to supply oil, it is inevitable to drag long hydraulic pipelines and control lines; when the hydraulic unit is used to supply oil, it is inevitable to drag long power circuits and control lines, which undoubtedly increases the complexity and unreliability of the entire control system. With the advent of Industry 4.0, intelligent hydraulics have entered the historical stage, so it is necessary to develop intelligent hydraulic components or hydraulic systems. Summary of the invention

[0005] In response to the above problems, the present invention provides an integrated electro-hydraulic servo rotary actuator, which modularly integrates hydraulic actuators, hydraulic control elements, hydraulic power elements, sensors, motors and control systems, which can not only greatly improve the power density ratio, power-to-volume ratio and simplify the system, but also facilitate system installation control, online real-time monitoring and intelligent protection.

[0006] An integrated electro-hydraulic servo rotary actuator, characterized in that it includes a spiral swing cylinder, an integrated motor pump, an integrated valve block, an accumulator, a controller, and an RVDT angle sensor. The spiral swing cylinder includes a cylinder body, an output shaft, and a piston. The piston and the output shaft are arranged in the inner cavity of the cylinder body. The piston is meshed and connected with the corresponding first meshing internal teeth of the inner cavity of the cylinder body through external spiral teeth. The outer cylindrical surface of the piston is gap-matched with the inner wall annular surface of the inner cavity of the cylinder body. The connecting end of the output shaft is meshed with the inner spiral of the positioning cavity of the piston through external spiral teeth. The output end of the output shaft passes through the positioning cavity and then convexes outward. The corresponding annular surface of the output shaft and the contact ring of the piston are gap-matched and connected to form a sealed connection. The piston divides the inner cavity of the cylinder body into a first working chamber and a second working chamber. The input end of the output shaft includes a stopper side convex ring platform. The inner cavity of the stopper side convex ring platform forms an integrated valve block installation cavity. The input end center of the main section of the output shaft is concave A motor pump positioning cavity is formed, the motor pump positioning cavity is connected to the integrated valve block installation cavity, the plunger pump of the integrated motor pump is built in the motor pump positioning cavity, the integrated valve block is built in the integrated valve block installation cavity, the accumulator is prefabricated at the outlet end of the oil tank, the oil tank is fixed to the outer end surface of the cylinder body corresponding to the input end, the accumulator is an annular accumulator, the accumulator is connected to the accumulator oil inlet and outlet of the integrated valve block, the drive motor of the integrated motor pump is connected to an external controller, the port of the controller includes a power line interface and a signal transceiver interface, the power line interface is used to connect to the external power line, and the signal transceiver interface is used to transmit signals, the output end of the cylinder body is connected to a flange, and the output end of the output shaft is also provided with an RVDT angle sensor, the RVDT angle sensor is connected to the controller through an internal line, the signal transceiver interface transmits the signal to the drive motor, and the controller connects the power line to the drive motor.

[0007] It is further characterized by:

[0008] The oil tank is provided with a central avoidance hole at an axial position corresponding to the drive motor. The oil tank is an annular oil tank. The input end of the drive motor includes a downwardly convex first power line interface and a control line interface. The first power line interface is connected to the controller via a power line, and the control line interface is connected to the controller via a signal line. The power line and the control line are arranged through the central avoidance hole, and the controller is fixed to the corresponding outer shell position of the oil tank.

[0009] The signal transceiver interface is a wireless transmission interface, which enables the entire actuator to only be provided with an exposed power line interface;

[0010] The signal transceiver interface specifically includes a 5G signal generator and a 5G signal receiver, wherein the 5G signal receiver is used to receive a remote operation control signal, and the 5G signal generator is used to feed back the remote operation control signal;

[0011] The controller is built into the central avoidance hole, and a steering electrical plug is fixed on the power line interface of the controller. The steering electrical plug is protruding from the central avoidance hole to ensure quick and convenient wiring.

