Bidirectional hydraulic proportional electromagnet

Abstract

A mover assembly and a stator assembly of the bidirectional hydraulic proportional electromagnet are connected with an LVDT assembly, a front sensitive cavity is formed between the front end of a stator center rod and a mover spiral sleeve, a rear sensitive cavity is formed between the rear end of the stator center rod and a mover push-pull rod, and axial movement of the mover spiral sleeve is pushed by the pressure difference between the front sensitive cavity and the rear sensitive cavity; a center hole of the rotor spiral sleeve is connected into high-pressure oil liquid through a stator center rod, a stator positioning rod and a stator adapter, a first sensing hole and a second sensing hole in the wall face of the rotor spiral sleeve are communicated with two pairs of spiral high-pressure and low-pressure grooves of the stator center rod respectively, and two servo spiral mechanisms with differential motion changes are formed. Oil flowing out of the first sensing hole flows into the front sensitive cavity through a communication groove of the rotor spiral sleeve; oil flowing out of the second sensing hole flows into the rear sensing cavity through a first communication opening of the rotor spiral sleeve. The two servo screw mechanisms proportionally convert bidirectional angular displacement output by the claw pole type torque motor into reciprocating linear motion through mechanical feedback.

Description

Technical Field

[0001] The invention relates to the field of hydraulics, and in particular to a bidirectional hydraulic proportional electromagnet. Background Art

[0002] Hydraulic system is one of the common energy conversion and transmission systems in industry, and the reversing valve is a key basic component. As a bridge connecting the electrical part and the hydraulic part of the reversing valve, the electro-mechanical converter plays a decisive role in its performance. Proportional solenoid is the most widely used electro-mechanical converter in proportional reversing valve. However, the proportional solenoid can only achieve unidirectional movement and the output force is limited by the magnetic saturation of the soft magnetic material. If bidirectional movement is required, two coils are required, resulting in a complex structure and large volume.

[0003] The claw-pole magnetic levitation torque motor is an electro-mechanical converter that uses the magnetic force of the permanent magnets between the stator and rotor for zero-point positioning and power-off reset. Its output angular displacement is decoupled from the air gap thickness, and it has a larger output angular displacement and output torque than the traditional moving iron torque motor. The claw-pole magnetic levitation torque motor can achieve bidirectional symmetrical rotation under the action of forward and reverse currents. However, due to the limitation of magnetic saturation of soft magnetic materials, its output torque is not enough to overcome the hydraulic force of large flow proportional valves. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, realize bidirectional motion and break the limitation of output force, the present invention provides a bidirectional hydraulic proportional electromagnet. The present invention can realize bidirectional motion through a single control coil, and has large thrust and stroke. It uses the magnetic force of a permanent magnet to perform axial and circumferential zero point positioning. After inputting the control current, the bidirectional angular displacement can be output proportionally, and the bidirectional angular displacement can be proportionally converted into a bidirectional linear displacement through a hydraulic double-acting servo screw mechanism. A single control coil can be used to realize bidirectional motion with proportional characteristics, which greatly simplifies the structure; and the output power is greatly increased by introducing a hydraulic double-acting servo screw mechanism.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A bidirectional hydraulic proportional electromagnet includes a stator coil assembly 400, a through hole is provided on the stator coil assembly 400, a direction of the through hole of the stator coil assembly 400 toward the LVDT assembly is defined as a forward direction, a central axis of the through hole of the stator coil assembly 400 is defined as an axis line, and a direction along the axis line is called an axial direction;

[0007] The front part of the through hole of the stator coil assembly 400 is sequentially sleeved with a stator claw pole sleeve 500, a mover core 200, a mover spiral sleeve 600, and a stator center rod 700 from the outside to the inside. The stator claw pole sleeve 500, the mover core 200, the mover spiral sleeve 600, and the stator center rod 700 are all rotating bodies, and their central axes are all on the axis line.

[0008] The stator claw pole sleeve 500 is fixedly connected to the inner wall of the central through hole of the stator coil assembly 400, and the outer wall of the mover core 200 is attached with the mover permanent magnet 300; the front end of the stator claw pole sleeve 500 is the connection end with the LVDT stator assembly 110, and the front end of the mover core 200 forms the connection end with the LVDT mover assembly 120;

[0009] The mover core 200, the mover permanent magnet 300, the mover spiral sleeve 600 and the mover push-pull rod 1100 are fixedly connected to form a mover assembly, and the mover assembly has the freedom of circumferential rotation and the freedom of axial direct motion; the stator coil assembly 400, the stator claw pole sleeve 500, the stator center rod 700, the stator positioning rod 800, the stator end cover 900 and the stator adapter 1000 are fixedly connected to form a stator assembly;

[0010] A front sensitive cavity is provided between the front end of the stator center rod 700 and the rotor spiral sleeve 600, and a rear sensitive cavity is provided between the rear end of the stator center rod 700 and the rotor push-pull rod 1100. The axial movement of the rotor spiral sleeve 600 is driven by the pressure difference between the front sensitive cavity and the rear sensitive cavity; the center hole 612 of the rotor spiral sleeve is connected to the high-pressure oil through the stator center rod 700, the stator positioning rod 800, and the stator adapter 1000, and the first sensing hole 640 and the second sensing hole 650 on the wall of the rotor spiral sleeve 600 are connected to the high-pressure oil. They are respectively communicated with the two pairs of spiral high and low pressure grooves of the stator center rod 700 to form two differentially changing servo spiral mechanisms; the oil flowing out of the first sensing hole 640 flows into the front sensitive cavity 610 through the communication groove 630 of the rotor spiral sleeve; the oil flowing out of the second sensing hole 650 flows into the rear sensitive cavity 1110 through the first communication port 660 of the rotor spiral sleeve; the two servo spiral mechanisms proportionally convert the bidirectional angular displacement output by the claw-pole torque motor into reciprocating linear motion through mechanical feedback.

