A combined pneumatic actuator with linear stroke and angular stroke

Abstract

The application discloses a combined pneumatic actuating mechanism with straight stroke and angular stroke, relates to the technical field of pneumatic actuators, and solves the problems of action jam and the like. The combined pneumatic actuating mechanism comprises a rotary actuating assembly, a lifting actuating assembly and a gas circuit control system, a rotary shaft and a lifting shaft are connected with an adapter, a first branch circuit and a second branch circuit are arranged in parallel, the first branch circuit and the second branch circuit are respectively provided with a first reversing valve and a second reversing valve, the rotary actuating assembly is connected to the first branch circuit, the lifting actuating assembly is connected to the second branch circuit, a reversing action end of the first reversing valve is connected with the lifting shaft so as to drive the first reversing valve to perform switching action when the lifting shaft reaches the upper limit or the lower limit of action, and a reversing action end of the second reversing valve is connected with the rotary shaft so as to drive the second reversing valve to perform switching action when the rotary shaft reaches the positive rotation limit or the reverse rotation limit of action. The combined pneumatic actuating mechanism realizes two driving modes of straight stroke and angular stroke, the rotary action and the lifting action are not performed at the same time, the action is smooth and orderly, and the running stability of the equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pneumatic actuators, and particularly relates to a combined pneumatic actuator with straight stroke and angular stroke. BACKGROUND

[0002] An actuator is an important component of an automatic control system. The pneumatic actuators on the market can only rotate a certain angle or lift straight to open and close various valves, opening and closing machines and other mechanical equipment, and generally cannot have two-directional movement and operation. When some valves and other mechanical equipment with special requirements are encountered, the use requirements cannot be met. In order to meet the requirements, a compact pneumatic actuator (publication number: CN218063600U) is disclosed in a Chinese utility model patent, which comprises a cylinder body and upper and lower cylinder covers arranged at two ends of the cylinder body, a rotating rod is rotatably arranged in the lower cylinder cover, a pushing assembly for driving the rotating rod to reciprocate along the axis of the cylinder body is arranged in the cylinder body, a guide groove is spirally arranged on the rotating rod, a limiting pin is fixedly arranged in the cylinder body, and the end of the limiting pin away from the inner side wall of the cylinder body is arranged in the guide groove and is in sliding cooperation with the guide groove. The application realizes reciprocating rotation while reciprocating, however, the simultaneous lifting and rotating actions are prone to cause action shaft jamming, the running process is prone to fluctuation, the stability is insufficient, and moreover, special valves requiring synchronous lifting and rotating actions are not common, and the application range is small. SUMMARY

[0003] The present application provides a combined pneumatic actuator with straight stroke and angular stroke, which overcomes the defects of the prior art and solves the problems of action jamming and small application range.

[0004] The technical scheme of the present application comprises a rotating actuating assembly, a lifting actuating assembly and a gas path control system, the rotating actuating assembly and the lifting actuating assembly respectively comprise a rotating shaft and a lifting shaft for outputting actions, and a transfer piece for synchronous action is connected between the rotating shaft and the lifting shaft; the gas path control system comprises a gas source inlet, a pneumatic control valve, a first branch and a second branch, the pneumatic control valve is in communication with the gas source inlet, the first branch and the second branch are arranged in parallel, the first branch and the second branch are respectively in communication with two outlets of the pneumatic control valve, the first branch and the second branch are respectively provided with a second reversing valve and a first reversing valve, the rotating actuating assembly is connected to the first branch, the lifting actuating assembly is connected to the second branch, a reversing action end of the first reversing valve is connected to the lifting shaft to drive the first reversing valve to switch actions when the lifting shaft reaches the upper or lower action limit, and a reversing action end of the second reversing valve is connected to the rotating shaft to drive the second reversing valve to switch actions when the rotating shaft reaches the positive or reverse rotation action limit.