[0012] The exposed surface cover of the stopper side convex ring platform is provided with a locking flange, and the locking flange seals the integrated valve block in the integrated valve block installation cavity;

[0013] The output end of the output shaft is also fixedly sleeved with an output end cover, which is fixedly locked by an axial locking nut, and the outer circumference of the output end cover and the corresponding inner wall of the cylinder body are connected by a sealing member;

[0014] The axial stopper outer rings of the output end cover and the stopper side convex ring are respectively provided with end face needle bearings, and the end face needle bearings are in close contact with the corresponding stopper end faces of the cylinder body to ensure smooth and reliable rotation;

[0015] The area formed by the cylinder body, the output shaft, and the output end cover is divided into a first working chamber and a second working chamber by the piston, and the step end surface of the integrated valve block installation chamber is respectively provided with a first oil port, a second oil port, a third oil port, and a fourth oil port, and the inner wall of the motor pump positioning chamber is provided with a first oil groove and a second oil groove, the third oil port is connected to the first working chamber through a first built-in pipeline, the fourth oil port is connected to the second working chamber through a second built-in pipeline, the first oil port is connected to the first oil groove through a third built-in pipeline, and the second oil port is connected to the second oil groove through a fourth built-in pipeline;

[0016] The inner end surface of the integrated valve block is provided with a first boss, a second boss, a third boss, and a fourth boss. The outer cylindrical surfaces of the first boss, the second boss, the third boss, and the fourth boss are provided with grooves for placing seals. The inner end surface of the integrated valve block is prefabricated with a first threaded cartridge relief valve mounting hole. The outer end surface of the integrated valve block is prefabricated with a second threaded cartridge relief valve mounting hole, a threaded cartridge two-way hydraulically controlled one-way valve mounting hole, a threaded cartridge hydraulically controlled reversing valve mounting hole, a first pressure sensor mounting hole, a second pressure sensor mounting hole, and the accumulator oil inlet and outlet. The shapes of the corresponding mounting holes are made according to the shapes of the insertion parts of the first threaded cartridge relief valve, the second threaded cartridge relief valve, the threaded cartridge two-way hydraulically controlled one-way valve, the threaded cartridge hydraulically controlled reversing valve, the first pressure sensor, and the second pressure sensor. The inner wall of the first threaded cartridge relief valve mounting hole is provided with a third oil groove and a fourth oil groove. The second threaded cartridge relief valve is prefabricated with a second threaded cartridge relief valve mounting hole, a threaded cartridge two-way hydraulically controlled one-way valve, a threaded cartridge hydraulically controlled reversing valve, a first pressure sensor mounting hole, a second pressure sensor mounting hole, and the accumulator oil inlet and outlet. The inner wall of the valve mounting hole is provided with a fifth oil groove and a sixth oil groove, the inner wall of the threaded cartridge two-way hydraulically controlled one-way valve mounting hole is provided with a seventh oil groove, an eighth oil groove, a ninth oil groove, and a tenth oil groove, the inner wall of the threaded cartridge hydraulically controlled reversing valve mounting hole is provided with an eleventh oil groove, a twelfth oil groove, and a thirteenth oil groove, the first boss is connected to the eleventh oil groove and the eighth oil groove through a fifth built-in pipeline, the second boss is connected to the thirteenth oil groove and the ninth oil groove through a sixth built-in pipeline, the third boss is connected to the third oil groove, the sixth oil groove, and the seventh oil groove through a seventh built-in pipeline, the fourth boss is connected to the fourth oil groove, the fifth oil groove, and the tenth oil groove through an eighth built-in pipeline, the seventh built-in pipeline is connected to the first pressure sensor, the eighth built-in pipeline is connected to the second pressure sensor, and the accumulator oil inlet and outlet are connected to the twelfth oil groove through a ninth built-in pipeline;

[0017] The cylinder body of the oil tank is connected to the rear end face of the cylinder body by means of ring-shaped screws, the sealing piston, the butterfly spring, the compression piston and the sleeve are sequentially placed in the center hole of the oil tank cylinder body, the oil tank end cover is connected to the rear end face of the oil tank cylinder body by means of ring-shaped screws, the cylinder body of the oil tank, the sealing piston, the closed space formed by the sealing member between the cylinder body and the output shaft is the accumulator, and the cavity corresponding to the accumulator is connected to the accumulator oil inlet and outlet of the integrated valve block;

[0018] The cylindrical surface of the cylinder body of the oil tank is provided with an oil filling port, and the plug is sealedly connected with the thread of the oil filling port through a thread.

