An electro-hydraulic actuator suitable for deep-water environments

Abstract

The present invention discloses an electro-hydraulic actuator suitable for deepwater environments, belonging to the technical field of actuating equipment. The actuator comprises a housing having a hydraulic cylinder body and an assembly end. The piston rod, a sealing group, an integrated valve group, a coaxial integrated electro-hydraulic pump, a first end cover and other structures are assembled on the housing, and the oil filling and the corresponding arrangement of the oil holes, oil channels and oil ports are arranged to effectively realize the electro-hydraulic telescopic drive of the piston rod. The electro-hydraulic actuator suitable for deepwater environments in the present invention has a compact structure and accurate control, and can effectively realize the actuation control of the actuator in deepwater environments, meet the control and application requirements of the actuator in deepwater environments, improve the reliability of the actuator in deepwater environments, extend the service life of the actuator in deepwater environments, and has good practical value.

Description

Technical Field

[0001] The present invention belongs to the technical field of actuating equipment, and in particular relates to an electro-hydraulic actuator suitable for deep-water environments. Background Art

[0002] In active control systems, actuators are key components for implementing active control and are widely used. Conventional actuators can be categorized into two types: electromechanical (EMA) and electrohydraulic (EHA), depending on their operating principles.

[0003] Electromechanical actuators, which use a motor to directly drive a reduction mechanism, often suffer from low power density, poor reliability, and difficulty adapting to deepwater pressure environments (such as deep sea pressure). In contrast, electro-hydraulic actuators, while capable of high output, are often complex and lack a compact design, making them equally unsuitable for deepwater applications. Furthermore, most existing electro-hydraulic actuators have irregular shapes, making them susceptible to deformation under deepwater pressures and difficult to meet the demands of deepwater applications, presenting certain limitations. Summary of the Invention

[0004] In response to one or more of the above-mentioned defects or improvement needs of the prior art, the present invention provides an electro-hydraulic actuator suitable for deep-water environments, which can effectively meet the use requirements of the actuator in deep-water environments, ensure the use reliability of the actuator in deep-water environments, and extend the service life of the actuator in deep-water environments.

[0005] To achieve the above-mentioned object, the present invention provides an electro-hydraulic actuator suitable for deep-water environments, comprising a housing, wherein the housing is a pressure-resistant housing with a cylindrical outer contour, one end of which is a hydraulic cylinder body with a piston cavity extending therethrough, and the other end of which is an assembly end with an assembly cavity formed therein;

[0006] The assembly cavity is coaxially connected to the piston cavity, and its inner diameter is larger than the outer diameter of the piston cavity, and an annular step is formed at the junction of the two;

[0007] A piston rod is coaxially embedded in the piston cavity, and a sealing group is assembled at the end of the piston cavity corresponding to the piston rod seal; a piston portion is formed in the middle of the piston rod, whose outer diameter is larger than the outer diameters of the two ends. The outer diameter of the piston portion matches the inner diameter of the piston cavity, and after being assembled with the piston cavity, it is divided into a first chamber and a second chamber connected to the assembly chamber;

[0008] The end of the assembly end is sealed by a first end cap, and a coaxial integrated electro-hydraulic pump is eccentrically embedded in the assembly cavity; the end of the coaxial integrated electro-hydraulic pump facing the annular step is sealed by an integrated valve group, and the other end is sealed with a second end cap;

[0009] The end of the hydraulic cylinder body facing away from the sealing group is sealed by an integrated valve group, and the piston chamber is filled with oil; the integrated valve group is provided with a first oil hole and a second oil hole independent of each other; the first oil hole is connected to the first oil port of the coaxial integrated electro-hydraulic pump, and the second oil hole is connected to the second oil port of the coaxial integrated electro-hydraulic pump; and oil channels are respectively opened on the corresponding two oil holes on the hydraulic cylinder body, that is, a first oil channel with one end connected to the first chamber and the other end connected to the first oil hole, and a second oil channel with one end connected to the second chamber and the other end connected to the second oil hole; then, by controlling the operation of the servo motor in the coaxial integrated electro-hydraulic pump, the hydraulic pump in the coaxial integrated electro-hydraulic pump can be driven to rotate forward or reverse, thereby realizing the flow of oil in the first chamber and the second chamber, thereby pushing the piston rod to extend or retract, thereby completing the actuation process.