[0005] The technical scheme is adopted, the rotary executing assembly and the lifting executing assembly are respectively rotated and lifted by the adapter, the straight stroke and the angular stroke are realized, the gas circuit is controlled by the pneumatic control valve, the first reversing valve and the second reversing valve are switched, the rotary executing assembly and the lifting executing assembly are sequentially operated, then the other executing assembly is switched to operate after one executing assembly is operated, the rotary operation and the lifting operation are not simultaneously operated, the operation is smooth and orderly, the operation stability of the equipment is improved, and more valves are suitable and the application range is expanded.

[0006] In a possible design, the adapter is rotatably arranged on the lifting executing assembly, the adapter is a shaft sleeve structure, which includes an upper rotating shaft part and a lower sleeve part, the rotating shaft part is fixedly connected with the rotary shaft, one end of the lifting shaft has a polygonal upper shaft end, the sleeve part has an inner cavity for sliding insertion of the upper shaft sleeve, the bottom of the inner cavity forms a insertion hole, the insertion hole is matched with the cross-sectional shape of the upper shaft end, and the upper shaft end can be axially moved in the insertion hole.

[0007] The rotating shaft drives the lifting shaft to rotate through the adapter to input the rotary motion, and the operation of the lifting shaft is prevented from being output to the rotating shaft, so that the structure is simple and the design is reasonable.

[0008] In a possible design, the cross section of the rotating shaft part is polygonal, the bottom end of the rotating shaft is provided with a spline groove, and the rotating shaft part is fixedly inserted into the spline groove to form a fixed connection.

[0009] The rotating shaft drives the rotating shaft part to rotate through the spline groove, and the rotating shaft part is conveniently installed through the insertion mode, so that the assembly is convenient.

[0010] In a possible design, the lifting executing assembly includes a top cover, a fixed support is arranged on the top cover, and the rotary executing assembly is fixedly arranged on the fixed support; a rotating groove is arranged on the top cover, the bottom of the sleeve part extends outwardly to form an outer ring part, the outer ring part is rotatably arranged in the rotating groove and covered by the fixed support on the outer ring part to form a limit.

[0011] The adapter can only transmit the rotary motion, the lifting operation is prevented from being transmitted to the rotary executing assembly, the rotary executing assembly is prevented from being damaged by force, the adapter is convenient to disassemble and assemble, and the maintenance is simple.

[0012] In a possible design, the lifting executing assembly includes a lifting piston, the lifting shaft is rotatably arranged in the lifting piston, and the lifting piston is provided with a descending cavity and an ascending cavity; two rotating bearings and a sleeve are further sleeved on the lifting shaft, the lifting shaft has a step, one of the rotating bearings is arranged between the lifting piston and the step, the other rotating bearing is arranged between the lifting piston and the sleeve, and the sleeve is fixedly connected with the lifting shaft.

[0013] With the above design, the lifting shaft and the lifting piston have relative rotation but no relative movement, avoiding the transmission of the rotation movement of the lifting shaft to the lifting piston, reducing the torque of the lifting shaft, enabling and closing quickly, and making the operation more flexible.

[0014] In a possible design, the rotation execution assembly includes two rotation pistons, which are engaged with the rotation shaft to drive the rotation shaft to rotate through the left and right movement of the rotation pistons.

[0015] With the above design, the existing technology is improved, and the related parts can be processed by using the existing equipment, thereby reducing the production cost.

[0016] In a possible design, the first reversing valve and the second reversing valve are both cam reversing valves, and each of the first reversing valve and the second reversing valve has a reversing pressure arm. A rotation cam is fixedly installed on the rotation shaft, and the rotation cam is in pressing cooperation with the reversing pressure arm of the second reversing valve. A pressing rod is connected with the first reversing valve in linkage, and the pressing rod is in pressing cooperation with the reversing pressure arm of the first reversing valve.

[0017] With the above design, when the rotation shaft or the lifting shaft reaches the limit stroke, the rotation cam or the pressing rod presses the reversing pressure arm of the corresponding reversing valve, so that the corresponding reversing valve switches, the branch line stops supplying air, and the other branch line continues to supply air until the action of the branch line is completed, and the sequence is more deterministic.

