Integrated electro-hydraulic actuator based on magnetic modulation and control method thereof

Abstract

This invention provides an integrated electro-hydraulic actuation device and control method based on magnetic modulation, comprising an integrated suction filter, an integrated oil tank, an integrated spring accumulator, an integrated magnetic speed change mechanism, an integrated motor, an integrated vane pump motor, an integrated valve group, and an integrated double-acting hydraulic cylinder. First, the integrated magnetic speed change mechanism achieves contactless power transmission by matching the speed and torque of the integrated motor and the integrated vane pump motor. Then, the integrated double-acting hydraulic cylinder controls the symmetrically structured cylinder body through the integrated valve group. Hydraulic hoses connect the valve block output oil to both sides of the hydraulic cylinder. Finally, the integrated spring accumulator and pressurized hydraulic oil tank achieve a stable oil supply system for omnidirectional installation. This invention has advantages such as small installation size, high integration, lightweight, high safety, and high control precision, and is applicable to various working conditions, with significant applications in engineering machinery, robotics, aerospace, and other fields.

Description

Technical Field

[0001] This invention relates to the field of fluid transmission and control technology, and in particular to an integrated electro-hydraulic actuation device based on magnetic modulation and its control method. Background Technology

[0002] Fluid power transmission and control play a crucial role in the development of related fields, especially in aerospace, robotics, and engineering machinery. With the rapid development of technology, lightweight, intelligent, and integrated components have become important development directions for hydraulic components. Existing electro-hydraulic actuators all adopt a valve block stacking integration approach, which has low integration and cannot fully utilize installation space.

[0003] This invention addresses the aforementioned problems by proposing an electro-hydraulic actuator that integrates mechanical transmission, electric motor transmission, electromagnetic transmission, and hydraulic transmission into a single unit, and provides control methods for various operating conditions of the electro-hydraulic actuator. The invention sequentially integrates a motor, a magnetic speed-changing mechanism, a vane pump motor, a hydraulic valve block and valve assembly, a hydraulic oil tank, an accumulator, and a filter. Control methods include ordinary operating mode control, self-locking mode control, floating mode control, bidirectional potential energy recovery control, and external interface communication control. The overall structure features small installation size, high safety, high control precision, and applicability to various operating conditions, showing significant application potential, particularly in engineering machinery, robotics, and aerospace fields. Summary of the Invention

[0004] To address the problems of existing technologies, this invention provides an integrated electro-hydraulic actuation device based on magnetic modulation. It integrates a low-speed, high-torque integrated motor, a high-speed ratio integrated magnetic transmission mechanism, an integrated vane pump motor, an integrated valve group, an integrated spring accumulator, an integrated suction filter, and a pressurized integrated oil tank within the radial space of an integrated double-acting hydraulic cylinder. The integrated magnetic transmission mechanism matches the speed and torque of the integrated motor and the integrated vane pump motor, achieving contactless power transmission. Servo valves control the symmetrical integrated double-acting hydraulic cylinder, allowing the high and low pressure oil in the left and right chambers to be controlled by four servo valves, thus achieving efficient control using servo valve signals. Hydraulic hoses connect the valve block output oil to both sides of the hydraulic cylinder. An integrated oil tank provides a stable oil supply system for omnidirectional installation. Multiple sensors enable interaction and intelligent control with external systems. Therefore, this device offers advantages such as small installation size, high safety, high control precision, and applicability to various working conditions.

[0005] This invention provides an integrated electro-hydraulic actuation device based on magnetic modulation, comprising an integrated magnetic speed change mechanism, an integrated motor, an integrated vane pump motor, and an integrated double-acting hydraulic cylinder. The integrated magnetic speed change mechanism includes a fixed bracket, a first permanent magnet bracket, an output side plate, and permanent magnets. A first permanent magnet is circumferentially arranged on the first permanent magnet bracket, a second permanent magnet is circumferentially arranged on the fixed bracket, and a third permanent magnet is circumferentially arranged on the output side plate. The mounting end of the fixed bracket is connected to a first mounting end of the motor stator bracket, and the mounting end of the first permanent magnet bracket is connected to a first mounting end of the motor rotor bracket via a retaining ring. The integrated motor includes a first motor end cover, a permanent magnet, a stator support, a coil, a second motor end cover, a rotor support, a lip seal, a bearing, and a sleeve. The fixed ends of the first and second motor end covers are respectively connected to the second and third mounting ends of the stator support. The inner ring of the stator support is provided with a coil, and the outer ring of the rotor support is provided with a permanent magnet. The second and third mounting ends of the rotor support are respectively connected to the interior of the second and first motor end covers via a sleeve, a lip seal, and a bearing. The integrated vane pump motor includes a distribution valve block, a distribution plate, a vane pump motor rotor, a vane pump motor stator, a vane pump motor housing, bearings, mother vanes, daughter vanes, and a thrust bearing. The distribution valve block has an internal filter. The first mounting end of the distribution valve block is connected to the mounting end of the vane pump motor housing. The vane pump motor stator is located inside the vane pump motor housing. The first mounting end of the vane pump motor rotor is connected to the first mounting end of the output side plate. The vane pump motor rotor has mother vanes and daughter vanes circumferentially arranged. The outer ring of the vane pump motor rotor and the inner ring of the vane pump motor stator are coaxially mounted. The second mounting end of the distribution valve block... The integrated double-acting hydraulic cylinder includes an outer shell... The device comprises a left end cover, a right end cover, a hydraulic cylinder body, a hydraulic cylinder end cover, and a piston rod. The piston rod has a first hydraulic cylinder connection end and a second hydraulic cylinder connection end at both ends. The end mounting end of the hydraulic cylinder body is connected to the first mounting end of the hydraulic cylinder end cover. The interior of the hydraulic cylinder body is connected to the middle mounting end of the piston rod via a sealing ring. The first and second mounting ends of the outer casing are connected to the first mounting ends of the left and right end covers, respectively. The second mounting end of the right end cover has an electronic interface, the input end of which is connected to the valve group electronic interface and the control end of the coil, respectively. The third mounting end of the right end cover is connected to the fourth mounting end of the motor stator bracket. The third mounting end of the outer casing has a fixing threaded hole.

[0006] Preferably, an integrated motor, an integrated magnetic speed change mechanism, an integrated vane pump motor, an integrated valve group, an integrated oil tank, an integrated spring accumulator, and an integrated suction filter are sequentially installed along one end of the axial direction of the integrated double-acting hydraulic cylinder.

[0007] Preferably, it also includes an integrated oil suction filter and an integrated oil tank. The integrated oil suction filter is composed of filters. The integrated oil tank includes a hydraulic oil tank, an air diaphragm, an air inlet, and a liquid filling inlet. The first mounting end of the hydraulic oil tank is connected to the first mounting end outside the accumulator housing. An air inlet and a liquid filling inlet are sequentially provided on one side of the hydraulic oil tank. An air diaphragm is provided between the air inlet and the liquid filling inlet.

