A direct-drive hydraulic stepping rotary mechanism and its operating method

Abstract

This invention discloses a direct-drive hydraulic stepping rotary mechanism and its operating method. It includes a rotary head and a hydraulic system. The rotary head's housing and the hydraulic system are both fixed on a bracket. A motor and a hydraulic pump are connected. The hydraulic pump is connected to an overflow valve and a check valve. The check valves are connected to a two-position three-way solenoid valve and a three-position four-way solenoid valve. The three-position four-way solenoid valves are connected to two drive cylinders. One two-position three-way solenoid valve is connected to a clamping cylinder via a hydraulically controlled check valve, and the other two-position three-way solenoid valve is connected to a locking cylinder via a hydraulically controlled check valve. The control oil circuits of the hydraulically controlled check valves are all connected to the check valves. The method includes controlling the locking cylinder to disengage from the rotary output shaft, driving the rotary output shaft to rotate, locking the rotary output shaft with the locking cylinder, and resetting the clamping cylinder. The stepping rotary mechanism of this invention has a simple structure, low cost, high reliability, is insensitive to oil temperature and cleanliness, and can effectively control rotary accuracy.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic drive system and operation method in the field of solar energy equipment drive or solar thermal and photovoltaic power generation equipment drive technology, and particularly relates to a direct drive hydraulic stepping rotary mechanism and operation method. Background Technology

[0002] In recent years, photovoltaic (PV) and concentrated solar power (CSP) power generation have experienced tremendous growth in my country, with its installed capacity now ranking first globally. Furthermore, the efficiency of PV and CSP power generation and the production technology of related components are among the world's most advanced. Whether it's PV or CSP, the core of power generation—the solar panels (and their mounting systems)—needs to be adjusted in angle (tilt and azimuth) according to the sun's position each day; this is known as a daily adjustment system. The mechanism used to adjust and drive the position of the solar mounting systems is called the drive mechanism. In my country, large-scale PV and CSP power plants require a large number of solar panel mounting systems, often numbering in the tens of thousands. Therefore, related companies often have very high cost requirements for PV modules, and the solar panel drive mechanism accounts for approximately 25% of the total cost of the entire solar module assembly.

[0003] Currently, the drive mechanisms used to drive solar panels on the market are mainly electric cylinders or electric rotary drives. Their main advantages are high-precision angle adjustment and low cost. However, in large-scale photovoltaic power generation systems, especially for solar panels with large individual areas (over 20 square meters), the overall cost advantage of electric drive mechanisms disappears; for even larger solar panel areas (over 40 square meters), the cost advantage of electric drive mechanisms is significantly less than that of hydraulic drive mechanisms. How to achieve optimal (lowest) overall cost while meeting the performance requirements of photovoltaic power generation technology is a key research focus for major photovoltaic companies and institutions. Existing technologies lack an electric drive mechanism and operating method that can effectively control the angle accuracy of the output mechanism while saving costs. Summary of the Invention

[0004] To address the problems existing in the background art, this invention proposes a direct-drive hydraulic stepping rotary mechanism and its operation method.

[0005] The present invention adopts the following technical solution:

[0006] I. A direct-drive hydraulic stepping rotary mechanism:

[0007] The device includes a rotary head and a hydraulic system. The rotary head includes a housing and a rotary output shaft. The rotary output shaft is rotatably connected inside the housing along its own circumference. The rotary output shaft and the hydraulic system are movably connected. Both the housing of the rotary head and the hydraulic system are fixedly mounted on an external bracket.

[0008] The hydraulic system is used to drive the rotary output shaft to rotate. By changing the working state of the hydraulic system, the rotation angle of the rotary output shaft can be accurately controlled.

[0009] The hydraulic system includes a drive cylinder, a clamping cylinder, a locking cylinder, a two-position three-way solenoid valve, a two-position four-way solenoid valve, a hydraulically controlled check valve, a check valve, a motor, a hydraulic pump, and a relief valve.

[0010] The motor and hydraulic pump are connected. The inlet of the hydraulic pump is connected to the system oil tank. The outlet of the hydraulic pump is connected to one end of the relief valve and the check valve. The other end of the check valve is connected to one port of each of the two two-position three-way solenoid valves and one port of the two-position four-way solenoid valve. The two ports of the two-position four-way solenoid valves are connected to the ports of the two drive cylinders via two hydraulically controlled check valves. One port of one two-position three-way solenoid valve is connected to the port of the clamping cylinder via a hydraulically controlled check valve. One port of another two-position three-way solenoid valve is connected to the port of the locking cylinder via a hydraulically controlled check valve. The hydraulic ports of the four hydraulically controlled check valves are all connected to the check valves. One port of each of the two-position four-way solenoid valves, the two two-position three-way solenoid valves, and the relief valve is externally connected to the system oil tank.