[0018] In a possible design, the pneumatic control valve is a two-position five-way pneumatic control valve, and the air inlet of the pneumatic control valve is in communication with the gas source inlet.

[0019] With the above design, the selection is reasonable, and it is conducive to normal control of the air path.

[0020] In a possible design, the air path control system further includes a gas storage tank, a pneumatic electromagnetic valve, a check valve, and a power supply end. The inlet of the check valve is in communication with the gas source inlet, the outlet of the check valve is connected with the pneumatic control valve, the gas storage tank is connected between the outlet of the check valve and the pneumatic control valve, the inlet of the pneumatic electromagnetic valve is in communication with the inlet of the check valve, the outlet of the pneumatic electromagnetic valve is in communication with the signal end of the pneumatic control valve, and the signal end of the pneumatic electromagnetic valve is electrically connected with the power supply end.

[0021] With the above design, the gas storage tank can be used as a temporary gas source. When the gas source inlet loses gas, the check valve closes the gas source inlet under pressure, the pneumatic electromagnetic valve loses power and controls the pneumatic control valve to the preset position in response to the loss of gas signal, and the gas storage tank pumps gas to drive the valve to reset. It can be used when a fault occurs, thereby ensuring the safety of the valve and the pipeline.

[0022] In a possible design, a filter pressure reducing valve is further arranged in communication between the gas source inlet and the pneumatic control valve.

[0023] With the above design, the clean gas source and the appropriate gas pressure input gas path control system are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Structure diagram of the embodiment of the present application;

[0025] Figure 2 Gas path principle diagram of the embodiment of the present application;

[0026] Figure 3 Structure diagram of the hidden gas storage tank of the present application;

[0027] Figure 4 Sectional structure diagram of the embodiment of the present application;

[0028] Figure 5 Structure diagram of the rotary execution assembly, the lifting execution assembly and the adapter of the present application;

[0029] Figure 6 Sectional structure diagram of the rotary execution assembly, the lifting execution assembly and the adapter of the present application;

[0030] Figure 7 Exploded view of the rotary execution assembly, the lifting execution assembly and the adapter of the present application;

[0031] Figure 8 Sectional structure diagram of the lifting execution assembly and the adapter of the present application;

[0032] Wherein, 1, the rotary execution assembly; 2, the lifting execution assembly; 3, the gas path control system; 11, the rotary shaft; 21, the lifting shaft; 4, the adapter; 31, the pneumatic control valve; 32, the first branch; 33, the second branch; 321, the first reversing valve; 331, the second reversing valve; 41, the rotating shaft part; 42, the sleeve part; 211, the upper shaft end; 421, the inner cavity; 422, the insertion hole; 111, the spline groove; 22, the top cover; 5, the fixed support; 221, the rotating groove; 43, the outer ring part; 23, the lifting piston; 231, the descending cavity; 232, the ascending cavity; 24, the rotating bearing; 25, the clamping sleeve; 212, the step; 12, the rotary piston; 301, the reversing pressure arm; 13, the rotary cam; 26, the pressing rod; 34, the gas storage tank; 35, the pneumatic electromagnetic valve; 36, the one-way valve; 37, the filter pressure reducing valve. DETAILED DESCRIPTION

