High power density electro-hydraulic servo integrated machine

Abstract

The application discloses a high-power-density electro-hydraulic servo integrated machine, which comprises a hydraulic pump, a servo motor and a servo controller, the main shaft of the hydraulic pump is connected with the main shaft of the servo motor, and the servo motor is connected with a servo driver; the servo controller is arranged on the shell of the servo driver; cavities are arranged in the front cover of the servo motor, the shell of the servo motor and the shell of the servo driver, cooling oil pipes are arranged in the cavities, the oil inlet of the cooling oil pipe is arranged on the shell of the servo driver, and the oil outlet of the cooling oil pipe is connected with an internal oil channel on the hydraulic pump; the high-power-density electro-hydraulic servo integrated machine provided by the application can not only greatly reduce the equipment volume and the length of the oil conveying pipe, but also can cool the motor rotor, the motor stator, the bearing and the servo driver by means of the oil passing through the pump, so that the motor fan and the driver fan can be cancelled, the energy consumption is reduced, and the cooling effect is several times higher than that of air.

Description

Technical Field

[0001] This invention relates to the field of electro-hydraulic servo technology, and more specifically to a high-power-density electro-hydraulic servo integrated machine. Background Technology

[0002] With the continuous development of industrial technology, the requirements for electro-hydraulic servo systems are also getting higher and higher. Small size, high power density, energy saving and environmental protection have become the mainstream development trend. Traditional electro-hydraulic servo systems are heavily contaminated with oil and the equipment is complicated. The connection between the existing motor spindle and the hydraulic pump spindle is relatively cumbersome and the vibration is large when switching between forward and reverse.

[0003] Electro-hydraulic servo systems include valve control systems and pump control systems. The pump control system eliminates the need for electro-hydraulic servo valves, directly controlling the actuators via an electro-hydraulic servo (proportional) variable pump. While electro-hydraulic servo valve control systems offer high control precision and fast response, leading to their widespread application, the actuator speed in these systems typically varies, resulting in varying flow requirements. Using a conventional fixed-displacement pump with an overflow valve to supply oil to the valve control system inevitably leads to overflow losses and hydraulic oil overheating, resulting in lower system efficiency. This not only increases the system's installed power but also adds to its size and cost due to the additional cooling system. Furthermore, overheating is a major cause of hydraulic system failures. A constant-pressure variable pump with an accumulator effectively overcomes the shortcomings of the fixed-displacement pump with an overflow valve, and most valve control systems utilize this type of oil source pump station. For volumetric systems where the electro-hydraulic servo (proportional) variable pump directly controls the cylinder or motor, it can effectively improve system efficiency. However, the pump control system suffers from low control precision and slow response, limiting its application to situations where high precision and performance requirements are not critical. To overcome the shortcomings of both valve-controlled and pump-controlled systems, the oil supply station of a valve-controlled system can use a variable frequency speed control motor to drive a fixed displacement pump to change the pump station's output flow rate. Although variable frequency speed control technology is very mature, this method has poor dynamic characteristics of output flow, and its flow regulation lag is greater compared to a variable displacement pump. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a high power density electro-hydraulic servo integrated machine that integrates the servo motor, servo controller and hydraulic pump into one unit, thereby improving the efficiency and performance of the prime mover.

[0005] The technical solution of the present invention is as follows:

[0006] In a first aspect of the present invention, a high power density electro-hydraulic servo integrated machine is provided, comprising a hydraulic pump, a servo motor, and a servo controller. The main shaft of the hydraulic pump is connected to the main shaft of the servo motor, and the servo motor is connected to a servo driver. The servo controller is disposed on the housing of the servo driver. A cavity is provided inside the front cover of the servo motor, the housing of the servo motor, and the housing of the servo driver. A cooling oil pipe is disposed in the cavity. The oil inlet of the cooling oil pipe is disposed on the housing of the servo driver, and the oil outlet of the cooling oil pipe is connected to the internal oil passage on the hydraulic pump.