[0019] The integrated motor pump comprises a plug-in bidirectional radial plunger pump and a drive motor, the plunger pump comprises a first oil inlet and outlet and a second oil inlet and outlet, the first oil inlet and outlet are arranged on the axial center end face, corresponding to the position of the first oil groove, the second oil inlet and outlet are arranged on the outer ring surface of the plunger pump, corresponding to the position of the second oil groove, the first oil inlet and outlet are communicated with the first oil groove, the second oil inlet and outlet are communicated with the second oil groove, and the outer periphery of the second oil inlet and outlet is arranged with grooves and corresponding seals to ensure the independent operation of the two oil circuits;

[0020] The fifth built-in pipeline is provided with a first throttling hole when connected to the eighth oil tank, and the sixth built-in pipeline is provided with a second throttling hole when connected to the ninth oil tank.

[0021] After adopting the present invention, it is integratedly designed and arranged based on the spiral swing cylinder, integrated motor pump, integrated valve block, accumulator, controller, and RVDT angle sensor. It has the advantages of simple appearance, compact structure, high control accuracy, high protection level, large power density ratio, and large power-to-volume ratio. It is convenient for system standardization design and serialization design, and can also facilitate system integrated installation, online real-time monitoring, intelligent protection, etc. It can be applied to the valve industry or rotary joints and other fields that require high integration. In actual use, after the entire actuator is installed in place, it is only necessary to connect the power line and debug the signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of a partial cross-sectional structure of the front view of the present invention;

[0023] Figure 2 It is the hydraulic principle diagram of the present invention;

[0024] Figure 3 It is a schematic diagram of the cross-sectional structure of the spiral swing cylinder of the present invention from the left side;

[0025] Figure 4 It is a schematic diagram of the piston of the spiral swing cylinder of the present invention;

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the integrated motor pump of the present invention;

[0027] Figure 6 This is a schematic diagram of the three-dimensional structure of the integrated valve block of the present invention;

[0028] Figure 7 This is a schematic diagram of the cross-sectional expansion structure of the integrated valve block of the present invention;

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the flange of the present invention;

[0030] The names corresponding to the serial numbers in the figure are as follows:

[0031] Screw swing cylinder 1, integrated motor pump 2, integrated valve block 3, accumulator 4, controller 5, steering electrical plug 6, RVDT angle sensor 7, flange 8, oil tank 9, center avoidance hole 91,

[0032] Cylinder body 101, piston 102, output shaft 103, stopper side convex ring platform 1031, locking flange 104, output end cover 105, locking nut 106, end needle bearing 107, seal 108, seal 109, seal 110, external spiral right tooth 113, internal spiral left tooth 114, first working chamber 115, second working chamber 116, first oil port 117, second oil port 118, third oil port 119, fourth oil port 120, first oil groove 121, second oil groove 122, first built-in pipeline 123, second built-in pipeline 124, third built-in pipeline 125, fourth built-in pipeline 126, integrated valve block installation chamber 127, motor pump positioning chamber 128

[0033] Insert-type bidirectional radial piston pump 201, drive motor 202, first oil inlet and outlet 203, second oil inlet and outlet 204, control line interface 205, first power line interface 206, seal 207

[0034] The first threaded cartridge relief valve 301, the second threaded cartridge relief valve 302, the threaded cartridge two-way hydraulically controlled one-way valve 303, the threaded cartridge hydraulically controlled reversing valve 304, the first pressure sensor 305, the second pressure sensor 306, the first throttle hole 307, the second throttle hole 308, the first boss 309, the second boss 310, the third boss 311, the fourth boss 312, the accumulator oil inlet and outlet 313, the third oil groove 314, the fourth oil groove 315, The fifth oil groove 316, the sixth oil groove 317, the seventh oil groove 318, the eighth oil groove 319, the ninth oil groove 320, the tenth oil groove 321, the eleventh oil groove 322, the twelfth oil groove 323, the thirteenth oil groove 324, the fifth built-in pipeline 325, the sixth built-in pipeline 326, the seventh built-in pipeline 327, the eighth built-in pipeline 328, the ninth built-in pipeline 329, the seal 330, the first pressure sensor interface 331, and the second pressure sensor interface 332.

