A parallel multi-purpose actuator

Abstract

The present application belongs to the field of actuator design and is a parallel multi-purpose actuator, comprising a first actuator, a second actuator, a first valve group, a second valve group, and an electro-hydraulic servo valve; the first actuator comprises a first actuator and a second actuator, the second actuator comprises a third actuator and a fourth actuator, the first actuator and the third actuator form a synchronous actuator, and the second actuator and the fourth actuator form a synchronous actuator; the movement synchronization of multiple actuators is achieved through synchronous actuators and synchronous pipelines: compared with the scheme of parallel control of each actuator, it avoids the asynchronous movement of each actuator due to friction and other reasons, and can provide a warning signal when the stuck load is too large and may cause a larger fault. Compared with the scheme of independent control of each actuator, it has the advantages of simple pipelines and low cost. The scheme for achieving motion synchronization is a physical method with extremely high reliability.

Description

Technical Field

[0001] The present application belongs to the field of actuator design, and in particular relates to a parallel multi-purpose actuator. Background Art

[0002] In industrial equipment, aircraft engines, and other structures, there's a frequent need to control the motion of a component using two or more actuators. To reduce control costs or weight, multiple actuators are often installed in parallel, using the same control valve for motion control. This means that multiple actuators, acting under the same pressure medium, control component motion. To achieve a specific angle of deflection, multiple actuators often need to be controlled individually, or opposing actuators must be connected in parallel for control.

[0003] For example, a certain adjustment mechanism of the engine often uses multiple actuators in parallel for control, which is easily affected by factors such as aerodynamic force, friction and low stiffness of the driven components, and the phenomenon of adjustment asynchrony occurs easily; the opening and closing function of a certain device of the aircraft uses multiple actuators in parallel for control, and although a synchronization device is used, asynchrony still exists during use; a certain mechanism of the engine often uses a multi-actuator parallel control structure, and similar problems also exist; nozzles with vector functions often require multiple sets of actuators to realize the expansion and deflection functions.

[0004] Problems with parallel installation of multiple actuators:

[0005] Due to the different friction forces of multiple actuators and the inconsistent force on the actuators installed in different positions, the multiple actuators often move asynchronously during movement, resulting in wear, deflection, and jamming of the moving parts. When a moving part is partially jammed or a non-feedback actuator fails, the control system cannot stop the movement due to the lack of monitoring of the status of each actuator, which may lead to a larger failure.

[0006] To improve the synchronization of multiple actuators, a solution is typically employed that provides separate feedback and coordinated control for each actuator. This solution increases the number of control channels, feedback sensors, control valves, piping, and cables, resulting in higher control costs and a significant increase in weight. More importantly, with multiple separate control channels, if one channel fails, there is a risk of further malfunction due to uncoordinated operation, reducing the reliability of the entire system.

[0007] Therefore, how to more effectively control the parallel installation of multiple actuators is a problem that needs to be solved. Summary of the Invention

[0008] The purpose of the present application is to provide a parallel multi-purpose actuator to solve the problems in the prior art of the difficulty in effectively monitoring the overall control of a plurality of actuators installed in parallel and the high cost of controlling each actuator individually.

[0009] The technical solution of the present application is: a parallel multi-purpose actuator, comprising a first actuator, a second actuator, a first valve group, a second valve group, and an electro-hydraulic servo valve; the first actuator is correspondingly connected to the first valve group, the second actuator is correspondingly connected to the second valve group, and the electro-hydraulic servo valve is provided at the output ends of the first valve group and the second valve group;

[0010] The first actuator cylinder includes a first actuator and a second actuator; the first valve group includes a first solenoid valve, a second solenoid valve, a first pressure sensor and a second pressure sensor; the first actuator and the second actuator are arranged in parallel, the outer walls of the first actuator and the second actuator are connected to each other as a whole, the output rods of the two are connected to each other, and the oil inlet chamber and the oil return chamber are communicated with each other, the oil inlet chamber and the oil return chamber of the first actuator are A11 and A12 respectively, the oil inlet chamber and the oil return chamber of the second actuator are A21 and A22 respectively, the two oil delivery pipes output from the oil inlet chamber and the oil return chamber of the first actuator are connected to the first solenoid valve, and the first pressure sensor and the second pressure sensor are respectively arranged on the two oil delivery pipes output from the oil inlet chamber and the oil return chamber of the first actuator;