[0010] As a further improvement of the present invention, the assembly cavity outside the coaxial integrated electro-hydraulic pump is filled with oil, and a seawater pressure compensator is provided in the assembly cavity;

[0011] The seawater pressure compensator is mounted on the first end cap and comprises two housings with openings on one side, namely a first housing and a second housing. The openings of the two housings are sealed and assembled to form a closed cavity, and rolling diaphragms are enclosed at the two openings. The rolling diaphragms separate the closed cavity into a water inlet chamber and an oil inlet chamber, and the area of ​​the rolling diaphragms is larger than the cross-sectional area of ​​the openings, so that the rolling diaphragms can roll and shift when the hydraulic pressure on both sides changes.

[0012] Correspondingly, a water inlet connecting the water inlet cavity with the outside of the first end cover is respectively formed on the first shell and the first end cover, and an oil inlet connecting the oil inlet cavity with the assembly cavity is formed on the second shell.

[0013] As a further improvement of the present invention, a guide assembly is further provided in the first housing and / or the second housing, which includes a guide rod and a spring;

[0014] The guide rod includes a rod body and an end cap with an outer diameter larger than the outer diameter of the rod body, and the end face of the end cap abuts against the rolling diaphragm; the spring is sleeved on the outer circumference of the rod body, and a through hole for the rod body to pass through is opened on the corresponding outer shell, and the spring can be pressed between the inner wall surface of the corresponding outer shell and the end cap by the end cap when the rolling diaphragm moves.

[0015] As a further improvement of the present invention, an assembly hole is coaxially provided on the gear shaft of the integrated valve group and the hydraulic pump for embedding and assembling the end of the piston rod away from the sealing group.

[0016] As a further improvement of the present invention, the assembly hole passes through the second end cover, and a displacement detection component is provided on the second end cover corresponding to the assembly hole;

[0017] The displacement detection assembly includes a sealing mounting seat and a displacement sensor; the sealing mounting seat is sealingly assembled on the second end cover; one end of the displacement sensor is connected to the sealing mounting seat, and the other end thereof extends along the axial direction of the piston rod, and a displacement blind hole is axially opened at the end of the piston rod; one end of the displacement sensor is embedded in the displacement blind hole.

[0018] As a further improvement of the present invention, an oil cavity connected to the assembly cavity is formed on the periphery of the integrated valve group, and a one-way valve oil channel is provided corresponding to at least one oil hole on the integrated valve group to realize one-way replenishment of oil in the assembly cavity to the piston cavity.

[0019] As a further improvement of the present invention, an electrical junction box is further provided in the assembly cavity corresponding to the servo motor, and a waterproof aviation plug is provided on the first end cover.

[0020] As a further improvement of the present invention, the first oil passage and / or the second oil passage comprises a radial hole section and an axial hole section;

[0021] One end of the radial hole section is connected to the corresponding chamber, and the other end is connected to the outer wall of the shell; one end of the axial hole section is connected to the annular step, and the other end is connected to the radial hole section, and the end of the radial hole section away from the chamber is closed by a pressure-resistant seal.

[0022] As a further improvement of the present invention, the coaxial integrated electro-hydraulic pump includes a housing and a stator and a rotor arranged in sequence from the outside to the inside of the housing, a gear ring is coaxially arranged in the middle of the rotor, a gear shaft is eccentrically arranged in the gear ring, and the axis of the gear shaft is parallel to the axis of the rotor and is spaced apart;

[0023] One side of the gear shaft is meshed with the internal teeth of the gear ring, and a crescent block is provided between the other side and the gear ring. One end of the crescent block is fixedly connected, and meshing cavities connected to the two oil ports of the hydraulic pump are formed at both ends.

[0024] As a further improvement of the present invention, the axis of the gear shaft, the axis of the gear ring, and the center line of the crescent block are located in the same plane, and the two ends of the crescent block are symmetrically arranged with respect to the plane.