[0007] In some embodiments of the present invention, the main shaft of the hydraulic pump and the main shaft of the servo motor are connected by clockwise and counterclockwise deflection keys and clockwise and counterclockwise deflection keyways, and the number of clockwise and counterclockwise deflection keys and clockwise and counterclockwise deflection keyways is the same as the deflection angle.

[0008] In some embodiments of the present invention, a plurality of clockwise deflection keys and a plurality of counterclockwise deflection keys are provided on the spindle of the servo motor, and the clockwise deflection keys and counterclockwise deflection keys are spaced apart.

[0009] In some embodiments of the present invention, a plurality of clockwise biased keyways and a plurality of counterclockwise biased keyways are provided on the hydraulic pump spindle, and the clockwise biased keyways and counterclockwise biased keyways are spaced apart.

[0010] In some embodiments of the present invention, a front oil cooling pipe is provided in the cavity of the servo motor front cover, and the front oil cooling pipe is sparsely spirally wound and passes through the front bearing.

[0011] In some embodiments of the present invention, a middle cooling oil pipe and a rear cooling oil pipe are provided in the cavity of the servo motor housing. The middle cooling oil pipe is arranged axially and evenly around the circumference of the servo motor housing above the motor stator. The rear cooling oil pipe is sparsely spirally wound around the hollowed-out part of the servo motor housing after passing through the rear bearing.

[0012] In some embodiments of the present invention, a servo driver cooling oil pipe is provided inside the servo driver housing, and the servo driver cooling oil pipe includes a first cooling oil pipe, a second cooling oil pipe and a third cooling oil pipe connected in sequence.

[0013] In some embodiments of the present invention, the first cooling oil pipe is connected to the oil inlet, the second cooling oil pipe is S-shaped, and the third cooling oil pipe is connected to the rear cooling oil pipe inside the servo motor housing.

[0014] In some embodiments of the present invention, a driving gear is provided on the main shaft of the hydraulic pump, and the driving gear meshes externally with the driven gear.

[0015] In some embodiments of the present invention, the hydraulic pump body is provided with symmetrical unloading grooves, internal oil passages, oil suction ports and oil pressure ports, and the unloading grooves are configured as A-shaped and are symmetrically distributed at the oil suction ports and oil pressure ports.

[0016] One or more technical solutions of the present invention have the following beneficial effects:

[0017] (1) The high power density electro-hydraulic servo integrated machine proposed in this invention integrates the servo motor, servo controller and hydraulic pump. Through the set motor oil cooling structure and servo driver cooling structure, the heat generation parts in the servo motor and servo driver can be effectively cooled, which improves the working efficiency of the device. The connection structure between the motor spindle and the hydraulic pump spindle adopts the "clockwise and counterclockwise" keyway connection, which makes it easy for the motor spindle to be inserted into the hydraulic pump spindle. It also plays a role in eliminating backlash when the motor switches between forward and reverse rotation and starts and stops, reducing the vibration during switching and starting and stopping, so that the forward and reverse rotation and starting and stopping can be carried out more smoothly. By setting a symmetrical unloading groove structure on the hydraulic pump body, it can play a buffering role for the hydraulic oil, reducing its impact force and noise and solving the oil trapping phenomenon.

[0018] (2) The high power density electro-hydraulic servo integrated machine proposed in this invention can adopt an electro-hydraulic servo system scheme in which a servo motor drives a fixed-displacement pump (or a variable pump in special working conditions) to supply oil, because the response speed of the servo motor is much higher than that of the variable frequency motor speed regulation method. At the same time, since the output pressure and flow rate of the pump can be automatically adjusted with very precise changes in load, this device is more energy-efficient than the traditional electro-hydraulic servo system.

[0019] (3) The high power density electro-hydraulic servo integrated machine provided by the present invention greatly reduces the size of the equipment and the length of the oil delivery pipe. It can also cool the motor rotor, stator, bearing and servo driver by means of the oil pump. Not only can the motor fan and driver fan be eliminated to reduce energy consumption, but the cooling effect is also several times higher than that of air. Under the premise of ensuring that the motor rotor, stator and servo driver do not overheat, the input current (power) can be increased to obtain a higher rated output power than that generated by the original winding, thereby improving the efficiency of the prime mover and reducing the heat generation of the system.

