A hydraulic energy storage variable inertia gyro stabilized platform and energy recovery method

Abstract

The invention discloses a hydraulic energy storage variable inertia gyro stabilized platform and an energy recovery method. The platform comprises a platform plate, a bracket, a power gyro stabilizer, a four-flow distribution window hydraulic pump, a two-position three-way electromagnetic reversing valve 1, a two-position three-way electromagnetic reversing valve 2, an execution oil cylinder and a controller. The power gyro stabilizer is connected with the bracket, the A port and the B port of the four-flow distribution window hydraulic pump are connected with the execution oil cylinder, the C port of the four-flow distribution window hydraulic pump is connected with the A port of the two-position three-way electromagnetic reversing valve 1, the D port of the four-flow distribution window hydraulic pump is connected with the A port of the two-position three-way electromagnetic reversing valve 2, the P ports of the two-position three-way electromagnetic reversing valve 1 and the two-position three-way electromagnetic reversing valve 2 are both connected with an oil tank, the T ports of the two-position three-way electromagnetic reversing valve 1 and the two-position three-way electromagnetic reversing valve 2 are both connected with the power gyro stabilizer, and the controller is connected with the four-flow distribution window hydraulic pump. The stability of the working oil pressure of the actuator is ensured, and the stepless rapid response to the irregular interference torque from the waves and the sea wind is realized, and energy saving and emission reduction are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of hydraulic transmission control and energy storage, and in particular to a hydraulic energy storage type variable inertia gyro stabilized platform and an energy recovery method. Background Art

[0002] When a large offshore crane is operating on the sea, in addition to overcoming the vibration of its own mechanism, it also needs to overcome the interference torque generated by the hull counterweight, waves, and sea wind to avoid the risk of the entire large offshore crane tilting and ensure the stability of the hoisted cargo.

[0003] Conventional large offshore cranes, like conventional land cranes, use accumulators with fixed rotational inertia. Firstly, they cannot provide a relatively stable oil pressure to the actuator, causing the mechanism to vibrate and generate noise. Secondly, they cannot balance irregular interference torques from waves and sea breezes.

[0004] Therefore, a stepless adjustment and fast response energy storage device is needed to meet the application of large offshore cranes. Summary of the invention

[0005] The present invention provides a hydraulic energy storage variable inertia gyro stabilized platform and an energy recovery method to solve the problems existing in the above-mentioned background technology.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is: a hydraulic energy storage variable inertia gyro stabilized platform, including a platform plate, a bracket, a power gyro stabilizer, a four-flow distribution window hydraulic pump, a two-position three-way electromagnetic reversing valve 1, a two-position three-way electromagnetic reversing valve 2, an actuator cylinder and a controller, wherein the bracket is symmetrically provided with two, the power gyro stabilizer is rotatably connected to the bracket, the A port and the B port on the four-flow distribution window hydraulic pump are connected to the rodless cavity of the actuator cylinder, the C port on the four-flow distribution window hydraulic pump is connected to the A port of the two-position three-way electromagnetic reversing valve 1, the D port on the four-flow distribution window hydraulic pump is connected to the A port of the two-position three-way electromagnetic reversing valve 2, the P ports of the two-position three-way electromagnetic reversing valve 1 and the two-position three-way electromagnetic reversing valve 2 are both connected to the oil tank, the T ports of the two-position three-way electromagnetic reversing valve 1 and the two-position three-way electromagnetic reversing valve 2 are connected, and are both connected to the power gyro stabilizer, and the controller is connected to the four-flow distribution window hydraulic pump through a control harness.

[0007] Preferably, the dynamic gyro stabilizer includes a variable inertia rotor, an inner frame, a rotating shaft and a rotor motor, wherein both ends of the variable inertia rotor are rotatably connected to the inner frame, one end of the rotating shaft is fixedly connected to the inner frame, and the other end is rotatably connected to the bracket, and the rotor motor is fixedly connected to the inner frame and drives the variable inertia rotor to rotate.