[0025] The above-mentioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0026] In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:

[0027] (1) The electro-hydraulic actuator suitable for deep-water environment of the present invention comprises a shell having a hydraulic cylinder body and an assembly end. By assembling the piston rod, a sealing group, an integrated valve group, a coaxial integrated electro-hydraulic pump, a first end cover and other structures on the shell, and filling the oil with oil and setting the corresponding oil holes, oil channels and oil ports, the electro-hydraulic telescopic drive of the piston rod can be effectively realized, thereby ensuring the accuracy and reliability of the operation of the actuator. At the same time, based on the cylindrical structural design of the shell, the water pressure of each part of the pressure-resistant shell remains consistent when used in deep water, thereby avoiding deformation and damage of the shell due to the action of water pressure and extending the service life of the shell.

[0028] (2) The electro-hydraulic actuator of the present invention is suitable for deep-water environment. By filling the assembly cavity with oil and arranging a seawater pressure compensator therein, the two shells, the rolling diaphragm, the guide assembly and the corresponding openings of the holes in the seawater pressure compensator are used to make the oil inlet chamber connected to the assembly cavity and the water inlet chamber connected to the external water environment change their volumes through the rolling displacement of the rolling diaphragm, thereby achieving compensation between the oil pressure in the assembly cavity and the external water pressure, ensuring that the hydraulic pressure inside and outside the assembly cavity remains consistent or close, further reducing the water pressure effect on the shell, improving the use effect of the actuator in deep water, and further extending the service life of the actuator.

[0029] (3) The electro-hydraulic actuator of the present invention, which is suitable for deep-water environments, makes the overall structure of the actuator more compact and the volume and weight of the device can be further reduced by preferably setting an assembly structure of a coaxial integrated electro-hydraulic pump and an integrated valve group. At the same time, by coaxially opening an assembly hole on the gear shaft of the integrated valve group and the coaxial integrated electro-hydraulic pump, the end of the piston rod close to the first end cover can be assembled and embedded in the assembly hole, and then the piston part can move to the end face of the integrated valve group. With this arrangement, the movement stroke of the piston rod is effectively improved, the functionality of the actuator is further improved, and its scope of application is expanded.

[0030] (4) The electro-hydraulic actuator of the present invention, which is suitable for deep-water environments, can accurately obtain the movement stroke of the piston rod by corresponding to the coaxial integrated electro-hydraulic pump and the piston rod, and setting a displacement detection component including a seal mounting seat and a displacement sensor, in conjunction with the opening of a displacement blind hole at the end of the piston rod, thereby further improving the use and control accuracy of the actuator and improving the performance of the actuator.

[0031] (5) The electro-hydraulic actuator suitable for deep-water environments in the present invention utilizes an oil chamber formed outside the integrated valve group and connected to the assembly chamber, and a one-way valve oil passage connected to the corresponding oil hole is provided on the integrated valve group, so that the oil in the assembly chamber can be replenished to the piston chamber in a one-way manner, thereby realizing the replenishment of the oil in the piston chamber when it leaks due to assembly and use, and ensuring the accuracy of piston rod control.

[0032] (6) The electro-hydraulic actuator suitable for deep-water environment in the present invention has a compact structure and accurate control. It can effectively realize the actuation control of the actuator in deep-water environment, meet the control and application requirements of the actuator in deep-water environment, improve the reliability of the actuator in deep-water environment, extend the service life of the actuator in deep-water environment, and has good practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 1 is a schematic diagram of the overall structure of an electro-hydraulic actuator suitable for deep-water environments according to an embodiment of the present invention;

[0035] Figure 2 2 is a schematic structural diagram of a seawater pressure compensator for an electro-hydraulic actuator according to an embodiment of the present invention;

[0036] Figures 3 to 5 1 is a schematic diagram of the overall structure of an electro-hydraulic actuator suitable for deep-water environments according to an embodiment of the present invention;