[0020] (4) The high-power-density electro-hydraulic servo integrated machine provided by this invention is equipped with a small servo controller with adaptive control function connected to the pump, which has the following advantages: reduced external wiring, lower installation and maintenance costs, simplified construction design, elimination of electromagnetic compatibility issues, self-diagnosis and self-monitoring of faults, selection and adjustment of control performance parameters, energy management, energy saving only when needed, quick plug-in and easy acquisition of relevant signal values ​​through software, and easy setting of component or system parameters through software, etc.

[0021] (5) The high power density electro-hydraulic servo integrated machine provided by the present invention is not a simple overall structure connection of servo motor, hydraulic pump and control, but a deep integration of each other. The direct effect is that the efficiency of electro-hydraulic servo system is greatly improved, the power density is significantly increased and the energy consumption is significantly reduced, thus solving the inherent problems of traditional electro-hydraulic systems such as bulkiness, high energy consumption and difficult maintenance. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the high power density electro-hydraulic servo integrated machine of the present invention;

[0023] Figure 2 This is a schematic diagram of the clockwise and counterclockwise keys of the servo motor spindle in this invention;

[0024] Figure 3 This is a schematic diagram of the clockwise and counterclockwise keyways of the hydraulic pump spindle in this invention;

[0025] Figure 4 for Figure 1 The cross-sectional view at point HH shows the right view of the front cover of the servo motor;

[0026] Figure 5 for Figure 1 The cross-sectional view at point GG shows a schematic diagram of the cooling oil pipe arrangement above the motor stator;

[0027] Figure 6 This is a schematic diagram of the central cooling oil pipe inside the servo motor housing of the present invention;

[0028] Figure 7 for Figure 1 The cross-sectional view at point FF shows the left view of the servo driver section;

[0029] Figures 8(a)-8(c) This diagram shows the layout of the cooling oil pipes inside the servo driver, where Figure 8(a) is... Figure 7 The cross-sectional view at the MM point is shown in Figure 8(b). Figure 7 The cross-sectional view at LL in the middle, Figure 8(c) is Figure 7 Cross-sectional view at point KK;

[0030] Figure 9 for Figure 1 Connection diagram at point B;

[0031] Figure 10 for Figure 1 The cross-sectional view at point JJ ​​shows the right view of the hydraulic pump section;

[0032] Figure 11(a) is Figure 10 The enlarged view at point N in the middle, Figure 11(b) is a schematic diagram of the tilt angle of the inclined platform.

[0033] In the diagram: 1. Servo driver housing; 2. Communication interface; 3. Chip; 4. Servo controller circuit board; 5. Hydraulic oil inlet; 6. Servo motor spindle; 7. Front bearing; 8. Front cooling oil pipe; 9. Transition cooling oil pipe; 10. Inner oil passage; 11. Hydraulic pump spindle; 12. First key; 13. Drive gear; 14. Hydraulic pump oil chamber; 15. Hydraulic pump rear end cover; 16. Driven gear shaft; 17. Second key; 18. Driven gear; 19. First screw; 20. First washer; 21. Packing; 22. Second screw; 23. Second washer; 24. Servo motor front cover; 25. Bolt; 26. Intermediate cooling oil pipe; 26a. Fan-shaped cooling... 26b. Connecting pipe; 26c. Transition round cooling oil pipe; 27. Motor stator; 28. Motor rotor; 29. ​​Servo motor housing; 30. Rear bearing; 31. Rear cooling oil pipe; 32. Third screw; 33. Third washer; 34. Detection component; 35. Servo driver cooling oil pipe; 35a. First cooling oil pipe; 35b. Second cooling oil pipe; 35c. Third cooling oil pipe; 36. Counterclockwise deflection key; 37. Clockwise deflection key; 38. Counterclockwise deflection keyway; 39. Clockwise deflection keyway; 40. Hydraulic pump body; 41. Unloading groove; 41a. Groove platform; 41b. Inclined groove platform; 42. Oil suction port; 43. Oil pressure port. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] Example 1