[0008] Preferably, the variable inertia rotor includes an upper partition flange, an inner sleeve, an outer sleeve, a lower partition flange, an annular piston, an upper end plate, a lower end plate and a fixing rod, the upper partition flange and the lower partition flange are rotatably connected to the inner frame, the upper partition flange and the lower partition flange are screwed onto the inner wall of the end of the outer sleeve through a screw pair, and are pressed to the end of the inner sleeve through a sealing rubber ring, the annular piston is arranged in an annular cavity formed after the inner sleeve and the outer sleeve are coaxially installed, and the annular cavity is divided into an air cavity and an oil cavity, wherein the air cavity is communicated with the inner sleeve through a through hole on the upper partition flange, and the oil cavity is communicated with the oil circuit through a through hole on the lower partition flange, and both ends of the fixing rod pass through the upper end plate and the lower end plate respectively, and the upper end plate and the lower end plate are pressed to the end of the outer sleeve through a sealing rubber ring.

[0009] Preferably, an electromagnetic clutch is provided on the extension shaft of the four-distribution window hydraulic pump, the other end of the electromagnetic clutch is connected to a generator, the generator is connected to a battery via a cable, and the battery supplies power to the rotor motor to drive it to work.

[0010] Preferably, an angle sensor is provided at the end of the rotating shaft, and the rotation angle of the rotating shaft is collected by the angle sensor and connected to the controller through a wiring harness.

[0011] Preferably, the displacement of the annular piston is collected by a displacement sensor and connected to a controller via a wiring harness.

[0012] Preferably, the hydraulic oil pressure of the rodless chamber of the actuator cylinder is connected to the controller via a pressure sensor; the extension speed of the piston rod of the actuator cylinder is connected to the controller via a speed sensor via a comparator.

[0013] The beneficial effects of adopting the above technical solution are:

[0014] 1. The hydraulic energy storage variable inertia gyro-stabilized platform of the present invention is a large offshore crane. When the hoisted cargo descends, the piston rod of the execution cylinder contracts. At this time, the oil in the rodless chamber of the execution cylinder flows back. The controller controls the four-flow distribution window hydraulic pump to work according to the shaft angle data detected by the angle sensor and the current position data of the annular piston detected by the displacement sensor. It is specifically divided into the following three situations.

[0015] The first type: At this time, the waves and the sea wind are very stable, that is, the large offshore crane is very stable, and the interference torque generated by the waves and the sea wind changes very little. At this time, the oil cavity of the variable inertia rotor does not need to be filled with oil to store energy.

[0016] The electromagnetic clutch is connected, the left position of the two-position three-way electromagnetic reversing valve one is connected, and the oil returns to the oil tank through the left position of the two-position three-way electromagnetic reversing valve one. The kinetic energy of the oil drives the generator through the four-flow distribution window hydraulic pump to generate electricity and is stored in the battery, thereby realizing the recovery of the kinetic energy of the oil.

[0017] The electromagnetic clutch is connected, and the left positions of the two-position three-way electromagnetic reversing valve 1 and the two-position three-way electromagnetic reversing valve 2 are connected at the same time. The oil returns to the oil tank through the two-position three-way electromagnetic reversing valve 1 and the two-position three-way electromagnetic reversing valve 2. The kinetic energy of the oil is stored in the battery by driving the generator through the four-flow distribution window hydraulic pump to generate electricity, thereby realizing the recovery of the kinetic energy of the oil.

[0018] The second type: At this time, the waves and sea wind are small, that is, the large offshore crane produces a small swing, and the interference torque generated by the waves and sea wind changes little. At this time, the oil cavity of the variable inertia rotor needs to be slowly filled with oil to store energy.

[0019] The electromagnetic clutch is connected, the left position of the two-position three-way electromagnetic reversing valve one is connected, and the right position of the two-position three-way electromagnetic reversing valve two is connected; a part of the oil returns to the oil tank through the left position of the two-position three-way electromagnetic reversing valve one, and the kinetic energy of the oil drives the generator to generate electricity through the four-distribution window hydraulic pump and is stored in the battery, thereby realizing the recovery of the kinetic energy of the oil; another part of the oil enters the oil chamber of the variable inertia rotor through the right position of the two-position three-way electromagnetic reversing valve two, and the oil entering the oil chamber pushes the annular piston to move slowly upward, and the nitrogen in the air chamber is further compressed and enters the inner sleeve, thereby realizing the stepless and slow increase of the rotational inertia of the variable inertia rotor.