[0011] The second actuator includes a third actuator and a fourth actuator; the second valve group includes a third solenoid valve, a fourth solenoid valve, a third pressure sensor, and a fourth pressure sensor; the third and fourth actuators are arranged in parallel, the outer walls of the third and fourth actuators are connected to each other as a whole, the output rods of the third and fourth actuators are connected to each other, and the oil inlet chambers and oil return chambers are connected to each other; the oil inlet chamber and oil return chamber of the third actuator are B11 and B12 respectively, and the oil inlet chamber and oil return chamber of the fourth actuator are B21 and B22 respectively;

[0012] The first actuator and the third actuator form a synchronous actuator, and the second actuator and the fourth actuator form a synchronous actuator; the pipeline between the first actuator and the third actuator forms a synchronous pipeline, and the pipeline between the second actuator and the fourth actuator forms a synchronous pipeline.

[0013] Preferably, when the solenoid valve is not working, the oil inlet chamber of the first actuator is connected to the oil inlet chamber of the third actuator, and the oil return chamber of the first actuator is connected to the oil return chamber of the third actuator; the oil inlet chamber of the second actuator is connected to the oil return chamber of the fourth actuator, and the oil return chamber of the second actuator is connected to the oil inlet chamber of the fourth actuator.

[0014] Preferably, the first actuator and the third actuator are connected in parallel and then connected to two power pipelines P and T; the third solenoid valve is provided on the power pipelines P and T of the first and third actuators connected in parallel; the fourth solenoid valve is provided on the two oil pipelines of the fourth actuator and then connected to the power pipelines P and T through the oil pipelines; the second actuator and the fourth actuator are cross-connected through two pipelines, and the third pressure sensor and the fourth pressure sensor are provided on the two cross-pipes;

[0015] The two oil pipes of the fourth actuator are connected to the power pipes P and T, and the electro-hydraulic servo valve is arranged on the power pipes P and T connected to the two oil pipes of the fourth actuator.

[0016] Preferably, the first solenoid valve, the second solenoid valve and the fourth solenoid valve are all two-position four-way solenoid valves, and the third solenoid valve is a three-position four-way solenoid valve; the first solenoid valve and the second solenoid valve have two working positions: cross-connection and direct connection; the fourth solenoid valve has two working positions: direct connection and disconnection, and the third solenoid valve has three working positions: direct connection, cross-connection and disconnection.

[0017] Preferably, the number of actuators in each actuator cylinder is two or more.

[0018] Preferably, the oil inlet chamber and the oil return chamber of each actuator have the same area.

[0019] The parallel multi-purpose actuators of this application achieve synchronized motion of multiple actuators through synchronized actuators and synchronized piping. Compared to solutions where each actuator is controlled in parallel, this avoids asynchronous motion of the actuators due to friction and other factors, and can provide a warning signal when the jamming load is too large, potentially causing a larger malfunction. Compared to solutions where each actuator is controlled independently, this has the advantages of simple piping and low cost. It is also lightweight for aviation applications and avoids the risk of single-circuit loss of control during independent control. The solution for achieving motion synchronization is a physical method with extremely high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions provided by this application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application.

[0021] Figure 1 This is a schematic diagram of the overall structure of this application;

[0022] Figure 2 This is a schematic diagram of the structure of two or more actuators connected to achieve synchronous motion in this application.

[0023] 1. First actuator; 2. Second actuator; 3. Electro-hydraulic servo valve; 4. First actuator; 5. Second actuator; 6. Third actuator; 7. Fourth actuator; 8. First solenoid valve; 9. Second solenoid valve; 10. First pressure sensor; 11. Second pressure sensor; 12. Third solenoid valve; 13. Fourth solenoid valve; 14. Third pressure sensor; 15. Fourth pressure sensor. DETAILED DESCRIPTION

[0024] 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.