[0008] Preferably, it also includes an integrated spring accumulator, which includes an accumulator housing, a central spring, and a piston. The first mounting end of the piston is mounted inside the accumulator housing via a sealing ring, and the second mounting end of the piston is connected to the second mounting end of the hydraulic oil tank via the central spring.

[0009] Preferably, it also includes an integrated valve assembly, which includes a valve block, a first servo valve, a second servo valve, a third servo valve, a fourth servo valve, a valve assembly electronic interface, a safety valve, a hydraulic connector, and a hydraulic hose. The third mounting end of the accumulator housing is connected to the fourth mounting end of the valve block and the distribution valve block. The valve block contains the first servo valve, the second servo valve, the third servo valve, the fourth servo valve, and the safety valve in sequence. The output end of the fourth servo valve is connected to the third fluid interface of the hydraulic cylinder body in sequence through a hydraulic connector and a hydraulic hose. The output end of the first servo valve is connected to the fourth fluid interface of the hydraulic cylinder body in sequence through a hydraulic connector and a hydraulic hose. The output end of the second servo valve is connected to the first fluid interface of the hydraulic cylinder end cap in sequence through a hydraulic connector and a hydraulic hose. The output end of the third servo valve is connected to the second fluid interface of the hydraulic cylinder end cap in sequence through a hydraulic connector and a hydraulic hose.

[0010] Preferably, the middle part of the first motor end cover, the middle part of the second motor end cover, and the inner ring of the motor rotor bracket are respectively connected to the first, second, and third ends of the external hydraulic cylinder body of the integrated double-acting hydraulic cylinder; the second mounting ends of the vane pump motor rotor and the output side plate are respectively connected to the fourth and fifth ends of the external hydraulic cylinder body of the integrated double-acting hydraulic cylinder via the third and fourth bearings; the third mounting end of the distribution valve block is connected to the sixth end of the external hydraulic cylinder body of the integrated double-acting hydraulic cylinder; the second mounting end of the external accumulator housing is connected to the seventh end of the external hydraulic cylinder body of the integrated double-acting hydraulic cylinder; and the mounting end of the valve block is connected to the eighth end of the external hydraulic cylinder body of the integrated double-acting hydraulic cylinder.

[0011] Preferably, the axes of the first motor end cover, the second motor end cover, the motor rotor support, the vane pump motor rotor, the vane pump motor stator, the output side plate, the hydraulic cylinder body, the distribution valve block, the outer shell, the left end cover, the right end cover, the hydraulic cylinder end cover, the piston rod, the piston, the accumulator housing, and the valve block are on the same straight line.

[0012] Preferably, the second mounting end of the distribution valve block, the mounting end of the vane pump motor stator, and the mounting end of the distribution plate are connected sequentially by locating pins.

[0013] In another aspect, the present invention provides a control method for an integrated electro-hydraulic actuation device based on the aforementioned magnetic modulation, comprising the following steps:

[0014] S1. The action signal of the piston rod inside the hydraulic cylinder is given through the electronic interface. At this time, the coil and the permanent magnet of the motor generate power through magnetic induction.

[0015] S2. Power is transmitted to the first permanent magnet bracket fixed by the retaining ring through the motor rotor bracket. At this time, the first electromagnet, the second electromagnet, and the third permanent magnet, which are evenly distributed on the first permanent magnet bracket, are evenly distributed on the fixed bracket, and the third permanent magnet, which are evenly distributed on the output side plate, transmit power to the vane pump motor rotor fixed on the first mounting end of the output side plate under the action of magnetic force.

[0016] S3. The oil volume changes periodically through the closed cavity composed of the vane pump motor rotor, vane pump motor stator, mother vane, daughter vane and distribution plate, thereby generating high pressure oil. The high pressure oil is converted into the power of the integrated vane pump motor and output through the distribution valve block, thereby realizing the control of the maximum output flow of the integrated vane pump motor by the speed of the integrated motor.

[0017] S4. Based on the actual working mode, different control signals are given to the solenoids of different servo valves to control the oil entering the cylinder body of the integrated hydraulic cylinder and complete the corresponding working process:

[0018] In normal working mode: the fourth servo valve and the second servo valve are opened simultaneously, and the first servo valve and the third servo valve are closed, or the first servo valve and the third servo valve are opened simultaneously, and the fourth servo valve and the second servo valve are closed, so that the oil on both sides of the cylinder body in the integrated hydraulic cylinder is unequal.

[0019] If it is in self-locking working mode: then the first servo valve, the second servo valve, the third servo valve and the fourth servo valve are closed at the same time, so that the cylinder body of the integrated hydraulic cylinder produces a sealed volume on both sides.

[0020] In floating operation mode: the first and second servo valves are opened simultaneously, while the third and fourth servo valves are closed, causing the cylinder body of the integrated hydraulic cylinder to float on both sides.

[0021] If it is a bidirectional potential energy recovery working mode: the fourth servo valve and the second servo valve are opened at the same time, and the first servo valve and the third servo valve are closed, or the first servo valve and the third servo valve are opened at the same time, and the fourth servo valve and the second servo valve are closed. The oil energy on both sides of the hydraulic cylinder body in the integrated hydraulic cylinder is actively intervened and recovered by controlling the valve core opening.

[0022] Preferably, if the first servo valve is opened, the hydraulic cylinder body in the integrated hydraulic cylinder is replenished with oil through the second hydraulic connector, the second hydraulic hose, and the third fluid interface; if the second servo valve is opened, the hydraulic cylinder body in the integrated hydraulic cylinder is replenished with oil through the third hydraulic connector, the fourth hydraulic hose, the third hydraulic hose, and the first fluid interface; if the third servo valve is opened, the hydraulic cylinder body in the integrated hydraulic cylinder is replenished with oil through the fourth hydraulic connector, the fifth hydraulic hose, the sixth hydraulic hose, and the second fluid interface; if the fourth servo valve is opened, the hydraulic cylinder body in the integrated hydraulic cylinder is replenished with oil through the first hydraulic connector, the first hydraulic hose, and the fourth fluid interface.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. This invention adopts a complete hydraulic power system integrated design on the outside of an integrated double-acting hydraulic cylinder, integrating the integrated oil tank and integrated valve group with the integrated double-acting hydraulic cylinder as one unit. Compared with existing electro-hydraulic actuators, it has a higher degree of integration, smaller size, and higher space utilization. At the same time, an integrated magnetic speed change mechanism is provided between the integrated motor and the integrated vane pump motor. At this time, the space of the integrated motor is long and narrow. Under the same specifications, the longer the motor length, the greater the torque. Therefore, it is necessary to reduce the torque and increase the speed of the long and narrow motor integrated on the outside. Furthermore, while making full use of space, it is possible to achieve the best matching of speed and torque between the integrated motor and the integrated vane pump motor, reduce energy loss, and achieve better power matching while making use of space.