[0035] Cylinder body 401, sealing piston 402, butterfly spring 403, compression piston 404, sleeve 405, oil tank end cover 406, oil filling port 407

[0036] Power line interface 501 , 5G signal generator 502 , 5G signal receiver 503 . DETAILED DESCRIPTION

[0037] Integrated electro-hydraulic servo rotary actuator, see Figure 1-Figure 8:It includes a spiral swing cylinder 1, an integrated motor pump 2, an integrated valve block 3, an accumulator 4, a controller 5, and an RVDT angle sensor 7. The spiral swing cylinder 1 includes a cylinder body 101, an output shaft 103, and a piston 102. The inner cavity of the cylinder body 101 is provided with a piston 102 and an output shaft 103. The piston 102 is meshed with the corresponding first meshing internal teeth of the inner cavity of the cylinder body 101 through the outer spiral right teeth 113. The outer cylindrical surface of the piston 102 is gap-matched with the inner wall annular surface of the inner cavity of the cylinder body to form a sealed contact connection. The connecting end of the output shaft 103 is connected to the positioning cavity of the piston 102 through the outer spiral left teeth. The inner spiral left teeth 114 are meshed, and the output end of the output shaft 103 passes through the positioning cavity and then protrudes outward. The corresponding annular surface of the output shaft 103 and the contact ring of the piston 102 are connected by clearance fit to form a sealed connection. The piston 102 separates the inner cavity of the cylinder body 101 into a first working cavity 115 and a second working cavity 116. The seal between the piston 102, the cylinder body 101 and the output shaft 103 is formed by a combination of seals 109 and 110; the input end of the output shaft 103 includes a stopper side convex ring platform 1031, and the inner cavity of the stopper side convex ring platform 1031 forms an integrated valve block installation cavity 127. The output shaft The center of the input end of the main body section of 103 is concave to form a motor pump positioning cavity 128, the motor pump positioning cavity 128 is connected to the integrated valve block installation cavity 127, the plunger pump 201 of the integrated motor pump 2 is built in the motor pump positioning cavity 128, the integrated valve block 3 is built in the integrated valve block installation cavity 128, the accumulator 4 is prefabricated at the outlet end of the oil tank 9, the oil tank 9 is fixed to the outer end surface of the cylinder body 101 corresponding to the input end, the accumulator 4 is an annular accumulator, the accumulator 4 is connected to the accumulator oil inlet and outlet 313 of the integrated valve block 3, and the oil tank 9 is provided with an oil filling port 407 with a plug; the integrated motor pump 2 The driving motor 202 is connected to the external controller 5. The port of the controller 5 includes a power line interface 501 and a signal transceiver interface. The power line interface 501 is used to connect to the external power line, and the signal transceiver interface is used to transmit signals. The output end of the cylinder body 101 is connected to the flange 8, and the output end of the output shaft 103 is connected to the flange 8. The output end of the output shaft 103 is also provided with an RVDT angle sensor 7. The RVDT angle sensor 7 is connected to the controller 5 through an internal line. The signal transceiver interface transmits the signal to the driving motor 202, and the controller 5 connects the power line to the driving motor 202.

[0038] A central avoidance hole 91 is provided at the axial position of the oil tank 9 corresponding to the drive motor 202. The oil tank 9 is an annular oil tank. The input end of the drive motor 202 includes a downwardly convex power line first interface 206 and a control line interface 205. The power line first interface 206 is connected to the controller 5 through a power line, and the control line interface 205 is connected to the controller 5 through a signal line. The power line and the control line are arranged through the central avoidance hole 91, and the controller 5 is fixed to the corresponding outer shell position of the oil tank 9.

[0039] The signal transceiver interface is a wireless transmission interface, which enables the entire actuator to only be provided with an exposed power line interface 501;

[0040] The signal transceiver interface specifically includes a 5G signal generator 502 and a 5G signal receiver 503. The 5G signal receiver 503 is used to receive the remote operation control signal, and the 5G signal generator 502 is used to feed back the remote operation control signal.

[0041] The controller 5 is built into the central avoidance hole 91, and a steering electrical plug 6 is fixed on the power line interface 501 of the controller 5. The steering electrical plug 6 is arranged protruding from the central avoidance hole 91. In specific implementation, a sealing gasket is provided between the fuel tank end cover 406 and the steering electrical plug 6. The external end of the steering electrical connector 6 is used to connect the power input line to ensure quick and convenient wiring.