[0011] The cylinder bodies of both the drive cylinder and the locking cylinder are fixedly connected to the bracket. The cylinder body of the clamping cylinder is movably installed in the slide rail of the bracket. The slide rail is a concentric circle coaxial with the rotary output shaft. The piston rods of the two drive cylinders are located on both sides of the clamping cylinder body.

[0012] The outer ring of the rotary output shaft is provided with toothed blocks, and the piston rods of the clamping cylinder and the locking cylinder are both provided with toothed structures. The toothed blocks of the rotary output shaft can move circumferentially along the rotary output shaft and mesh with the toothed structures of the clamping cylinder and the locking cylinder.

[0013] The outer ring of the rotary output shaft is provided with friction plates, and the piston rods of the clamping cylinder and the locking cylinder are both provided with friction plates. The friction plates of the rotary output shaft are movably connected to the friction plates of the clamping cylinder and the locking cylinder along the circumference of the rotary output shaft.

[0014] The drive cylinder, clamping cylinder, and locking cylinder are all one-way spring cylinders.

[0015] The output accuracy of the rotary output shaft, i.e. the step angle, can be adjusted by changing the stroke of the drive cylinder and the distance between the drive cylinder's central axis and the rotation center.

[0016] The cylinder body of the clamping cylinder swings slightly around the rotation center of the rotary device, and the swing amplitude is the same as the step angle of the rotary output shaft.

[0017] II. A method for operating a hydraulic direct-drive stepping rotary mechanism, comprising the following steps:

[0018] Step 1: Control the locking cylinder to disengage from the rotary output shaft;

[0019] Step 2: Use the drive cylinder to drive the clamping cylinder and the rotary output shaft to rotate;

[0020] Step 3: De-energize the two-position three-way solenoid valve connected to the locking cylinder, causing the locking cylinder to extend and lock the rotary output shaft;

[0021] Step 4: Use the drive cylinder to reset the clamping cylinder;

[0022] Step 5: Steps 1 to 4 constitute a complete rotary drive process. Each time a rotary drive process is performed, the rotary output shaft steps by a preset angle. By repeating the rotary drive process multiple times, accurate control of the rotary output shaft's step angle is achieved while driving the rotary output shaft to work.

[0023] Step 1 specifically includes:

[0024] First, the hydraulic system issues a command to turn on the motor to drive the hydraulic pump. Then, the oil in the system tank enters the flow channel and opens the check valve and four hydraulically controlled check valves. At the same time, the two-position three-way solenoid valve connected to the locking cylinder is energized. Then, the locking cylinder changes from the initial extended state to the retracted state under the action of its own spring, so that the locking cylinder is disengaged from the rotary output shaft.

[0025] Step 2 specifically includes:

[0026] The two-position three-way solenoid valve connected to the clamping cylinder is de-energized, and then the clamping cylinder pushes out and presses against the rotary output shaft; at the same time, the two-position four-way solenoid valve is de-energized, and the oil flows into one drive cylinder and pushes out the drive cylinder, while the piston rod of the other drive cylinder retracts. The drive cylinder pushes the clamping cylinder and drives the rotary output shaft to swing together at an angle.

[0027] Step 4 specifically includes:

[0028] When the two-position three-way solenoid valve connected to the clamping cylinder is energized, the clamping cylinder retracts under the action of the spring and disengages from the rotary output shaft; then the two-position four-way solenoid valve is energized, the drive cylinder that retracted in step 2 changes to the extended state, the other drive cylinder retracts, and the two drive cylinders drive the clamping cylinder back to the initial position in step 1.

[0029] The mechanism of this invention can control the stepping action of the actuator through the combined action of several sets of hydraulic cylinders. This not only effectively controls the angular accuracy of the output mechanism, but also greatly reduces costs and improves the reliability of the system mechanism.

[0030] The advantages of this invention compared to the prior art are as follows:

[0031] 1. The designed system is a direct-drive pump-controlled hydraulic system, which has high reliability and low requirements for oil cleanliness and temperature changes, and can adapt to a variety of harsh working conditions.