[0033] As Figures 1-4The compound pneumatic actuator with straight stroke and angular stroke comprises a rotary actuating assembly 1, a lifting actuating assembly 2 and a gas path control system 3. The rotary actuating assembly 1 and the lifting actuating assembly 2 respectively comprise a rotary shaft 11 and a lifting shaft 21 for outputting actions. A switching piece 4 is connected between the rotary shaft 11 and the lifting shaft 21 for synchronous action. The gas path control system 3 comprises a gas source inlet, a pneumatic control valve 31, a first branch 32 and a second branch 33. The pneumatic control valve 31 is in communication with the gas source inlet. The first branch 32 and the second branch 33 are arranged in parallel. The first branch 32 and the second branch 33 are respectively in communication with two gas outlets of the pneumatic control valve 31. The first branch 32 and the second branch 33 are respectively provided with a second switching valve 331 and a first switching valve 321. The rotary actuating assembly 1 is in communication with the first branch 32. The lifting actuating assembly 2 is in communication with the second branch 33. The switching action end of the first switching valve 321 is connected with the lifting shaft 21 to drive the first switching valve 321 to switch when the lifting shaft 21 reaches the upper limit of the lifting action. The switching action end of the second switching valve 331 is connected with the rotary shaft 11 to drive the second switching valve 331 to switch when the rotary shaft 11 reaches the positive rotation limit or the reverse rotation limit. If the first switching valve 321 is switched when the lifting shaft 21 reaches the upper limit of the lifting action and the second switching valve 331 is switched when the rotary shaft 11 reaches the positive rotation limit, the working principle is as follows: air is pumped into the pneumatic control valve 31 through the gas source inlet. The pneumatic control valve 31 pumps air to one of the gas outlets. At this time, the first switching valve 321 is in the air communication state, and the second switching valve 331 is in the air cut-off state. Air is input into the first branch 32. The rotary actuating assembly 1 drives the rotary shaft 11 to rotate positively. The rotary shaft 11 drives the lifting shaft 21 to rotate positively through the switching piece 4. The lifting shaft 21 drives the valve rod to rotate until the rotary shaft 11 reaches the positive rotation limit. At this time, the second switching valve 331 is switched to the air communication state. The air outlet of the second switching valve 331 is opened to input air. The lifting actuating assembly 2 drives the lifting shaft 21 to descend. At this time, the lifting shaft 21 descends from the original upper limit of the lifting action. The first switching valve 321 is switched to the air cut-off state, thereby driving the valve rod to descend and closing the valve. If the pneumatic control valve 31 pumps air to the other gas outlet, at this time, the first switching valve 321 is in the air cut-off state, and the second switching valve 331 is in the air communication state. Air is input into the second branch 33. The lifting actuating assembly 2 drives the lifting shaft 21 and the valve rod to ascend until reaching the upper limit of the lifting action. The lifting shaft 21 drives the first switching valve 321 to switch to the air communication state. The air outlet of the first switching valve 321 is opened to input air. The rotary shaft 11 rotates reversely. At this time, the rotary shaft 11 is separated from the second switching valve 331. The second switching valve 331 is reset to the air cut-off state, thereby driving the valve rod to rotate reversely and opening the valve. When the valve is closed, it is rotated positively first and then descended. When the valve is opened, it is ascended first and then rotated reversely.According to actual needs, different sequences of actions can be designed, for example, the first reversing valve 321 can be switched by the lifting shaft 21 at the limit of the lowering action, and the second reversing valve 331 can be switched by the rotating shaft 11 at the limit of the reverse rotation action. When the valve is closed, it first lowers and then reverses, and when the valve is opened, it first rotates forward and then rises. Similarly, other action sequence combinations can be obtained. In summary, each time the valve is opened or closed, the valve stem is first subjected to lifting or rotating action, and then another different action is performed after the above action is completed, so that the rotating execution assembly 1 and the lifting execution assembly 2 have sequential actions, and the rotating and lifting actions are not performed simultaneously.

[0034] The pneumatic control valve 31 is a two-position five-way pneumatic control valve 31, and its air inlet is in communication with the air source inlet. Two air outlets A2 and A4 are in communication with the first branch 32 and the second branch 33, respectively. The pneumatic control valve 31 has two states. When the P1 port and the A2 port are connected, the first branch 32 receives air. If the P1 port and the A4 port are connected, the second branch 33 receives air. The first reversing valve 321 and the second reversing valve 331 are both two-position three-way valves, and have two states of air communication and air cut-off. When subjected to corresponding mechanical force, they can be reversed.