[0036] The inventors discovered that the temperature rise of a servo motor is caused by losses generated during its operation. These losses can be categorized into iron losses, copper losses, and mechanical losses. Iron losses, generated by the stator core under a changing magnetic field, can be further divided into eddy current losses, hysteresis losses, and additional losses. Copper losses occur when current flows through the winding resistance. Bearing losses and windage losses constitute the mechanical losses of the servo motor. The mechanical and eddy current losses of the servo motor account for a very small proportion; the heat generation mainly comes from stator iron losses and winding copper losses. In addition, the servo driver also generates a significant amount of heat during operation; experience shows that the main heat of the servo driver is concentrated on its top and sidewalls.

[0037] The main heat source at the rear end of the motor spindle comes from the detection component 34, the servo controller circuit board 4, and the rear bearing 30. The main heat source at the front end of the motor spindle is the front bearing 7. Therefore, the motor stator 27, rotor 28, and servo driver circuit board 4 are the main heat-generating parts.

[0038] Therefore, in a typical embodiment of the present invention, a high power density electro-hydraulic servo integrated machine is proposed, such as... Figure 1As shown, the system includes a hydraulic pump, a servo motor, and a servo controller. The main shaft of the hydraulic pump is connected to the main shaft of the servo motor, and the servo motor is connected to a servo driver. The servo controller is mounted on the housing of the servo driver. Cavities are provided inside the servo motor front cover 24, the servo motor housing 29, and the servo driver housing 1. Cooling oil pipes are installed in the cavities. The inlet 5 of the cooling oil pipes is located on the servo driver housing 1. The outlet of the cooling oil pipes is connected to the inner oil passage 10 on the hydraulic pump. The inner oil passage 10 directly communicates with the suction port 42, and the hydraulic oil exits from the pressure port 43.

[0039] The hydraulic pump spindle 11 and the servo motor spindle 6 are connected at point E by clockwise and counterclockwise deflection keys and keyways. The number of clockwise and counterclockwise deflection keys and keyways is the same as the deflection angle. The servo motor spindle has multiple clockwise and multiple counterclockwise deflection keys, spaced apart. The hydraulic pump spindle has multiple clockwise and multiple counterclockwise deflection keyways, spaced apart.

[0040] Specifically, such as Figure 2 and Figure 3 As shown, the front end of the servo motor spindle 6 is provided with three clockwise deflecting keys 37 and three counterclockwise deflecting keys 36 evenly distributed along the circumference of the motor spindle. The connecting end of the hydraulic pump spindle 11 is provided with three clockwise deflecting keyways 39 and three counterclockwise deflecting keyways 38 evenly distributed along the circumference of the hydraulic pump spindle. The deflecting keys and deflecting keyways are deflected by 10° in their respective clockwise and counterclockwise directions. During connection, the keys are inserted into the keyways, so that the clockwise deflecting keys 37 of the servo motor spindle 6 and the clockwise deflecting keyways 39 of the hydraulic pump spindle 11 cooperate with each other. Similarly, the counterclockwise deflecting keys 36 and the counterclockwise deflecting keyways 38 also cooperate with each other. The relationship is defined as follows: the clockwise key wall of the clockwise bias key 37 and the clockwise groove wall of the clockwise bias keyway 39 are interference-fitted; the counterclockwise key wall of the clockwise bias key 37 and the counterclockwise groove wall of the clockwise bias keyway 39 are clearance-fitted; the counterclockwise key wall of the counterclockwise bias key 36 and the counterclockwise groove wall of the counterclockwise bias keyway 38 are also interference-fitted; and the counterclockwise key wall of the clockwise bias key 36 and the counterclockwise groove wall of the clockwise bias keyway 38 are clearance-fitted. This design facilitates the insertion of the motor spindle into the hydraulic pump spindle and eliminates backlash during motor forward / reverse switching and start / stop, reducing vibration during switching and start / stop, and making forward / reverse switching and start / stop more stable.