[0037] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0038] 1. Housing; 101. Hydraulic cylinder body; 102. Piston chamber; 1021. First chamber; 1022. Second chamber; 103. Assembly chamber; 104. Piston rod; 105. Displacement detection assembly; 1051. Seal mounting base; 1052. Displacement sensor; 1053. Displacement blind hole; 106. Seal assembly; 107. First end cap; 108. First oil passage; 1081. Radial hole section; 1082. Axial hole section; 109. Second oil passage; 110. Electrical junction box; 111. Oil chamber;

[0039] 2. Integrated valve group; 201. First oil hole; 202. Second oil hole; 203. One-way valve oil passage;

[0040] 3. Coaxial integrated electro-hydraulic pump; 301. Hydraulic pump; 302. Servo motor; 303. Second end cover;

[0041] 4. Seawater pressure compensator; 401. First housing; 402. Second housing; 403. Rolling diaphragm; 404. Guide rod; 405. Spring; 406. Water inlet chamber; 407. Oil inlet chamber. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0043] In the description of the present invention, it should be understood that, unless otherwise expressly specified and limited, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to 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 and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0045] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0046] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0047] The electro-hydraulic actuator in the invention needs to meet the application requirements in deep-water operation environments, such as being installed outside the equipment for deep-sea operations. That is, when the equipment is working, the electro-hydraulic actuator is always immersed in the deep-water environment, and the entire actuator is subjected to the water pressure of the deep-water environment.

[0048] To meet these needs, the present invention provides an electro-hydraulic actuator in a preferred embodiment. By utilizing the corresponding configuration of its structure and components, the electro-hydraulic actuator meets the requirements for practical deepwater applications. This is further described below through specific preferred embodiments.

[0049] Example:

[0050] See also Figures 1 to 5 In a preferred embodiment of the present invention, the electro-hydraulic actuator suitable for deep-water environments includes a housing 1 , the interior of the housing 1 is hollow, and a cavity is formed for assembling various components.

[0051] In actual settings, the shell 1 is a pressure-resistant shell with a cylindrical outer contour. The reason why the shell 1 is set as a regular cylindrical structure is to better adapt to the deep-water working environment, so that the water pressure force exerted on various parts of the shell 1 is consistent, thereby improving the reliability and stability of the shell 1 in deep-water environments.

[0052] Specifically, one end of the housing 1 is a hydraulic cylinder body 101 with a piston cavity 102 formed therethrough, and the other end is an assembly end with an assembly cavity 103 formed therein; the piston cavity 102 and the assembly cavity 103 are communicated with each other, and are further coaxially opened therebetween.

[0053] At the same time, the inner diameter of the assembly cavity 103 is larger than the outer diameter of the piston cavity 102, and an annular step is formed at the junction of the two. Figure 1 As shown in .

[0054] In more detail, a piston rod 104 is coaxially embedded in the piston chamber 102, and a sealing group 106 is sealed and assembled at the end of the piston chamber 102 corresponding to the piston rod 104; at this time, the sealing group 106 is assembled and connected to the end of the hydraulic cylinder body 101, and a through hole with an inner diameter corresponding to the outer diameter of the end of the piston rod 104 is opened in the middle, and the end of the piston rod 104 passes through the through hole and is sealed and assembled with the sealing group 106.

[0055] like Figure 1 As shown in the figure, a piston portion with an outer diameter larger than the outer diameters of the two ends is formed in the middle of the piston rod 104. The outer diameter of the piston portion matches the inner diameter of the piston cavity 102, and after being assembled with the piston cavity 102, it is divided into a first chamber 1021 that is axially independent of each other and a second chamber 1022 that is connected to the assembly cavity 103.

[0056] Correspondingly, the end of the assembly end of the housing 1 is sealed by the first end cover 107 to ensure that the assembly cavity 103 is isolated from the outside of the housing 1.

[0057] In more detail, Figure 1 As shown in the figure, a coaxial integrated electro-hydraulic pump 3 is eccentrically embedded in the assembly cavity 103 in the preferred embodiment; for the coaxial integrated electro-hydraulic pump 3 in the preferred embodiment, it preferably includes a cylindrical or tubular casing, in which a servo motor 302 and a hydraulic pump 301 are arranged from the outside to the inside.