[0020] The third type: At this time, the waves and sea wind are relatively large, that is, the large offshore crane produces large swings, and the interference torque generated by the waves and sea wind varies greatly. At this time, the oil cavity of the variable inertia rotor needs to be quickly filled with oil to store energy.

[0021] The electromagnetic clutch is disconnected, the right position of the two-position three-way electromagnetic reversing valve one is connected, and the right position of the two-position three-way electromagnetic reversing valve two is connected; the oil flows into the oil chamber of the variable inertia rotor through the right positions of the two-position three-way electromagnetic reversing valve one and the two-position three-way electromagnetic reversing valve two, and the oil entering the oil chamber pushes the annular piston to move upward rapidly, and the nitrogen in the air chamber is further compressed and enters the inner sleeve, realizing the stepless and rapid increase of the rotational inertia of the variable inertia rotor.

[0022] The hydraulic energy storage variable inertia gyro stabilized platform of the present invention adopts a multi-stage stepless adjustment of the variable inertia rotor, which not only ensures the stability of the working oil pressure of the actuator and avoids mechanism vibration and noise, but also realizes stepless and rapid response to irregular interference torques from waves, sea breezes, etc.

[0023] 2. The hydraulic energy storage variable inertia gyro stabilized platform of the present invention detects the oil pressure data of the rodless chamber of the actuator cylinder by the pressure sensor, and the speed data of the piston rod of the actuator cylinder by the speed sensor. The speed and power path of the four-flow distribution window hydraulic pump are controlled by the negative feedback of the controller to ensure the stability of the operation of the actuator cylinder.

[0024] 3. The energy recovery method of the hydraulic energy storage variable inertia gyro stabilized platform of the present invention converts the kinetic energy of the oil flowing back from the rodless chamber of the execution cylinder into electric energy to drive the rotor motor to drive the variable inertia rotor to rotate, thereby achieving energy saving and emission reduction; in addition, the kinetic energy of the oil flowing back from the rodless chamber of the execution cylinder is converted into the rotational kinetic energy of the steplessly changing variable inertia rotor to balance the interference torque caused by waves and sea breeze, thereby also achieving energy recovery and reuse. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a working principle diagram of the hydraulic energy storage variable inertia gyro stabilized platform of the present invention;

[0026] Figure 2 is a cross-sectional view of a variable inertia rotor;

[0027] in:

[0028] 1. Platform plate; 2. Bracket; 3. Power gyro stabilizer; 4. Four-flow distribution window hydraulic pump; 5. Two-position three-way solenoid reversing valve 1; 6. Two-position three-way solenoid reversing valve 2; 7. Actuator cylinder; 8. Controller; 9. Fuel tank;

[0029] 30. variable inertia rotor; 31. inner frame; 32. rotating shaft; 33. rotor motor;

[0030] 3-1, upper partition flange; 3-2, inner sleeve; 3-3, outer sleeve; 3-4, lower partition flange; 3-5, annular piston; 3-6, upper end plate; 3-7, lower end plate; 3-8, fixing rod;

[0031] 300, angle sensor; 301, displacement sensor;

[0032] 40. Electromagnetic clutch; 41. Generator; 42. Battery;

[0033] 70. Pressure sensor; 71. Comparator; 72. Speed ​​sensor. DETAILED DESCRIPTION

[0034] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitating its implementation.

[0035] like Figure 1 to Figure 2As shown, the present invention is a hydraulic energy storage variable inertia gyro stabilized platform and energy recovery method, which adopts multi-stage stepless adjustment of variable inertia rotor, which not only ensures the stability of the working oil pressure of the actuator, avoids mechanism vibration and noise, but also realizes stepless rapid response to irregular interference torque from waves and sea wind. The gravity acting on the cargo is fully utilized to give the kinetic energy of the rodless chamber oil of the actuator cylinder, realizing energy recovery and reuse, saving energy and reducing emissions.