[0041] like Figure 1 and Figure 4As shown, the servo motor front cover 24 above the connection between the hydraulic pump spindle 11 and the servo motor spindle 6 is tightly connected to the hydraulic pump by the second screw 22, which can play a role in dust protection. The second washer 23 is set at the connection to reduce vibration. The servo motor front cover 24 is connected to the servo motor housing 29 by bolts 25.

[0042] like Figure 1 As shown, a front oil cooling pipe 8 is installed in the cavity of the servo motor front cover 24. The front oil cooling pipe 8 is sparsely spirally wound and passes through the front bearing 7. A middle cooling oil pipe 26 and a rear cooling oil pipe 31 are installed in the cavity of the servo motor housing 29. Figure 5 and Figure 6 As shown, the intermediate cooling oil pipe 26 is arranged axially and evenly around the servo motor housing above the motor stator. The intermediate cooling oil pipe is divided into six fan-shaped cooling pipes 26a and six connecting pipes 26b. The fan-shaped cooling pipes 26a and connecting pipes 26b are arranged circumferentially and evenly around the motor housing 29 above the stator. The axial length of the fan-shaped cooling pipes 26a is slightly longer than the length of the motor stator 27 by 10-20 mm. The connecting pipes 26b are located in the middle of the fan-shaped cooling pipes, connecting the six fan-shaped cooling pipes 26a. Figure 6 As shown, the rear cooling oil pipe 31 passes through the rear bearing 30 and wraps around the servo motor housing 29 in a sparse spiral pattern.

[0043] like Figure 7 As shown, a magneto-electric encoder (i.e., detection component 2) is installed at the rear end of the servo motor spindle 6 to measure its position and speed; a Hall element is installed on the servo driver to measure the three-phase current and voltage of the motor. The servo driver housing 1 adopts a hollow design to facilitate the installation of the servo driver cooling oil pipe 35, and has an oil inlet 5; three servo controller circuit boards 4 are set inside the servo driver, and the circuits and components on the servo controller circuit boards 4 are set as required. The servo controller circuit boards 4 are inserted into the rear end of the driver housing, and an RS485 communication interface 2 and a motor and driver power interface 43 are opened at the rear end; in order to reduce the space occupied by the driver housing, the driver debugging panel is connected to the outside through the communication interface; the driver is connected to the servo motor housing 29 by a second screw 32, and a third washer 33 is set at the connection.

[0044] Inside the servo driver housing 1, a servo driver cooling oil pipe 35 is provided. The servo driver cooling oil pipe includes a first cooling oil pipe 35a, a second cooling oil pipe 35b, and a third cooling oil pipe 35c that are connected in sequence. At the bottom housing of the servo driver, the first cooling oil pipe 35a is connected to the oil inlet 5. As shown in Fig. 8(a), after the first cooling pipe 35a is arranged horizontally, it is connected to the second cooling oil pipe 35b on the left and right side walls of the driver. As shown in Fig. 8(b), the cooling oil pipe 35b is arranged in an "S" shape on the side wall and then connected to the third cooling oil pipe 35c at the top of the driver. As shown in Fig. 8(c), after the third cooling oil pipe 35c is arranged in a "middle" shape at the top of the servo driver, it is connected to the rear cooling oil pipe 31 in the servo motor 29 at point A.

[0045] The oil cooling pipes in the servo motor front cover 24, the servo motor housing 29, and the servo driver housing 1 are connected in sequence. Specifically, at the connection point A between the servo driver cooling oil pipe 35 and the rear cooling oil pipe 31, at the connection point B between the front and middle cooling oil pipes, at the connection point C between the front cooling oil pipe and the transition cooling oil pipe 9, and at the connection point D between the transition cooling oil pipe 9 and the oil passage 10 in the hydraulic pump, all four connection points ABCD are set as plug-in connections, that is, the cooling oil pipe on the right side of the BD connection is inserted into the cooling oil pipe on the left side, and the cooling oil pipe on the left side of the AC connection is inserted into the cooling oil pipe on the right side. The example is shown as Figure 9 shown in the connection schematic diagram at point B. The transition circular cooling pipe 26c at the middle cooling oil pipe 26 is inserted into the front cooling oil pipe 8 to achieve oil path connection.