[0058] The stator of the servo motor 302 is fixed to the inner wall of the housing, and the ring gear of the hydraulic pump 301 is coaxially mounted inside the stator. Correspondingly, the rotor of the servo motor 302 is fixed to the outer circumference of the ring gear, and the rotor drives the ring gear through the fixed connection between the rotor and the ring gear. In actual installation, the two ends of the ring gear are rotatably assembled with bearings and corresponding structures. In the preferred embodiment, the two ends of the ring gear are sealed by the second end cover 303 and the integrated valve assembly 2.

[0059] Specifically, in the preferred embodiment, the hydraulic pump 301 is further provided with a gear shaft within its ring gear. This gear shaft has an outer diameter smaller than the inner diameter of the ring gear and is eccentrically positioned relative to the ring gear, with its axis parallel and spaced apart from the ring gear axis. Accordingly, one side of the gear shaft meshes with the internal teeth of the ring gear, while a crescent block is positioned between the ring gear and its other side. One end of this crescent block is fixedly attached, and at each end, a meshing cavity is formed, communicating with the two oil ports of the hydraulic pump 301.

[0060] In actual configuration, the end of the crescent block may preferably be fixedly connected to the second end cover 303 and may be fixedly connected to the end of the integrated valve group 2, which will not be described in detail here.

[0061] After the gear shaft, gear ring, and crescent block are assembled, two oil ports of the hydraulic pump 301 are formed at both ends of the crescent block.

[0062] In a specific preferred embodiment, the axis of the gear shaft, the axis of the gear ring, and the center line of the crescent block are located in the same plane, and the two ends of the crescent block are symmetrically arranged with respect to the plane.

[0063] In more detail, the integrated valve group 2 in the preferred embodiment is as follows Figure 1 As shown in , one end thereof matches the annular step and closes the end of the second chamber 1022 , and the other end thereof is sealed and assembled with the end of the coaxial integrated electro-hydraulic pump 3 away from the first end cover 107 .

[0064] In actual setting, the integrated valve group 2 is provided with a first oil hole 201 and a second oil hole 202 independent of each other. The first oil hole 201 is connected to the first oil port of the coaxial integrated electro-hydraulic pump 3, and the second oil hole 202 is connected to the second oil port of the coaxial integrated electro-hydraulic pump 3.

[0065] Correspondingly, oil passages, namely a first oil passage 108 and a second oil passage 109, are provided on the annular step of the hydraulic cylinder body 101 corresponding to the two oil holes. One end of the first oil passage 108 communicates with the first chamber 1021 and the other end communicates with the first oil hole 201; one end of the second oil passage 109 communicates with the second chamber 1022 and the other end communicates with the second oil hole 202.

[0066] In actual settings, the piston chamber 102 is filled with hydraulic oil. By utilizing the corresponding settings of the aforementioned oil channels, oil holes, and oil ports, the oil in the two chambers can achieve corresponding flow under the operation of the servo motor 302, thereby changing the volume of the oil in the two chambers, realizing the axial drive of the piston part in the middle of the piston rod 104, and completing the actuation process of the actuator.

[0067] In actual configuration, the end of the piston rod 104 facing away from the integrated valve assembly 2 is corresponding to the device to be actuated, and the actuation process of the actuator on the corresponding device can be completed by axial extension or retraction of the piston part.

[0068] Furthermore, in the preferred embodiment, the assembly cavity 103 outside the coaxial integrated electro-hydraulic pump 3 is filled with oil, and a seawater pressure compensator 4 is provided in the assembly cavity 103 to compensate for the liquid pressure inside and outside the actuator, ensuring that the oil pressure in the assembly cavity 103 is always consistent with or close to the water pressure outside the actuator.

[0069] In a preferred embodiment, the seawater pressure compensator 4 is mounted on the first end cap 107 and comprises two housings, one open on one side: a first housing 401 and a second housing 402. These two housings are preferably cylindrical structures with identical inner and outer diameters, and are sealed together at the opening, forming a closed cavity. Furthermore, rolling diaphragms 403, preferably made of a rubber material with a certain degree of toughness and deformability, are encapsulated in the two openings. The rolling diaphragms 403 divide the closed cavity into a water inlet chamber 406 and an oil inlet chamber 407.