[0036] Specifically, Figure 1 to Figure 2 As shown, it includes a platform plate 1, a bracket 2, a power gyro stabilizer 3, a four-flow distribution window hydraulic pump 4, a two-position three-way electromagnetic reversing valve 1 5, a two-position three-way electromagnetic reversing valve 2 6, an actuator cylinder 7 and a controller 8. The bracket 2 is symmetrically provided with two, the power gyro stabilizer 3 is rotatably connected to the bracket 2, the A port and the B port on the four-flow distribution window hydraulic pump 4 are connected to the rodless cavity of the actuator cylinder 7, the C port on the four-flow distribution window hydraulic pump 4 is connected to the A port of the two-position three-way electromagnetic reversing valve 1 5, the D port on the four-flow distribution window hydraulic pump 4 is connected to the A port of the two-position three-way electromagnetic reversing valve 2 6, the P ports of the two-position three-way electromagnetic reversing valve 1 5 and the two-position three-way electromagnetic reversing valve 2 6 are both connected to the oil tank 9, the T ports of the two-position three-way electromagnetic reversing valve 1 5 and the two-position three-way electromagnetic reversing valve 2 6 are connected, and are both connected to the power gyro stabilizer 3, and the controller 8 is connected to the four-flow distribution window hydraulic pump 4 through a control harness.

[0037] The dynamic gyro stabilizer 3 includes a variable inertia rotor 30, an inner frame 31, a rotating shaft 32 and a rotor motor 33. Both ends of the variable inertia rotor 30 are rotatably connected to the inner frame 31, one end of the rotating shaft 32 is firmly connected to the inner frame 31, and the other end is rotatably connected to the bracket 2. The rotor motor 33 is firmly connected to the inner frame 31 and drives the variable inertia rotor 30 to rotate.

[0038] The variable inertia rotor 30 includes an upper partition flange 3-1, an inner sleeve 3-2, an outer sleeve 3-3, a lower partition flange 3-4, an annular piston 3-5, an upper end plate 3-6, a lower end plate 3-7 and a fixing rod 3-8. The upper partition flange 3-1 and the lower partition flange 3-4 are rotatably connected to the inner frame 31. The upper partition flange 3-1 and the lower partition flange 3-4 are screwed on the inner wall of the end of the outer sleeve 3-3 through a screw pair, and are pressed on the end of the inner sleeve 3-2 through a sealing rubber ring. The annular piston 3-5 is arranged in an annular cavity formed after the inner sleeve 3-2 and the outer sleeve 3-3 are coaxially installed, and the annular cavity is divided into an air cavity and an oil cavity, wherein the air cavity is connected with the inner sleeve 3-2 through the through hole on the upper partition flange 3-1, and the oil cavity is connected with the oil circuit through the through hole on the lower partition flange 3-4, and the two ends of the fixing rod 3-8 pass through the upper end plate 3-6 and the lower end plate 3-7 respectively, and the upper end plate 3-6 and the lower end plate 3-7 are pressed against the end of the outer sleeve 3-3 through a sealing rubber ring.

[0039] An electromagnetic clutch 40 is provided on the extended shaft of the four-distribution window hydraulic pump 4. The other end of the electromagnetic clutch 40 is connected to a generator 41. The generator 41 is connected to a battery 42 through a cable. The battery 42 supplies power to the rotor motor 33 to drive it to work.

[0040] An angle sensor 300 is disposed at the end of the rotating shaft 32 , and the rotation angle of the rotating shaft 32 is collected by the angle sensor 300 and connected to the controller 8 through a wiring harness.

[0041] The displacement of the annular piston 3 - 5 is collected by a displacement sensor 301 and connected to the controller 8 via a wiring harness.

[0042] The hydraulic oil pressure of the rodless chamber of the actuator cylinder 7 is connected to the controller 8 via a pressure sensor 70 ; the piston rod extension speed of the actuator cylinder 7 is connected to the controller 8 via a speed sensor 72 through a comparator 71 .