[0042] The exposed surface cover of the stopper side convex ring platform 1031 is provided with a locking flange 104, and the locking flange 104 encapsulates the integrated valve block 3 in the integrated valve block installation cavity 127;

[0043] The output end of the output shaft 103 is also fixedly sleeved with an output end cover 105, which is locked and fixed by an axial locking nut 106, and the outer circumference of the output end cover 105 and the corresponding inner wall of the cylinder body 101 are connected by a seal 108;

[0044] The axial stopper outer rings of the output end cover 105 and the stopper side convex ring platform 1031 are respectively provided with end face needle bearings 107, and the end face needle bearings 107 are in close contact with the corresponding stopper end faces of the cylinder body 101 to ensure smooth and reliable rotation;

[0045] The area formed by the cylinder body 101, the output shaft 103, and the end cover 105 is divided into a first working chamber 115 and a second working chamber 116 by the piston 102. The step end surface of the integrated valve block installation chamber 127 is provided with a first oil port 117, a second oil port 118, a third oil port 119, and a fourth oil port 120. The inner wall of the integrated valve block installation chamber 127 is provided with a first oil groove 121 and a second oil groove 122. The third oil port 119 is connected to the first working chamber 115 through a first built-in pipeline 123, the fourth oil port 120 is connected to the second working chamber 116 through a second built-in pipeline 124, the first oil port 117 is connected to the first oil groove 121 through a third built-in pipeline 125, and the second oil port 118 is connected to the second oil groove 122 through a fourth built-in pipeline 126.

[0046] The inner end surface of the integrated valve block 3 is provided with a first boss 309, a second boss 310, a third boss 311, and a fourth boss 312. The outer cylindrical surfaces of the first boss 309, the second boss 310, the third boss 311, and the fourth boss 312 are provided with grooves for placing seals 330. The inner end surface of the integrated valve block 3 is prefabricated with a mounting hole for a first threaded cartridge relief valve 301. The outer end surface of the integrated valve block 3 is prefabricated with a second threaded cartridge relief valve 302, a threaded cartridge two-way hydraulically controlled one-way valve 303, a threaded cartridge hydraulically controlled reversing valve 304, and a first pressure sensor 3 05. The mounting hole of the second pressure sensor 306 and the oil inlet and outlet 313 of the accumulator. The shape of the mounting hole is made according to the shapes of the insertion parts of the first threaded cartridge relief valve 301, the second threaded cartridge relief valve 302, the threaded cartridge two-way hydraulic control check valve 303, the threaded cartridge hydraulic control reversing valve 304, the first pressure sensor 305, and the second pressure sensor 306. The inner wall of the mounting hole of the first threaded cartridge relief valve 301 is provided with a third oil groove 314 and a fourth oil groove 315, and the inner wall of the mounting hole of the second threaded cartridge relief valve 302 is provided with a The inner wall of the mounting hole of the threaded cartridge type two-way hydraulically controlled one-way valve 303 is provided with a seventh oil groove 318, an eighth oil groove 319, a ninth oil groove 320, and a tenth oil groove 321. The inner wall of the mounting hole of the threaded cartridge type hydraulically controlled reversing valve 304 is provided with an eleventh oil groove 322, a twelfth oil groove 323, and a thirteenth oil groove 324. The first boss 309 is connected to the eleventh oil groove 322 and the eighth oil groove 319 through a fifth built-in pipeline 325. The second boss 310 is connected to the thirteenth oil groove 324 and the ninth oil groove 320. The third boss 311 is connected to the third oil groove 314, the sixth oil groove 317 and the seventh oil groove 318 through the seventh built-in pipeline 327, the fourth boss 312 is connected to the fourth oil groove 315, the fifth oil groove 316 and the tenth oil groove 321 through the eighth built-in pipeline 328, the seventh built-in pipeline 327 is connected to the first pressure sensor 305, the eighth built-in pipeline 328 is connected to the second pressure sensor 306, and the accumulator oil inlet and outlet 313 is connected to the twelfth oil groove 323 through the ninth built-in pipeline 329;

[0047] The cylinder body 401 of the oil tank 9 is connected to the rear end face of the cylinder body 201 by means of annular screws, the sealing piston 402, the butterfly spring 403, the compression piston 404, and the sleeve 405 are sequentially placed in the annular cavity of the oil tank cylinder body 401, and the oil tank end cover 406 is connected to the rear end face of the oil tank cylinder body 401 by means of annular screws. The closed space formed by the sealing member between the cylinder body 401, the sealing piston 402, the cylinder body 201 and the output shaft 103 is the accumulator 4, and the cavity corresponding to the accumulator 4 is connected to the accumulator oil inlet and outlet 313 of the integrated valve block 3; the accumulator 4 is assembled and is a non-standard part, and the cavity of the accumulator ensures that the connection of the accumulator oil inlet and outlet 313 is stable and reliable when the integrated valve block 3 rotates;