[0032] 2. Compared with electric actuators or general hydraulic systems, this design can not only effectively control the final output accuracy (i.e., step angle) of the rotary mechanism, but also achieve a larger torque output at the same time, and at a lower cost.

[0033] 3. The accuracy of the final output step angle depends entirely on the stroke of the drive cylinder and the distance (RO / RL) between the output point of the drive cylinder and the rotary mechanism. Therefore, in situations with ample installation space, such as solar thermal and photovoltaic power generation sites, the output accuracy of this design can be very high.

[0034] 4. Compared with traditional hydraulic systems based on overflow-type balance valves or proportional valves, it has less throttling loss and less heat generation, thus having very high energy utilization efficiency.

[0035] 5. The stepping rotary mechanism of the present invention has a simple structure, low cost, good reliability, is not sensitive to oil temperature and cleanliness, and can effectively control the rotation accuracy. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the stepping rotary mechanism of the present invention;

[0037] Figure 2 This is a schematic diagram of the working steps of the rotary mechanism of the present invention under one working condition;

[0038] Figure 3 This is a schematic diagram of the working steps of the rotary mechanism under working condition two of the present invention;

[0039] In the diagram: 1. Rotary output shaft; 2a, 2b. Drive cylinders; 3. Clamping cylinder; 4. Locking cylinder; 6a, 6b. Two-position three-way solenoid valves; 7. Two-position four-way solenoid valve; 8a, 8b, 8c, 8d. Check valve; 9. Motor; 10. Hydraulic pump; 11. Relief valve; 12. Detailed Implementation

[0040] The above and other technical features and advantages of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0041] like Figure 1As shown, the mechanism includes a rotary device and a hydraulic system. The rotary device includes a housing and a rotary output shaft 1. The rotary output shaft 1 is rotatably connected inside the housing along its own circumference. The rotary output shaft 1 and the hydraulic system are movably connected. Both the housing of the rotary device and the hydraulic system are fixedly mounted on an external bracket.

[0042] The hydraulic system is used to drive the rotary output shaft 1 to rotate. By changing the working state of the hydraulic system, the rotation angle of the rotary output shaft 1 can be accurately controlled.

[0043] The hydraulic system includes drive cylinders 2a and 2b, clamping cylinder 3, locking cylinder 4, two-position three-way solenoid valves 6a and 6b, two-position four-way solenoid valve 7, hydraulic control check valves 8a, 8b, 8c and 8d, check valve 9, motor 10, hydraulic pump 11, and relief valve 12.

[0044] The motor 10 and hydraulic pump 11 are directly connected. The motor 10 connects to the hydraulic pump 11 and drives the hydraulic pump 11 to provide high-pressure oil to the mechanism. The oil inlet of the hydraulic pump 11 is connected to the system oil tank. The oil outlet of the hydraulic pump 11 is connected to one end of the relief valve 12 and the check valve 9, respectively. The other end of the check valve 9 is connected to one oil port (i.e., the lower oil port) of each of the two two-position three-way solenoid valves 6a and 6b and one oil port (i.e., the lower oil port) of the two-position four-way solenoid valve 7. The other two oil ports (i.e., the upper oil ports) of the two-position four-way solenoid valve 7 are respectively connected to two Hydraulic check valves 8a and 8b are connected to the oil ports of the two drive cylinders 2a and 2b respectively. The other oil port of a two-position three-way solenoid valve 6a is connected to the oil port of the clamping cylinder 3 via hydraulic check valve 8c. The other oil port of another two-position three-way solenoid valve 6b is connected to the oil port of the locking cylinder 4 via hydraulic check valve 8d. The hydraulic control ports (control oil circuits) of the four hydraulic check valves 8a, 8b, 8c, and 8d, which are connected to the two drive cylinders 2a and 2b, the clamping cylinder 3, and the locking cylinder 4 respectively, are all connected to check valve 9.

[0045] The two-position four-way solenoid valve 7, the two two-position three-way solenoid valves 6a and 6b, and the relief valve 12 are all externally connected to the system oil tank.

[0046] The cylinder bodies of the drive cylinders 2a, 2b and the locking cylinder 4 are all fixedly connected to the bracket. The cylinder body of the clamping cylinder 3 is movably installed in the slide rail of the bracket. The slide rail is a concentric circle coaxial with the rotary output shaft 1.

