Hydraulic actuator

Abstract

The present application relates to the field of hydraulic control technology, and provides a hydraulic actuating device. The hydraulic actuating device includes a cylinder body, an interface seat, a compression valve seat, a restoring valve seat and an assembly part; the cylinder body is provided with a restoring chamber and a compression chamber; the interface seat is connected to the cylinder body and is provided with a first circulation chamber and a second circulation chamber; the compression valve seat is provided in the first circulation chamber and divides the first circulation chamber into a first chamber and a second chamber; the restoring valve seat is provided in the second circulation chamber and divides the second circulation chamber into a third chamber and a fourth chamber, the third chamber and the second chamber are arranged opposite to each other, and the fourth chamber and the first chamber are arranged opposite to each other; the assembly part is provided in the cylinder body or the interface seat, and is used to connect an accumulator or a hydraulic pump. The hydraulic actuating device provided in the present application can be applied to different connection methods and meet different damping adjustments while meeting the requirements of compact structure, ensuring that each structure does not interfere with each other and improving space utilization.

Description

Technical Field

[0001] The present application relates to the field of hydraulic control technology, and in particular to a hydraulic actuating device. Background Art

[0002] Hydraulic actuation systems are widely used in automobile suspension, construction machinery actuation mechanisms, robot motion mechanisms, etc. They mainly provide actuation force and reduce speed impact, thereby improving equipment service life and operating comfort.

[0003] In the related art, hydraulic actuation systems are usually faced with the need to be assembled in a narrow space, which places high demands on the compactness of the overall structure of the hydraulic actuation system. Therefore, in order to meet the needs of assembly in a narrow space, it is usually necessary to integrate a variety of different components on the hydraulic cylinder to form a complete hydraulic actuation system. Such a setting results in a complex structure of the hydraulic cylinder and is not conducive to spatial layout. Summary of the invention

[0004] Based on this, it is necessary to provide a hydraulic actuating device that can meet the requirements of compact structure and can also be applicable to different connection methods and meet different damping adjustments, ensuring that the various structures do not interfere with each other and improving space utilization.

[0005] A hydraulic actuating device, comprising a cylinder body, an interface seat, a compression valve seat, a restoring valve seat and an assembly portion; the cylinder body is provided with a restoring chamber and a compression chamber, the interface seat is connected to the cylinder body and is provided with a first circulation chamber and a second circulation chamber; the assembly portion is provided on the cylinder body or the interface seat, and is used to connect an accumulator or a hydraulic pump; the compression valve seat is provided on the first circulation chamber and divides the first circulation chamber into a first chamber and a second chamber, the restoring valve seat is provided on the second circulation chamber and divides the second circulation chamber into a third chamber and a fourth chamber, the third chamber and the second chamber are arranged opposite to each other, and the fourth chamber and the first chamber are arranged opposite to each other;

[0006] One of the first cavity and the second cavity is connected to the compression cavity, and the other is connected to the assembly part; one of the third cavity and the fourth cavity is connected to the recovery cavity, and the other is connected to the assembly part, so as to jointly define a first circuit; the interface seat or the cylinder body is provided with a compression external interface and a recovery external interface, which are arranged at intervals and do not interfere with each other, the compression external interface is connected to the compression cavity, and the recovery external interface is connected to the recovery cavity, so as to jointly define a second circuit; the first circuit and the second circuit are connected in parallel, and one of them is selected to be connected.

[0007] That is to say, by setting up the first circuit and the second circuit, the oil circulation between the compression chamber and the recovery chamber can be realized respectively, thereby satisfying the damping adjustment. Since the assembly part can be used to connect the accumulator or the hydraulic pump, when the first circuit is connected, it is equivalent to connecting the accumulator or the hydraulic pump to the circulating oil circuit of the compression chamber and the recovery chamber, which can not only satisfy the active hydraulic adjustment, but also satisfy the passive hydraulic adjustment. At the same time, when the second circuit is connected, the compression chamber and the recovery chamber are connected through the external oil circuit, and the external oil circuit can be provided with a hydraulic pump to satisfy the active hydraulic adjustment. That is, the hydraulic actuator can satisfy a variety of different connection methods, thereby realizing different damping adjustments; and the various connection methods do not interfere with each other. When the structure corresponding to a certain connection method fails, another connection method can be replaced in time to maintain the damping adjustment. Moreover, the setting of the interface seat is equivalent to expanding the space that can be used to install and integrate oil circuit interfaces, oil circuit structures, etc., without stacking all structures on a single cylinder body. While maintaining the size as small as possible, a variety of oil circuit interfaces and oil circuit structures can be integrated to adapt to a variety of different connection methods, and ensure that the various structures do not interfere with each other, thereby improving space utilization.

[0008] In some of the embodiments, the interface seat is provided with a compression flow channel, a connecting flow channel and a recovery flow channel, and the three do not interfere with each other; one end of the compression flow channel is connected to the compression chamber, and the other end is connected to one of the first chamber and the second chamber; one end of the recovery flow channel is connected to the recovery chamber, and the other end is connected to one of the third chamber and the fourth chamber; the other of the first chamber and the second chamber, the other of the third chamber and the fourth chamber are connected to the assembly part through the connecting flow channel.

[0009] In some embodiments, the assembly portion is provided on the cylinder body and located in the compression chamber; the projection dimension of the assembly portion along the axial direction of the cylinder body is smaller than the projection dimension of the compression chamber along the axial direction of the cylinder body, and one end of the compression flow channel is provided in the compression chamber and located on the outer peripheral side of the assembly portion.

[0010] In some embodiments, the assembly portion is provided on the cylinder body and is located on a side of the compression chamber away from the recovery chamber; a projection dimension of the assembly portion along the axial direction of the cylinder body is equal to a projection dimension of the compression chamber along the axial direction of the cylinder body.

[0011] In some embodiments, the assembly portion is provided with an assembly cavity and a through flow channel, the through flow channel is arranged through the assembly cavity and does not interfere with the energy storage cavity, the assembly cavity is communicated with the connecting flow channel, one end of the through flow channel is connected with the compression cavity, and the other end is connected with the compression flow channel.

[0012] In some of the embodiments, the compression flow channel and the recovery flow channel are both located outside the projection range of the compression chamber along the axial direction of the cylinder body; the cylinder body is provided with at least two sub-cavities which are not connected to each other and are arranged around the outer peripheral sides of the recovery chamber and the compression chamber, the recovery chamber is connected to the recovery flow channel through one of the sub-cavities, and the compression chamber is connected to the compression flow channel through another of the sub-cavities.