[0035] As shown in Figures 4-8 The adapter 4 is rotatably arranged on the lifting execution assembly 2. The adapter 4 is a shaft sleeve structure, which includes an upper shaft portion 41 and a lower sleeve portion 42. The shaft portion 41 is fixedly connected with the rotating shaft 11. One end of the lifting shaft 21 has an upper shaft end 211 with a polygonal cross section. The sleeve portion 42 has a hollow inner cavity 421 for sliding insertion of the upper shaft sleeve. The bottom of the inner cavity 421 forms a insertion hole 422, which is adapted to the cross-sectional shape of the upper shaft end 211 and the upper shaft end 211 can move axially in the insertion hole 422. This means that the upper shaft end 211 and the sleeve portion 42 can move relative to each other, but cannot rotate relative to each other. When the lifting shaft 21 rises, the upper shaft end 211 gradually inserts into the inner cavity 421, and when it descends, the upper shaft end 211 gradually exits the inner cavity 421, but does not exit the insertion hole 422. The rotating shaft 11 can transmit downward rotation action through the adapter 4, and the lifting shaft 21 cannot transmit lifting action to the rotating shaft 11. The cross section is the cross section perpendicular to the axial direction of the lifting shaft 21, and the polygon can be square, triangular, hexagonal, etc.

[0036] As shown in Figure 6 The cross section of the shaft portion 41 is polygonal, and the bottom end of the rotating shaft 11 is provided with a spline groove 111. The shaft portion 41 is fixedly inserted into the spline groove 111 to form a fixed connection. In addition to the spline groove 111, it can also be a polygonal groove, as long as it can be fixedly inserted with the shaft portion 41.

[0037] As shown in Figures 4-8As shown, the lifting execution assembly 2 comprises a top cover 22, a fixed support 5 is installed above the top cover 22, and the rotary execution assembly 1 is fixedly installed on the fixed support 5; a rotating groove 221 is formed on the top cover 22, the bottom of the sleeve part 42 extends outwardly with an outer ring part 43, the outer ring part 43 is rotatably installed in the rotating groove 221 and is covered by the fixed support 5 on the outer ring part 43 to form a limit. The adapter 4 can only rotate in the fixed support 5 and cannot be displaced.

[0038] As shown in the figure, Figures 4-8 The lifting execution assembly 2 comprises a lifting piston 23, the lifting shaft 21 is rotatably penetrated in the lifting piston 23, the lifting piston 23 is formed with a descending cavity 231 and an ascending cavity 232 above and below, respectively, the lifting piston 23 descends when gas is supplied to the descending cavity 231, and the lifting piston 23 ascends when gas is supplied to the ascending cavity 232. The lifting shaft 21 is further sleeved with two rotating bearings 24 and a sleeve 25, the lifting shaft 21 has a step 212, one of the rotating bearings 24 is installed between the lifting piston 23 and the step 212, the other rotating bearing 24 is installed between the lifting piston 23 and the sleeve 25, and the sleeve 25 is fixedly connected to the lifting shaft 21. The sleeve 25 and the step 212 are equivalent to fixing the lifting piston 23 and the lifting shaft 21 in the axial direction, and the rotating bearing 24 allows the lifting piston 23 and the lifting shaft 21 to rotate relatively, so that the lifting piston 23 does not rotate when the lifting shaft 21 is forced to rotate, avoiding the friction between the lifting piston 23 and the shell of the lifting execution assembly 2 being transmitted to the lifting shaft 21, and the rotary torque of the lifting shaft 21 is significantly reduced.

[0039] As shown in the figure, Figure 6 The rotary execution assembly 1 comprises two rotary pistons 12, the rotary pistons 12 are engaged with the rotary shaft 11, and the two rotary pistons 12 are close to each other to drive the rotary shaft 11 to rotate forward, and are far away from each other to drive the rotary shaft 11 to rotate reversely.