[0011] Preferably, the rotor core 200 is provided with an axial blind hole with an opening facing backward and an axial threaded hole 210 with an opening facing forward. The axially extending rotor permanent magnets 300 are evenly distributed on the circumferential outer side of the rotor core 200, and the polarities of two adjacent rotor permanent magnets 300 are opposite; the front part of the stator claw pole sleeve 500 includes an axially extending upper claw pole 520 and a lower claw pole 540, the upper claw pole 520 and the lower claw pole 540 are inserted into the gap between two adjacent claw poles of each other, the upper claw pole 520 and the lower claw pole 540 are alternately arranged in the circumferential direction of the stator claw pole sleeve 500, and a non-magnetic magnetic isolation ring 530 is filled between the upper claw pole 520 and the lower claw pole 540; when the stator coil assembly is not energized, there is a certain relative position relationship between the stator claw pole sleeve 500 and the rotor permanent magnet 300. Each stator upper claw pole tooth 520 faces two mover permanent magnets 300 with opposite polarities, and the facing areas are equal; each stator lower claw pole tooth 540 faces two mover permanent magnets 300 with opposite polarities, and the facing areas are equal; adjacent stator upper claw pole teeth 520 and stator lower claw pole teeth 540 face the same mover permanent magnet 300, and the facing areas are equal.

[0012] Preferably, the rear end of the stator claw-pole sleeve 500 is fixedly connected to the stator adapter 1000 through the stator end cover 900; the stator end cover is fixedly connected to the stator adapter 1000 through the external thread of the stator end cover; the stator end cover uses bolts and the threaded holes of the stator end cover to press the stator claw-pole sleeve; the central through hole 920 of the stator end cover, the threaded holes of the stator end cover and the central through hole 1060 of the stator adapter all extend along the axis; the central through hole 1060 of the stator adapter is connected to the central through hole of the stator claw-pole sleeve 500 to form a mounting hole that penetrates from front to back; the rotor spiral sleeve 600 is arranged in the mounting hole; the rotor spiral sleeve 600 and the stator adapter 1000 are clearance-matched;

[0013] The mover spiral sleeve 600 has an axial central through hole 612 , and the rear end of the central through hole 612 of the mover spiral sleeve is threadedly connected to the external thread of the front end of the mover push-pull rod 1100 .

[0014] Preferably, the stator positioning rod 800 is inserted into the stator adapter 1000 and the rotor spiral sleeve 600 perpendicular to the axis, and the rotor spiral sleeve 600 is provided with an axial avoidance groove 611, and the stator positioning rod 800 passes through the central through hole of the stator adapter 1000 and the avoidance groove 611 of the rotor spiral sleeve 600; the stator positioning rod 800 is provided with an axial assembly hole 840, and the assembly hole 840 is connected to the central through hole 612 of the rotor spiral sleeve for the stator center rod 700 to pass through.

[0015] Preferably, the stator center rod 700 is inserted into the central through hole of the mover spiral sleeve 600 through clearance fit, and a screw is provided at one end of the stator positioning rod 800 to fasten the stator center rod 700 to the stator positioning rod 800; the front end face of the stator center rod 700 and the wall surface of the central through hole of the mover spiral sleeve 600 and the wall surface of the axial blind hole of the mover iron core enclose a front sensitive cavity 610 with a variable volume; the front end of the mover push-pull rod 1100 is provided with an axially concave chamber, and the rear end of the stator center rod 700 is inserted into the chamber to form a rear sensitive cavity 1110.

[0016] Preferably, two groups of four spiral grooves are circumferentially provided on the side wall of the stator center rod 700, and two spiral grooves of the same shape and with a circumferential phase difference of 180° form a group. The two groups of spiral grooves are respectively the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod. The phase difference between the adjacent high-pressure grooves 740 of the stator center rod and the low-pressure grooves 750 of the stator center rod is 90°, forming two pairs of high- and low-pressure grooves. The high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod are both arranged on the shoulder of the stator center rod 700, but their shapes are different. The low-pressure groove 750 of the stator center rod extends outside the shoulder, while the high-pressure groove 740 of the stator center rod does not reach the shoulder. A high-pressure hole 730 is provided in the high-pressure groove 740 of the stator center rod, and the high-pressure hole 730 is communicated with the central through hole 720 of the stator center rod.