[0013] In some embodiments, the interface seat is provided with a recovery external interface and a compression external interface; one of the first cavity and the second cavity connected to the compression flow channel is connected to the compression external interface, and one of the third cavity and the fourth cavity connected to the recovery flow channel is connected to the recovery external interface.

[0014] In some embodiments, the cylinder body includes a working cylinder barrel and an auxiliary cylinder barrel arranged around the outside of the working cylinder barrel, with an interlayer chamber arranged therebetween, and the recovery chamber and the compression chamber are arranged in the working cylinder barrel; the working cylinder barrel is provided with a recovery port, the recovery port connects the recovery chamber and the interlayer chamber, and the interlayer chamber is connected to the second circulation chamber.

[0015] In some embodiments, the cylinder body further includes a first partition plate arranged in the interlayer cavity, the first partition plate divides the interlayer cavity into a first sub-cavity and a second sub-cavity spaced along a first direction, the first direction being arranged at an angle to the axial direction of the cylinder body; the working cylinder barrel is also provided with a compression port arranged at an interval from the recovery port, the compression port connecting the first sub-cavity and the compression cavity, and the recovery port connecting the second sub-cavity and the recovery cavity.

[0016] In some embodiments, the auxiliary cylinder is provided with a compression external interface and a recovery external interface, the compression external interface is connected to the first sub-cavity, and the recovery external interface is connected to the second sub-cavity.

[0017] In some embodiments, the working cylinder is provided with a compression external interface, and the auxiliary cylinder is provided with a recovery external interface, the compression external interface is directly connected to the compression chamber, and the recovery external interface is connected to the recovery chamber through the interlayer chamber and the recovery port.

[0018] In some embodiments, the cylinder body also includes a second partition plate arranged in the interlayer cavity, the second partition plate divides the interlayer cavity into a third sub-cavity and a fourth sub-cavity arranged at intervals along the axial direction of the cylinder body; the cylinder body also includes an outer shell arranged around the outer peripheral side of the auxiliary cylinder barrel, an outer layer flow channel is provided between the outer shell and the auxiliary cylinder barrel, and the outer layer flow channel is connected to the second flow cavity; the working cylinder barrel is also provided with a compression port arranged at intervals from the restoration port, the compression port is connected to the third sub-cavity and the compression cavity, and the restoration port is connected to the fourth sub-cavity and the restoration cavity; the auxiliary cylinder barrel is provided with an auxiliary port at the fourth sub-cavity, and the auxiliary port is connected to the fourth sub-cavity and the outer layer flow channel.

[0019] In some embodiments, the cylinder body includes a working cylinder, an auxiliary cylinder arranged around the outside of the working cylinder, and an outer shell arranged around the auxiliary cylinder; an interlayer cavity is arranged between the auxiliary cylinder and the working cylinder, and the outer shell is correspondingly provided with an outer layer flow channel, the interlayer cavity connects the compression cavity and the first circulation cavity, and the outer layer flow channel connects the recovery cavity and the second circulation cavity.

[0020] In some embodiments, the auxiliary cylinder is provided with a compression external interface, which is connected to the interlayer cavity or the third sub-cavity in the interlayer cavity, and the outer shell is provided with a recovery external interface, which is connected to the outer layer flow channel.

[0021] In some of the embodiments, the compression valve seat and the restoration valve seat are each provided with at least two basic channels arranged at intervals, a reference seal is movably provided at one end of each of the basic channels, and the basic channels of each of the reference seals are axially spaced apart; one end of one of the basic channels away from the corresponding reference seal is connected to the first cavity or the fourth cavity, and another end of the basic channel away from the corresponding reference seal is connected to the second cavity or the third cavity.

[0022] In some embodiments, the hydraulic actuating device also includes a regulating valve seat; the compression valve seat and the restoring valve seat are both provided with expansion channels, the expansion channels are arranged at intervals from each of the basic channels, and an expansion seal is movably provided on the opposite side of each of the expansion channels, and the regulating valve seat is provided on the opposite side of each of the expansion channels; each of the regulating valve seats can be close to the corresponding compression valve seat or the restoring valve seat to block the expansion channel or move away from the corresponding compression valve seat to open the expansion channel.

[0023] In some embodiments, the assembly portion is an assembly hole provided in the interface seat; or, the assembly portion is a partition baffle provided in the compression chamber, and the partition baffle and the inner wall of the cylinder body jointly define an assembly chamber;

[0024] The hydraulic actuating device further comprises an accumulator, and the accumulator is arranged in the assembly hole or the assembly cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A cross-sectional view of the hydraulic actuating device provided in Example 1 of the present application;

[0027] Figure 2 A partial cross-sectional view from another perspective of the hydraulic actuating device provided in the first embodiment of the present application;

[0028] Figure 3 A cross-sectional view of a hydraulic actuating device provided in Embodiment 2 of the present application;

[0029] Figure 4 A cross-sectional view of a hydraulic actuating device provided in Embodiment 3 of the present application;

[0030] Figure 5 A cross-sectional view of a hydraulic actuating device provided in Embodiment 4 of the present application;

[0031] Figure 6 A cross-sectional view of a hydraulic actuating device provided in Embodiment 5 of the present application;

[0032] Figure 7 A cross-sectional view of a hydraulic actuating device provided in Embodiment 6 of the present application;

[0033] Figure 8 A partial cross-sectional view from another perspective of the hydraulic actuating device provided in Embodiment 6 of the present application;

[0034] Fig. 9 A cross-sectional view of a hydraulic actuating device provided in Embodiment 7 of the present application;

[0035] Fig.10 A cross-sectional view of a hydraulic actuating device provided in Embodiment 8 of the present application;

[0036] Fig.11 This is a cross-sectional view of the hydraulic actuating device provided in Example 9 of the present application.