[0047] As a compact solution (each cylinder is arranged inside the rotary unit), the cylinder bodies of the drive cylinders 2a, 2b and the locking cylinder 4 are all fixedly connected to the bracket, and the cylinder body of the clamping cylinder 3 is movably installed in the slide rail of the bracket. The slide rail is a concentric circle coaxial with the rotary output shaft 1, and the radius of the slide rail is smaller than the radius of the rotary output shaft 1.

[0048] The piston rods of the two drive cylinders 2a and 2b are located on both sides of the cylinder body of the clamping cylinder 3. The outer ring of the rotary output shaft 1 is provided with toothed blocks. The piston rods of the clamping cylinder 3 and the locking cylinder 4 are both provided with toothed structures at their top ends. The toothed blocks of the rotary output shaft 1 can move circumferentially along the rotary output shaft 1 and mesh with the toothed structure of the clamping cylinder 3. The toothed blocks of the rotary output shaft 1 can move circumferentially along the rotary output shaft 1 and mesh with the toothed structure of the locking cylinder 4.

[0049] Thus, when the clamping cylinder 3 or the locking cylinder 4 is pushed out, the rotary output shaft 1 is locked and kept in its current position by the meshing of the toothed structure on the end face of the clamping cylinder 3 or the locking cylinder 4 with the outer ring toothed structure.

[0050] As an alternative solution, the piston rods of the two drive cylinders 2a and 2b are located on both sides of the cylinder body of the clamping cylinder 3. Friction plates are provided on the outer ring of the rotary output shaft 1. Friction plates are also provided at the top of the piston rods of both the clamping cylinder 3 and the locking cylinder 4. The friction plates of the rotary output shaft 1 are movably connected to the friction plates of the clamping cylinder 3 and the locking cylinder 4, respectively, along the circumference of the rotary output shaft 1. The friction plates of the clamping cylinder 3 and the locking cylinder 4 engage with the friction plates of the rotary output shaft 1 for braking. Thus, when the clamping cylinder 3 or the locking cylinder 4 is pushed out, the friction plates on the end faces of the clamping cylinder 3 or the locking cylinder 4 engage with the friction plates on the outer ring of the rotary output shaft 1 to lock (brake) the rotary output shaft 1 and maintain it in its current position.

[0051] The drive cylinders 2a and 2b, the clamping cylinder 3 and the locking cylinder 4 are all one-way spring cylinders, which can be reset by using springs.

[0052] Locking cylinder 4 is fixed on the bracket and can lock the rotary output shaft 1 when extended; clamping cylinder 3 is installed in the slide rail of the bracket and can swing around the rotation center RO of the rotary output shaft 1. When clamping cylinder 3 is extended, it can lock the rotary output shaft 1. The function of clamping cylinder 3 is similar to that of locking cylinder 4; drive cylinders 2a and 2b work together to push clamping cylinder 3 to swing back and forth in the slide rail; the tops of drive cylinders 2a and 2b contact the cylinder body of clamping cylinder 3.

[0053] The number of clamping cylinder 3 and locking cylinder 4 can be increased according to the system output force requirements.

[0054] The drive cylinders 2a and 2b, the clamping cylinder 3, and the locking cylinder 4 can be configured as identical spring cylinders.

[0055] A method for operating a hydraulic direct-drive stepping rotary mechanism includes the following steps:

[0056] like Figure 1As shown, when the mechanism is not in operation, motor 10 stops, check valve 9, hydraulic check valves 8a, 8b, 8c, and 8d are all closed, and drive cylinders 2a and 2b, as well as clamping cylinder 3 and locking cylinder 4, are all locked. Figure 1 At the current position, the two-position four-way solenoid valve 7 and the two-position three-way solenoid valves 6a and 6b are de-energized. The top of the clamping cylinder 3 is pushed out and clamps the rotary output shaft 1. The top of the locking cylinder 4 is also pushed out and locks the rotary output shaft 1, so that the rotary output shaft 1 remains in its current position. The drive cylinder 2a is in the retracted state and the drive cylinder 2b is in the extended state; or the drive cylinder 2a is in the extended state and the drive cylinder 2b is in the retracted state.