[0048] The integrated motor pump 2 includes a plug-in bidirectional radial plunger pump 201 and a drive motor 202. The plunger pump 201 includes a first oil inlet and outlet 203 and a second oil inlet and outlet 204. The first oil inlet and outlet 203 is arranged on the axial center end face and corresponds to the position of the first oil groove 121. The second oil inlet and outlet 204 is distributed on the outer ring surface of the plunger pump 201 and corresponds to the position of the second oil groove 122. The first oil inlet and outlet 203 is communicated with the first oil groove 121, and the second oil inlet and outlet 204 is communicated with the second oil groove 122. The outer periphery of the second oil inlet and outlet 204 is arranged with grooves and corresponding seals 207 to ensure the independent operation of the two oil circuits.

[0049] When the fifth built-in pipeline 325 is connected to the eighth oil tank 319, a first throttling hole 307 is provided. When the sixth built-in pipeline 326 is connected to the ninth oil tank 320, a second throttling hole 308 is provided. The provision of the first throttling hole 307 and the second throttling hole 308 eliminates the need to provide an additional throttling valve, thereby reducing the volume of the entire structure and increasing the degree of integration.

[0050] It is based on the integrated arrangement of a spiral swing cylinder, an integrated motor pump, an integrated valve block, an accumulator, a controller, and an RVDT angle sensor. The power input line is connected to the power supply, and the controller receives the control signal from the operating room or sends a feedback signal to the operating room, and fixes the flange with screws so that the piston drives the output shaft, the output end cover, the locking nut, and the integrated valve block to rotate together under the action of the pressure oil. Its working principle is: when the controller does not receive the control signal from the operating room, the integrated motor pump will have no control signal input. At this time, the integrated motor pump will not rotate and there will be no pressure oil output. At this time, the output shaft is in the initial position; when the controller receives the positive control signal from the operating room, the integrated motor pump will receive the positive control signal from the controller, and the integrated motor pump will rotate clockwise. , oil flows out from the first oil inlet and outlet, and oil flows in from the second oil inlet and outlet. The pressure oil reaches the first working chamber through the built-in oil channel and causes the output shaft to rotate clockwise. During the rotation of the output shaft, the RVDT angle sensor collects the position signal in real time and transmits it back to the controller. The controller performs calculations and then inputs a positive or negative control signal to the integrated motor pump in real time, continuously changing the output flow rate and output direction of the integrated motor pump so that the output shaft stops precisely at the specified position, thereby realizing stepless speed control of the integrated motor pump. Conversely, when the controller receives a negative control signal from the operating room, the integrated motor pump will receive a negative control signal from the controller. At this time, the integrated motor pump rotates counterclockwise, oil flows out from the second oil inlet and outlet, and oil flows in from the first oil inlet and outlet. The method is the same; when the output shaft is in operation, the pressure sensor will collect the pressure signals of the first working chamber and the second working chamber in real time and feed them back to the controller. When the signal reaches the set upper limit value, the controller will send an alarm signal to the operation room. When the pressure of the first working chamber and the second working chamber rises to the point where the threaded cartridge relief valve opens, the integrated motor pump continues to rotate and the RVDT angle sensor position signal does not change. The controller will send an alarm signal to the operation room. When the RVDT angle sensor and the pressure sensor are damaged or have no signal output, the controller will send an alarm signal to the operation room, thereby realizing intelligent protection. When the output shaft rotates to the specified position and the integrated motor pump stops rotating, the pressure oil in the first working chamber or the second working chamber is The hydraulically controlled one-way valve prevents reverse flow and keeps the output shaft at the specified position. When the pressure oil in the first working chamber or the second working chamber leaks and causes the signal of the RVDT angle sensor and the pressure sensor to change, the RVDT angle sensor and the pressure sensor will feed back the signal to the controller in real time, and the controller will input a positive or negative control signal to the integrated motor pump to keep the output shaft at the specified position, thereby realizing real-time monitoring and precise position closed-loop and force closed-loop control; when the integrated electro-hydraulic servo rotary actuator leaks or seeps oil during operation, it will cause the internal oil to decrease and fail to work normally. At this time, the oil in the accumulator will enter the oil inlet of the integrated motor pump through the threaded plug-in hydraulically controlled reversing valve to replenish the lost oil;The overall integrated design is adopted, and the protection level can reach IP68 level, so that the integrated electro-hydraulic servo rotary actuator can be used in more severe environments; the present invention is based on the integrated design of spiral swing cylinder, integrated motor pump, integrated valve block, accumulator, RVDT angle sensor and controller, etc. It has the advantages of simple appearance, compact structure, high control accuracy, high protection level, high power density ratio, high power volume ratio, etc., which is convenient for system standardization design and serialization design, and can also facilitate system integrated installation, online real-time monitoring, intelligent protection, etc., and can be applied to the valve industry or rotary joints and other fields that require high integration. ;