[0037] Figure numerals: 10, cylinder body; 11, working cylinder; 12, auxiliary cylinder; 13, shell; 14, end cover; 15, first partition; 16, second partition; 20, interface seat; 30, compression valve seat; 31, first basic seal; 32, second basic seal; 33, compression regulating valve seat; 34, compression expansion seal; 40, recovery valve seat; 41, third basic seal; 42, fourth basic seal; 43, recovery regulating valve seat; 44, recovery expansion seal; 50, assembly part; 51, partition baffle; 61, recovery external interface; 62, compression external interface; 101, recovery chamber; 102, compression chamber; 103, interlayer chamber; 104, outer flow channel; 105, auxiliary flow channel; 201, first flow chamber; 203, compression flow channel; 204 , connecting flow channel; 205, restoration flow channel; 202, second circulation cavity; 301, first basic channel; 302, second basic channel; 303, compression and expansion channel; 304, compression gap; 401, third basic channel; 402, fourth basic channel; 403, restoration and expansion channel; 404, restoration gap; 501, assembly hole; 502, assembly cavity; 503, through flow channel; 1031, first sub-cavity; 1032, second sub-cavity; 1033, third sub-cavity; 1034, fourth sub-cavity; 1101, restoration port; 1102, compression port; 1201, auxiliary port; 111, piston; 112, piston rod; 2011, first cavity; 2012, second cavity; 2021, third cavity; 2022, fourth cavity. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0039] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0043] Embodiment 1

[0044] See also Figure 1 and Figure 2 The present embodiment provides a hydraulic actuating device, including a cylinder body 10, an interface seat 20, a compression valve seat 30, a restoring valve seat 40 and an assembly portion 50. The cylinder body 10 is provided with a restoring chamber 101 and a compression chamber 102. The interface seat 20 is connected to the cylinder body 10 and is provided with a first circulation chamber 201 and a second circulation chamber 202. The interface seat 20 is connected to an end of the cylinder body 10 close to the compression chamber 102. The compression valve seat 30 is provided in the first circulation chamber 201 and divides the first circulation chamber 201 into a first chamber 2011 and a second chamber 2012. The restoring valve seat 40 is provided in the second circulation chamber 202 and divides the second circulation chamber 202 into a third chamber 2021 and a fourth chamber 2022. The first cavity 2011 and the third cavity 2021 are arranged opposite to each other, that is, they are arranged on the side opposite to the compression valve seat 30 and the restoring valve seat 40; and the fourth cavity 2022 and the first cavity 2011 are arranged opposite to each other, that is, they are arranged on the side opposite to the compression valve seat 30 and the restoring valve seat 40. The assembly portion 50 is arranged on the cylinder body 10 or the interface seat 20, and is used to connect the accumulator or the hydraulic pump.

[0045] In actual use, one of the first cavity 2011 and the second cavity 2012 is connected to the compression chamber 102, and the other is connected to the assembly part 50, and one of the third cavity 2021 and the fourth cavity 2022 is connected to the recovery chamber 101, and the other is connected to the assembly part 50, so as to define a first circuit together. For example, the first cavity 2011 is connected to the compression chamber 102, the second cavity 2012 is connected to the assembly part 50, the third cavity 2021 is connected to the assembly part 50, and the fourth cavity 2022 is connected to the recovery chamber 101, then the compression chamber 102, the first cavity 2011, the second cavity 2012, the assembly part 50, the third cavity 2021, the fourth cavity 2022 and the recovery chamber 101 are connected to form a first circuit for oil circulation in the compression chamber 102 and the recovery chamber 101 to adjust the damping.

[0046] At the same time, the interface seat 20 or the cylinder body 10 is provided with a compression external interface 62 and a recovery external interface 61, which are arranged at intervals and do not interfere with each other. The compression external interface 62 is connected to the compression chamber 102, and the recovery external interface 61 is connected to the recovery chamber 101, so as to jointly define a second circuit. In other words, the compression external interface 62 and the recovery external interface 61 are used to connect the external oil circuit so that the external oil circuit is connected to the compression chamber 102 and the recovery chamber 101, and then used for the oil circulation in the compression chamber 102 and the recovery chamber 101 to perform damping adjustment.

[0047] The first circuit and the second circuit are arranged in parallel, and one of them is connected. That is, when the first circuit is connected, the second circuit is in a disconnected state; conversely, when the second circuit is connected, the first circuit is in a disconnected state.

[0048] That is to say, the hydraulic actuating device provided in this embodiment can form a first circuit and a second circuit to respectively realize the oil circulation between the compression chamber 102 and the recovery chamber 101, thereby satisfying the damping adjustment. Since the assembly portion 50 can be used to connect the accumulator or the hydraulic pump, when the first circuit is connected, it is equivalent to connecting the accumulator or the hydraulic pump to the circulating oil circuit of the compression chamber 102 and the recovery chamber 101, so as to use the accumulator or the hydraulic pump to act on the oil circulation, which can not only satisfy the active hydraulic adjustment, but also satisfy the passive hydraulic adjustment. At the same time, when the second circuit is connected, the compression chamber 102 and the recovery chamber 101 are connected through the external oil circuit, and the external oil circuit can be provided with a hydraulic pump to satisfy the active hydraulic adjustment; of course, the external oil circuit can also be provided with no power drive components such as a hydraulic pump to satisfy the passive hydraulic adjustment. At the same time, the compression valve seat 30 can be provided with a compression valve system, and the recovery valve seat 40 can be provided with a recovery valve system, which is equivalent to installing the compression valve system and the recovery valve system in an integrated manner on the interface seat 20, and then connecting the interface seat 20 with the cylinder body 10 to form an integral structure; and, by using the setting of the assembly portion 50, the accumulator or hydraulic pump is connected, and then the accumulator or hydraulic pump is also connected with the aforementioned interface seat 20 and the cylinder body 10 to form an integral structure. In this way, the hydraulic actuating device can be installed as an integral structure at the corresponding target position.

[0049] In summary, the hydraulic actuating device provided in this embodiment can satisfy a variety of different connection methods, thereby achieving different damping adjustments; and the various connection methods do not interfere with each other. When a structure corresponding to a certain connection method fails, another connection method can be replaced in time to maintain damping adjustment. Moreover, the setting of the interface seat 20 is equivalent to expanding the space that can be used to install and integrate oil circuit interfaces, oil circuit structures, etc., without the need to stack all structures on a single cylinder body 10. On the basis of maintaining the size as small as possible, a variety of oil circuit interfaces and oil circuit structures are integrated to adapt to a variety of different connection methods.