[0057] Step 1: Control the locking cylinder 4 to disengage from the rotary output shaft 1

[0058] Step 1 is as follows:

[0059] First, the hydraulic system issues a command to turn on motor 10 to drive hydraulic pump 11. Then, high-pressure oil from the system tank enters the flow channel and opens check valve 9 and four hydraulically controlled check valves 8a, 8b, 8c, and 8d. Simultaneously, the two-position three-way solenoid valve 6b connected to locking cylinder 4 is energized (operating at the energized potential). This allows the oil port of the rodless chamber of locking cylinder 4 to connect to the system tank through the two-position three-way solenoid valve 6b. Then, under the action of its own spring, locking cylinder 4 changes from its initial extended state to its retracted state, causing locking cylinder 4 to disengage from the rotary output shaft 1. Figure 2 The state 2-1 is shown in the diagram.

[0060] Step 2: Use drive cylinders 2a and 2b to drive clamping cylinder 3 and rotary output shaft 1 to rotate.

[0061] Step 2 is as follows:

[0062] The two-position three-way solenoid valve 6a, connected to the clamping cylinder 3, is de-energized (operating in the spring position), allowing high-pressure oil from the system tank to enter the rodless chamber of the clamping cylinder 3. The clamping cylinder 3 then pushes out and presses against the rotary output shaft 1. Simultaneously, the two-position four-way solenoid valve 7 is de-energized (operating in the spring position), allowing oil to flow into one drive cylinder 2a and push it out, while the piston rod of the other drive cylinder 2b retracts. Figure 2 As shown in state 2-2, by driving the hydraulic cylinder 2a to push the clamping hydraulic cylinder 3, the rotary output shaft 1 is driven to swing together by an angle, that is, the rotary output shaft 1 moves counterclockwise by a step angle.

[0063] Step 3: De-energize the two-position three-way solenoid valve 6b connected to the locking cylinder 4, causing the locking cylinder 4 to extend and lock the rotary output shaft 1, as shown. Figure 2 As shown in states 2-3;

[0064] Step 4: Use drive cylinders 2a and 2b to reset the clamping cylinder 3.

[0065] Step 4 is as follows:

[0066] When the two-position three-way solenoid valve 6a connected to the clamping cylinder 3 is energized, the clamping cylinder 3 retracts under the action of the spring and disengages from the rotary output shaft 1, as follows: Figure 2 As shown in states 2-4; then, the two-position four-way solenoid valve 7 is energized, the retracted drive cylinder 2b in step 2 changes to the extended state, and the other drive cylinder 2a retracts. The two drive cylinders 2a and 2b drive the clamping cylinder 3 back to the initial position in step 1, as shown in state 2-4. Figure 2 As shown in state 2-5 (at this time, the clamping cylinder 3 and the rotary output shaft 1 have disengaged, and the rotary output shaft 1 is locked in the current position by the locking cylinder 4).

[0067] Step 5: Steps 1 to 4 constitute a complete rotary drive process. Each time a rotary drive process is performed, the rotary output shaft 1 advances by a preset angle. By repeating the rotary drive process multiple times, accurate control of the step angle of the rotary output shaft 1 is achieved while driving the rotary output shaft 1 to work.

[0068] The specific working process of this invention is as follows:

[0069] The drive cylinder 2a is in the retracted state and the drive cylinder 2b is in the extended state; or the drive cylinder 2a is in the extended state and the drive cylinder 2b is in the retracted state. This embodiment selects one of these states as an example.

[0070] Condition 1, when the system requires the output shaft 1 to rotate counterclockwise:

[0071] First, the system issues a command to start motor 10 to drive hydraulic pump 11, allowing high-pressure oil to enter the flow channel, opening check valve 9, and simultaneously opening hydraulically controlled check valves 8a, 8b, 8c, and 8d. At the same time, two-position three-way solenoid valve 6b is energized and operates at its potential, connecting the oil port of the rodless chamber of locking cylinder 4 to the system's oil tank. Locking cylinder 4 then retracts under the action of the spring, thus disengaging it from the rotary output shaft 1. Figure 2 As shown in state 2-1;

[0072] At the same time, the two-position three-way solenoid valve 6a remains in the normal de-energized state (spring position operation), and the high-pressure oil enters the rodless chamber of the clamping cylinder 3 through the two-position three-way solenoid valve 6a and the hydraulic control check valve 8c, pushing the clamping cylinder 3 out and pressing the rotary output shaft 1.