[0070] In actual setting, the area of ​​the rolling diaphragm 403 is larger than the cross-sectional area of ​​the two shell openings, so that after the rolling diaphragm 403 is set accordingly, it is in a certain side wrinkled state and has axial movement ability within a certain range, so as to roll and shift when the hydraulic pressure on both sides changes.

[0071] Correspondingly, a water inlet connecting the water inlet cavity 406 with the outside of the first end cover 107 is respectively formed on the first housing 401 and the first end cover 107 , and an oil inlet connecting the oil inlet cavity 407 with the assembly cavity 103 is formed on the second housing 402 .

[0072] The corresponding openings of the water inlet and oil inlet allow for free filling of water into the water inlet chamber 406 and oil into the oil inlet chamber 407. When the actuator's depth in deep water changes, the water pressure outside the actuator fluctuates, causing a hydraulic imbalance on both sides of the rolling diaphragm 403. At this point, the rolling diaphragm 403 changes the volume of the two chambers, thereby achieving a balanced hydraulic pressure on both sides.

[0073] Preferably, a guide assembly is further provided in the first shell 401 and / or the second shell 402, which includes a guide rod 404 and a spring 405; wherein, the guide rod 404 includes a rod body and an end cap with an outer diameter larger than the outer diameter of the rod body, and the end face of the end cap abuts against the rolling diaphragm 403; the spring 405 is sleeved on the outer circumference of the rod body, and a through hole for the rod body to pass through is opened on the corresponding shell, and the spring 405 can be pressed between the inner wall surface of the corresponding shell and the end cap by the end cap when the rolling diaphragm 403 moves.

[0074] For example, in Figure 2 In the preferred embodiment shown, the guide assembly is provided on the first housing 401 , and correspondingly, a through hole for the end of the rod to pass through is provided on the first end cover 107 of the corresponding rod.

[0075] By utilizing the corresponding setting of the guide component, the reliability of the displacement movement of the rolling diaphragm 403 can be ensured; and by setting the guide component on at least one side of the rolling diaphragm 403, the setting of the guide component can ensure the accuracy of the movement of the rolling diaphragm 403 and fully avoid working damage to the rolling diaphragm 403.

[0076] Furthermore, in order to ensure that the piston part of the piston rod 104 can be as close to the integrated valve group 2 as possible during actual operation, that is, the piston rod 104 is retracted into the housing 1 as much as possible, it is preferred to coaxially open an assembly hole on the gear shaft of the integrated valve group 2 and the hydraulic pump 301 for the embedded assembly of the end of the piston rod 104 away from the sealing group 106.

[0077] In such Figure 1 In the preferred embodiment shown, the aforementioned assembly hole passes through the second end cap 303, and a displacement detection assembly 105 is provided on the second end cap 303 corresponding to the assembly hole. Displacement detection assembly 105 comprises a sealing mount 1051 and a displacement sensor 1052. Sealing mount 1051 is sealingly assembled on the second end cap 303. One end of displacement sensor 1052 is connected to sealing mount 1051, while the other end extends axially along the piston rod 104. A blind displacement hole 1053 is axially defined at the end of the piston rod 104, so that one end of displacement sensor 1052 is embedded in blind displacement hole 1053.

[0078] By utilizing the above-mentioned arrangement of the displacement detection assembly 105 , the actuation distance of the piston rod 104 can be accurately acquired, thereby ensuring the accuracy of the actuator control.

[0079] Furthermore, due to the long-term installation and use of the actuator, leakage of oil in the piston chamber 102 may occur, resulting in a decrease in the volume of the oil therein. Therefore, in a preferred embodiment, an oil chamber 111 is formed on the outer periphery of the integrated valve group 2 and is connected to the assembly chamber 103. The formation of the oil chamber 111 is also related to the eccentric assembly of the gear shaft and the gear ring in the hydraulic pump 301. Figure 1 Correspondingly, a one-way valve oil passage 203 is provided corresponding to at least one oil hole on the integrated valve assembly 2 to achieve one-way replenishment of the oil in the assembly chamber 103 to the piston chamber 102 .