[0025] A parallel multi-purpose actuator, such as Figure 1 As shown, it includes a first actuator 1, a second actuator 2, a first valve group, a second valve group, and an electro-hydraulic servo valve 3. The first actuator 1 is connected to the first valve group, the second actuator 2 is connected to the second valve group, and the electro-hydraulic servo valve 3 is provided at the output ends of the first and second valve groups.

[0026] The first actuator cylinder 1 includes a first actuator 4 and a second actuator 5. The first valve group includes a first solenoid valve 8, a second solenoid valve 9, a first pressure sensor 10, and a second pressure sensor 11. The first actuator 4 and the second actuator 5 are arranged in parallel, with the outer walls of the first actuator 4 and the second actuator 5 connected to each other as a whole, and the output rods of the two actuators are connected to each other, and the oil inlet chamber and oil return chamber are connected to each other. The oil inlet chamber and oil return chamber of the first actuator 4 are A11 and A12 respectively, and the oil inlet chamber and oil return chamber of the second actuator 5 are A21 and A22 respectively. The two oil pipes output from the oil inlet chamber and oil return chamber of the first actuator 4 are connected to the first solenoid valve 8. The first pressure sensor 10 and the second pressure sensor 11 are respectively arranged on the two oil pipes output from the oil inlet chamber and oil return chamber of the first actuator 4.

[0027] The second actuator cylinder 2 includes a third actuator 6 and a fourth actuator 7. The second valve group includes a third solenoid valve 12, a fourth solenoid valve 13, a third pressure sensor 14, and a fourth pressure sensor 15. The third and fourth actuators 6 and 7 are arranged in parallel. The outer walls of the third and fourth actuators 6 and 7 are interconnected, their output rods are connected, and their oil inlet and oil return chambers are interconnected. The oil inlet and oil return chambers of the third actuator 6 are B11 and B12, respectively, while the oil inlet and oil return chambers of the fourth actuator 7 are B21 and B22, respectively.

[0028] The first actuator 4 and the third actuator 6 are connected in parallel and then connected to two power lines P and T. A third solenoid valve 12 is installed on the power lines P and T of the first actuator 4 and the third actuator 6. A fourth solenoid valve 13 is installed on the two oil pipelines of the fourth actuator 7 and then connected to the power lines P and T. The second actuator 5 and the fourth actuator 7 are cross-connected via two pipelines, and a third pressure sensor 14 and a fourth pressure sensor 15 are installed on the two cross-connected pipelines.

[0029] The two oil pipes of the fourth actuator 7 are connected to the power pipes P and T. The electro-hydraulic servo valve 3 is provided on the power pipes P and T connected to the two oil pipes of the fourth actuator 7 .

[0030] The first solenoid valve 8, the second solenoid valve 9, and the fourth solenoid valve 13 are all two-position, four-way solenoid valves, while the third solenoid valve 12 is a three-position, four-way solenoid valve. The first solenoid valve 8 and the second solenoid valve 9 have two positions: cross-connection and direct connection. When the first solenoid valve 8 or the second solenoid valve 9 is moved to the cross-connection position, the pipelines at the front and rear ends of the corresponding solenoid valve are cross-connected; when the first solenoid valve 8 or the second solenoid valve 9 is moved to the direct connection position, the pipelines at the front and rear ends of the corresponding solenoid valve are connected in a straight line. The fourth solenoid valve 13 has two positions: direct connection and disconnection, while the third solenoid valve 12 has three positions: direct connection, cross-connection, and disconnection. The electro-hydraulic servo valve 3 and the solenoid valve are used to control the pressure and flow of the pipeline.

[0031] The first actuator 4 and the third actuator 6 form a synchronized actuator, and the second actuator 5 and the fourth actuator 7 form a synchronized actuator. The pipeline between the first actuator 4 and the third actuator 6 forms a synchronized pipeline, and the pipeline between the second actuator 5 and the fourth actuator 7 forms a synchronized pipeline.