[0073] At the same time, the two-position four-way solenoid valve 7 is de-energized (spring position activated), and high-pressure hydraulic oil flows into the drive cylinder 2a through the check valve 9, the two-position four-way solenoid valve 7, and the hydraulically controlled check valve 8a, pushing the drive cylinder 2a outward. Meanwhile, the oil port of the rodless chamber of the drive cylinder 2b is connected to the system oil tank through the hydraulically controlled check valve 8b and the two-position four-way solenoid valve 7. Therefore, under the pushing action (force) of the drive cylinder 2a, the piston rod of the drive cylinder 2b retracts. Thus, during the above actions, if... Figure 2 As shown in state 2-2, the drive cylinder 2a pushes the clamping cylinder 3 to drive the rotary output shaft 1 to swing counterclockwise by an angle. After the clamping cylinder 3 clamps the rotary output shaft 1, it acts as a whole, that is, the rotary output shaft 1 moves counterclockwise by a step angle.

[0074] Then, the two-position three-way solenoid valve 6b is de-energized, causing the oil port of the locking cylinder 4 to be connected to the high-pressure oil of the system, pushing the locking cylinder 4 out and locking the rotary output shaft 1, as shown. Figure 2 The states 2-3 are shown in the diagram.

[0075] Next, the two-position three-way solenoid valve 6a is energized, connecting the oil port of the clamping cylinder 3 to the system oil tank, thereby causing the clamping cylinder 3 to retract under the action of the spring, thus disengaging the clamping cylinder 3 from the rotary output shaft 1. Figure 2 As shown in states 2-4; then, the two-position four-way solenoid valve 7 is energized (operating under potential), causing the drive cylinder 2b to connect to the high-pressure oil and extend, while simultaneously driving cylinder 2a to retract the system oil tank, causing the clamping cylinder 3 to retract clockwise by one step angle, as shown in state 2-4; Figure 2 As shown in state 2-5 (at this point, the clamping cylinder 3 and the rotary output shaft 1 have disengaged, and the rotary output shaft 1 is locked in its current position by the locking cylinder 4); then, the two-position three-way solenoid valve 6a is de-energized, causing the clamping cylinder 3 to extend again to clamp the rotary output shaft 1; simultaneously, the two-position three-way solenoid valve 6b is energized, causing the locking cylinder 4 to retract and disengage from the rotary output shaft 1, as shown in state 2-5 (at this point, the clamping cylinder 3 and the rotary output shaft 1 have disengaged, and the rotary output shaft 1 is locked in its current position by the locking cylinder 4). Figure 2 As shown in states 2-6; that is, the system has returned to... Figure 2 In the state of 2-1, then move to Figure 2 After states 2-2 and 2-3, the step size is increased by one angle; this cycle continues until the rotary output shaft 1 reaches the specified position.

[0076] At this point (after reaching the designated position), the two-position three-way solenoid valves 6a and 6b and the two-position four-way solenoid valve 7 are all de-energized and return to their spring working positions. Motor 10 stops, and the hydraulic check valves 8a, 8b, 8c, and 8d are all closed, keeping the entire system in a state of equilibrium. Figure 1 The state at that time, and wait for the next action command.

[0077] When the system starts up again, if it needs to continue the counter-clockwise rotation, the system will continue to rotate counter-clockwise according to the above procedure.

[0078] Condition 2: If the system needs to reverse direction (clockwise) upon restarting, the procedure is as follows:

[0079] The system motor 10 starts, opening check valve 9 and hydraulic check valves 8a, 8b, 8c, and 8d; simultaneously, the two-position three-way solenoid valve 6a is energized, connecting the oil port of the clamping cylinder 3 to the system oil tank. The clamping cylinder 3 retracts under spring action, disengaging from the rotary output shaft 1; at this time, the two-position three-way solenoid valve 7 is in the spring position (normal state), and system hydraulic oil enters the drive cylinder 2a, causing drive cylinder 2a to extend, while drive cylinder 2b, connected to the system cylinder, is retracted. That is, the effect is that drive cylinders 2a and 2b, along with the clamping cylinder 3, rotate counterclockwise by a certain angle. Figure 3 As shown in state 3-1; then, the two-position three-way solenoid valve 6a is de-energized (in the spring position), and the hydraulic cylinder 3 extends to press against the rotary output shaft 1, as shown in state 3-1. Figure 3 As shown in state 3-2, it is equivalent to Figure 2 As shown in Figure 2-3; then, the two-position three-way solenoid valve 6b is energized, causing the locking cylinder 4 to retract and disengage from the rotary output shaft 1, as shown in Figure 2-3. Figure 3 In state 3-3; simultaneously, the two-position four-way solenoid valve 7 is energized, driving cylinder 2b to extend and cylinder 2a to retract, causing the clamping cylinder 3 and the rotary output shaft 1 to swing clockwise by an angle, as shown. Figure 3 As shown in states 3-4, one clockwise stepping motion is completed; then, the two-position three-way solenoid valve 6b is de-energized, the locking cylinder 4 extends to lock the rotary output shaft 1, and at the same time, the two-position three-way solenoid valve 6a is energized, the pressing cylinder 3 retracts and disengages from the rotary output shaft 1, as shown in state 3-4. Figure 3 As shown in states 3-5; then, the two-position four-way solenoid valve 7 is de-energized (spring position is active), driving cylinder 2a to extend and driving cylinder 2b to retract, causing the clamping cylinder 3 to return to a free angle again, as shown in state 3-5. Figure 3 As shown in states 3-6, it has returned to... Figure 3 The process is repeated in a 3-1 state. This cycle continues, causing the rotary output shaft to rotate clockwise in one step until the system reaches the designated position.

