A high-explosive electro-hydraulic actuator

Abstract

The present invention discloses a high-explosive electro-hydraulic actuator, which belongs to the field of electro-hydraulic actuators and comprises a hydraulic pump, which is transmission-connected to a permanent-magnet synchronous motor; the permanent-magnet synchronous motor is used to control the flow rate and flow direction of the hydraulic pump; the oil inlet and the oil outlet of the hydraulic pump are connected to a two-position four-way solenoid valve; the output port and the output port of the actuator cylinder are connected to the two-position four-way solenoid valve; the invention adopts a two-position four-way solenoid valve; when the solenoid valve is disconnected, the motor drives the oil to rotate inside the valve block, and the motor moves at a high speed, thereby generating a large flow rate. When the electro-hydraulic actuator needs a high-explosive action, the solenoid valve is connected, thereby driving the hydraulic cylinder to move, which is equivalent to avoiding the acceleration process of the motor. During the explosion, the motor always runs at the maximum speed, thereby making the electro-hydraulic actuator have explosive capability.

Description

Technical Field

[0001] The present invention relates to the technical field of electro-hydraulic actuators, and in particular to a high-explosion electro-hydraulic actuator. Background Art

[0002] Currently, the leg-type actuators used in quadruped robots or wheeled-legged robots are mostly valve-controlled electro-hydraulic servo systems or electric actuation systems. In the field of large and heavy robots, valve-controlled electro-hydraulic servo systems are mainly used.

[0003] Electro-hydraulic actuators are pump-controlled electro-hydraulic servo systems, primarily used in aerospace for flight control surfaces. Compared to valve-controlled electro-hydraulic servo systems, electro-hydraulic actuators offer advantages such as light weight, compact size, and high power density. However, they also suffer from slow frequency response and insufficient explosive force, making them unsuitable for high-energy movements such as jumping on quadrupedal or wheeled robots.

[0004] Existing electro-hydraulic actuators are variable-speed, fixed-displacement models. This means they control the output flow and direction of the hydraulic pump by varying the speed and direction of the permanent magnet synchronous motor, thereby controlling the actuation speed and direction of the hydraulic cylinder. The flow rate of a hydraulic pump is determined by both the pump's displacement and the motor's speed. Since a fixed-displacement pump is used, the motor's speed directly affects the pump's flow rate, which in turn affects the actuation speed of the hydraulic cylinder. In other words, without considering factors such as leakage and friction, the only factor affecting the actuation speed of the hydraulic cylinder in an electro-hydraulic actuator is the speed of the permanent magnet synchronous motor. However, the permanent magnet synchronous motor accelerates, and during this acceleration, the hydraulic cylinder also moves. Since the hydraulic cylinder in an electro-hydraulic actuator has a limited stroke, the hydraulic cylinder reaches its stroke limit during the motor's acceleration process or very shortly after reaching the target speed. Therefore, due to the acceleration capability of the permanent magnet synchronous motor, existing electro-hydraulic actuators suffer from insufficient burst capacity. Summary of the Invention

[0005] The purpose of the present invention is to provide a high-explosive electro-hydraulic actuator to solve the problems existing in the above-mentioned prior art, and to enable the electro-hydraulic actuator to have high-explosive capability under the conditions of space size and weight restrictions.

[0006] To achieve the above-mentioned object, the present invention provides the following solution: The present invention provides a high-explosive electro-hydraulic actuator, comprising:

[0007] A hydraulic pump, the hydraulic pump being in driving connection with the permanent magnet synchronous motor; the permanent magnet synchronous motor being used to control the flow rate and flow direction of the hydraulic pump;

[0008] A two-position four-way solenoid valve, the oil inlet and oil outlet of the hydraulic pump are connected to the two-position four-way solenoid valve; the output port and output port of the actuator are connected to the two-position four-way solenoid valve;

[0009] The two-position four-way solenoid valve includes a first state. In the first state, the two-position four-way solenoid valve is de-energized, and the hydraulic pump and the permanent magnet synchronous motor idle to increase the rotation speed;

[0010] The two-position four-way solenoid valve includes a second state. In the second state, the two-position four-way solenoid valve is energized, and the hydraulic oil output by the hydraulic pump is output to the actuator cylinder through the two-position four-way solenoid valve.

[0011] It also includes an accumulator, which is connected to the oil inlet and oil outlet of the hydraulic pump through a first one-way valve and a second one-way valve respectively;

[0012] The accumulator is also connected to the output port and the output port of the actuator through a third one-way valve and a fourth one-way valve respectively.