[0017] Preferably, a communication groove 630 is provided on the front side wall of the movable spiral sleeve 600; the movable spiral sleeve 600 is circumferentially provided with two groups of four sensing holes, the two groups of sensing holes are respectively called the first sensing holes 640 of the movable spiral sleeve and the second sensing holes 650 of the movable spiral sleeve, the circumferential phase difference between the sensing holes in the same group is 180°, and the circumferential phase difference between the sensing holes in different groups is 90°; the movable spiral sleeve 600 is provided with a first oil channel 670 parallel to the axial direction at a position deviating from the axis centerline, and the openings of the first oil channel 670 on both sides of the movable spiral sleeve are respectively called the first communication port 660 of the movable spiral sleeve and the second communication port 690 of the movable spiral sleeve.

[0018] Preferably, the central blind hole of the stator positioning rod 800 is set as the third oil passage 810, and the stator positioning rod 800 is provided with a communication port 820 in the circumferential direction, and the communication port 820 is connected to the third oil passage 810;

[0019] A third communication port 1120 is provided on the external thread 1130 of the front side wall of the mover push-pull rod, and the third communication port 1120 is communicated with the second communication port 690 on the mover spiral sleeve 600;

[0020] A second axial oil passage 1010 is provided on the stator adapter 1000 at a position deviating from the axis center line. The front end of the second oil passage 1010 is connected to the communication port 820 of the stator positioning rod 800. The third oil passage 810 on the stator positioning rod 800 is connected to the first oil passage 720 of the stator center rod 700 through the communication port 710 on the side wall of the stator center rod 700.

[0021] Preferably, when the mover assembly is at the circumferential and axial zero point, the communication area between the first sensing hole 640 of the mover spiral sleeve 600 and the high-pressure groove 740 of the stator center rod 700 and the low-pressure groove 750 of the stator center rod 700 is equal, and the communication area between the second sensing hole 650 of the mover spiral sleeve 600 and the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod is equal; the first sensing hole 640 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod form a first servo spiral mechanism, and the second sensing hole 650 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod form a second servo spiral mechanism, and the two servo spiral mechanisms change differentially; the high-pressure oil flows through the oil channel of the stator adapter 1010, the oil passage 810 of the stator positioning rod, and the oil passage 720 of the stator center rod flow out from the high-pressure hole 730 of the stator center rod; the oil flowing out of the high-pressure hole 730 of the stator center rod flows out from the first sensing hole 640 and the second sensing hole 650 of the movable spiral sleeve respectively after passing through the servo spiral mechanism, and the oil pressure changes; the oil flowing out of the first sensing hole 640 flows into the sensitive cavity 610 in the movable spiral sleeve through the communication groove 630 of the movable spiral sleeve; the oil flowing out of the second sensing hole 650 flows into the second oil passage 670 of the movable spiral sleeve from the communication port 660 of the movable spiral sleeve, and then flows out from the communication port 690 of the movable spiral sleeve; the oil flowing out of the second communication port 690 of the movable spiral sleeve flows into the rear sensitive cavity 1110 through the movable push-pull rod communication port 1120.

[0022] Preferably, the axial movement of the rotor spiral sleeve 600 is driven by the pressure difference between the sensitive cavity 610 in the rotor spiral sleeve and the sensitive cavity 1110 in the rotor push-pull rod; the effective action area of ​​the sensitive cavity 610 in the rotor spiral sleeve and the sensitive cavity 1110 in the rotor push-pull rod on the rotor spiral sleeve 600 is equal; when the rotor assembly is at the circumferential and axial zero point, the pressure of the front sensitive cavity 610 in the rotor spiral sleeve is equal to the pressure of the rear sensitive cavity 1110 in the rotor push-pull rod, and the rotor spiral sleeve 600 is balanced; the first servo screw machine The structure and the second servo spiral mechanism perform mechanical feedback; when the rotor spiral sleeve 600 produces angular displacement and deviates from the circumferential zero point, the communication area between the sensing hole 640 of the rotor spiral sleeve and the high-pressure groove 740 of the stator center rod is not equal to the communication area between the sensing hole 640 of the rotor spiral sleeve and the low-pressure groove 750 of the stator center rod, resulting in a change in the pressure of the sensitive cavity 610 in the rotor spiral sleeve; similarly, the pressure of the sensitive cavity 1110 in the rotor push-pull rod also changes, and the pressure of the sensitive cavity 610 in the rotor spiral sleeve and the rotor push-pull rod The pressure change trends of the inner sensitive cavity 1110 are opposite, one pressure increases while the other pressure decreases; the rotor spiral sleeve 600 will produce axial displacement driven by the pressure difference, and the communication area between the first sensing hole 640 of the rotor spiral sleeve and the high-pressure groove 740 of the stator center rod will change during the axial displacement, and the communication area between the first sensing hole 640 of the rotor spiral sleeve and the low-pressure groove 750 of the stator center rod will also change, and the change trends are opposite; finally, the first sensing hole 640 of the rotor spiral sleeve and the low-pressure groove 750 of the stator center rod will change. 50 will be equal to the communication area between the first sensing hole 640 of the rotor spiral sleeve and the high-pressure groove 740 of the stator center rod; similarly, the communication area between the second sensing hole 650 of the rotor spiral sleeve and the low-pressure groove 750 of the stator center rod will be equal to the communication area between the second sensing hole 650 of the rotor spiral sleeve and the high-pressure groove 740 of the stator center rod; at this time, the pressure of the sensitive cavity 610 in the rotor spiral sleeve is equal to the pressure of the sensitive cavity 1110 in the rotor push-pull rod, and the rotor spiral sleeve 600 is balanced and stops moving;

[0023] When the input current of the stator coil assembly 400 is zero, the movable assembly is in the axial and circumferential zero position under the action of the axial restoring force and the circumferential restoring torque; when the stator coil assembly 400 is input with the control current, the movable assembly generates an angular displacement proportional to the control current under the drive of the electromagnetic torque; after the movable assembly generates the angular displacement, the movable assembly generates the axial displacement proportionally under the action of the double-acting servo screw mechanism; if the reverse control current is input, the movable assembly can generate the reverse angular displacement proportionally and the reverse axial displacement proportionally; if the input current is turned off, the movable assembly will return to the axial and circumferential zero position under the action of the magnetic force and the double-acting servo screw mechanism.