[0080] At this point, after the rotary output shaft 1 reaches the designated position by rotating clockwise, both the two-position three-way solenoid valve and the two-position four-way solenoid valve are de-energized and return to their spring working positions. The motor 10 stops, and the hydraulic check valves 8a, 8b, 8c, and 8d are all closed, keeping the entire system in a state of equilibrium. Figure 1 The state at that time (that is, in) Figure 3 In state 3-4, the valve is closed and the system stops, causing the system to return to normal. Figure 1 (Status), and wait for the next action command.

[0081] The overflow valve 12 installed in the system can ensure that the system overflows when the pressure is too high, so as to protect the safety and reliability of the system.

[0082] Clearly, as can be seen from the working process, the stepping rotary mechanism of this invention can achieve forward and reverse rotation functions in a stepping manner according to the working conditions, and its structure is simple and reliable. The angle of each step is related to the stroke of the drive cylinder and the distance RL between the center of the drive cylinder and the center of rotation; that is, the larger RL is, the shorter the stroke of the drive cylinder, the smaller the step angle, and the higher the control accuracy of the entire mechanism. For photovoltaic, solar thermal and other power generation components, where there is ample space, RL can be larger, so the step angle can be very small, thus achieving high control accuracy and large driving force.

[0083] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A direct-drive hydraulic stepping rotary mechanism, characterized in that: The rotary device includes a rotary head and a hydraulic system. The rotary head includes a housing and a rotary output shaft (1). The rotary output shaft (1) is rotatably connected inside the housing along its own circumference. The rotary output shaft (1) and the hydraulic system are movably connected. The housing and the hydraulic system of the rotary head are both fixedly mounted on an external bracket. The hydraulic system is used to drive the rotary output shaft (1) to rotate. By changing the working state of the hydraulic system, the rotation angle of the rotary output shaft (1) can be accurately controlled. The hydraulic system includes drive cylinders (2a, 2b), clamping cylinders (3), locking cylinders (4), two-position three-way solenoid valves (6a, 6b), two-position four-way solenoid valves (7), hydraulic control check valves (8a, 8b, 8c, 8d), check valves (9), motors (10), hydraulic pumps (11), and relief valves (12). The motor (10) and the hydraulic pump (11) are connected. The oil inlet of the hydraulic pump (11) is connected to the system oil tank. The oil outlet of the hydraulic pump (11) is connected to one end of the relief valve (12) and the check valve (9). The other end of the check valve (9) is connected to one oil port of each of the two two-position three-way solenoid valves (6a, 6b) and one oil port of the two-position four-way solenoid valve (7). The two oil ports of the two-position four-way solenoid valve (7) are connected to the two drive cylinders (2a, 2b) respectively via two hydraulically controlled check valves (8a, 8b). The oil ports are connected, one oil port of a two-position three-way solenoid valve (6a) is connected to the oil port of the clamping cylinder (3) via a hydraulic control check valve (8c), and one oil port of another two-position three-way solenoid valve (6b) is connected to the oil port of the locking cylinder (4) via a hydraulic control check valve (8d); the hydraulic control ports of the four hydraulic control check valves (8a, 8b, 8c, 8d) are all connected to the check valve (9); one oil port of the two-position four-way solenoid valve (7), the two two-position three-way solenoid valves (6a, 6b) and the overflow valve (12) are all connected to the system oil tank.