[0025] 2. This invention adopts a modular integrated design, with each piece integrating one or more functions. The first piece is an integrated spring accumulator and an integrated oil tank; the second piece is an integrated valve group; the third piece is an integrated oil suction filter and an integrated vane pump motor; the fourth piece is an integrated magnetic speed change mechanism; and the fifth piece is an integrated motor. Each piece is individually or in combination fixed by multiple screws. Wear parts can be replaced by removing a few screws. If the life of the integrated spring accumulator reaches its limit, it can be replaced by removing only two sets of screws. At the same time, the modular design is more conducive to product customization and modular upgrades. By changing different power sources according to different needs and replacing the appropriate magnetic modulation module for power matching, the product performance can be upgraded.

[0026] 3. This invention adopts an integrated design of a double-acting hydraulic cylinder. The entire device has only control and power supply lines without hydraulic pipelines and joints, resulting in virtually no external leakage. The mechanical transmission between the integrated motor and the integrated vane pump motor in this device is connected by an integrated magnetic speed change mechanism, which has an overload safety protection function. At the same time, the integrated valve group has a built-in safety valve to protect the hydraulic circuit. Combined with the integrated motor control safety module, a triple safety protection mechanism of electromechanical hydraulics can be realized.

[0027] 4. The integrated double-acting hydraulic cylinder in this invention is controlled by four servo valves. Each side of the hydraulic cylinder has a separate high and low pressure control oil circuit, which provides higher control accuracy and more control methods than the existing single hydraulic valve control hydraulic cylinder. The back pressure of the hydraulic cylinder is adjusted in real time by controlling the opening of the high and low pressure control valves on one side of the hydraulic cylinder. The valve size is controlled individually, which has higher accuracy. At the same time, when the hydraulic cylinder is in reverse drive and combined energy recovery mode, the motor is turned into a generator mode. Energy recovery is better achieved through the coordination of the control valve group.

[0028] 5. The device of the present invention has multiple control modes, mainly including ordinary mode control method, self-locking mode control method, floating mode control method and bidirectional potential energy recovery mode control method.

[0029] 6. This invention has a compact structure and is suitable for engineering machinery, lightweight robots, and aerospace. It combines high-efficiency control with energy utilization, greatly improving work efficiency and demonstrating energy-saving and environmental protection advantages, thus having great application prospects.

[0030] In summary, this invention employs a dual-sided high and low pressure independent control circuit, resulting in higher control precision and more functions. Combined with the special working conditions of the integrated double-acting hydraulic cylinder, it can realize the recovery and utilization of hydraulic energy. Attached Figure Description

[0031] Figure 1 This is a bottom view of the integrated electro-hydraulic actuation device based on magnetic modulation according to the present invention.

[0032] Figure 2 This is a cross-sectional view (AA) of the integrated electro-hydraulic actuation device based on magnetic modulation according to the present invention.

[0033] Figure 3 This is a BB cross-sectional view of the integrated electro-hydraulic actuation device based on magnetic modulation of the present invention;

[0034] Figure 4 This is a cross-sectional view of the integrated electro-hydraulic actuation device based on magnetic modulation according to the present invention.

[0035] Figure 5 This is a DD cross-sectional view of the integrated electro-hydraulic actuation device based on magnetic modulation of the present invention;

[0036] Figure 6 This is a cross-sectional view of the integrated electro-hydraulic actuation device based on magnetic modulation according to the present invention.

[0037] Figure 7 This is a hydraulic schematic diagram of the integrated electro-hydraulic actuation device based on magnetic modulation according to the present invention.

[0038] Figure 8 This is a partially enlarged view of the integrated electro-hydraulic actuation device based on magnetic modulation of the present invention.

[0039] Key reference numerals:

[0040] 1. Left end cover; 2. Hydraulic oil tank; 3. Accumulator housing; 4. Hydraulic cylinder body; 5. Piston rod; 6. Central spring; 7. Piston; 8. Outer housing; 9. Air filling hole; 10. Fluid filling hole; 11. Valve block; 12. Distribution valve block; 13. Distribution plate; 14. Vane pump motor rotor; 15. Vane pump motor stator; 16. Vane pump motor housing; 17. Output side plate; 18. Fixed bracket; 19. First motor end cover; 20. Motor permanent magnet; 21. Motor stator bracket; 22. Coil; 23. Second motor end cover; 24. Right end cover; 25. Motor rotor bracket; 26. Hydraulic cylinder end cover. First lip seal 2701, first bearing 2801, second bearing 2802, electronic interface 29, second lip seal 2702, first permanent magnet bracket 32, retaining ring 33, first permanent magnet 34, second permanent magnet 35, third permanent magnet 36, thrust bearing 37, third bearing 3801, fourth bearing 3802, first hydraulic connector 3901, first hydraulic hose 4001, second hydraulic connector 3902, second hydraulic hose 4002, first servo valve 4101, first fluid interface 2601, second servo valve 4102, Third hydraulic hose 4201, Fourth hydraulic hose 4301, Third hydraulic connector 3903, Fourth hydraulic connector 3904, Fifth hydraulic hose 4302, Sixth hydraulic hose 4202, Third servo valve 4103, Safety valve 44, Second fluid interface 2602, Fourth servo valve 4104, Mother vane 45, Daughter vane 46, Third fluid interface 401, Fourth fluid interface 402, Valve assembly electronic interface 47, Airbag diaphragm 53, Positioning pin 54, First sleeve 62, Second sleeve 63, Filter 70 Hydraulic cylinder first connecting end 501, fixed threaded hole 2101, hydraulic cylinder second connecting end 502, integrated suction filter JC01, integrated oil tank JC02, integrated spring accumulator JC03, integrated magnetic speed change mechanism JC04, integrated motor JC05, integrated vane pump motor JC06, integrated valve group JC07, integrated double-acting hydraulic cylinder JC08, fourth servo valve solenoid Y4A, first servo valve solenoid Y4B, second servo valve solenoid Y26A, third servo valve solenoid Y26B. Detailed Implementation

[0041] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0042] Integrated electro-hydraulic actuation devices based on magnetic modulation, such as Figures 1-8As shown, it includes an integrated suction filter JC01, an integrated oil tank JC02, an integrated spring accumulator JC03, an integrated magnetic speed change mechanism JC04, an integrated motor JC05, an integrated vane pump motor JC06, an integrated valve group JC07, and an integrated double-acting hydraulic cylinder JC08; the integrated motor JC05, the integrated magnetic speed change mechanism JC04, the integrated vane pump motor JC06, the integrated valve group JC07, the integrated oil tank JC02, the integrated spring accumulator JC03, and the integrated suction filter JC01 are sequentially installed along one end of the axial direction of the integrated double-acting hydraulic cylinder JC08.