[0024] The structure and working principle of the present invention are described in detail below.

[0025] A bidirectional hydraulic proportional electromagnet of the present invention is composed of a mover core 200, a mover permanent magnet 300, a stator coil assembly 400, a stator claw pole sleeve 500, a mover spiral sleeve 600, a stator center rod 700, a stator positioning rod 800, a stator end cover 900, a stator adapter 1000, a mover push-pull rod 1100, and an LVDT assembly 100. The direction in which the through hole of the stator coil assembly 400 faces the LVDT assembly 100 is defined as a forward direction, the central axis of the through hole of the stator coil assembly 400 is defined as an axial line, and the direction along the axial line is called an axial direction.

[0026] (1) First, the structure and working principle of the claw-pole magnetic levitation torque motor are explained.

[0027] Two threaded holes are provided in the rotor core, which are respectively called the first threaded hole 210 of the rotor core and the second threaded hole 220 of the rotor core. The first threaded hole 210 of the rotor core is fixedly connected to the LVDT rotor assembly 110, and the second threaded hole 220 of the rotor core is fixedly connected to the rotor spiral sleeve 600. The rotor permanent magnets 300 are evenly distributed on the outside of the rotor core 200 in the circumferential direction, and the polarities of two adjacent rotor permanent magnets 300 are opposite. The stator coil assembly 400 is assembled on the outside of the stator claw pole sleeve 500, and can generate control magnetic flux after power is turned on. The stator claw pole sleeve 500 is an annular sleeve formed by integrated processing, which contains stator upper claw pole teeth 520, stator lower claw pole teeth 540 and magnetic isolation rings 530. The stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 are in opposite directions and staggered. The stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 are evenly distributed on the circumference of the claw pole sleeve 500. The magnetic isolation ring 530 is made of non-magnetic conductive material. The magnetic isolation ring 530 is densely filled between the stator upper claw pole teeth 520 and the stator lower claw pole teeth 540. The stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 are made of magnetic conductive material, and there is only the magnetic isolation ring 530 between the stator upper claw pole teeth 520 and the stator lower claw pole teeth 540, and there is no magnetic conductive material. The stator upper claw pole teeth 520, the stator lower claw pole teeth 540 and the magnetic isolation ring 530 form an integrated annular sleeve. The stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 have the same shape, and their shapes can be arbitrary, such as trapezoidal and rectangular. The front end of the stator claw pole sleeve 500 is provided with an internal thread, which is called the threaded hole 510 of the stator claw pole sleeve. The rear end of the stator claw pole sleeve 500 is provided with a shoulder, which is called the stator claw pole sleeve shoulder 550. The front end of the stator claw pole sleeve 500 is fixedly connected to the LVDT stator assembly 120 through the stator claw pole sleeve threaded hole 510, and the rear side is fixedly connected to the stator adapter 1000 through the stator claw pole sleeve threaded hole 510. When the stator coil assembly 400 is not powered, there is a certain relative position relationship between the stator claw pole sleeve 500 and the mover permanent magnet 300. When the stator coil assembly 400 is not energized, each stator upper claw pole tooth 520 faces two mover permanent magnets 300 with opposite polarities, and the facing areas are equal; each stator lower claw pole tooth 540 faces two mover permanent magnets 300 with opposite polarities, and the facing areas are equal; adjacent stator upper claw pole teeth 520 and stator lower claw pole teeth 540 face the same mover permanent magnet 300, and the facing areas are equal.

[0028] The mover core 200 and the mover permanent magnet 300 are moving parts with the freedom of movement in both axial and circumferential directions. The mover core 200 and the mover permanent magnet 300 use the axial restoring force and circumferential restoring torque between the mover core 200 and the stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 to perform zero point positioning. After the stator coil assembly 400 is energized, the polarization magnetic flux and control magnetic flux differential between the mover permanent magnet 300 and the stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 drive the mover core 200 and the mover permanent magnet 300 to generate torque and output angular displacement.

[0029] (2) Then explain the parts structure of the double-acting servo screw mechanism.