[0050] Please continue reading Figure 1 and Figure 2 Further, the compression valve seat 30 and the restoring valve seat 40 are each provided with at least two basic channels arranged at intervals, and a reference seal is movably provided at one end of each basic channel, and each reference seal is arranged at intervals along the axial direction of the basic channel. One end of one basic channel away from the corresponding reference seal is connected to the first cavity 2011 or the fourth cavity 2022, and the other end of the basic channel away from the corresponding reference seal is connected to the second cavity 2012 or the third cavity 2021.

[0051] In which, taking the compression valve seat 30 corresponding to two basic channels as an example, the two basic channels are arranged at intervals, namely the first basic channel 301 and the second basic channel 302, the first basic channel 301 corresponds to the first basic seal 31, and the second basic channel 302 corresponds to the second basic seal 32. The first cavity 2011 is located on the left side of the compression valve seat 30, and the second cavity 2012 is located on the right side of the compression valve seat 30. The left side of the first basic channel 301 is connected with the first cavity 2011, and the right side is movably provided with the first basic seal 31, and the first basic seal 31 can be opened under the action of the fluid flowing from left to right in the first basic channel 301; and the right side of the second basic channel 302 is connected with the second cavity 2012, and the left side is movably provided with the second basic seal 32, and the second basic seal 32 can be opened under the action of the fluid flowing from right to left in the second basic channel 302.

[0052] The restoration valve seat 40 corresponds to the third basic channel 401, the third basic seal 41, the fourth basic channel 402, and the fourth basic seal 42. The third cavity 2021 is located on the left side of the restoration valve seat 40, and the fourth cavity 2022 is located on the right side of the restoration valve seat 40. The third basic seal 41 is movably provided on the left side of the third basic channel 401, and the right side is connected with the fourth cavity 2022. The third basic seal 41 is opened by the fluid flowing from right to left in the third basic channel 401. The left side of the fourth basic channel 402 is connected with the third cavity 2021, and the right side is movably provided with the fourth basic seal 42. The fourth basic seal 42 is opened by the fluid flowing from left to right in the fourth basic channel 402.

[0053] Taking the first circuit as an example, the oil in the compression chamber 102 flows to the first chamber 2011 under the squeezing action of the piston 111, flows along the first basic channel 301 and pushes the first basic seal 31 to open, and then flows to the second chamber 2012, flows to the third chamber 2021 through the assembly part 50, and flows along the fourth basic channel 402, and then pushes the fourth basic seal 42 to open to flow to the fourth chamber 2022, thereby flowing from the fourth chamber 2022 to the recovery chamber 101. When the assembly part 50 is connected to an accumulator or a hydraulic pump to adjust the damping, the oil can flow to the second cavity 2012, flow along the second basic channel 302 and push the second basic seal 32 to open, and then flow to the first cavity 2011, and flow from the first cavity 2011 to the compression cavity 102 to push the piston 111 to move toward the recovery cavity 101, and then squeeze the oil in the recovery cavity 101 to flow out to the fourth cavity 2022, flow along the third basic channel 401 and push the third basic seal 41 to open, and then flow to the third cavity 2021, and flow from the third cavity 2021 to the assembly part 50.

[0054] Furthermore, the compression valve seat 30 and the recovery valve seat 40 are both provided with expansion channels, which are arranged at intervals from each basic channel, and expansion seals are movably provided on opposite sides of the two expansion channels. The hydraulic actuator also includes an adjustment valve seat, and an adjustment valve seat is provided on the opposite side of each expansion channel.

[0055] As for the compression valve seat 30, the corresponding compression expansion channel 303, the compression regulating valve seat 33 and the compression expansion seal 34. The compression regulating valve seat 33 is movably provided on the left side of the compression expansion channel 303, and the compression expansion seal 34 is movably provided on the right side. When it is suitable for large damping adjustment and the flow rate needs to be increased, the compression regulating valve seat 33 moves to the left relative to the compression valve seat 30 to move away, prompting the left side of the compression expansion channel 303 to open, and the oil in the first cavity 2011 flows along the compression expansion channel 303 and pushes the compression expansion seal 34 to open, so as to flow into the second cavity 2012. When it is suitable for small damping adjustment and the flow rate needs to be reduced, the compression regulating valve seat 33 moves to the right relative to the compression valve seat 30 to move closer, prompting the left side of the compression expansion channel 303 to be blocked.

[0056] As for the restoration valve seat 40, the corresponding restoration expansion channel 403, the restoration regulating valve seat 43 and the restoration expansion seal 44. The restoration expansion seal 44 is movably provided on the left side of the restoration expansion channel 403, and the restoration regulating valve seat 43 is movably provided on the right side. The restoration regulating valve seat 43 moves to the right to open the right side of the restoration expansion channel 403, and the oil in the fourth cavity 2022 flows to the restoration expansion channel 403 and pushes the restoration expansion seal 44 to open, and then flows to the third cavity 2021. The restoration regulating valve seat 43 moves to the left to block the right side of the restoration expansion channel 403.

[0057] Among them, the restoration regulating valve seat 43 and the compression regulating valve seat 33 can both be electromagnetically driven. At the same time, each of the aforementioned basic seals and each of the expansion seals can use a valve sheet with an elastic element, thereby promoting unidirectional flow in the corresponding basic channel and expansion channel. The compression valve seat 30 and the restoration valve seat 40 are both provided with valve holes, which are conducive to the penetration of the valve shafts corresponding to the compression regulating valve seat 33 and the restoration regulating valve seat 43, respectively, so as to guide the movement of the compression regulating valve seat 33 and the restoration regulating valve seat 43.

[0058] In some specific embodiments, with respect to the compression valve seat 30 , the valve hole, the expansion channel, the second basic channel 302 and the first basic channel 301 are all arranged in a circular ring shape, and their diameters are arranged in sequence from small to large and from inside to outside.

[0059] Furthermore, a first mounting seat is installed in the first circulation cavity 201 for mounting the compression valve seat 30, and a second mounting seat is installed in the second circulation cavity 202 for mounting the recovery valve seat 40. The opposite ends of the second cavity 2012 and the third cavity 2021 are both provided with tapered holes, and the maximum size of the tapered holes is smaller than the diameter of the first mounting seat or the second mounting seat, so as to ensure that there is sufficient contact area between the compression valve seat 30 and the first mounting seat, and between the recovery valve seat 40 and the second mounting seat, thereby reducing the risk of damage or jamming due to pressure during assembly.