[0043] Specifically, the device of this invention fully utilizes the elongated radial space of the integrated double-acting hydraulic cylinder JC08. An integrated motor JC05 with low speed and high torque and an integrated magnetic speed change mechanism JC04 are radially integrated on one side of the integrated double-acting hydraulic cylinder JC08. The integrated magnetic speed change mechanism JC04 converts the rotor energy in the integrated motor JC05 and outputs it to the integrated vane pump motor JC06, achieving connection and transmission ratio matching between the integrated motor JC05 and the integrated vane pump motor JC06. Following the integrated magnetic speed change mechanism JC04, the integrated vane pump motor JC06 and an integrated oil suction filter are integrated. JC01, a single-sided flow distribution system, achieves hydraulic energy output through the flow distribution plate 13 and the flow distribution valve block 12. The integrated vane pump motor JC06 is connected to the integrated valve group JC07. The integrated valve group JC07 integrates a safety valve 44 and a servo valve. The integrated valve group JC07 is connected to the integrated spring accumulator JC03 to ensure stable working pressure. The integrated spring accumulator JC03 is connected to the integrated oil tank JC02, thereby realizing a stable oil supply system under non-directional installation. The output end of the integrated valve group JC07 connects the control oil to the left and right interfaces of the hydraulic cylinder through built-in hydraulic pipe joints and hydraulic hoses.

[0044] The integrated magnetic speed change mechanism JC04 includes a fixed bracket 18, a first permanent magnet bracket 32, an output side plate 17, a retaining ring 33, a first permanent magnet 34, a second permanent magnet 35, and a third permanent magnet 36. The first permanent magnet 34 is the input permanent magnet, the second permanent magnet 35 is the fixed permanent magnet, and the third permanent magnet 36 is the output permanent magnet. The first permanent magnet 34 is circumferentially arranged on the first permanent magnet bracket 32, the second permanent magnet 35 is circumferentially arranged on the fixed bracket 18, and the third permanent magnet 36 is circumferentially arranged on the output side plate 17. The mounting end of the fixed bracket 18 is connected to the first mounting end of the motor stator bracket 21 by screws, and the mounting end of the first permanent magnet bracket 32 ​​is connected to the first mounting end of the motor rotor bracket 25 by retaining ring 33, thereby realizing the relative rotation of the third permanent magnet 36, the second permanent magnet 35, and the first permanent magnet 34 in the integrated magnetic speed change mechanism JC04.

[0045] The integrated motor JC05 includes a first motor end cover 19, a motor permanent magnet 20, a motor stator support 21, a coil 22, a second motor end cover 23, a motor rotor support 25, a first lip seal 2701, a second lip seal 2702, a first bearing 2801, a second bearing 2802, a first sleeve 62, and a second sleeve 63. The motor stator support 21 is located inside the outer casing 8.

[0046] The inner rings of the first motor end cover 19 and the second motor end cover 23 are respectively equipped with a second lip seal 2702 and a first lip seal 2701 to achieve rotational sealing with the motor rotor support 25.

[0047] The fixing ends of the first motor end cover 19 and the second motor end cover 23 are respectively connected to the second mounting end and the third mounting end of the motor stator bracket 21 by screws. The first motor end cover 19 and the motor stator bracket 21 achieve a static seal at the second mounting end of the integrated motor JC05 through a sealing ring. The second motor end cover 23 and the motor stator bracket 21 achieve a static seal at the third mounting end of the integrated motor JC05 through a sealing ring. The inner ring of the motor stator bracket 21 is provided with a coil 22, and the outer ring of the motor rotor bracket 25 is provided with a motor permanent magnet 20. The second mounting end and the third mounting end of the motor rotor bracket 25 are respectively connected by a first sleeve 62, a second sleeve 63, a first lip seal 2701, and a second lip seal 2701. The seal 2702, the first bearing 2801, and the second bearing 2802 are internally connected to the second motor end cover 23 and the first motor end cover 19. The second and third mounting ends of the motor rotor bracket 25 are respectively rotated relative to the second motor end cover 23 and the first motor end cover 19 through the first bearing 2801 and the second bearing 2802. The first sleeve 62 and the second sleeve 63 respectively restrict the mounting positions of the first bearing 2801 and the second bearing 2802. The middle part of the first motor end cover 19, the middle part of the second motor end cover 23, and the inner ring of the motor rotor bracket 25 are respectively connected to the first end, the second end, and the third end of the cylinder body 4 of the integrated double-acting hydraulic cylinder JC08.

[0048] The integrated vane pump motor JC06 includes a distribution valve block 12, a distribution plate 13, a vane pump motor rotor 14, a vane pump motor stator 15, a vane pump motor housing 16, a third bearing 3801, a fourth bearing 3802, a mother vane 45, a daughter vane 46, and a thrust bearing 37. The distribution valve block 12 has a filter 70 inside. The vane pump motor housing 16 is located inside the outer casing 8. The first mounting end of the distribution valve block 12 is connected to the mounting end of the vane pump motor housing 16 by screws. The distribution valve block 12 and the vane pump motor housing 16 achieve static sealing through a sealing ring, thereby axially fixing the distribution plate 13, the vane pump motor stator 15, the output side plate 17, and the thrust bearing 37. The vane pump motor stator 15 is located inside the vane pump motor housing 16.

[0049] The first mounting end of the vane pump motor rotor 14 is connected to the first mounting end of the output side plate 17 by screws. The vane pump motor rotor 14 is provided with a mother vane 45 and a daughter vane 46 in the circumference. The outer ring of the vane pump motor rotor 14 and the inner ring of the vane pump motor stator 15 are coaxially mounted. The second mounting end of the distribution valve block 12, the mounting end of the vane pump motor stator 15 and the mounting end of the distribution plate 13 are connected in sequence by positioning pins 54. The second mounting ends of the vane pump motor rotor 14 and the output side plate 17 are connected to the fourth and fifth ends of the hydraulic cylinder body 4 of the integrated double-acting hydraulic cylinder JC08 through the third bearing 3801 and the fourth bearing 3802, respectively. The output side plate 17 achieves relative rotation with the hydraulic cylinder body 4 through the third bearing 3801. The vane pump motor rotor 14 achieves relative rotation with the hydraulic cylinder body 4 through the fourth bearing 3802. The third mounting end of the distribution valve block 12 is connected to the sixth end of the hydraulic cylinder body 4 of the integrated double-acting hydraulic cylinder JC08.

[0050] The integrated double-acting hydraulic cylinder JC08 includes an outer shell 8, a left end cover 1, a right end cover 24, a hydraulic cylinder body 4, a hydraulic cylinder end cover 26, and a piston rod 5. The piston rod 5 has a first hydraulic cylinder connection end 501 and a second hydraulic cylinder connection end 502 at both ends. The relative movement between the hydraulic cylinder connection end and the fixed threaded hole 2101 is achieved by the movement of the piston rod 5. The left end cover 1, the hydraulic cylinder body 4, the hydraulic cylinder end cover 26, and the right end cover 24 are each embedded with multiple sealing rings to achieve dynamic sealing with the piston rod 5. The piston part of the piston rod 5 is also embedded with multiple sealing rings to achieve effective dynamic sealing with the hydraulic cylinder body 4.