[0030] A center hole is provided at the axis of the rotor spiral sleeve 600, which is called the center hole 612 of the rotor spiral sleeve, and is used for assembly with the stator center rod 700. An avoidance groove is provided in the middle of the rotor spiral sleeve 600, which is called the rotor spiral sleeve avoidance groove 611. The function of the rotor spiral sleeve avoidance groove 611 is to allow the stator positioning rod 800 to pass through it, and the stator positioning rod 800 and the rotor spiral sleeve 600 do not interfere with each other during the movement of the rotor spiral sleeve 600. After the rotor spiral sleeve 600 and the stator center rod 700 are matched, there is a variable cavity, which is called the front sensitive cavity 610 in the rotor spiral sleeve. An external thread is provided on the outer side of the front end of the rotor spiral sleeve 600, which is called the external thread 620 of the rotor spiral sleeve. A communication groove is provided on the external thread 620 of the rotor spiral sleeve, which is called the communication groove 630 of the rotor spiral sleeve. Two groups of four sensing holes are circumferentially arranged at the front end of the rotor spiral sleeve 600, and the two groups of sensing holes are respectively called the first sensing holes 640 of the rotor spiral sleeve and the second sensing holes 650 of the rotor spiral sleeve. The circumferential phase difference between the first sensing holes 640 in the same group is 180°, and the circumferential phase difference between the first sensing holes 640 and the second sensing holes 650 is 90°. The rotor spiral sleeve 600 is provided with an axial through hole at a position deviating from the axis, and the channel of the through hole is called the first oil channel 670. The openings of the through hole on both sides of the rotor spiral sleeve 600 are respectively called the first communication port 660 of the rotor spiral sleeve and the second communication port 690 of the rotor spiral sleeve. A threaded hole is provided at the rear end of the rotor spiral sleeve 600, which is called the threaded hole 680 of the rotor spiral sleeve, and the threaded hole is used to be fixedly connected to the rotor push-pull rod 1100.

[0031] A blind hole is provided at the rear end of the stator center rod 700 in the circumferential direction, which is called the communication port 710 of the stator center rod. A circular oil passage is provided at the axis of the stator center rod 700, which is called the fourth oil passage 720. A screw plug is provided at the front end of the stator center rod 700, which is called the screw plug 760 of the stator center rod and is used to block the fourth oil passage 720. The communication port 710 of the stator center rod is connected to the fourth oil passage 720. Two groups of four spiral grooves are provided circumferentially on the front end shoulder of the stator center rod 700. Two spiral grooves of the same shape and a circumferential phase difference of 180° form a group. The two groups of spiral grooves are respectively called the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod. The high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod have different shapes and a circumferential phase difference of 90°. The low-pressure groove 750 of the stator center rod extends outside the shoulder, and a hole is provided in the high-pressure groove 740 of the stator center rod, which is called the high-pressure hole 730 of the stator center rod. The high-pressure hole 730 of the stator center rod is communicated with the fourth oil passage 720.

[0032] The stator positioning rod 800 is provided with an assembly hole with the same diameter as the stator centerline rod 700 in the axial direction of the stator coil assembly 400, which is called the assembly hole 840 of the stator positioning rod. The stator positioning rod 800 is provided with a blind hole in the circumferential direction, whose center line is parallel to the center line of the assembly hole, which is called the communication port 820 of the stator positioning rod. A blind hole is provided at the center of the stator positioning rod 800, which is called the third oil passage 810. The head of the third oil passage 810 of the stator positioning rod is provided with a threaded hole, which is called the connection hole 860 of the stator positioning rod, which is used to be fixedly connected to the stator center rod 700. The communication port 820 of the stator positioning rod is connected to the third oil passage 810. The two outer cylindrical surfaces of the stator positioning rod 800 are respectively called the first positioning surface 830 of the stator positioning rod and the second positioning surface 850 of the stator positioning rod.

[0033] The stator end cover 900 is a circular ring with a through hole in the center, which is called the stator end cover center hole 920. The outer side of the stator end cover is provided with an external thread, which is called the stator end cover external thread 910, which is used to be fixedly connected to the stator adapter. The stator end cover is circumferentially provided with six threaded holes extending axially, which are called stator end cover threaded holes 930. A through hole is provided at the axis of the stator adapter 1000, which is called the center hole 1060 of the stator adapter. The front end of the center hole 1060 of the stator adapter is used to cooperate with the rotor spiral sleeve 600, and the rear end is used to cooperate with the rotor push-pull rod 1100. The stator adapter 1000 is provided with a through hole deviating from the axis, which is called the second oil channel 1010. The front end of the stator adapter 1000 is provided with two positioning holes, which are respectively called the first positioning hole 1020 of the stator adapter and the second positioning hole 1030 of the stator adapter. The stator adapter 1000 is provided with two assembly holes in the circumferential direction, which are respectively referred to as a first assembly hole 1040 of the stator adapter and a second assembly hole 1050 of the stator adapter.

[0034] A chamber is provided inside the mover push-pull rod 1100, which is called the rear sensitive chamber 1110 inside the mover push-pull rod after cooperating with the stator center rod 700. An external thread is provided at the outer circle of the front end of the mover push-pull rod 1100, which is called the external thread 1130 of the mover push-pull rod. An opening is provided on the external thread 1130 of the mover push-pull rod, which is called the mover push-pull rod communication port 1120. The mover push-pull rod communication port 1120 is connected to the second communication port 690 of the mover spiral sleeve.

[0035] (3) Next, the positional relationship of the various components of the double-acting servo screw mechanism is described.