[0046] The oil inlet 5 is connected to the filter and the hydraulic oil source. The oil inlet 5 is connected to the servo driver cooling oil pipe 35. The servo driver cooling oil pipe 35 is connected to the rear cooling oil pipe 31 at point A. The rear cooling oil pipe winds around the rear bearing 30 of the main shaft 6 and reaches above the stator 27 to be connected to the fan-shaped cooling oil pipe 26a of the middle cooling oil pipe 26. Then, the middle cooling oil pipe 26 starts to be arranged axially evenly in a circumferential circle. After arranging one circle, it extends through the circular pipe 26c to point B and is connected to the front cooling oil pipe 8. The front cooling oil pipe 8 winds around the front bearing 7 of the main shaft 6 and is connected to the transition cooling oil pipe 9 at point C. The transition cooling oil pipe 9 is connected to the inner oil passage 10 of the hydraulic pump at point D. The inner oil passage 10 penetrates the oil suction port 42. During the operation of the pump, during one oil suction process, the function of over-oil cooling for the motor and the servo driver is achieved.

[0047] As Figure 1 and Figure 10As shown, the hydraulic pump body 40 and the hydraulic pump rear end cover 15 are connected by a first screw 19, and a first washer 20 is provided at the connection; a packing 21 is provided at the front end of the hydraulic pump main shaft 11, and a driving gear 13 is mounted on the main shaft. The hydraulic pump main shaft 11 and the gear 13 are connected by a first key 12; the driving gear 13 meshes externally with the driven gear 18; the driven gear 18 is connected to the driven gear shaft 16 by a second key 17; the hydraulic pump body 40 is also provided with symmetrical unloading grooves 41, internal oil passages 10, oil suction port 42, and oil pressure port 43. Figure 11(a) and 11(b) As shown, the unloading groove 41 is configured as an "A" shape, symmetrically distributed at the oil suction port and the oil pressure port. Figure 10 The unloading groove at point N has an inclined platform 41b that is tilted at 45° to the bottom of the unloading groove. The inclined platform 41b and the extension of the platform 41a play a buffering role for the hydraulic oil, reducing its impact and noise and solving the problem of oil trapping.

[0048] The working principle of the high-power-density electro-hydraulic servo integrated machine provided in this embodiment is as follows:

[0049] The servo motor is controlled by a servo driver. The servo motor spindle 6 and the hydraulic pump spindle 11 are connected at point E by a clockwise and counterclockwise keyway, which enables the servo motor to drive the hydraulic pump to supply oil to the hydraulic system. As the servo motor runs, the hydraulic pump generates suction at the oil pump suction port 42, drawing hydraulic oil from the oil tank through the oil inlet 5 into the built-in oil passage of the integrated machine and pumping it out from the pressure port 43 to supply oil to the hydraulic system. The oil flows sequentially through the servo driver cooling oil pipe 35, the rear cooling oil pipe 31, the upper stator intermediate cooling oil pipe 26, the front cooling oil pipe 8, the transition cooling oil pipe 9, the hydraulic pump internal oil passage 10, the suction port 42, the hydraulic pump oil chamber 14, and finally to the pressure port 43. During the oil suction process, the hydraulic oil in the built-in oil pipe provides over-cooling for the servo driver and servo motor. During the oil suction process, the hydraulic pump uses the "A-type" unloading groove in the oil chamber to buffer the hydraulic oil, reducing its impact and noise and solving the problem of trapped oil.