[0060] Please continue reading Figure 1 and Figure 2 Optionally, the interface seat 20 is provided with a compression flow channel 203, a communication flow channel 204 and a recovery flow channel 205, which do not interfere with each other. One end of the compression flow channel 203 is connected to the compression chamber 102, and the other end is connected to the first cavity 2011; and one end of the recovery flow channel 205 is connected to the recovery chamber 101, and the other end is connected to the fourth cavity 2022. The second cavity 2012 and the third cavity 2021 are both connected to the communication flow channel 204, and are respectively arranged at both ends of the communication flow channel 204. The communication flow channel 204 is connected to the assembly part 50, and specifically, the communication flow channel 204 is connected to the accumulator or hydraulic pump connected to the assembly part 50.

[0061] It can be understood that by providing the compression channel 203, the connecting channel 204 and the recovery channel 205 on the interface seat 20, the compression chamber 102, the assembly portion 50 and the recovery chamber 101 are connected, and no other external pipes for connection are required, which not only simplifies the structure, but also improves the compactness of the structure and reduces the overall size. Among them, the compression channel 203, the connecting channel 204 and the recovery channel 205 are all openings opened on the interface seat 20, which is easy to manufacture. The compression channel 203 can be set at an angle to reduce the flow path.

[0062] Furthermore, the assembly portion 50 is provided on the interface seat 20 and is provided in the form of an assembly hole 501, and the assembly hole 501 is communicated with the connecting flow channel 204. Specifically, the interface seat 20 is provided with an assembly protrusion along the axial direction of the assembly hole 501, and the assembly hole 501 penetrates the assembly protrusion, so as to facilitate the connection of the accumulator or hydraulic pump to the interface seat 20 through a pipe joint, a pipe flange, etc., thereby promoting the accumulator or hydraulic pump to communicate with the connecting flow channel 204. At this time, the accumulator or hydraulic pump connected through the assembly hole 501 is equivalent to an external accumulator and hydraulic pump. The assembly protrusion is provided with a first screw hole on the outer peripheral side of the assembly hole 501, which is convenient for screwing the pipe joint of the accumulator or hydraulic pump. Among them, the assembly hole 501 is communicated with the front end of the aforementioned tapered hole, and sufficient flow area is guaranteed.

[0063] Please continue reading Figure 1 and Figure 2In this embodiment, the cylinder body 10 includes a working cylinder barrel 11 and an auxiliary cylinder barrel 12 arranged around the outside of the working cylinder barrel 11, and an interlayer cavity 103 is arranged between the two. The recovery cavity 101 and the compression cavity 102 are arranged in the working cylinder barrel 11, and the working cylinder barrel 11 is provided with a recovery port 1101, and the recovery port 1101 connects the recovery cavity 101 and the interlayer cavity 103, and the recovery cavity 101 is connected to the fourth cavity 2022 of the second circulation cavity 202 through the interlayer cavity 103. It can be understood that, it is precisely because the interface seat 20 is arranged at one end close to the compression cavity 102, which makes the second circulation cavity 202 on the interface seat 20 relatively far from the recovery cavity 101, so by using the setting of the auxiliary cylinder barrel 12, the interlayer cavity 103 arranged around the outer peripheral side of the recovery cavity 101 and the compression cavity 102 can be formed, thereby realizing the connection between the recovery cavity 101 and the fourth cavity 2022. The working cylinder 11 is provided with a piston 111, and the piston 111 is connected to a piston rod 112, and one end of the piston rod 112 away from the piston 111 extends out of the cylinder body 10 to connect to a load. The piston 111 divides the cavity of the working cylinder 11 into a recovery cavity 101 and a compression cavity 102.

[0064] The cylinder body 10 further includes an end cover 14, which is sealed at one end away from the interface seat 20 and connected to the working cylinder 11 and the auxiliary cylinder 12. The end cover 14 is provided with a piston hole for the piston rod 112 to pass through, and an oil seal is provided between the hole wall of the piston 111 hole and the piston rod 112 to ensure sealing.

[0065] Please continue reading Figure 1 and Figure 2 Further, the aforementioned recovery external interface 61 and compression external interface 62 are both arranged on the interface seat 20, which is convenient for being arranged on both sides of the cylinder body 10 along the first direction. The first direction is arranged at an angle with the axial direction of the cylinder body 10. For example, the axial direction of the cylinder body 10 is along the vertical direction, and the first direction is along the horizontal direction, such as the horizontal left and right direction. The compression external interface 62 is connected to the first cavity 2011, and the recovery external interface 61 is connected to the fourth cavity 2022. In other words, the compression external interface 62 is connected to the one of the first cavity 2011 and the second cavity 2012 that is connected to the compression chamber 102, which is equivalent to the one that is not connected to the assembly part 50; and the recovery external interface 61 is connected to the one of the third cavity 2021 and the fourth cavity 2022 that is connected to the recovery chamber 101, which is equivalent to the one that is not connected to the assembly part 50. Such an arrangement ensures that the recovery external connection interface 61 and the compression external connection interface 62 can be directly connected to the recovery chamber 101 and the compression chamber 102, so that the second circuit corresponding to the external oil circuit can be arranged in parallel with the first circuit corresponding to the connection assembly part 50.

[0066] The interface seat 20 is provided with assembly protrusions at both the recovery external connection interface 61 and the compression external connection interface 62 , and is provided with screw holes to facilitate connection and fixation.

[0067] Furthermore, a first groove is provided on the outer circumference of the compression valve seat 30 to form an annular compression gap 304 with the cavity wall of the first circulation cavity 201, and the compression gap 304 communicates with the compression flow channel 203 and the first cavity 2011 to shorten the flow path between the compression cavity 102 and the first cavity 2011. At the same time, a second groove is provided on the outer circumference of the restoration valve seat 40 to form an annular restoration gap 404 with the cavity wall of the second circulation cavity 202, and the restoration gap 404 communicates with the restoration flow channel 205 and the fourth cavity 2022 to shorten the flow path between the restoration cavity 101 and the fourth cavity 2022.

[0068] Embodiment 2

[0069] See also Figure 3 The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in the first embodiment is that the assembly portion 50 is arranged on the cylinder body 10 and is located in the compression chamber 102. At this time, the assembly portion 50 is a partition baffle 51 arranged in the compression chamber 102, and the partition baffle 51 is connected to the working cylinder barrel 11, and is jointly surrounded with the inner cylinder wall of the working cylinder barrel to form an assembly chamber 502. The hydraulic actuating device also includes an accumulator, which is arranged in the assembly chamber 502. Through such a setting, it is equivalent to integrating the accumulator on the cylinder body 10, and then communicating with the accumulator through the connecting flow channel 204 on the interface seat 20, which can be used for passive damping adjustment of the cylinder body 10.