[0051] The end mounting end of the hydraulic cylinder body 4 is connected to the first mounting end of the hydraulic cylinder end cover 26 via threads. The interior of the hydraulic cylinder body 4 is connected to the middle mounting end of the piston rod 5 via a sealing ring. The hydraulic cylinder body 4 and the piston rod 5 form a cylindrical pair. The first and second mounting ends of the outer shell 8 are respectively connected to the first mounting ends of the left end cover 1 and the right end cover 24 via screws. The second mounting end of the right end cover 24 is provided with an electronic interface 29. The electronic interface 29 can realize control communication with computers, etc., thereby realizing functional expansion. The input end of the electronic interface 29 is connected to the control end of the electronic interface of the valve group 47, the coil 22 and the electronic interfaces of each built-in sensor via internal wiring grooves. The third mounting end of the right end cover 24 is connected to the fourth mounting end of the motor stator bracket 21 via screws. The third mounting end of the outer shell 8 is provided with a fixing threaded hole 2101.

[0052] The integrated suction filter JC01 consists of filter 70, which ensures the cleanliness of the oil entering the integrated vane pump motor JC06 from the hydraulic oil tank 2. The integrated oil tank JC02 includes a hydraulic oil tank 2, an air diaphragm 53, an air inlet 9, and a liquid filling inlet 10. The first mounting end of the hydraulic oil tank 2 is connected to the first mounting end of the accumulator housing 3. The hydraulic oil tank 2 and the accumulator housing 3 are statically sealed by a sealing ring. An air inlet 9 and a liquid filling inlet 10 are sequentially provided on one side of the hydraulic oil tank 2. The air inlet 9 inflates the hydraulic oil tank 2, and the liquid filling inlet 10 replenishes the hydraulic oil tank 2 with oil. An air diaphragm 53 is provided between the air inlet 9 and the liquid filling inlet 10 to isolate oil and gas, thereby ensuring that the device can effectively supply oil to the integrated vane pump motor JC06 at any angle. The air inlet 9 of the hydraulic oil tank 2 ensures that the air on the back of the accumulator housing 3 is in communication with the hydraulic oil tank 2. The sealing ring achieves a static seal between the hydraulic oil tank 2 and the oil suction side of the valve block 11, thereby achieving a sealed space in the hydraulic oil tank 2.

[0053] The integrated spring accumulator JC03 includes an accumulator housing 3, a central spring 6, and a piston 7. The first mounting end of the piston 7 is installed inside the accumulator housing 3 through a sealing ring. The piston 7 and the accumulator housing 3 form a cylindrical pair. The sealing ring achieves an effective dynamic seal between the accumulator housing 3 and the piston 7. The second mounting end of the piston 7 is connected to the second mounting end of the hydraulic oil tank 2 through the central spring 6. The function of the integrated spring accumulator JC03 is achieved by the compression of the central spring 6. The second mounting end outside the accumulator housing 3 is connected to the seventh end outside the cylinder body 4 of the integrated double-acting hydraulic cylinder JC08.

[0054] The integrated valve assembly JC07 includes a valve block 11, a first servo valve 4101, a second servo valve 4102, a third servo valve 4103, a fourth servo valve 4104, a valve assembly electronic interface 47, a safety valve 44, a first hydraulic connector 3901, a first hydraulic hose 4001, a second hydraulic connector 3902, a second hydraulic hose 4002, a third hydraulic hose 4201, a fourth hydraulic hose 4301, a third hydraulic connector 3903, a fourth hydraulic connector 3904, a fifth hydraulic hose 4302, and a sixth hydraulic hose 4202.

[0055] The third mounting end of the accumulator housing 3 is connected to the fourth mounting end of the valve block 11 and the distribution valve block 12 via screws. The accumulator housing 3 and the valve block 11 achieve effective static sealing of the valve block 11 through a sealing ring. The valve block 11 achieves effective static sealing with the distribution valve block 12 through a sealing ring. The valve block 11 is equipped with a first servo valve 4101, a second servo valve 4102, a third servo valve 4103, a fourth servo valve 4104, and a safety valve 44 in sequence inside. The output end of the fourth servo valve 4104 is connected to the third fluid interface 401 of the hydraulic cylinder body 4 in sequence through a first hydraulic connector 3901 and a first hydraulic hose 4001. The output end of the first servo valve 4101... The second hydraulic valve 4102 is connected to the fourth fluid interface 402 of the hydraulic cylinder body 4 via the second hydraulic connector 3902 and the second hydraulic hose 4002 in sequence. The output end of the second servo valve 4102 is connected to the first fluid interface 2601 of the hydraulic cylinder end cover 26 via the third hydraulic connector 3903, the fourth hydraulic hose 4301 and the third hydraulic hose 4201 in sequence. The output end of the third servo valve 4103 is connected to the second fluid interface 2602 of the hydraulic cylinder end cover 26 via the fourth hydraulic connector 3904, the fifth hydraulic hose 4302 and the sixth hydraulic hose 4202 in sequence. The mounting end of the valve block 11 is connected to the eighth end of the hydraulic cylinder body 4 outside the integrated double-acting hydraulic cylinder JC08.

[0056] In a preferred embodiment of the present invention, the axes of the first motor end cover 19, the second motor end cover 23, the motor rotor support 25, the vane pump motor rotor 14, the vane pump motor stator 15, the output side plate 17, the hydraulic cylinder body 4, the distribution valve block 12, the outer shell 8, the left end cover 1, the right end cover 24, the hydraulic cylinder end cover 26, the piston rod 5, the piston 7, the accumulator housing 3, and the valve block 11 are on the same straight line.

[0057] The device of this invention combines high-efficiency control and energy utilization, and benefits from its compact structural size and integrated valve group JC07, making it promising for applications in engineering machinery, lightweight robots, and aerospace.

[0058] The following describes, in conjunction with embodiments, an integrated electro-hydraulic actuation device based on magnetic modulation according to the present invention:

[0059] The integrated electro-hydraulic actuator based on magnetic modulation of this invention has four working modes, namely: normal mode for controlling the extension and retraction of the hydraulic cylinder; self-locking mode for controlling the rigid locking of any position of the hydraulic cylinder; floating mode for controlling the free movement of any position of the hydraulic cylinder with the load; and bidirectional potential energy recovery mode for realizing the recovery of the potential energy of the hydraulic cylinder and the energy under the external load pump condition.

[0060] The specific working process of the normal mode is as follows:

[0061] Taking the operation of the piston rod 5 inside the hydraulic cylinder body 4 as an example: A signal to extend the piston rod 5 to the right is given through the electronic interface 29. At this time, the coil 22 and the permanent magnet 20 in the integrated motor JC05 output power to the motor rotor bracket 25 under magnetic induction, transmitting the power to the first permanent magnet bracket 32 ​​fixed by the retaining ring 33. Through the magnetic force of the first permanent magnet 34 evenly distributed on the first permanent magnet bracket 32, the second permanent magnet 35 evenly distributed on the fixed bracket 18, and the third permanent magnet 36 evenly distributed on the output side plate 17, the power is transmitted to the vane pump motor fixed to the first mounting end of the output side plate 17 by screws. The rotor 14, through the closed cavity formed by the vane pump motor rotor 14, vane pump motor stator 15, mother vane 45, daughter vane 46 and distribution plate 13, realizes the periodic change of oil volume, thereby generating high-pressure oil. The high-pressure oil is converted into power for the integrated vane pump motor JC06 through the distribution valve block 12 and output. Thus, the maximum output flow of the integrated vane pump motor JC06 is controlled by the rotation speed of the integrated motor JC05. The safety valve 44 installed on the valve block 11 is connected to the high-pressure port on the distribution valve block 12. By adjusting the opening pressure of the safety valve 44, the maximum output pressure of the integrated vane pump motor JC06 is guaranteed. Given a control signal to the fourth servo valve solenoid Y4A, the fourth servo valve 4104 is opened to allow high-pressure oil generated by the integrated vane pump motor JC06 to enter the left side of the hydraulic cylinder body 4 in the integrated hydraulic cylinder JC08 through the first hydraulic connector 3901, the first hydraulic hose 4001, and the fourth fluid interface 402. Given a control signal to the first servo valve solenoid Y4B, the first servo valve 4101 is kept closed to ensure the effectiveness of the hydraulic pressure in the left cavity of the hydraulic cylinder body 4 in the integrated hydraulic cylinder JC08. Given a control signal to the third servo valve... The control signal of electromagnet Y26B keeps the third servo valve 4103 closed, and the control signal of electromagnet Y26A for the second servo valve keeps the second servo valve 4102 open at a certain degree. The back pressure control of the right side of the hydraulic cylinder body 4 in the integrated hydraulic cylinder JC08 is realized through the third hydraulic connector 3903, the fourth hydraulic hose 4301, the third hydraulic hose 4201 and the first fluid interface 2601. The valve core opening control is controlled and detected by the electrical signal of the electronic interface 29. The hydraulic cylinder extends to the right with high precision through the opening of each valve core.

[0062] The electronic interface 29 sends a control signal to extend the piston rod 5 to the left inside the hydraulic cylinder body 4. The coil 22 and the permanent magnet 20, under magnetic induction, output power to the motor rotor bracket 25, transmitting the power to the first permanent magnet bracket 32 ​​fixed by the retaining ring 33. Through the magnetic force of the first permanent magnet 34 evenly distributed on the first permanent magnet bracket 32, the second permanent magnet 35 evenly distributed on the fixed bracket 18, and the third permanent magnet 36 evenly distributed on the output side plate 17, the power is transmitted to the vane pump motor rotor 14 fixed to the first mounting end of the output side plate 17 by screws. 14. The enclosed cavity formed by the stator 15, mother vane 45, daughter vane 46, and distribution plate 13 of the vane pump motor realizes the periodic change of oil volume, thereby generating high-pressure oil. The high-pressure oil is converted into power for the integrated vane pump motor JC06 through the distribution valve block 12 and output. The maximum output flow of the integrated vane pump motor JC06 is controlled by the rotation speed of the integrated motor JC05. The safety valve 44 installed on the valve block 11 is connected to the high-pressure port on the distribution valve block 12. The maximum output pressure of the integrated vane pump motor JC06 is ensured by adjusting the opening pressure of the safety valve 44. A control signal is given to the third servo valve solenoid Y26B to open the third servo valve 4103 to a predetermined opening, allowing high-pressure oil from the integrated vane pump motor JC06 to enter the right side of the hydraulic cylinder body 4 in the integrated hydraulic cylinder JC08 through the fourth hydraulic connector 3904, the fifth hydraulic hose 4302, the sixth hydraulic hose 4202, and the second fluid interface 2602. A control signal is given to the second servo valve solenoid Y26A to keep the second servo valve 4102 closed, ensuring the effectiveness of the hydraulic pressure in the right cavity of the hydraulic cylinder body 4 in the integrated hydraulic cylinder JC08. A control signal is given to the fourth servo valve solenoid Y4A to keep the fourth servo valve 4104 closed. A control signal is given to the first servo valve solenoid Y4B to keep the first servo valve 4101 open to a certain extent, thereby achieving back pressure control on the left side of the hydraulic cylinder body 4 in the integrated hydraulic cylinder JC08 through the second hydraulic connector 3902, the second hydraulic hose 4002, and the third fluid interface 401. The valve core opening control is controlled and detected by the electronic interface 29 electrical signal, and the hydraulic cylinder extends to the left with high precision through each valve core opening.

[0063] The specific working process of the self-locking mode is as follows:

[0064] The current position locking control signal of the hydraulic cylinder is given through the electronic interface 29. Under the action of magnetic induction, the coil 22 and the permanent magnet 20 of the motor output power to the motor rotor bracket 25, and transmit the power to the first permanent magnet bracket 32 ​​fixed by the retaining ring 33. Through the magnetic force of the first permanent magnet 34 evenly distributed on the first permanent magnet bracket 32, the second permanent magnet 35 evenly distributed on the fixed bracket 18, and the third permanent magnet 36 evenly distributed on the output side plate 17, the power is transmitted to the vane pump motor rotor 14 fixed to the first mounting end of the output side plate 17 by screws. The enclosed cavity formed by the stator 15, mother vane 45, daughter vane 46, and distribution plate 13 of the vane pump motor realizes the periodic change of oil volume, thereby generating high-pressure oil. The high-pressure oil is converted into power for the integrated vane pump motor JC06 through the distribution valve block 12 and output. The maximum output flow of the integrated vane pump motor JC06 is controlled by the rotation speed of the integrated motor JC05. The safety valve 44 installed on the valve block 11 is connected to the high-pressure port on the distribution valve block 12. The maximum output pressure of the integrated vane pump motor JC06 is ensured by adjusting the opening pressure of the safety valve 44. If there is no rapid start-up state, a stop signal can be given to the integrated motor JC05, and a control signal can be given to the fourth servo valve solenoid Y4A to keep the fourth servo valve 4104 closed. A control signal can be given to the first servo valve solenoid Y4B to keep the first servo valve 4101 closed. A control signal can be given to the third servo valve solenoid Y26B to keep the third servo valve 4103 closed. A control signal can be given to the second servo valve solenoid Y26A to keep the second servo valve 4102 closed. This achieves the creation of a sealed volume on both sides of the cylinder body 4 in the integrated hydraulic cylinder JC08, thereby locking the bidirectional movement of the integrated hydraulic cylinder JC08.