[0032] The specific synchronization method is that under normal conditions, that is, when the solenoid valve is not working: the oil inlet chamber of the first actuator 4 is connected to the oil inlet chamber of the third actuator 6, and the oil return chamber of the first actuator 4 is connected to the oil return chamber of the third actuator 6; the oil inlet chamber of the second actuator 5 is connected to the oil return chamber of the fourth actuator 7, and the oil return chamber of the second actuator 5 is connected to the oil inlet chamber of the fourth actuator 7.

[0033] The design of the first solenoid valve 8 and the second solenoid valve 9 can switch the connection mode of the actuator. For example, when the first solenoid valve 8 is in the cross-connection position, the oil inlet chamber of the first actuator cylinder 1 and the oil return chamber of the third actuator cylinder are connected to each other, and the oil return chamber of the first actuator cylinder 1 and the oil inlet chamber of the third actuator cylinder are connected to each other.

[0034] When multiple actuators move asynchronously due to friction or eccentric loading, the oil inlet and return chambers of the larger-displacement actuator transfer pressure medium to the oil inlet and return chambers of the smaller-displacement synchronized actuator via synchronization lines. Specifically, the pressure medium generates a load opposite to the direction of motion on the larger-displacement synchronized actuator, while the pressure medium generates a load in the same direction as the smaller-displacement synchronized actuator until both actuators reach the same displacement, achieving synchronized motion.

[0035] When a jam occurs at a certain position, the pressure installed on the synchronous pipeline increases. The pressure is collected by the pressure sensor, and the pressure sensor transmits the collected data to the main controller. The main controller can accurately determine the position and direction of the jam by analyzing the pressure changes of each synchronous pipeline. At this time, each actuator still moves synchronously under the action of the synchronous actuator, thereby providing a protection signal of excessive jamming load during the synchronous movement and before displacement jam occurs, thereby realizing the jam warning function and making protective actions or taking protective measures in advance.

[0036] Preferably, if Figure 2 Each actuator cylinder can contain two or more actuators, providing varying driving forces as needed. The oil inlet and return chambers of each actuator have the same area, ensuring the same force in both forward and reverse motion. This ensures stable coordination with other actuators even when the motion directions are opposite.

[0037] Preferably, when used for synchronizing more actuators, each solenoid valve is removed, enabling more actuators to be connected together, conveniently achieving the synchronization requirements of more actuators. Of course, solenoid valves can also be placed between each actuator to achieve high-precision control when more actuators are used.

[0038] In summary, this application achieves the synchronization of multiple actuator movements through synchronous actuators and synchronous piping. Compared to a scheme where each actuator is controlled in parallel, this avoids asynchronous movement of the actuators due to friction and other factors, and can provide a warning signal when the jamming load is excessive, potentially causing a larger malfunction. Compared to a scheme where each actuator is controlled independently, this scheme offers the advantages of simple piping and low cost, and is particularly lightweight for aviation applications, while also avoiding the risk of single-circuit loss of control associated with independent control. The solution for achieving motion synchronization is a physical method with extremely high reliability.

[0039] As another specific embodiment, a parallel multi-purpose actuator control method is also included. By switching and controlling each solenoid valve position, the deflection, translation and other functions of the two actuators at any position within the stroke range can be realized, and when realizing a single function or partial functions, some or all of the solenoid valves can be appropriately reduced.

[0040] The specific control methods are as follows:

[0041] A controller is electrically connected to four solenoid valves, four pressure sensors, and the electro-hydraulic servo valve 3. The four pressure sensors sense the pressure data on the pipelines in real time and transmit it to the controller. The controller compares the received pressure data on each pipeline with the standard pressure data to determine whether the pressure on the corresponding pipeline is too high or too low, or whether the corresponding actuator is stuck or operating normally.

[0042] At the same time, the controller can receive control instructions to adjust the position of the corresponding solenoid valve and / or electro-hydraulic servo valve 3 to achieve control of different actions.