[0036] The front part of the through hole of the stator coil assembly 400 is sequentially sleeved with a stator claw pole sleeve 500, a mover core 200, a mover spiral sleeve 600, and a stator center rod 700 from the outside to the inside. The stator claw pole sleeve 500, the mover core 200, the mover spiral sleeve 600, and the stator center rod 700 are all rotating bodies, and their central axes are all on the axis center line; a stator positioning rod 800 is stored in the rear part of the through hole of the stator coil assembly 400, and the center line of the stator positioning rod 800 is perpendicular to the axis. Center line; the front part of the stator coil assembly 400 is the LVDT stator assembly 120 and the LVDT mover assembly 110, both of which are rotating bodies, and their central axes are all on the said axis center line; the rear part of the stator coil assembly 400 is the stator adapter 1000 and the mover push-pull rod 1100 from the outside to the inside, both of which are rotating bodies, and their central axes are all on the said axis center line.

[0037] The front end of the mover spiral sleeve 600 is fixedly connected to the mover core 200 through the external thread 620 of the mover spiral sleeve, and the rear end passes through the front end through hole of the stator adapter 1000 and is fixedly connected to the mover push-pull rod through the threaded hole 680 of the mover spiral sleeve. The mover spiral sleeve 600 and the stator adapter 1000 are clearance-fitted, and the mover spiral sleeve 600 can perform axial direct motion and circumferential rotation within the range of travel in the stator adapter 1000. The stator positioning rod 800 passes through the second assembly hole 1050 of the stator adapter, the mover spiral sleeve avoidance groove 611, and the first assembly hole 1040 of the stator adapter in sequence perpendicular to the axis. The stator positioning rod 800 is fixedly connected to the stator adapter 1000 by bolts. The stator center rod 700 passes through the center hole 612 of the rotor spiral sleeve and the assembly hole 840 of the stator positioning rod in the axial direction, and then cooperates with the rotor push-pull rod 1100 to form a rear sensitive cavity 1110 in the rotor push-pull rod. The stator center rod 700 is fixedly connected to the stator positioning rod 800 by bolts. The stator center rod 700 supports the rotor spiral sleeve 600 so that its axis is consistent with the axis of the entire rotating body.

[0038] The mover core 200, the mover permanent magnet 300, the mover spiral sleeve 600, the LVDT mover assembly 110 and the mover push-pull rod 1100 are fixedly connected to form a mover assembly. The mover assembly has the degree of freedom of circumferential rotation and the degree of freedom of axial direct motion. The stator coil assembly 400, the stator claw pole sleeve 500, the stator center rod 700, the stator positioning rod 800, the stator end cover 900, the LVDT stator assembly 120 and the stator adapter 1000 are fixedly connected to form a stator assembly. The relative movement between the mover assembly and the stator assembly is mainly supported by a rotating pair and a moving pair between the stator center rod 700 and the mover spiral sleeve 600.

[0039] (4) Next, the oil channel connection relationship of the double-acting servo screw mechanism is explained.

[0040] The high-pressure oil flows from the rear end to the front end in turn through the stator adapter 1000, the stator positioning rod 800, the stator center rod 700, and the rotor spiral sleeve 600. The second oil passage 1010 communicates with the third oil passage 810 through the communication port 820 of the stator positioning rod. The third oil passage 810 communicates with the fourth oil passage 720 through the communication port 710 of the stator center rod. When the rotor assembly is at the zero point in the circumferential and axial directions, the communication area of ​​the first sensing hole 640 of the rotor spiral sleeve is equal to that of the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod, and the communication area of ​​the second sensing hole 650 of the rotor spiral sleeve is equal to that of the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod. The first sensing hole 640 of the rotor spiral sleeve, the high pressure groove 740 of the stator center rod, and the low pressure groove 750 of the stator center rod form a first servo screw mechanism, and the second sensing hole 650 of the rotor spiral sleeve, the high pressure groove 740 of the stator center rod, and the low pressure groove 750 of the stator center rod form a second servo screw mechanism, and the two servo screw mechanisms change differentially. The two differentially acting servo screw mechanisms are called double-acting servo screw mechanisms. High-pressure oil flows through the second oil channel 1010, the third oil channel 810, and the fourth oil channel 720 and flows out from the high pressure hole 730 of the stator center rod. The oil flowing out of the high pressure hole 730 of the stator center rod passes through the first servo screw mechanism and the second servo screw mechanism, and flows out from the first sensing hole 640 of the rotor spiral sleeve and the second sensing hole 650 of the rotor spiral sleeve respectively, and the oil pressure changes. The oil after the pressure change flows into the front sensitive cavity and the rear sensitive cavity respectively through the rotor spiral sleeve 600. The oil flowing out of the first sensing hole 640 of the mover spiral sleeve flows into the front sensitive cavity 610 in the mover spiral sleeve through the communication groove 630 of the mover spiral sleeve. The oil flowing out of the second sensing hole 650 of the mover spiral sleeve flows into the first oil passage 670 from the first communication port 660 of the mover spiral sleeve, and then flows out of the second communication port 690 of the mover spiral sleeve. The oil flowing out of the second communication port 690 of the mover spiral sleeve flows into the rear sensitive cavity 1110 in the mover push-pull rod through the communication port 1120 of the mover push-pull rod.

[0041] (5) Next, the working principle of the double-acting servo screw mechanism of the present invention is described.