[0013] A first filter and a second filter are respectively installed on the oil inlet and the oil outlet of the hydraulic pump.

[0014] The output port and the output port of the actuator are further connected in parallel with two safety valves, and the access directions of the two safety valve pipelines are opposite.

[0015] The present invention discloses the following technical effects: (1) The present invention adopts a two-position four-way solenoid valve. When the solenoid valve is disconnected, the motor drives the oil to rotate inside the valve block. The motor moves at a high speed, thereby generating a large flow rate. When the electro-hydraulic actuator needs a high burst, the solenoid valve is connected, thereby driving the hydraulic cylinder to move, which is equivalent to avoiding the acceleration process of the motor. During the burst, the motor always runs at the maximum speed, thereby making the electro-hydraulic actuator have burst capability.

[0016] (2) The present invention does not add any additional energy storage device and does not increase the volume and mass of the electro-hydraulic actuator, so that the electro-hydraulic actuator has high explosive power and high power density. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a working principle diagram of the present invention;

[0019] Among them, 1. Permanent magnet synchronous motor; 2. Hydraulic pump; 3.1. First filter; 3.2. Second filter; 4.1. First one-way valve; 4.2. Second one-way valve; 4.3. Third one-way valve; 4.4. Fourth one-way valve; 5. Accumulator; 6. Two-position four-way solenoid valve; 7. Safety valve; 8. Actuator. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] The present invention provides a high-explosion electro-hydraulic actuator, comprising:

[0023] The hydraulic pump 2 is connected to the permanent magnet synchronous motor 1 through a transmission mechanism; the permanent magnet synchronous motor 1 is used to control the flow rate and flow direction of the hydraulic pump 2;

[0024] The oil inlet and outlet of the hydraulic pump 2 are connected to the two-position four-way solenoid valve 6; the oil inlet and outlet of the actuator 8 are connected to the two-position four-way solenoid valve 6;

[0025] The two-position four-way solenoid valve 6 includes a first state. In the first state, the two-position four-way solenoid valve 6 is de-energized, and the hydraulic pump 2 and the permanent magnet synchronous motor 1 idle, thereby increasing the rotation speed;

[0026] The two-position four-way solenoid valve 6 includes a second state. In the second state, the two-position four-way solenoid valve 6 is energized, and the hydraulic oil output by the hydraulic pump 2 is output to the actuator 8 through the two-position four-way solenoid valve 6 .

[0027] It also includes an accumulator 5, which is connected to the oil inlet and oil outlet of the hydraulic pump 2 through a first one-way valve 4.1 and a second one-way valve 4.2 respectively;

[0028] The accumulator 5 is also connected to the output port and the output port of the actuator 8 through the third one-way valve 4.3 and the fourth one-way valve 4.4 respectively.

[0029] A first filter 3.1 and a second filter 3.2 are installed on the oil inlet and the oil outlet of the hydraulic pump 2 respectively.

[0030] The output port and the output port of the actuator 8 are further connected in parallel with two safety valves 7 , and the pipeline access directions of the two safety valves 7 are opposite.

[0031] In one embodiment of the present invention, the safety valve 7 utilizes the overflow of the valve port to maintain the system pressure constant. When the system pressure is too high, pressure regulation, pressure limiting and pressure stabilization can be achieved. Since the motor can rotate forward and reverse, the system has two safety valves.

[0032] In one embodiment of the present invention, the actuator is a double-rod symmetrical hydraulic cylinder with equal input and output flow rates, serving as the actuator of the electro-hydraulic actuator.

[0033] In one embodiment of the present invention, Figure 1 The working principle shown is that the permanent magnet synchronous motor 1 is directly connected to the plunger pump 2. The permanent magnet synchronous motor 1 drives the plunger pump 2 to rotate. By controlling the speed and direction of the permanent magnet synchronous motor 1, the flow rate and flow direction of the plunger pump 2 can be controlled.

[0034] The oil inlet and outlet of the plunger pump 2 are connected to the actuator 8 through the two-position four-way solenoid valve 6, and the oil eventually enters the cavity of the actuator 8 to adjust the output position and speed of the actuator 8.