[0043] Specifically, 1. The controller controls the first solenoid valve 8 and the second solenoid valve 9 to be located at the direct connection position, the third solenoid valve 12 moves to the direct connection position, and the fourth solenoid valve 13 moves to the disconnection position. The movement directions of the two actuators are the same, and they can achieve equal position and same direction movement.

[0044] 2. The controller controls the first solenoid valve 8 and the second solenoid valve 9 to be in the direct connection position, the third solenoid valve 12 to be moved to the disconnection position, and the fourth solenoid valve 13 to be moved to the direct connection position. The two actuators move in opposite directions, achieving equal displacement and reverse motion. Alternatively, the controller controls the first solenoid valve 8 and the second solenoid valve 9 to be in the cross position, the third solenoid valve 12 to be moved to the direct connection position, and the fourth solenoid valve 13 to be moved to the disconnection position. The two actuators move in opposite directions, achieving equal displacement and reverse motion.

[0045] 3. The controller controls the first solenoid valve 8 to be in the cross-connection position, the second solenoid valve 9 to be in the direct connection position, the third solenoid valve 12 to move to the cross-connection position, and the fourth solenoid valve 13 to move to the direct connection position. The two actuators perform large-load reverse motion, including deflection, non-forced displacement, etc.

[0046] 4. The controller controls the first solenoid valve 8 to be in the direct connection position, the second solenoid valve 9 to be in the cross connection position, the third solenoid valve 12 to move to the cross connection position, and the fourth solenoid valve 13 to move to the direct connection position. The two actuators move in the same direction with large load, including non-forced equal displacement.

[0047] 5. After the oil is cut off, the controller controls the first solenoid valve 8 and the second solenoid valve 9 to be in the direct connection position, and the third solenoid valve 12 and the fourth solenoid valve 13 to be in the disconnection position. At this time, the first actuator cylinder 1 and the second actuator cylinder 2 are in a locked state and cannot move.

[0048] 6. After the oil is cut off, the controller controls the first solenoid valve 8 to be in the cross-connection position, the second solenoid valve 9 to be in the direct connection position, and the third solenoid valve 12 and the fourth solenoid valve 13 to be in the disconnection position. At this time, the first actuator cylinder 1 and the second actuator cylinder 2 are in a state of free equal displacement and same-direction movement.

[0049] 7. After the oil is cut off, the controller controls the first solenoid valve 8 to be in the direct connection position, the second solenoid valve 9 to be in the cross connection position, and the third solenoid valve 12 and the fourth solenoid valve 13 to be in the disconnection position. At this time, the first actuator cylinder 1 and the second actuator cylinder 2 are in a state of free equal displacement and reverse movement.

[0050] 8. After the oil is cut off, the controller controls the first solenoid valve 8 to be in the direct connection position, the second solenoid valve 9 to be in the cross connection position, the third solenoid valve 12 and the fourth solenoid valve 13 to be in the direct connection position. At this time, the first actuator cylinder 1 and the second actuator cylinder 2 are in a free movement state.

[0051] By switching the solenoid valve at different positions, the deflection and translation functions at any position within the actuator stroke range can be realized using only two actuator operating components, and the requirement for locking any actuator in an unpowered state can be realized.

[0052] Finally, it should be noted that the "parallel connection" mentioned in the present invention generally refers to the way the actuator pipelines are connected, and does not limit or specifically refer to the mechanical connection method of multiple actuators in the actuator cylinder. The connection of actuators in parallel or in series is included in the protection scope of the present invention.

[0053] The drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention. Other structures may refer to conventional designs. In the absence of conflicts, the same embodiment and different embodiments of the present invention may be combined with each other.