2. The direct-drive hydraulic stepping rotary mechanism according to claim 1, characterized in that: The cylinder bodies of the drive cylinders (2a, 2b) and the locking cylinder (4) are fixedly connected to the bracket. The cylinder body of the clamping cylinder (3) is movably installed in the slide rail of the bracket. The slide rail is a concentric circle coaxial with the rotary output shaft (1). The piston rods of the two drive cylinders (2a, 2b) are located on both sides of the cylinder body of the clamping cylinder (3).

3. The direct-drive hydraulic stepping rotary mechanism according to claim 2, characterized in that: The outer ring of the rotary output shaft (1) is provided with toothed blocks, and the piston rods of the clamping cylinder (3) and the locking cylinder (4) are both provided with toothed structures. The toothed blocks of the rotary output shaft (1) can move circumferentially along the rotary output shaft (1) and mesh with the toothed structures of the clamping cylinder (3) and the locking cylinder (4).

4. The direct-drive hydraulic stepping rotary mechanism according to claim 2, characterized in that: The outer ring of the rotary output shaft (1) is provided with friction plates, and the piston rods of the clamping cylinder (3) and the locking cylinder (4) are both provided with friction plates. The friction plates of the rotary output shaft (1) can be moved circumferentially along the rotary output shaft (1) and connected to the friction plates of the clamping cylinder (3) and the locking cylinder (4).

5. The direct-drive hydraulic stepping rotary mechanism according to claim 1, characterized in that: The drive cylinders (2a, 2b), clamping cylinder (3) and locking cylinder (4) are all one-way spring cylinders.

6. A method for operating the direct-drive hydraulic stepping rotary mechanism according to any one of claims 1-5, characterized in that, Includes the following steps: Step 1: Control the locking cylinder (4) to disengage from the rotary output shaft (1); Step 2: Use the drive cylinders (2a, 2b) to drive the clamping cylinder (3) and the rotary output shaft (1) to rotate; Step 3: De-energize the two-position three-way solenoid valve (6b) connected to the locking cylinder (4), and the locking cylinder (4) will push out and lock the rotary output shaft (1). Step 4: Use the drive cylinders (2a, 2b) to reset the clamping cylinder (3); Step 5: Steps 1 to 4 constitute a complete rotary drive process. Each time a rotary drive process is performed, the rotary output shaft (1) steps by a preset angle. By repeating the rotary drive process multiple times, the rotary output shaft (1) is driven to work while the step angle of the rotary output shaft (1) is accurately controlled.

7. The operating method of a direct-drive hydraulic stepping rotary mechanism according to claim 6, characterized in that: Step 1 specifically includes: First, the hydraulic system issues a command to turn on the motor (10) to drive the hydraulic pump (11) to work. Then, the oil in the system tank enters the flow channel and opens the check valve (9) and four hydraulic control check valves (8a, 8b, 8c, 8d). At the same time, the two-position three-way solenoid valve (6b) connected to the locking cylinder (4) is energized. Then, the locking cylinder (4) changes from the initial extended state to the retracted state under the action of its own spring, so that the locking cylinder (4) is disengaged from the rotary output shaft (1).

8. The operating method of a direct-drive hydraulic stepping rotary mechanism according to claim 6, characterized in that: Step 2 specifically includes: The two-position three-way solenoid valve (6a) connected to the clamping cylinder (3) is de-energized, and then the clamping cylinder (3) pushes out and presses the rotary output shaft (1); at the same time, the two-position four-way solenoid valve (7) is de-energized, and the oil flows into a drive cylinder (2a) and pushes out the drive cylinder (2a), while the piston rod of the other drive cylinder (2b) retracts. The drive cylinder (2a) pushes the clamping cylinder (3) and drives the rotary output shaft (1) to swing together at an angle.

9. The operating method of a direct-drive hydraulic stepping rotary mechanism according to claim 6, characterized in that: Step 4 specifically includes: When the two-position three-way solenoid valve (6a) connected to the clamping cylinder (3) is energized, the clamping cylinder (3) retracts under the action of the spring and disengages from the rotary output shaft (1); then the two-position four-way solenoid valve (7) is energized, the drive cylinder (2b) that retracted in step 2 changes to the extended state, and the other drive cylinder (2a) retracts. The two drive cylinders (2a, 2b) drive the clamping cylinder (3) back to the initial position in step 1.

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