[0042] The axial movement of the rotor spiral sleeve 600 is driven by the pressure difference between the front sensitive chamber 610 in the rotor spiral sleeve and the rear sensitive chamber 1110 in the rotor push-pull rod. The front sensitive chamber 610 in the rotor spiral sleeve and the rear sensitive chamber 1110 in the rotor push-pull rod have the same effective action area on the rotor spiral sleeve 600. When the rotor assembly is at the zero point in the circumferential and axial directions, the pressure of the front sensitive chamber 610 in the rotor spiral sleeve is equal to the pressure of the rear sensitive chamber 1110 in the rotor push-pull rod, and the rotor spiral sleeve 600 is balanced. The first servo spiral mechanism and the second servo spiral mechanism have a mechanical feedback function. When the rotor spiral sleeve 600 produces an angular displacement and deviates from the circumferential zero point, the communication area between the first sensing hole 640 of the rotor spiral sleeve and the high-pressure groove 740 of the stator center rod is not equal to the communication area between the first sensing hole 640 of the rotor spiral sleeve and the low-pressure groove 750 of the stator center rod, resulting in a change in the pressure of the front sensitive chamber 610 in the rotor spiral sleeve. Similarly, the pressure of the rear sensitive chamber 1110 in the mover push-pull rod also changes, and the pressure of the front sensitive chamber 610 in the mover spiral sleeve and the pressure of the rear sensitive chamber 1110 in the mover push-pull rod change in opposite trends, one pressure increases and the other pressure decreases. Driven by the pressure difference, the mover spiral sleeve 600 will produce axial displacement, and during the axial displacement, the communication area between the first sensing hole 640 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod will change, and the communication area between the first sensing hole 640 of the mover spiral sleeve and the low-pressure groove 750 of the stator center rod will also change, and the change trend is opposite. Finally, the communication area between the first sensing hole 640 of the mover spiral sleeve and the low-pressure groove 750 of the stator center rod will be equal to the communication area between the first sensing hole 640 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod. Similarly, the communication area between the second sensing hole 650 of the mover spiral sleeve and the low-pressure groove 750 of the stator center rod will be equal to the communication area between the second sensing hole 650 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod. At this time, the pressure of the front sensitive cavity 610 in the mover spiral sleeve is equal to the pressure of the rear sensitive cavity 1110 in the mover push-pull rod, and the mover spiral sleeve 600 is balanced and stops moving. If the input current is turned off, the mover assembly will return to the axial and circumferential zero position under the action of the magnetic force and the double-acting servo screw mechanism.

[0043] (6) Finally, the working principle of the double-acting hydraulic proportional solenoid is introduced.

[0044] When the input current of the stator coil assembly 400 is zero, the mover assembly is in the axial and circumferential zero position under the action of the axial restoring force and the circumferential restoring torque. When the stator coil assembly 400 is input with the control current, the mover assembly generates an angular displacement in proportion to the control current under the drive of the electromagnetic torque. After the mover assembly generates an angular displacement, the mover assembly generates an axial displacement in proportion under the action of the double-acting servo screw mechanism. If a reverse control current is input, the mover assembly can generate a reverse angular displacement in proportion and a reverse axial displacement in proportion.

[0045] In particular, the LVDT assembly 100 is used to measure and feed back the displacement of the mover push-pull rod 1100 to achieve closed-loop control. Removing the LVDT assembly 100 will not affect the function of the present invention, and the bidirectional hydraulic proportional solenoid can still achieve proportional characteristics.

[0046] The present invention realizes bidirectional motion through a single control coil, and has large thrust and stroke. The present invention has the freedom of circumferential rotation and axial direct motion. When it is not powered on, it uses the magnetic force between the claw pole sleeve 500 and the mover permanent magnet 300 to perform circumferential and axial zero point positioning. After inputting the control current, the mover core 200 can output bidirectional angular displacement proportionally. The mover spiral sleeve 600 and the stator center rod 700 can convert the bidirectional angular displacement into bidirectional linear displacement proportionally.

[0047] The beneficial effects of the present invention are:

[0048] (1) The claw-pole magnetic levitation torque motor is deeply integrated with the hydraulic double-acting servo screw mechanism. Compared with the traditional proportional solenoid, it has light weight, low power consumption, higher output force and higher stability.

[0049] (2) An integrated claw pole sleeve is used, and the claw pole teeth of the claw pole sleeve are connected together during the entire processing process without the need for assembly. Therefore, the spacing between the claw pole teeth is strictly equal, thereby ensuring the positioning accuracy of the claw pole magnetic levitation torque motor and the symmetry of the output bidirectional angular displacement.

[0050] (3) Compared with the traditional proportional solenoid, the hydraulic proportional solenoid only needs one control coil to achieve bidirectional movement, providing a powerful and effective technical solution for the miniaturization of the three-position four-way electro-hydraulic proportional reversing valve. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is the assembly drawing of the bidirectional hydraulic proportional solenoid.

[0052] Figure 2 This is the exploded view of a claw-pole torque motor.

[0053] Figure 3a This is the front view of the claw pole sleeve, the permanent magnet of the mover and the mover core.

[0054] Figure 3b for Figure 3a AA section view.

[0055] Figure 4 This is an exploded view of the double-acting servo screw mechanism.

[0056] Figure 5a This is the structural diagram of the center positioning rod.

[0057] Figure 5b Figure 5a AA section view.