[0080] In more detail, in order to meet the needs of actual control and application, an electrical junction box 110 is provided in the assembly cavity 103 corresponding to the servo motor 302, and a waterproof aviation plug is provided on the first end cover 107. The waterproof aviation plug is electrically connected to the electrical junction box 110, so that the servo motor 302 can be electrically connected to the corresponding control equipment, thereby providing a guarantee for its normal control and operation.

[0081] Furthermore, in order to facilitate the actual processing of the housing 1 , in a preferred embodiment, the first oil passage 108 and / or the second oil passage 109 includes a radial hole section 1081 and an axial hole section 1082 ;

[0082] Among them, the radial hole section 1081 is processed along the radial direction, one end of which is connected to the corresponding chamber and the other end is connected to the outer wall of the shell 1; one end of the axial hole section 1082 is connected to the annular step and the other end is connected to the radial hole section 1081, and the end of the radial hole section 1081 away from the chamber is closed by a pressure-resistant seal, such as Figure 1 As shown in .

[0083] After completing the above assembly and setting, for the electro-hydraulic actuator in the preferred embodiment, its actuation process is as follows: Figures 3 to 5 As shown in FIG, the piston rod 104 changes from a retracted state to a half-extended state and a fully extended state in sequence; of course, when the coaxial integrated electro-hydraulic pump 3 is reversed, the above process is reversed, which will not be described in detail here.

[0084] The electro-hydraulic actuator suitable for deep-water environments in the present invention has a compact structure and accurate control. It can effectively realize the actuation control of the actuator in a deep-water environment, meet the control and application requirements of the actuator in a deep-water environment, improve the reliability of the actuator in a deep-water environment, and extend the service life of the actuator in a deep-water environment, and has good practical value.

[0085] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An electro-hydraulic actuator suitable for deep-water environments, comprising a housing, characterized in that: The housing is a pressure-resistant housing with a cylindrical outer contour, one end of which is a hydraulic cylinder body with a piston cavity formed therethrough, and the other end is an assembly end with an assembly cavity formed therein; The assembly cavity is coaxially connected to the piston cavity, and its inner diameter is larger than the outer diameter of the piston cavity, and an annular step is formed at the junction of the two; A piston rod is coaxially embedded in the piston cavity, and a sealing group is assembled at the end of the piston cavity corresponding to the piston rod seal; a piston portion is formed in the middle of the piston rod, whose outer diameter is larger than the outer diameters of the two ends. The outer diameter of the piston portion matches the inner diameter of the piston cavity, and after being assembled with the piston cavity, it is divided into a first chamber and a second chamber connected to the assembly chamber; The end of the assembly end is sealed by a first end cap, and a coaxial integrated electro-hydraulic pump is eccentrically embedded in the assembly cavity; the end of the coaxial integrated electro-hydraulic pump facing the annular step is sealed by an integrated valve group, and the other end is sealed with a second end cap; The end of the hydraulic cylinder body facing away from the sealing group is sealed by an integrated valve group, and the piston chamber is filled with oil; the integrated valve group is provided with a first oil hole and a second oil hole independent of each other; the first oil hole is connected to the first oil port of the coaxial integrated electro-hydraulic pump, and the second oil hole is connected to the second oil port of the coaxial integrated electro-hydraulic pump; and oil channels are respectively opened on the corresponding two oil holes on the hydraulic cylinder body, that is, a first oil channel with one end connected to the first chamber and the other end connected to the first oil hole, and a second oil channel with one end connected to the second chamber and the other end connected to the second oil hole; then, by controlling the operation of the servo motor in the coaxial integrated electro-hydraulic pump, the hydraulic pump in the coaxial integrated electro-hydraulic pump can be driven to rotate forward or reverse, thereby realizing the flow of oil in the first chamber and the second chamber, thereby pushing the piston rod to extend or retract, thereby completing the actuation process.