[0040] The first reversing valve 321 and the second reversing valve 331 are cam reversing valves, and each of the first reversing valve 321 and the second reversing valve 331 has a reversing pressure arm 301. When the reversing pressure arm 301 is pressed, the cam reversing valve switches the state. When the pressing force disappears, the state returns. The rotating shaft 11 is fixedly provided with a rotating cam 13. The rotating cam 13 is in pressing cooperation with the reversing pressure arm 301 of the second reversing valve 331. Under the driving of the rotating shaft 11, when the rotating shaft 11 reaches the limit stroke, the rotating cam 13 is pressed on the reversing pressure arm 301 of the second reversing valve 331, and the state of the second reversing valve 331 is switched to the air cut-off state. The lifting shaft 21 is connected with a pressing rod 26 in linkage. The pressing rod 26 is in pressing cooperation with the reversing pressure arm 301 of the first reversing valve 321. The pressing rod 26 can be fixedly provided on the lifting piston 23. The pressing rod 26 can be exposed by penetrating the shell of the lifting execution assembly 2. The pressing rod 26 is displaced with the lifting of the lifting shaft 21. When the lifting shaft 21 reaches the limit stroke, the pressing rod 26 is pressed on the reversing pressure arm 301 of the first reversing valve 321, and the state of the first reversing valve 321 is switched to the air cut-off state.

[0041] As shown in Figures 1-4 , the gas path control system 3 further comprises a gas storage tank 34, a pneumatic electromagnetic valve 35, a one-way valve 36 and a power supply end. The inlet of the one-way valve 36 is connected with the gas source inlet in communication. The outlet of the one-way valve 36 is connected with the pneumatic control valve 31. The gas storage tank 34 is connected between the outlet of the one-way valve 36 and the pneumatic control valve 31. The inlet of the pneumatic electromagnetic valve 35 is connected with the inlet of the one-way valve 36 in communication. The outlet of the pneumatic electromagnetic valve 35 is connected with the signal end of the pneumatic control valve 31 in communication. The signal end of the pneumatic electromagnetic valve 35 is electrically connected with the power supply end to access the power supply. Figure 2 For example, in the specific embodiment, when the pneumatic electromagnetic valve 35 is powered, the P port and the A port are communicated. When the P1 port and the A4 port of the pneumatic control valve 31 are communicated, the second branch 33 is supplied with gas, the lifting execution assembly 2 is driven to rise, and after reaching the preset stroke, the rotating execution assembly 1 is counterclockwise rotated to open the valve. When the gas source inlet loses gas due to failure or is closed, the one-way valve 36 closes the inlet. Since the gas source of the pneumatic electromagnetic valve 35 is in front of the one-way valve 36, the gas source is also lost, resulting in the loss of the control signal acting on the pneumatic action valve 31 and the switching of the state. The P1 port of the pneumatic control valve 31 is communicated with the A2 port, the gas storage tank 34 is pumped, the lifting execution assembly 2 is driven to descend, and the rotating execution assembly 1 is clockwise rotated to close the valve. The above is the preset reset position of the valve. If the preset reset position of the valve is the open position, corresponding interface switching operation can be performed. As can be seen from the above, in order to reduce the loss caused by failure, the valve will automatically reset to the preset safe state when the failure occurs, so as to ensure the safety of the valve and the pipeline.

[0042] The air source inlet is also communicated with the pneumatic control valve 31 and is provided with a filtering pressure reducing valve 37 for inputting clean air with appropriate pressure.

Claims

1. A combined pneumatic actuator with linear stroke and angular stroke, characterized in that: The application relates to a rotary and lifting execution assembly and a gas path control system, wherein the rotary and lifting execution assembly comprises rotary shafts and lifting shafts which output actions, and a rotary adapter is connected between the rotary shafts and the lifting shafts and only synchronously transmits rotation but not lifting actions. The gas path control system comprises a gas source inlet, a pneumatic control valve, a first branch and a second branch, the pneumatic control valve is communicated with the gas source inlet, the first branch and the second branch are arranged in parallel, the first branch and the second branch are respectively communicated with two outlets of the pneumatic control valve, the first branch and the second branch are respectively provided with a second reversing valve and a first reversing valve, the rotary execution assembly is communicated on the first branch, the lifting execution assembly is communicated on the second branch, a reversing action end of the first reversing valve is connected with the lifting shaft to drive the first reversing valve to perform switching action when the lifting shaft reaches an upper limit or a lower limit of action, and a reversing action end of the second reversing valve is connected with the rotary shaft to drive the second reversing valve to perform switching action when the rotary shaft reaches a positive rotation limit or a reverse rotation limit.