[0065] The specific working process of the floating mode is as follows:

[0066] The current position floating control signal of the hydraulic cylinder is given through the electronic interface 29. The coil 22 and the motor permanent magnet 20 output power to the motor rotor bracket 25 under magnetic induction. This power is then transmitted to the first permanent magnet bracket 32, which is fixed by the retaining ring 33. Through the magnetic force of the first permanent magnet 34 evenly distributed on the first permanent magnet bracket 32, the second permanent magnet 35 evenly distributed on the fixed bracket 18, and the third permanent magnet 36 evenly distributed on the output side plate 17, the power is transmitted to the vane pump motor rotor 14, which is fixed to the first mounting end of the output side plate 17 by screws. The power is then transmitted through the vane pump motor rotor 14... The enclosed cavity formed by the stator 15, mother vane 45, daughter vane 46, and distribution plate 13 of the vane pump motor realizes the periodic change of oil volume, thereby generating high-pressure oil. The high-pressure oil is converted into power for the integrated vane pump motor JC06 through the distribution valve block 12 and output. The maximum output flow of the integrated vane pump motor JC06 is controlled by the rotation speed of the integrated motor JC05. The safety valve 44 installed on the valve block 11 is connected to the high-pressure port on the distribution valve block 12. The maximum output pressure of the integrated vane pump motor JC06 is ensured by adjusting the opening pressure of the safety valve 44. A zero-pressure unloading control signal is given to safety valve 44 to ensure system safety. A stop signal is given to integrated motor JC05. A control signal is given to fourth servo valve solenoid Y4A to keep fourth servo valve 4104 closed. A control signal is given to first servo valve solenoid Y4B to keep first servo valve 4101 normally open. Through second hydraulic connector 3902, second hydraulic hose 4002 and third fluid interface 401, the unloading pressure is maintained on the left side of hydraulic cylinder body 4 in integrated hydraulic cylinder JC08. A control signal is given to third servo valve solenoid Y2. The 6B control signal keeps the third servo valve 4103 closed, and the given control signal Y26A to the second servo valve solenoid keeps the second servo valve 4102 open. Through the third hydraulic connector 3903, the fourth hydraulic hose 4301, the third hydraulic hose 4201 and the first fluid interface 2601, the right side of the hydraulic cylinder body 4 in the integrated hydraulic cylinder JC08 is kept under unloading pressure, and the oil on both sides of the integrated hydraulic cylinder JC08 is connected to the integrated oil tank JC02, thereby realizing the bidirectional floating motion of the integrated hydraulic cylinder JC08.

[0067] The specific working process of the two-way potential energy recovery mode is as follows:

[0068] When an external load causes the hydraulic cylinder to move to the left, energy recovery is activated. At this time, the integrated motor JC05 is given a generator operating condition via electronic interface 29, and a control signal is given to safety valve 44 to ensure the generator starting pressure of integrated motor JC05. A control signal is given to the fourth servo valve solenoid Y4A to make the fourth servo valve 4104 open to a predetermined position, so that the high-pressure oil on the left side of the hydraulic cylinder body 4 in integrated hydraulic cylinder JC08 enters the integrated vane pump motor JC06 through the first hydraulic connector 3901, the first hydraulic hose 4001, and the fourth fluid interface 402. A control signal is given to the first servo valve solenoid Y4B to make the first servo valve open to a predetermined position. 4101 remains closed to ensure the effectiveness of the hydraulic pressure in the left cavity of the cylinder body 4 in the integrated hydraulic cylinder JC08; given a control signal to the third servo valve solenoid Y26B, the third servo valve 4103 remains closed; given a control signal to the second servo valve solenoid Y26A, the second servo valve 4102 remains open; through the third hydraulic connector 3903, the fourth hydraulic hose 4301, the third hydraulic hose 4201, and the first fluid interface 2601, oil replenishment to the right side of the cylinder body 4 in the integrated hydraulic cylinder JC08 can be achieved; energy recovery can be actively intervened by controlling the valve core opening to maximize energy recovery.

[0069] When an external load causes the hydraulic cylinder to move to the right, energy recovery is initiated. At this time, the integrated motor JC05 is given a generator operating condition via electronic interface 29, and a control signal is given to safety valve 44 to ensure the generator starting pressure of integrated motor JC05. A control signal is given to the third servo valve solenoid Y26B to make the third servo valve 4103 open to a predetermined position. High-pressure oil from the right side of the hydraulic cylinder body 4 in integrated hydraulic cylinder JC08 enters integrated vane pump motor JC06 via the fourth hydraulic connector 3904, the fifth hydraulic hose 4302, the sixth hydraulic hose 4202, and the second fluid interface 2602. The second servo valve solenoid is given a control signal. The Y26A control signal keeps the second servo valve 4102 closed, ensuring the effectiveness of the hydraulic pressure in the right cavity of the cylinder body 4 in the integrated hydraulic cylinder JC08. The Y4A control signal of the fourth servo valve solenoid keeps the fourth servo valve 4104 closed, and the Y4B control signal of the first servo valve solenoid keeps the first servo valve 4101 open. Through the second hydraulic connector 3902, the second hydraulic hose 4002, and the third fluid interface 401, oil replenishment is achieved on the left side of the cylinder body 4 in the integrated hydraulic cylinder JC08. Energy recovery can be actively intervened by controlling the valve core opening to maximize energy recovery.

[0070] The communication control of the external interface in the four modes is as follows:

[0071] The integrated motor JC05 is given control signals (speed and operating conditions) via electronic interface 29 to control the maximum flow of the integrated vane pump motor JC06, and the safety valve 44 is given control signals to ensure the maximum system pressure. The opening control signals of the first servo valve 4101, the second servo valve 4102, the third servo valve 4103 and the fourth servo valve 4104 are given to control the flow of the fourth fluid interface 402, the first fluid interface 2601, the second fluid interface 2602 and the third fluid interface 401 of the integrated hydraulic cylinder JC08, respectively, thereby achieving efficient control of the integrated hydraulic cylinder JC08. The opening amount control can be communicated with external computers and other interfaces.

[0072] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An integrated electro-hydraulic actuator based on magnetic modulation, comprising an integrated magnetic variable speed mechanism, an integrated motor, an integrated vane pump motor and an integrated double-acting hydraulic cylinder, characterized in that, the integrated magnetic variable speed mechanism comprises a fixed support, a first permanent magnet support, an output side plate and permanent magnets, the first permanent magnet support is provided with first permanent magnets in the circumferential direction, the fixed support is provided with second permanent magnets in the circumferential direction, the output side plate is provided with third permanent magnets in the circumferential direction, the mounting end of the fixed support is connected with the first mounting end of the motor stator support, and the mounting end of the first permanent magnet support is connected with the first mounting end of the motor rotor support through a collar; the integrated motor comprises a first motor end cover, motor permanent magnets, a motor stator support, a coil, a second motor end cover, a motor rotor support, a lip seal, a bearing and a sleeve, the fixed ends of the first motor end cover and the second motor end cover are connected with the second mounting end and the third mounting end of the motor stator support respectively, the inner ring of the motor stator support is provided with a coil, the outer ring of the motor rotor support is provided with motor permanent magnets, and the second mounting end and the third mounting end of the motor rotor support are connected with the inside of the second motor end cover and the first motor end cover through a sleeve, a lip seal and a bearing in sequence; the integrated vane pump motor comprises a flow distribution valve block, a flow distribution disc, a vane pump motor rotor, a vane pump motor stator, a vane pump motor housing, a bearing, a mother vane, a child vane and a thrust bearing, the inside of the flow distribution valve block is provided with a filter, the first mounting end of the flow distribution valve block is connected with the mounting end of the vane pump motor housing, the vane pump motor stator is located in the inside of the vane pump motor housing, the first mounting end of the vane pump motor rotor is connected with the first mounting end of the output side plate, the circumferential direction of the vane pump motor rotor is provided with a mother vane and a child vane respectively, and the outer ring of the vane pump motor rotor and the inner ring of the vane pump motor stator are coaxially mounted; the integrated double-acting hydraulic cylinder comprises an outer housing, a left end cover, a right end cover, a hydraulic cylinder body, a hydraulic cylinder end cover and a piston rod, both ends of the piston rod are respectively provided with a hydraulic cylinder first connecting end and a hydraulic cylinder second connecting end, the end mounting end of the hydraulic cylinder body is connected with the first mounting end of the hydraulic cylinder end cover, the inside of the hydraulic cylinder body is connected with the middle mounting end of the piston rod through a sealing ring, the first mounting end and the second mounting end of the outer housing are respectively connected with the first mounting end of the left end cover and the right end cover, the second mounting end of the right end cover is provided with an electronic interface, the input end of the electronic interface is connected with the valve group electronic interface and the control end of the coil respectively, and the third mounting end of the right end cover is connected with the fourth mounting end of the motor stator support.