2. The electro-hydraulic actuator suitable for deep-water environments according to claim 1, characterized in that: The assembly cavity outside the coaxial integrated electro-hydraulic pump is filled with oil, and a seawater pressure compensator is arranged in the assembly cavity; The seawater pressure compensator is mounted on the first end cap and comprises two housings with openings on one side, namely a first housing and a second housing. The openings of the two housings are sealed and assembled to form a closed cavity, and rolling diaphragms are enclosed at the two openings. The rolling diaphragms separate the closed cavity into a water inlet chamber and an oil inlet chamber, and the area of ​​the rolling diaphragms is larger than the cross-sectional area of ​​the openings, so that the rolling diaphragms can roll and shift when the hydraulic pressure on both sides changes. Correspondingly, a water inlet connecting the water inlet cavity with the outside of the first end cover is respectively formed on the first shell and the first end cover, and an oil inlet connecting the oil inlet cavity with the assembly cavity is formed on the second shell.

3. The electro-hydraulic actuator suitable for deep-water environments according to claim 2, characterized in that: A guide assembly is further provided in the first housing and / or the second housing, and includes a guide rod and a spring; The guide rod includes a rod body and an end cap with an outer diameter larger than the outer diameter of the rod body, and the end face of the end cap abuts against the rolling diaphragm; the spring is sleeved on the outer circumference of the rod body, and a through hole for the rod body to pass through is opened on the corresponding outer shell, and the spring can be pressed between the inner wall surface of the corresponding outer shell and the end cap by the end cap when the rolling diaphragm moves.

4. The electro-hydraulic actuator suitable for deep-water environments according to any one of claims 1 to 3, characterized in that: The integrated valve group and the gear shaft of the hydraulic pump are coaxially provided with an assembly hole for embedding and assembling the end of the piston rod away from the sealing group.

5. The electro-hydraulic actuator suitable for deep-water environments according to claim 4, characterized in that: The assembly hole passes through the second end cover, and a displacement detection component is provided on the second end cover corresponding to the assembly hole; The displacement detection assembly includes a sealing mounting seat and a displacement sensor; the sealing mounting seat is sealingly assembled on the second end cover; one end of the displacement sensor is connected to the sealing mounting seat, and the other end thereof extends along the axial direction of the piston rod, and a displacement blind hole is axially opened at the end of the piston rod; one end of the displacement sensor is embedded in the displacement blind hole.

6. The electro-hydraulic actuator suitable for deep-water environments according to claim 2, 3 or 5, characterized in that: An oil cavity communicating with the assembly cavity is formed on the periphery of the integrated valve group, and a one-way valve oil passage is provided on the integrated valve group corresponding to at least one oil hole to realize one-way replenishment of the oil in the assembly cavity to the piston cavity.

7. The electro-hydraulic actuator suitable for deep-water environments according to any one of claims 1 to 3 and 5, characterized in that: An electrical junction box is also provided in the assembly cavity corresponding to the servo motor, and a waterproof aviation plug is provided on the first end cover.

8. The electro-hydraulic actuator suitable for deep-water environments according to any one of claims 1 to 3 and 5, characterized in that: The first oil passage and / or the second oil passage comprises a radial hole section and an axial hole section; One end of the radial hole section is connected to the corresponding chamber, and the other end is connected to the outer wall of the shell; one end of the axial hole section is connected to the annular step, and the other end is connected to the radial hole section, and the end of the radial hole section away from the chamber is closed by a pressure-resistant seal.

9. The electro-hydraulic actuator suitable for deep-water environments according to any one of claims 1 to 3 and 5, characterized in that: The coaxial integrated electro-hydraulic pump comprises a housing and a stator and a rotor arranged in sequence from the outside to the inside of the housing. A gear ring is coaxially arranged in the middle of the rotor, and a gear shaft is eccentrically arranged in the gear ring. The axis of the gear shaft is parallel to the axis of the rotor and is spaced apart. One side of the gear shaft is meshed with the internal teeth of the gear ring, and a crescent block is provided between the other side and the gear ring. One end of the crescent block is fixedly connected, and meshing cavities connected to the two oil ports of the hydraulic pump are formed at both ends.

10. The electro-hydraulic actuator suitable for deep-water environment according to claim 9, characterized in that: The axis of the gear shaft, the axis of the gear ring, and the center line of the crescent block are located in the same plane, and the two ends of the crescent block are symmetrically arranged with respect to the plane.

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