2. The combined pneumatic actuator with linear stroke and angular stroke according to claim 1, characterized in that: The rotary adapter is rotatably arranged on the lifting execution assembly, the rotary adapter is a shaft sleeve structure and comprises an upper rotary shaft part and a lower sleeve part, the rotary shaft part is fixedly connected with the rotary shaft, one end of the lifting shaft has a polygonal upper shaft end, the sleeve part has an inner cavity for sliding insertion of the upper shaft sleeve, a bottom of the inner cavity forms a insertion hole, and the insertion hole is matched with the cross-sectional shape of the upper shaft end and the upper shaft end can be axially moved in the insertion hole.

3. The combined pneumatic actuator with linear stroke and angular stroke according to claim 2, characterized in that: The rotary shaft part has a polygonal cross section, a bottom end of the rotary shaft is provided with a spline groove, and the rotary shaft part is fixedly inserted into the spline groove to form fixed connection.

4. The combined pneumatic actuator with linear stroke and angular stroke according to claim 2, characterized in that: The lifting execution assembly comprises a top cover, a fixed support is arranged on the top cover, and the rotary execution assembly is fixedly arranged on the fixed support, a rotary groove is arranged on the top cover, a bottom of the sleeve part outwardly extends an outer ring part, the outer ring part is rotatably arranged in the rotary groove and covered by the fixed support to form limiting.

5. The combined pneumatic actuator with linear and angular strokes according to claim 1 or 2, characterized in that: The lifting execution assembly comprises a lifting piston, the lifting shaft is rotatably penetrated into the lifting piston, and a descending cavity and an ascending cavity are respectively formed above and below the lifting piston, two rotary bearings and a clamping sleeve are further sleeved on the lifting shaft, the lifting shaft has a step, one rotary bearing is arranged between the lifting piston and the step, the other rotary bearing is arranged between the lifting piston and the clamping sleeve, and the clamping sleeve is fixedly connected with the lifting shaft.

6. The combined pneumatic actuator with linear and angular strokes according to claim 1 or 2, characterized in that: The rotary execution assembly comprises two rotary pistons, the rotary pistons are engaged with the rotary shaft to drive the rotary shaft to rotate through leftward and rightward movement of the rotary pistons.

7. The combined pneumatic actuator with linear and angular strokes according to claim 1 or 2, characterized in that: The first reversing valve and the second reversing valve are both cam reversing valves, the first reversing valve and the second reversing valve both have reversing pressure arms, a rotary cam is fixedly arranged on the rotary shaft, the rotary cam is press-fitted with the reversing pressure arm of the second reversing valve, a pressing rod is connected with the lifting shaft, and the pressing rod is press-fitted with the reversing pressure arm of the first reversing valve.

8. The combined pneumatic actuator with linear and angular strokes according to claim 1 or 2, characterized in that: The pneumatic control valve is a two-position five-way pneumatic control valve, and an air inlet of the pneumatic control valve is communicated with the gas source inlet.

9. The combined linear and angular stroke pneumatic actuator according to claim 1 or 2, characterized in that: The gas path control system further comprises a gas storage tank, a pneumatic electromagnetic valve, a one-way valve and a power supply end, the inlet of the one-way valve is communicated with the gas source inlet, the outlet of the one-way valve is communicated with the pneumatic control valve, the gas storage tank is communicated between the outlet of the one-way valve and the pneumatic control valve, the inlet of the pneumatic electromagnetic valve is communicated with the inlet of the one-way valve, the outlet of the pneumatic electromagnetic valve is communicated with the signal end of the pneumatic control valve, and the signal end of the pneumatic electromagnetic valve is electrically connected with the power supply end.

10. The combined linear and angular stroke pneumatic actuator according to claim 1 or 2, characterized in that: A filter pressure reducing valve is further arranged and communicated between the gas source inlet and the pneumatic control valve.

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