2. The integrated electro-hydraulic actuator based on magnetic modulation according to claim 1, characterized in that, The integrated motor, the integrated magnetic variable speed mechanism, the integrated vane pump motor, the integrated valve group, the integrated oil tank, the integrated spring accumulator and the integrated oil absorption filter are sequentially mounted at one end of the integrated double-acting hydraulic cylinder in the axial direction.

3. The integrated electro-hydraulic actuator based on magnetic modulation according to claim 2, characterized in that, It also includes an integrated oil absorption filter and an integrated oil tank, the integrated oil tank includes a hydraulic oil tank, an air bag diaphragm, an inflation hole and a liquid filling hole, the first mounting end of the hydraulic oil tank and the first mounting end outside the accumulator shell are connected, one side of the hydraulic oil tank is provided with an inflation hole and a liquid filling hole in turn, and an air bag diaphragm is arranged between the inflation hole and the liquid filling hole.

4. The magnetically modulated integrated electro-hydraulic actuator device according to claim 3, wherein, It also includes an integrated spring accumulator, which includes an accumulator shell, a center spring and a piston, the first mounting end of the piston is mounted in the inside of the accumulator shell through a sealing ring, and the second mounting end of the piston is connected through the center spring and the second mounting end of the hydraulic oil tank.

5. The magnetically modulated integrated electro-hydraulic actuator device of claim 4, wherein, It also includes an integrated valve group, which includes a valve block, a first servo valve, a second servo valve, a third servo valve, a fourth servo valve, a valve group electronic interface, a safety valve, a hydraulic connector and a hydraulic hose, the third mounting end outside the accumulator shell is connected through the fourth mounting end of the valve block and the flow distribution valve block, the inside of the valve block is sequentially provided with the first servo valve, the second servo valve, the third servo valve, the fourth servo valve and the safety valve, the output end of the fourth servo valve is connected with the third fluid interface of the hydraulic cylinder body through the hydraulic connector and the hydraulic hose in turn, the output end of the first servo valve is connected with the fourth fluid interface of the hydraulic cylinder body through the hydraulic connector and the hydraulic hose in turn, the output end of the second servo valve is connected with the first fluid interface of the hydraulic cylinder end cover through the hydraulic connector and the hydraulic hose in turn, and the output end of the third servo valve is connected with the second fluid interface of the hydraulic cylinder end cover through the hydraulic connector and the hydraulic hose in turn.

6. The magnetically modulated integrated electro-hydraulic actuator device of claim 5, wherein, The middle part of the first motor end cover, the middle part of the second motor end cover and the inner ring of the motor rotor support are respectively connected with the first end, the second end and the third end outside the hydraulic cylinder body of the integrated double-acting hydraulic cylinder, the second mounting end of the vane pump motor rotor and the output side plate are respectively connected with the fourth end and the fifth end outside the hydraulic cylinder body of the integrated double-acting hydraulic cylinder through the third bearing and the fourth bearing, the third mounting end of the flow distribution valve block is connected with the sixth end outside the hydraulic cylinder body of the integrated double-acting hydraulic cylinder, the second mounting end outside the accumulator shell is connected with the seventh end outside the hydraulic cylinder body of the integrated double-acting hydraulic cylinder, and the mounting end of the valve block is connected with the eighth end outside the hydraulic cylinder body of the integrated double-acting hydraulic cylinder.

7. The magnetically modulated integrated electro-hydraulic actuator device according to claim 6, wherein, The axes of the first motor end cover, the second motor end cover, the motor rotor support, the vane pump motor rotor, the vane pump motor stator, the output side plate, the hydraulic cylinder body, the flow distribution valve block, the outer shell, the left end cover, the right end cover, the hydraulic cylinder end cover, the piston rod, the piston, the accumulator shell and the valve block are on the same straight line.

8. The magnetically modulated integrated electro-hydraulic actuator device according to claim 7, wherein, The second mounting end of the flow distribution valve block, the mounting end of the vane pump motor stator and the mounting end of the flow distribution disc are connected in turn through positioning pins.

9. A control method for the integrated electro-hydraulic actuator based on magnetic modulation according to claim 8, characterized by, It includes the following steps: S1, through the electronic interface to give the action signal of the piston rod in the hydraulic cylinder body, at this time the coil and the motor permanent magnet produce power through magnetic induction; S2, through the motor rotor support to transmit power to the first permanent magnet support fixed by the ring, at this time the first electromagnet uniformly distributed on the first permanent magnet support, the second electromagnet uniformly distributed on the fixed support and the third permanent magnet uniformly distributed on the output side plate transmit power to the vane pump motor rotor fixed on the first mounting end of the output side plate; S3, through the closed cavity composed of vane pump motor rotor, vane pump motor stator, parent vane, child vane and flow distribution disc to realize the periodic change of oil volume, and then generate high pressure oil, and through the flow distribution valve block to convert the high pressure oil into the power of integrated vane pump motor and output, and then realize the control of integrated vane pump motor maximum output flow by integrated motor revolution; S4, according to the actual working mode, give different control signals to different servo valve electromagnets, control the oil entering the hydraulic cylinder body of integrated hydraulic cylinder, complete the corresponding working process: If it is ordinary working mode: open the fourth servo valve and the second servo valve at the same time, close the first servo valve and the third servo valve, or open the first servo valve and the third servo valve at the same time, close the fourth servo valve and the second servo valve, so that the oil in the hydraulic cylinder body of integrated hydraulic cylinder is not equal on both sides; If it is self-locking working mode: close the first servo valve, the second servo valve, the third servo valve and the fourth servo valve at the same time, so that the closed volume is generated on both sides of the hydraulic cylinder body of integrated hydraulic cylinder; If it is floating working mode: open the first servo valve and the second servo valve at the same time, close the third servo valve and the fourth servo valve, so that the hydraulic cylinder body of integrated hydraulic cylinder floats on both sides: If it is bidirectional potential energy recovery working mode: open the fourth servo valve and the second servo valve at the same time, close the first servo valve and the third servo valve, or open the first servo valve and the third servo valve at the same time, close the fourth servo valve and the second servo valve, and through the control of valve core opening amount to actively intervene and recover the oil energy in the hydraulic cylinder body of integrated hydraulic cylinder on both sides.

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