[0070] In some embodiments, the projection size of the assembly portion 50 along the axial direction of the cylinder body 10 is smaller than the projection size of the compression chamber 102 along the axial direction of the cylinder body 10, and one end of the compression channel 203 is arranged in the compression chamber 102 and located at the outer peripheral side of the assembly portion 50. Such an arrangement enables the oil in the compression chamber 102 to be filled on the outer peripheral side of the assembly portion 50, and then communicated with the first chamber 2011 through the compression channel 203.

[0071] Embodiment 3

[0072] See also Figure 4The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in the second embodiment is that the assembly part 50 is arranged on the cylinder body 10 and is located on the side of the compression chamber 102 away from the recovery chamber 101, and the projection size of the assembly part 50 along the axial direction of the cylinder body 10 is equal to the projection size of the compression chamber 102 along the axial direction of the cylinder body 10. At this time, the assembly part 50 is provided with an assembly chamber 502 for installing the energy storage chamber and a through flow channel 503, the through flow channel 503 is penetrated in the assembly chamber 502 and does not interfere with the assembly chamber 502, the assembly chamber 502 is connected with the connecting flow channel 204, one end of the through flow channel 503 is connected with the compression chamber 102, and the other end is connected with the compression flow channel 203. The accumulator is installed in the assembly chamber 502, and the assembly part 50 can be installed with an energy storage structure to form an accumulator. The assembly portion 50 at least includes a partition baffle 51 , which is connected to the working cylinder 11 to separate the compression chamber 102 and the aforementioned assembly chamber 502 . The through-flow channel 503 is arranged to penetrate the partition baffle 51 to facilitate communication with the compression chamber 102 .

[0073] Embodiment 4

[0074] See also Figure 5 The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in the first embodiment is that the assembly portion 50 is arranged on the interface seat 20 and is provided with an assembly cavity 502, and the accumulator is installed in the assembly cavity 502, or the assembly portion 50 is formed by installing an energy storage structure to form an accumulator. Such a setting is equivalent to integrating the accumulator into the interface seat 20, without the need to provide an assembly hole 501 and a corresponding assembly protrusion on the interface seat 20, that is, the interface seat 20 has a built-in accumulator, thereby reducing the overall size of the hydraulic actuating device. Among them, the assembly cavity 502 and the connecting flow channel 204 are integrally formed and directly connected to the second cavity 2012 and the third cavity 2021. In this way, the structure is further simplified and easy to manufacture.

[0075] Embodiment 5

[0076] See also Figure 6 The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in the first embodiment is that the assembly chamber 502 is connected to the first chamber 2011 and the fourth chamber 2022 through the connecting channel 204. At this time, the compression chamber 102 is connected to the second chamber 2012 through the compression channel 203, and the compression external interface 62 is directly connected to the second chamber 2012; and the recovery chamber 101 is connected to the third chamber 2021 through the recovery port 1101, the interlayer chamber 103 and the recovery channel 205, and the recovery external interface 61 is directly connected to the third chamber 2021.

[0077] Embodiment 6

[0078] See also Figure 7 and Figure 8The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in the fifth embodiment is that the recovery external connection interface 61 and the compression external connection interface 62 are both provided in the cylinder body 10, specifically, both are provided in the auxiliary cylinder barrel 12 in the cylinder body 10; and the assembly portion 50 is also provided in the cylinder body 10 and is located on the side of the compression chamber 102 away from the recovery chamber 101. At this time, the cylinder body 10 further includes a first partition plate 15 provided in the interlayer chamber 103, and the first partition plate 15 divides the interlayer chamber 103 into a first sub-chamber 1031 and a second sub-chamber 1032 spaced apart along a first direction. The working cylinder barrel 11 is also provided with a compression port 1102, which is arranged at intervals from the recovery port 1101 and connects the first sub-chamber 1031 and the compression chamber 102, and the recovery port 1101 connects the second sub-chamber 1032 and the recovery chamber 101. The restoration external connection interface 61 is connected to the second sub-cavity 1032, and the compression external connection interface 62 is connected to the first sub-cavity 1031. Since the projection size of the interface seat 20 along the axial direction of the cylinder body 10 is larger than the projection size of the cylinder body 10 itself, the outer peripheral side of the cylinder body 10 has sufficient assembly space, so the compression external connection interface 62 and the restoration external connection interface 61 are integrated on the cylinder body 10 to make full use of this space and reduce assembly interference with other structures.

[0079] It should be noted that, due to the arrangement of the compression port 1102 and the first partition 15, the connection between the compression chamber 102 and the second cavity 2012 can be satisfied, so the assembly portion 50 does not need to be provided with a through flow channel 503. The assembly chamber 502 formed by the assembly portion 50 is connected to the connecting flow channel 204. At this time, the connecting flow channel 204 includes a first section and a second section, which are connected and arranged at an angle, for example, vertically. The first section is connected to the middle of the second section or a position close to the middle. The length of the first section is along the vertical direction, the length of the second section is along the horizontal direction, and the two ends of the second section extend upward in the vertical direction to communicate with the first cavity 2011 and the fourth cavity 2022.

[0080] Embodiment 7

[0081] See also Fig. 9 The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in Example 6 is that the recovery external connection interface 61 is arranged on the auxiliary cylinder 12 and communicated with the interlayer cavity 103, and the compression external connection interface 62 is arranged on the working cylinder 11 and directly communicated with the compression cavity 102; and, the assembly part 50 is arranged in the compression cavity 102, and the projection size of the assembly part 50 along the axial direction of the cylinder body 10 is smaller than the projection size of the compression cavity 102 along the axial direction of the cylinder body 10.

[0082] That is to say, precisely because the restoration external connection interface 61 and the compression external connection interface 62 are respectively arranged on the auxiliary cylinder 12 and the working cylinder 11, the two external connection interfaces can be isolated, thereby ensuring that the connections with the restoration chamber 101 and the compression chamber 102 do not interfere with each other.