[0043] The specific working method is described below with specific embodiments:

[0044] Embodiment 1:

[0045] The hydraulic energy storage variable inertia gyro-stabilized platform of the present invention is a large offshore crane. When the hoisted cargo descends, the piston rod of the execution cylinder 7 contracts. At this time, the oil in the rodless chamber of the execution cylinder 7 flows back. The controller 8 controls the four-flow distribution window hydraulic pump 4 to work according to the rotation angle data of the rotating shaft 32 detected by the angle sensor 300 and the current position data of the annular piston 3-5 detected by the displacement sensor 301. It is specifically divided into the following three situations.

[0046] The first type: at this time, the sea waves and the sea wind are very stable, that is, the large offshore crane is very stable, and the interference torque generated by the sea waves and the sea wind changes very little. At this time, the oil cavity of the variable inertia rotor 30 does not need to be filled with oil to store energy.

[0047] The electromagnetic clutch 40 is connected, the left position of the two-position three-way electromagnetic reversing valve 5 is connected, and the oil returns to the oil tank through the left position of the two-position three-way electromagnetic reversing valve 5. The kinetic energy of the oil drives the generator 41 through the four-flow distribution window hydraulic pump 4 to generate electricity and store it in the battery 42, thereby realizing the recovery of the kinetic energy of the oil.

[0048] The electromagnetic clutch 40 is connected, and the left positions of the two-position three-way electromagnetic reversing valve 1 5 and the two-position three-way electromagnetic reversing valve 2 6 are connected at the same time, and the oil returns to the oil tank 9 through the two-position three-way electromagnetic reversing valve 1 5 and the two-position three-way electromagnetic reversing valve 2 6. The kinetic energy of the oil drives the generator 41 through the four-flow distribution window hydraulic pump 4 to generate electricity and is stored in the battery 42, thereby realizing the recovery of the kinetic energy of the oil.

[0049] The second type: at this time, the waves and the sea wind are small, that is, the large offshore crane produces a small swing, and the interference torque generated by the waves and the sea wind changes little. At this time, the oil cavity of the variable inertia rotor 30 needs to be slowly filled with oil to store energy.

[0050] The electromagnetic clutch 40 is connected, the left position of the two-position three-way electromagnetic reversing valve 1 5 is connected, and the right position of the two-position three-way electromagnetic reversing valve 2 6 is connected; a part of the oil returns to the oil tank 9 through the left position of the two-position three-way electromagnetic reversing valve 1 5, and the kinetic energy of the oil drives the generator 41 to generate electricity and is stored in the battery 42 through the four-flow distribution window hydraulic pump 4, thereby realizing the recovery of the kinetic energy of the oil; another part of the oil enters the oil chamber of the variable inertia rotor 30 through the right position of the two-position three-way electromagnetic reversing valve 2 6, and the oil entering the oil chamber pushes the annular piston 3-5 to move slowly upward, and the nitrogen in the air chamber is further compressed and enters the inner sleeve 3-2, thereby realizing the stepless and slow increase of the rotational inertia of the variable inertia rotor 30.

[0051] The third type: at this time, the waves and the sea wind are relatively large, that is, the large offshore crane produces a large swing, and the interference torque generated by the waves and the sea wind varies greatly. At this time, the oil cavity of the variable inertia rotor 30 needs to be quickly filled with oil to store energy.

[0052] The electromagnetic clutch 40 is disconnected, the right position of the two-position three-way electromagnetic reversing valve 1 5 is connected, and the right position of the two-position three-way electromagnetic reversing valve 2 6 is connected; the oil flows into the oil chamber of the variable inertia rotor 30 through the right positions of the two-position three-way electromagnetic reversing valve 1 5 and the two-position three-way electromagnetic reversing valve 2 6, and the oil entering the oil chamber pushes the annular piston 3-5 to move upward rapidly, and the nitrogen in the air chamber is further compressed and enters the inner sleeve 3-2, thereby realizing a stepless and rapid increase in the rotational inertia of the variable inertia rotor 30.

[0053] Embodiment 2:

[0054] On the basis of Example 1, the hydraulic energy storage variable inertia gyro stabilized platform of the present invention, the oil pressure data of the rodless chamber of the actuator cylinder 7 detected by the pressure sensor 70, the speed data of the piston rod of the actuator cylinder 7 detected by the speed sensor 72, and the speed and power path of the four-flow distribution window hydraulic pump 4 are controlled by negative feedback of the controller 8 to ensure the stability of the operation of the actuator cylinder 7.