[0051] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0052] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. Integrated electro-hydraulic servo rotary actuator, Characterized in that: It includes a spiral swing cylinder, an integrated motor pump, an integrated valve block, an accumulator, a controller, and an RVDT angle sensor. The spiral swing cylinder includes a cylinder block, an output shaft, and a piston. The piston and the output shaft are arranged in the inner cavity of the cylinder block. The piston is meshed and connected with the corresponding first meshing internal teeth of the inner cavity of the cylinder block through external spiral teeth. The outer cylindrical surface of the piston is in clearance fit with the inner wall ring surface of the inner cavity of the cylinder block. The connecting end of the output shaft is meshed with the internal spiral of the positioning cavity of the piston through external spiral teeth. The output end of the output shaft protrudes outward after passing through the positioning cavity. The output shaft is in clearance fit and connected between the corresponding ring surface and the contact ring of the piston to form a sealed connection. The piston divides the inner cavity of the cylinder block into a first working chamber and a second working chamber. The input end of the output shaft includes a stop side convex ring platform. An integrated valve block installation cavity is formed in the inner cavity of the stop side convex ring platform. The input end center of the main body section of the output shaft is concave to form a motor pump positioning cavity. The motor pump positioning cavity communicates with the integrated valve block installation cavity. The plunger pump of the integrated motor pump is placed in the motor pump positioning cavity. The integrated valve block is placed in the integrated valve block installation cavity. The accumulator is prefabricated at the outlet end of the fuel tank. The fuel tank is fixedly installed on the outer end face of the cylinder block corresponding to the input end. The accumulator is an annular accumulator. The accumulator communicates with the accumulator oil inlet and outlet of the integrated valve block. The drive motor of the integrated motor pump is connected to an external controller. The ports of the controller include a power line interface and a signal transceiver interface. The power line interface is used to connect to an external power line. The signal transceiver interface is used to transmit signals. The output end of the cylinder block is connected with a flange. An RVDT angle sensor is also arranged at the output end of the output shaft. The RVDT angle sensor is connected to the controller through an internal line. The signal transceiver interface transmits the signal to the drive motor. The controller connects the power line to the drive motor.

2. The integrated electro-hydraulic servo rotary actuator according to claim 1, Characterized in that: A central avoidance hole is arranged at the axial position of the fuel tank corresponding to the drive motor. The fuel tank is an annular fuel tank. The input end of the drive motor includes a downward convex power line first interface and a control line interface. The power line first interface is connected to the controller through a power line. The control line interface is connected to the controller through a signal line. The power line and the control line are arranged through the central avoidance hole. The controller is fixedly installed at the corresponding shell position of the fuel tank.

3. The integrated electro-hydraulic servo rotary actuator according to claim 1, Characterized in that: The signal transceiver interface is a wireless transmission interface.

4. The integrated electro-hydraulic servo rotary actuator according to claim 3, Characterized in that: The signal transceiver interface specifically includes a 5G signal generator and a 5G signal receiver. The 5G signal receiver is used to receive remote operation control signals. The 5G signal generator is used to feedback remote operation control signals.

5. The integrated electro-hydraulic servo rotary actuator according to claim 2, Features: The controller is built into the central avoidance hole, and a steering electrical plug is fixedly provided on the power line interface of the controller, and the steering electrical plug is arranged to protrude out of the central avoidance hole.

6. The integrated electro-hydraulic servo rotary actuator according to claim 1, Features: The output end of the output shaft is also fixedly sleeved with an output end cover, the area formed by the cylinder body, the output shaft and the output end cover is divided into a first working chamber and a second working chamber by the piston, the step end surface of the integrated valve block installation chamber is respectively provided with a first oil port, a second oil port, a third oil port and a fourth oil port, the inner wall of the motor pump positioning chamber is provided with a first oil groove and a second oil groove, the third oil port is connected to the first working chamber through a first built-in pipeline, the fourth oil port is connected to the second working chamber through a second built-in pipeline, the first oil port is connected to the first oil groove through a third built-in pipeline, and the second oil port is connected to the second oil groove through a fourth built-in pipeline.