[0083] Embodiment 8

[0084] See also Fig.10 The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in the sixth embodiment is that the cylinder body 10 further includes a shell 13 arranged around the outer peripheral side of the auxiliary cylinder barrel 12, and an outer layer flow channel 104 is provided between the shell 13 and the auxiliary cylinder barrel 12; and the cylinder body 10 further includes a second partition 16 arranged in the interlayer cavity 103, and the second partition 16 divides the interlayer cavity 103 into a third sub-cavity 1033 and a fourth sub-cavity 1034 arranged at intervals in the vertical direction. The working cylinder barrel 11 is provided with a recovery port 1101 connecting the third sub-cavity 1033 and the recovery cavity 101, and a compression port 1102 connecting the fourth sub-cavity 1034 and the compression cavity 102, and the auxiliary cylinder barrel 12 is provided with an auxiliary port 1201 connecting the third sub-cavity 1033 and the outer layer flow channel 104. The compression external connection interface 62 is disposed on the auxiliary cylinder 12 and penetrates the housing 13 , and the recovery external connection interface 61 is disposed on the housing 13 .

[0085] In this way, the compression chamber 102 is connected to the second chamber 2012 through the compression port 1102, the fourth sub-chamber 1034 and the compression channel 203, and the recovery chamber 101 is connected to the third chamber 2021 through the recovery port 1101, the third sub-chamber 1033, the auxiliary port 1201, the outer channel 104 and the recovery channel 205. Such an arrangement can also realize the communication between the compression external interface 62 and the compression chamber 102, and the communication between the recovery external interface 61 and the recovery chamber 101 without interfering with each other.

[0086] The assembly portion 50 is disposed on the cylinder body 10 and is located at a side of the compression chamber 102 away from the recovery chamber 101 .

[0087] Embodiment 9

[0088] See also Fig.11 The difference between the hydraulic actuating device in this embodiment and the hydraulic actuating device in the eighth embodiment is that the dimension of the auxiliary cylinder 12 in the vertical direction is smaller than the dimension of the working cylinder 11 in the vertical direction, so that part of the shell 13 is directly opposite to the working cylinder 11, and this part of the space can be called the auxiliary flow channel 105, and the auxiliary flow channel 105 is not connected with the interlayer cavity 103. The interlayer cavity 103 between the auxiliary cylinder 12 and the working cylinder 11 is connected with the compression cavity 102 through the compression port 1102, and the auxiliary flow channel 105 is connected with the restoration cavity 101 through the restoration port 1101. At this time, the compression external connection interface 62 is provided on the auxiliary cylinder 12 and penetrates the shell 13, and the restoration external connection interface 61 is provided on the shell 13.

[0089] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A hydraulic actuating device, characterized in that: It comprises a cylinder body (10), an interface seat (20), a compression valve seat (30), a recovery valve seat (40) and an assembly portion (50); The cylinder body (10) is provided with a recovery chamber (101) and a compression chamber (102); the interface seat (20) is connected to the cylinder body (10) and is provided with a first circulation chamber (201) and a second circulation chamber (202); the assembly portion (50) is provided on the cylinder body (10) or the interface seat (20) and is used to connect an accumulator or a hydraulic pump; The compression valve seat (30) is arranged in the first circulation chamber (201) and divides the first circulation chamber (201) into a first cavity (2011) and a second cavity (2012); the recovery valve seat (40) is arranged in the second circulation chamber (202) and divides the second circulation chamber (202) into a third cavity (2021) and a fourth cavity (2022); the third cavity (2021) and the second cavity (2012) are arranged opposite to each other, and the fourth cavity (2022) and the first cavity (2011) are arranged opposite to each other; One of the first cavity (2011) and the second cavity (2012) is connected to the compression cavity (102), and the other is connected to the assembly part (50); one of the third cavity (2021) and the fourth cavity (2022) is connected to the recovery cavity (101), and the other is connected to the assembly part (50), so as to jointly define a first circuit; the interface seat (20) or the cylinder body (10) is provided with a compression external connection interface (62) and a recovery external connection interface (61), which are arranged at intervals and do not interfere with each other; the compression external connection interface (62) is connected to the compression cavity (102), and the recovery external connection interface (61) is connected to the recovery cavity (101), so as to jointly define a second circuit; the first circuit and the second circuit are connected in parallel, and one of them is selectively connected.

2. The hydraulic actuating device according to claim 1, characterized in that: The interface seat (20) is provided with a compression flow channel (203), a communication flow channel (204) and a recovery flow channel (205), and the three do not interfere with each other; One end of the compression flow channel (203) is connected to the compression chamber (102), and the other end is connected to one of the first chamber (2011) and the second chamber (212); one end of the recovery flow channel (205) is connected to the recovery chamber (101), and the other end is connected to one of the third chamber (2021) and the fourth chamber (2022); The other of the first cavity (2011) and the second cavity (2012), and the other of the third cavity (2021) and the fourth cavity (2022) are connected to the assembly portion (50) via the connecting flow channel (204).

3. The hydraulic actuating device according to claim 2, characterized in that: The assembly portion (50) is provided on the cylinder body (10) and is located in the compression chamber (102); The projection dimension of the assembly portion (50) along the axial direction of the cylinder body (10) is smaller than the projection dimension of the compression chamber (102) along the axial direction of the cylinder body (10), and one end of the compression flow channel (203) is arranged in the compression chamber (102) and is located on the outer peripheral side of the assembly portion (50).

4. The hydraulic actuating device according to claim 2, characterized in that: The assembly portion (50) is provided on the cylinder body (10) and is located on a side of the compression chamber (102) away from the recovery chamber (101); The projection dimension of the assembly portion (50) along the axial direction of the cylinder body (10) is equal to the projection dimension of the compression chamber (102) along the axial direction of the cylinder body (10).

5. The hydraulic actuating device according to claim 4, characterized in that: The assembly portion (50) is provided with an assembly cavity (502) and a through-flow channel (503); the through-flow channel (503) is arranged to penetrate the assembly cavity (502) and does not interfere with the assembly cavity (502); the assembly cavity (502) is connected to the connecting flow channel (204); one end of the through-flow channel (503) is connected to the compression cavity (102), and the other end is connected to the compression flow channel (203).