[0055] Embodiment 3:

[0056] The energy recovery method of the hydraulic energy storage variable inertia gyro stabilized platform of the present invention converts the kinetic energy of the oil flowing back from the rodless chamber of the execution cylinder into electric energy to drive the rotor motor 33 to drive the variable inertia rotor 30 to rotate, thereby achieving the effect of energy saving and emission reduction; in addition, the kinetic energy of the oil flowing back from the rodless chamber of the execution cylinder 7 is converted into the rotational kinetic energy of the steplessly variable variable inertia rotor 30 to balance the interference torque caused by waves and sea breeze, thereby also achieving energy recovery and reuse.

[0057] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above-mentioned concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A hydraulic energy storage variable inertia gyro stabilized platform, characterized in that: The invention comprises a platform plate (1), a bracket (2), a dynamic gyro stabilizer (3), a four-flow distribution window hydraulic pump (4), a two-position three-way electromagnetic reversing valve (5), a two-position three-way electromagnetic reversing valve (6), an actuating cylinder (7) and a controller (8), wherein the bracket (2) is symmetrically provided with two, the dynamic gyro stabilizer (3) is rotatably connected to the bracket (2), the A port and the B port on the four-flow distribution window hydraulic pump (4) are communicated with the rodless cavity of the actuating cylinder (7), the C port on the four-flow distribution window hydraulic pump (4) is communicated with the two-position three-way electromagnetic reversing valve (5), and the C port on the four-flow distribution window hydraulic pump (4) is communicated with the two-position three-way electromagnetic reversing valve (6). The A port of the valve 1 (5) is connected, the D port on the four-flow distribution window hydraulic pump (4) is connected to the A port of the two-position three-way electromagnetic reversing valve 2 (6), the P ports of the two-position three-way electromagnetic reversing valve 1 (5) and the two-position three-way electromagnetic reversing valve 2 (6) are both connected to the oil tank (9), the T ports of the two-position three-way electromagnetic reversing valve 1 (5) and the two-position three-way electromagnetic reversing valve 2 (6) are in communication, and are both connected to the oil chamber of the variable inertia rotor (30) in the dynamic gyro stabilizer (3), and the controller (8) is connected to the four-flow distribution window hydraulic pump (4) through a control harness.

2. The hydraulic energy storage variable inertia gyro-stabilized platform according to claim 1, characterized in that: The dynamic gyro stabilizer (3) comprises a variable inertia rotor (30), an inner frame (31), a rotating shaft (32) and a rotor motor (33); both ends of the variable inertia rotor (30) are rotatably connected to the inner frame (31); one end of the rotating shaft (32) is firmly connected to the inner frame (31) and the other end is rotatably connected to the bracket (2); and the rotor motor (33) is firmly connected to the inner frame (31) and drives the variable inertia rotor (30) to rotate.

3. The hydraulic energy storage variable inertia gyro-stabilized platform according to claim 2, characterized in that: The variable inertia rotor (30) comprises an upper partition flange (3-1), an inner sleeve (3-2), an outer sleeve (3-3), a lower partition flange (3-4), an annular piston (3-5), an upper end plate (3-6), a lower end plate (3-7) and a fixing rod (3-8); the upper partition flange (3-1) and the lower partition flange (3-4) are rotatably connected to the inner frame (31); the upper partition flange (3-1) and the lower partition flange (3-4) are screwed onto the inner wall of the end of the outer sleeve (3-3) through a screw pair, and are pressed onto the end of the inner sleeve (3-2) through a sealing rubber ring. The annular piston (3-5) is arranged in an annular cavity formed by the coaxial installation of the inner sleeve (3-2) and the outer sleeve (3-3), and the annular cavity is divided into an air cavity and an oil cavity, wherein the air cavity is connected to the inner sleeve (3-2) through a through hole on the upper partition flange (3-1), and the oil cavity is connected to the oil circuit through a through hole on the lower partition flange (3-4), and the two ends of the fixing rod (3-8) pass through the upper end plate (3-6) and the lower end plate (3-7) respectively, and the upper end plate (3-6) and the lower end plate (3-7) are pressed against the end of the outer sleeve (3-3) through a sealing rubber ring.