[0050] The embodiments described above provide a detailed explanation of the technical solutions 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 present invention. Any modifications, additions, or similar substitutions made within the scope of the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high power density electro-hydraulic servo integrated machine, characterized in that, The system includes a hydraulic pump, a servo motor, and a servo controller. The main shaft of the hydraulic pump is connected to the main shaft of the servo motor, and the servo motor is connected to a servo driver. The servo controller is mounted on the housing of the servo driver. Cavities are provided inside the front cover of the servo motor, the housing of the servo motor, and the housing of the servo driver. Cooling oil pipes are installed in the cavities. The inlet of the cooling oil pipe is located on the housing of the servo driver, and the outlet of the cooling oil pipe is connected to the internal oil passage on the hydraulic pump. The main shaft of the hydraulic pump and the main shaft of the servo motor are connected by clockwise and counterclockwise deflection keys and clockwise and counterclockwise deflection keyways. The number of clockwise and counterclockwise deflection keys and clockwise and counterclockwise deflection keyways is the same as the deflection angle. The clockwise key wall of the clockwise deflection key is interference-fitted with the clockwise groove wall of the clockwise deflection keyway, and the counterclockwise key wall of the clockwise deflection key is clearance-fitted with the counterclockwise groove wall of the clockwise deflection keyway. The counterclockwise key wall of the counterclockwise deflection key is also interference-fitted with the counterclockwise groove wall of the counterclockwise deflection keyway, and the clockwise key wall of the counterclockwise deflection key is clearance-fitted with the clockwise groove wall of the counterclockwise deflection keyway. The oil inlet is connected to the filter and hydraulic oil source. The oil inlet is connected to the servo drive cooling oil pipe, which is connected to the rear cooling oil pipe. The rear cooling oil pipe is wound around the rear bearing of the spindle to the top of the stator and connected to the fan-shaped cooling oil pipe of the intermediate cooling oil pipe. Then the intermediate cooling oil pipe is evenly distributed axially around the circumference. After one circle, it is connected to the front cooling oil pipe through a round pipe. The front cooling oil pipe is wound around the front bearing of the spindle and connected to the transition cooling oil pipe. The transition cooling oil pipe is connected to the inner oil passage of the hydraulic pump. The inner oil passage runs through the oil suction port. During the operation of the pump, it completes one oil suction process, realizing the oil cooling function of the servo motor and servo drive.

2. The high power density electro-hydraulic servo integrated machine as described in claim 1, characterized in that, The servo motor spindle is equipped with multiple clockwise deflection keys and multiple counterclockwise deflection keys, which are spaced apart.

3. The high power density electro-hydraulic servo integrated machine as described in claim 1, characterized in that, The hydraulic pump spindle is provided with multiple clockwise deflected keyways and multiple counterclockwise deflected keyways, which are spaced apart.

4. The high power density electro-hydraulic servo integrated machine as described in claim 1, characterized in that, A front oil cooling pipe is installed in the cavity of the front cover of the servo motor. The front oil cooling pipe is sparsely spirally wound and passes through the front bearing.

5. The high power density electro-hydraulic servo integrated machine as described in claim 1, characterized in that, The cavity of the servo motor housing is provided with a middle cooling oil pipe and a rear cooling oil pipe. The middle cooling oil pipe is arranged axially and evenly around the circumference of the servo motor housing above the motor stator. The rear cooling oil pipe is sparsely spirally wound around the hollow part of the rear servo motor housing after passing through the rear bearing.

6. The high power density electro-hydraulic servo integrated machine as described in claim 5, characterized in that, The servo driver housing is provided with servo driver cooling oil pipes, which include a first cooling oil pipe, a second cooling oil pipe and a third cooling oil pipe connected in sequence.

7. The high power density electro-hydraulic servo integrated machine as described in claim 6, characterized in that, The first cooling oil pipe is connected to the oil inlet, the second cooling oil pipe is S-shaped, and the third cooling oil pipe is connected to the rear cooling oil pipe inside the servo motor housing.

8. The high power density electro-hydraulic servo integrated machine as described in claim 1, characterized in that, The hydraulic pump has a drive gear on its main shaft, which meshes with the driven gear.

9. The high power density electro-hydraulic servo integrated machine as described in claim 1, characterized in that, The hydraulic pump body is provided with symmetrical unloading grooves, internal oil passages, oil suction port and oil pressure port. The unloading grooves are A-shaped and are symmetrically distributed inside the oil suction port and oil pressure port.

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