6. The hydraulic actuating device according to claim 4, characterized in that: The compression flow channel (203) and the recovery flow channel (205) are both located outside the projection range of the compression chamber (102) along the axial direction of the cylinder body (10); The cylinder body (10) is provided with at least two sub-cavities which are not connected to each other and are arranged on the outer peripheral sides of the recovery chamber (101) and the compression chamber (102); the recovery chamber (101) is connected to the recovery flow channel (205) through one of the sub-cavities, and the compression chamber (102) is connected to the compression flow channel (203) through another of the sub-cavities.

7. The hydraulic actuating device according to claim 2, characterized in that: The interface seat (20) is provided with a recovery external connection interface (61) and a compression external connection interface (62); One of the first cavity (2011) and the second cavity (2012) that is connected to the compression flow channel (203) is connected to the compression external connection interface (62), and one of the third cavity (2021) and the fourth cavity (2022) that is connected to the recovery flow channel (205) is connected to the recovery external connection interface (61).

8. The hydraulic actuating device according to claim 1, characterized in that: The cylinder body (10) comprises a working cylinder barrel (11) and an auxiliary cylinder barrel (12) arranged around the outside of the working cylinder barrel (11), an interlayer chamber (103) is provided between the two, and the recovery chamber (101) and the compression chamber (102) are provided in the working cylinder barrel (11); The working cylinder barrel (11) is provided with a recovery port (1101), the recovery port (1101) is in communication with the recovery chamber (101) and the interlayer chamber (103), and the interlayer chamber (103) is in communication with the second circulation chamber (202).

9. The hydraulic actuating device according to claim 8, characterized in that: The cylinder body (10) further comprises a first partition plate (15) provided in the interlayer cavity (103), wherein the first partition plate (15) divides the interlayer cavity (103) into a first sub-cavity (1031) and a second sub-cavity (1032) spaced apart along a first direction, wherein the first direction is arranged at an angle to the axial direction of the cylinder body (10); The working cylinder barrel (11) is also provided with a compression port (1102) spaced apart from the restoration port (1101); the compression port (1102) is connected to the first sub-cavity (1031) and the compression chamber (102); and the restoration port (1101) is connected to the second sub-cavity (1032) and the restoration chamber (101).

10. The hydraulic actuating device according to claim 9, characterized in that: The auxiliary cylinder (12) is provided with a compression external connection interface (62) and a recovery external connection interface (61), the compression external connection interface (62) being connected to the first sub-cavity (1031), and the recovery external connection interface (61) being connected to the second sub-cavity (1032).

11. The hydraulic actuating device according to claim 8, characterized in that: The working cylinder (11) is provided with a compression external connection interface (62), and the auxiliary cylinder (12) is provided with a recovery external connection interface (61); the compression external connection interface (62) is directly connected to the compression chamber (102), and the recovery external connection interface (61) is connected to the recovery chamber (101) via the interlayer chamber (103) and the recovery port (1101).

12. The hydraulic actuating device according to claim 8, characterized in that: The cylinder body (10) further comprises a second partition plate (16) provided in the interlayer cavity (103), wherein the second partition plate (16) divides the interlayer cavity (103) into a third sub-cavity (1033) and a fourth sub-cavity (1034) which are arranged at intervals along the axial direction of the cylinder body (10); The cylinder body (10) further comprises an outer shell (13) arranged around the outer circumference of the auxiliary cylinder barrel (12), an outer layer flow channel (104) being arranged between the outer shell (13) and the auxiliary cylinder barrel (12), the outer layer flow channel (104) being in communication with the second flow chamber (202); The working cylinder barrel (11) is further provided with a compression port (1102) spaced apart from the restoration port (1101); the compression port (1102) is in communication with the fourth sub-cavity (1034) and the compression chamber (102); and the restoration port (1101) is in communication with the third sub-cavity (1033) and the restoration chamber (101); The auxiliary cylinder (12) is provided with an auxiliary port (1201), and the auxiliary port (1201) is in communication with the third sub-cavity (1033) and the outer layer flow channel (104).

13. The hydraulic actuating device according to claim 1, characterized in that: The cylinder body (10) comprises a working cylinder barrel (11), an auxiliary cylinder barrel (12) arranged around the outside of the working cylinder barrel (11), and an outer shell (13) arranged around the auxiliary cylinder barrel (12); An interlayer cavity (103) is provided between the auxiliary cylinder (12) and the working cylinder (11), and the outer shell (13) is correspondingly provided with an outer layer flow channel (104); the interlayer cavity (103) is connected to the compression cavity (102) and the first circulation cavity (201), and the outer layer flow channel (104) is connected to the recovery cavity (101) and the second circulation cavity (202).

14. The hydraulic actuating device according to claim 12 or claim 13, characterized in that: The auxiliary cylinder (12) is provided with a compression external connection interface (62), the compression external connection interface (62) is connected to the interlayer cavity (103) or the fourth sub-cavity (1034) in the interlayer cavity (103), and the outer shell (13) is provided with a recovery external connection interface (61), the recovery external connection interface (61) is connected to the outer layer flow channel (104).

15. The hydraulic actuating device according to claim 1, characterized in that: The compression valve seat (30) and the restoring valve seat (40) are each provided with at least two basic channels arranged at intervals, one end of each basic channel is movably provided with a reference seal, and each reference seal is arranged at intervals along the axial direction of the basic channel; One end of one of the basic channels that is away from the corresponding reference seal is connected to the first cavity (2011) or the fourth cavity (2022), and another end of the basic channel that is away from the corresponding reference seal is connected to the second cavity (2012) or the third cavity (2021).

16. The hydraulic actuating device according to claim 15, characterized in that: The hydraulic actuating device also includes an adjusting valve seat; The compression valve seat (30) and the restoration valve seat (40) are both provided with an expansion channel, the expansion channel is arranged at intervals from each of the basic channels, an expansion seal is movably provided on one side opposite to each of the expansion channels, and the regulating valve seat is provided on the opposite side of each of the expansion channels; Each of the regulating valve seats can move closer to the corresponding compression valve seat (30) or the restoration valve seat (40) to block the expansion channel or move away from the corresponding compression valve seat (30) to open the expansion channel.

17. The hydraulic actuating device according to claim 1, characterized in that: The assembly portion (50) is an assembly hole (501) provided in the interface seat (20); or, the assembly portion (50) is a partition baffle (51) provided in the compression chamber (102), and the partition baffle (51) and the inner wall of the cylinder body (10) together define an assembly chamber (502); The hydraulic actuating device further comprises an accumulator, wherein the accumulator is arranged in the assembly hole (501) or the assembly cavity (502).

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