[0054] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A parallel multi-purpose actuator, characterized in that: The invention comprises a first actuator cylinder (1), a second actuator cylinder (2), a first valve group, a second valve group and an electro-hydraulic servo valve (3); the first actuator cylinder (1) is correspondingly connected to the first valve group, the second actuator cylinder (2) is correspondingly connected to the second valve group, and the electro-hydraulic servo valve (3) is arranged at the output ends of the first valve group and the second valve group; The first actuator cylinder (1) includes a first actuator (4) and a second actuator (5); the first valve group includes a first solenoid valve (8), a second solenoid valve (9), a first pressure sensor (10) and a second pressure sensor (11); the first actuator (4) and the second actuator (5) are arranged in parallel, the outer walls of the first actuator (4) and the second actuator (5) are connected to each other as a whole, the output rods of the two are connected to each other, and the oil inlet chamber and the oil return chamber are communicated with each other, the oil inlet chamber and the oil return chamber of the first actuator (4) are A11 and A12 respectively, the oil inlet chamber and the oil return chamber of the second actuator (5) are A21 and A22 respectively, the two oil delivery pipes output from the oil inlet chamber and the oil return chamber of the first actuator (4) are connected to the first solenoid valve (8), and the first pressure sensor (10) and the second pressure sensor (11) are respectively arranged on the two oil delivery pipes output from the oil inlet chamber and the oil return chamber of the first actuator (4); The second actuator cylinder (2) includes a third actuator (6) and a fourth actuator (7); the second valve group includes a third solenoid valve (12), a fourth solenoid valve (13), a third pressure sensor (14) and a fourth pressure sensor (15); the third actuator (6) and the fourth actuator (7) are arranged in parallel, the outer walls of the third actuator (6) and the fourth actuator (7) are connected to each other as a whole, the output rods of the two are connected to each other, and the oil inlet chamber and the oil return chamber are connected to each other; the oil inlet chamber and the oil return chamber of the third actuator (6) are B11 and B12 respectively, and the oil inlet chamber and the oil return chamber of the fourth actuator (7) are B21 and B22 respectively; The first actuator (4) and the third actuator (6) form a synchronous actuator, and the second actuator (5) and the fourth actuator (7) form a synchronous actuator; the pipeline between the first actuator (4) and the third actuator (6) forms a synchronous pipeline, and the pipeline between the second actuator (5) and the fourth actuator (7) forms a synchronous pipeline.

2. The parallel multi-purpose actuator according to claim 1, characterized in that: When the solenoid valve is not working, the oil inlet chamber of the first actuator (4) and the oil inlet chamber of the third actuator (6) are interconnected, and the oil return chamber of the first actuator (4) and the oil return chamber of the third actuator (6) are interconnected; the oil inlet chamber of the second actuator (5) and the oil return chamber of the fourth actuator (7) are interconnected, and the oil return chamber of the second actuator (5) and the oil inlet chamber of the fourth actuator (7) are interconnected.

3. The parallel multi-purpose actuator according to claim 1, wherein: The first actuator (4) and the third actuator (6) are connected in parallel and are connected to two power pipelines P and T after being connected in parallel; the third solenoid valve (12) is provided on the power pipelines P and T after the first actuator (4) and the third actuator (6) are connected in parallel; the fourth solenoid valve (13) is provided on two oil pipelines of the fourth actuator (7) and is then connected to the power pipelines P and T through the oil pipelines; the second actuator (5) and the fourth actuator (7) are cross-connected through two pipelines and the third pressure sensor (14) and the fourth pressure sensor (15) are provided on the two cross-pipes; The two oil delivery pipes of the fourth actuator (7) are connected to the power pipelines P and T, and the electro-hydraulic servo valve (3) is arranged on the power pipelines P and T after being connected to the two oil delivery pipes of the fourth actuator (7).

4. The parallel multi-purpose actuator according to claim 1, wherein: The first solenoid valve (8), the second solenoid valve (9) and the fourth solenoid valve (13) are all two-position four-way solenoid valves, and the third solenoid valve (12) is a three-position four-way solenoid valve; the first solenoid valve (8) and the second solenoid valve (9) have two working positions, namely, cross-connection and direct connection; the fourth solenoid valve (13) has two working positions, namely, direct connection and disconnection, and the third solenoid valve (12) has three working positions, namely, direct connection, cross-connection and disconnection.

5. The parallel multi-purpose actuator according to claim 1, characterized in that: There are two or more actuators in each actuator cylinder.

6. The parallel multi-purpose actuator according to claim 1, wherein: The oil inlet chamber and oil return chamber of each actuator have the same area.

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