7. The integrated electro-hydraulic servo rotary actuator according to claim 6, Features: The inner end surface of the integrated valve block is provided with a first boss, a second boss, a third boss, and a fourth boss. The outer cylindrical surfaces of the first boss, the second boss, the third boss, and the fourth boss are provided with grooves for placing seals. The inner end surface of the integrated valve block is prefabricated with a first threaded cartridge relief valve mounting hole. The outer end surface of the integrated valve block is prefabricated with a second threaded cartridge relief valve mounting hole, a threaded cartridge two-way hydraulically controlled one-way valve mounting hole, a threaded cartridge hydraulically controlled reversing valve mounting hole, a first pressure sensor mounting hole, a second pressure sensor mounting hole, and the accumulator oil inlet and outlet. The shapes of the corresponding mounting holes are made according to the shapes of the insertion parts of the first threaded cartridge relief valve, the second threaded cartridge relief valve, the threaded cartridge two-way hydraulically controlled one-way valve, the threaded cartridge hydraulically controlled reversing valve, the first pressure sensor, and the second pressure sensor. The inner wall of the first threaded cartridge relief valve mounting hole is provided with a third oil groove and a fourth oil groove. The second threaded cartridge relief valve is prefabricated with a second threaded cartridge relief valve mounting hole, a threaded cartridge two-way hydraulically controlled one-way valve, a threaded cartridge hydraulically controlled reversing valve, a first pressure sensor mounting hole, a second pressure sensor mounting hole, and the accumulator oil inlet and outlet. The inner wall of the valve mounting hole is provided with a fifth oil groove and a sixth oil groove, the inner wall of the threaded cartridge two-way hydraulically controlled one-way valve mounting hole is provided with a seventh oil groove, an eighth oil groove, a ninth oil groove and a tenth oil groove, the inner wall of the threaded cartridge hydraulically controlled reversing valve mounting hole is provided with an eleventh oil groove, a twelfth oil groove and a thirteenth oil groove, the first boss is connected to the eleventh oil groove and the eighth oil groove through a fifth built-in pipeline, the second boss is connected to the thirteenth oil groove and the ninth oil groove through a sixth built-in pipeline, the third boss is connected to the third oil groove, the sixth oil groove and the seventh oil groove through a seventh built-in pipeline, the fourth boss is connected to the fourth oil groove, the fifth oil groove and the tenth oil groove through an eighth built-in pipeline, the seventh built-in pipeline is connected to the first pressure sensor, the eighth built-in pipeline is connected to the second pressure sensor, and the accumulator oil inlet and outlet are connected to the twelfth oil groove through a ninth built-in pipeline.

8. The integrated electro-hydraulic servo rotary actuator according to claim 7, Features: The fifth built-in pipeline is provided with a first throttling hole when connected to the eighth oil tank, and the sixth built-in pipeline is provided with a second throttling hole when connected to the ninth oil tank.

9. The integrated electro-hydraulic servo rotary actuator according to claim 7, Features: The integrated motor pump includes a plug-in bidirectional radial plunger pump and a drive motor. The plunger pump includes a first oil inlet and outlet and a second oil inlet and outlet. The first oil inlet and outlet are arranged on the axial center end face and correspond to the position of the first oil groove. The second oil inlet and outlet are distributed on the outer ring surface of the plunger pump and correspond to the position of the second oil groove. The first oil inlet and outlet are communicated with the first oil groove, and the second oil inlet and outlet are communicated with the second oil groove. The outer periphery of the second oil inlet and outlet is arranged with grooves and corresponding seals.

10. The integrated electro-hydraulic servo rotary actuator according to claim 1, Features: The cylinder body of the oil tank is connected to the rear end face of the cylinder body by means of ring-shaped screws, the sealing piston, butterfly spring, compression piston and sleeve are sequentially placed in the center hole of the cylinder body of the oil tank, and the oil tank end cover is connected to the rear end face of the cylinder body of the oil tank by means of ring-shaped screws. The cylinder body of the oil tank, the sealing piston and the closed space formed by the sealing member between the cylinder body and the output shaft are the accumulator, and the cavity corresponding to the accumulator is connected to the accumulator oil inlet and outlet of the integrated valve block.

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