[0035] Furthermore, since the electro-hydraulic actuator belongs to a closed hydraulic system, the oil in the system needs to be balanced. The first one-way valve 4.1, the second one-way valve 4.2, the third one-way valve 4.3 and the fourth one-way valve 4.4 and the accumulator 5 are provided to control the oil leakage and oil replenishment of the system to avoid cavitation in the system; the safety valve 7 is used for overpressure protection to avoid the harm caused by excessive system pressure under abnormal conditions; the two-position four-way solenoid valve 6 can control the working mode of the electro-hydraulic actuator, and the position of the two-position four-way solenoid valve 6 can be adjusted in real time according to different working conditions. When the electro-hydraulic actuator is energized, it works normally. When the actuator is not energized, the motor idles and the actuator cylinder is locked.

[0036] In one embodiment of the present invention, combined with the normal operation of the wheel-legged robot, the action relationship is described as follows:

[0037] (1) Normal operation

[0038] When the two-position four-way solenoid valve 6 is energized, the displacement of the actuator cylinder of the electro-hydraulic actuator is completely controlled by the hydraulic pump 2. The speed of the displacement of the actuator cylinder 8 is regulated by the output flow of the hydraulic pump 2, and the direction of the displacement of the actuator cylinder 8 is controlled by the forward and reverse rotation of the hydraulic pump 2.

[0039] (2) Locking

[0040] When the actuator 8 needs to be positioned, the controller sends a signal to the two-position four-way solenoid valve 6 to reverse the working position of the switch valve, short-circuit the system oil circuit, and the hydraulic cylinder is also locked in both directions because the two-chamber oil circuits are closed. At this time, the two-position four-way solenoid valve 6 plays a locking role.

[0041] (3) Outbreak

[0042] First, the power to the two-position four-way solenoid valve 6 is cut off. At this time, the permanent magnet synchronous motor 1 drives the hydraulic pump 2 to idle in the valve block, and the actuator is locked. After the hydraulic pump 2 reaches the target speed, the two-position four-way solenoid valve 6 is powered on. At this time, the two-position four-way solenoid valve 6 is opened, and the large flow output by the hydraulic pump 2 causes the actuator to move rapidly.

[0043] Furthermore, when the wheel-legged robot is in the leg-type working state, the electric wheels of the wheel-legged robot do not work, the two-position four-way solenoid valve 6 is open, and the electro-hydraulic actuator works normally;

[0044] In the wheel-type working condition, the two-position four-way solenoid valve 6 is closed and the electro-hydraulic actuator is locked and does not work;

[0045] In the jumping working condition, that is, when an explosion is required, the power to the two-position four-way solenoid valve 6 is first cut off. At this time, the motor drives the hydraulic pump to idle in the valve block, and the actuator is locked. After the motor pump reaches the target speed, the two-position four-way solenoid valve 6 is energized. At this time, the two-position four-way solenoid valve 6 is opened, and the large flow output by the pump causes the actuator 8 to move rapidly.

[0046] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solution of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A high-explosive electro-hydraulic actuator, characterized in that: include: A hydraulic pump (2), the hydraulic pump (2) being in driving connection with a permanent magnet synchronous motor (1); the permanent magnet synchronous motor (1) being used to control the flow rate and flow direction of the hydraulic pump (2); A two-position four-way solenoid valve (6), the oil inlet and the oil outlet of the hydraulic pump (2) are connected to the two-position four-way solenoid valve (6); the output port and the output port of the actuator (8) are connected to the two-position four-way solenoid valve (6); The two-position four-way solenoid valve (6) includes a first state. In the first state, the two-position four-way solenoid valve (6) is powered off, and the hydraulic pump (2) and the permanent magnet synchronous motor (1) run idle, thereby increasing the rotation speed. The two-position four-way solenoid valve (6) includes a second state. In the second state, the two-position four-way solenoid valve (6) is energized, and the hydraulic oil output by the hydraulic pump (2) is output to the actuator (8) through the two-position four-way solenoid valve (6); It also includes an accumulator (5), which is connected to the oil inlet and the oil outlet of the hydraulic pump (2) through a first one-way valve (4.1) and a second one-way valve (4.2) respectively; The accumulator (5) is also connected to the output port and the output port of the actuator (8) through a third one-way valve (4.3) and a fourth one-way valve (4.4) respectively.

2. A high explosive electro-hydraulic actuator according to claim 1, characterized in that: A first filter (3.1) and a second filter (3.2) are respectively installed on the oil inlet and the oil outlet of the hydraulic pump (2).

3. The high-explosive electro-hydraulic actuator according to claim 1, characterized in that: The output port and the output port of the actuator (8) are also connected in parallel with two safety valves (7), and the pipeline access directions of the two safety valves (7) are opposite.

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