4. The hydraulic energy storage variable inertia gyro-stabilized platform according to claim 2, characterized in that: An electromagnetic clutch (40) is provided on the extension shaft of the four-flow distribution window hydraulic pump (4), and the other end of the electromagnetic clutch (40) is connected to a generator (41). The generator (41) is connected to a battery (42) via a cable, and the battery (42) supplies power to the rotor motor (33) to drive it to work.

5. The hydraulic energy storage variable inertia gyro-stabilized platform according to claim 2, characterized in that: An angle sensor (300) is provided at the end of the rotating shaft (32), and the rotation angle of the rotating shaft (32) is collected by the angle sensor (300) and connected to the controller (8) via a wiring harness.

6. The hydraulic energy storage variable inertia gyro-stabilized platform according to claim 3, characterized in that: The displacement of the annular piston (3-5) is collected by a displacement sensor (301) and connected to a controller (8) via a wiring harness.

7. The hydraulic energy storage variable inertia gyro-stabilized platform according to claim 6, characterized in that: The hydraulic oil pressure of the rodless chamber of the actuator cylinder (7) is connected to the controller (8) via a pressure sensor (70); the extension speed of the piston rod of the actuator cylinder (7) is connected to the controller (8) via a speed sensor (72) and a comparator (71).

8. The energy recovery method of a hydraulic energy storage variable inertia gyro stabilized platform according to claim 7, characterized in that: There are three recycling methods: The first method: the electromagnetic clutch (40) is turned on, the left position of the two-position three-way electromagnetic reversing valve (5) is turned on, the oil returns to the oil tank (9) through the left position of the two-position three-way electromagnetic reversing valve (5), and the kinetic energy of the oil drives the generator (41) through the four-flow distribution window hydraulic pump (4) to generate electricity and store it in the battery (42), thereby realizing the recovery of the kinetic energy of the oil; The electromagnetic clutch (40) is turned on, and the left positions of the two-position three-way electromagnetic reversing valve 1 (5) and the two-position three-way electromagnetic reversing valve 2 (6) are turned on at the same time, and the oil returns to the oil tank (9) through the two-position three-way electromagnetic reversing valve 1 (5) and the two-position three-way electromagnetic reversing valve 2 (6). The kinetic energy of the oil drives the generator (41) through the four-flow distribution window hydraulic pump (4) to generate electricity and store it in the battery (42), thereby realizing the recovery of the kinetic energy of the oil; The second type: the electromagnetic clutch (40) is turned on, the left position of the two-position three-way electromagnetic reversing valve 1 (5) is turned on, and the right position of the two-position three-way electromagnetic reversing valve 2 (6) is turned on; a part of the oil returns to the oil tank (9) through the left position of the two-position three-way electromagnetic reversing valve 1 (5), and the kinetic energy of the oil drives the generator (41) through the four-flow distribution window hydraulic pump (4) to generate electricity and is stored in the battery (42), thereby realizing the recovery of the kinetic energy of the oil; another part of the oil enters the oil chamber of the variable inertia rotor (30) through the right position of the two-position three-way electromagnetic reversing valve 2 (6), and the oil entering the oil chamber pushes the annular piston (3-5) to move slowly upward, and the nitrogen in the air chamber is further compressed and enters the inner sleeve (3-2), thereby realizing the stepless and slow increase of the rotational inertia of the variable inertia rotor (30); The third type: the electromagnetic clutch (40) is disconnected, the right position of the two-position three-way electromagnetic reversing valve 1 (5) is connected, and the right position of the two-position three-way electromagnetic reversing valve 2 (6) is connected; the oil flows into the oil chamber of the variable inertia rotor (30) through the right positions of the two-position three-way electromagnetic reversing valve 1 (5) and the two-position three-way electromagnetic reversing valve 2 (6), and the oil entering the oil chamber pushes the annular piston (3-5) to move upward rapidly, and the nitrogen in the air chamber is further compressed and enters the inner sleeve (3-2), thereby realizing a stepless and rapid increase in the rotational inertia of the variable inertia rotor (30).

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