[0058] Figure 5c for Figure 5a BB section view.

[0059] Figure 6a This is the structural diagram of the mover spiral sleeve.

[0060] Figure 6b for Figure 6a AA section view.

[0061] Figure 6c for Figure 6a Stereoscopic view of.

[0062] Figure 7a This is the structural diagram of the stator adapter.

[0063] Figure 7b for Figure 7a AA section view.

[0064] Figure 8 This is a cross-sectional view of the stator positioning rod.

[0065] Figure 9a This is the structure diagram of the push-pull rod of the mover.

[0066] Figure 9b for Figure 9a AA section view.

[0067] Fig.9c for Figure 9a Stereoscopic view of.

[0068] Fig.10 This is the structural diagram of the stator end cover.

[0069] Description of reference numerals:

[0070] 100 is an LVDT assembly, 200 is a mover core, 300 is a mover permanent magnet, 400 is a stator coil assembly, 500 is a stator claw pole sleeve, 600 is a mover spiral sleeve, 700 is a stator center rod, 800 is a stator positioning rod, 900 is a stator end cover, 1000 is a stator adapter, 1100 is a mover push-pull rod, 110 is an LVDT mover assembly, 120 is an LVDT stator assembly, 210 is a first threaded hole of the mover core, 220 is a second threaded hole of the mover core, 510 is a stator claw pole sleeve threaded hole, 520 is the upper claw pole tooth of the stator, 530 is the magnetic isolation ring, 540 is the lower claw pole tooth of the stator, 550 is the shoulder of the stator claw pole sleeve, 610 is the front sensitive cavity in the rotor spiral sleeve, 611 is the avoidance groove of the rotor spiral sleeve, 612 is the center hole of the rotor spiral sleeve, 620 is the external thread of the rotor spiral sleeve, 630 is the communication groove of the rotor spiral sleeve, 640 is the first sensing hole of the rotor spiral sleeve, 650 is the second sensing hole of the rotor spiral sleeve, 660 is the first communication port of the rotor spiral sleeve, 670 is the first oil channel, 680 is the rotor 690 is the threaded hole of the rotor spiral sleeve, 710 is the communication port of the stator center rod, 720 is the fourth oil channel, 730 is the high pressure hole of the stator center rod, 740 is the high pressure groove of the stator center rod, 750 is the low pressure groove of the stator center rod, 760 is the screw plug of the stator center rod, 810 is the third oil channel, 820 is the communication port of the stator positioning rod, 830 is the first positioning surface of the stator positioning rod, 840 is the assembly hole of the stator positioning rod, 850 is the second positioning surface of the stator positioning rod, 860 is the stator positioning rod The connecting hole of the position rod, 910 is the external thread of the stator end cover, 920 is the center through hole of the stator end cover, 930 is the threaded hole of the stator end cover, 1010 is the second oil channel, 1020 is the first positioning hole of the stator adapter, 1030 is the second positioning hole of the stator adapter, 1040 is the first assembly hole of the stator adapter, 1050 is the second assembly hole of the stator adapter, 1060 is the center hole of the stator adapter, 1110 is the rear sensitive cavity inside the mover push-pull rod, 1120 is the communication port of the mover push-pull rod, and 1130 is the external thread of the mover push-pull rod. DETAILED DESCRIPTION

[0071] The following will clearly and completely describe the technology and scheme of the invention patent in conjunction with the accompanying drawings. Obviously, the implementation cases described are part of the implementation cases of the present invention, not all of the implementation cases. Based on the implementation cases in the present invention, all other implementation cases obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0072] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0073] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] This implementation case provides a bidirectional hydraulic proportional solenoid.

[0075] A bidirectional hydraulic proportional solenoid assembly diagram is shown below: Figure 1 As shown, it is composed of a mover core 200, a mover permanent magnet 300, a stator coil assembly 400, a stator claw pole sleeve 500, a mover spiral sleeve 600, a stator center rod 700, a stator positioning rod 800, a stator end cover 900, a stator adapter 1000, a mover push-pull rod 1100, and an LVDT assembly 100. The direction in which the through hole of the stator coil assembly 400 faces the LVDT assembly 100 is defined as the forward direction, the central axis of the through hole of the stator coil assembly 400 is defined as the axis center line, and the direction along the axis center line is called the axial direction.

[0076] First, the structure and working principle of the claw-pole magnetic levitation torque motor are explained.

[0077] The exploded diagram of the claw pole torque motor is as follows: Figure 2 As shown, it includes a rotor core 200, a rotor permanent magnet 300, a stator coil assembly 400, and a stator claw pole sleeve 500. Two threaded holes are provided in the rotor core, which are respectively called the first threaded hole 210 of the rotor core and the second threaded hole 220 of the rotor core. Figure 2 The first threaded hole 210 of the mover core is fixedly connected to the LVDT mover assembly 110, and the second threaded hole 220 of the mover core is fixedly connected to the mover spiral sleeve 600, as shown. Figure 1 The mover permanent magnets 300 are evenly distributed on the outside of the mover core 200 in the circumferential direction, and the polarities of two adjacent mover permanent magnets 300 are opposite, as shown in FIG. Figure 3b The stator coil assembly 400 is mounted on the outer side of the stator claw pole sleeve 500 and can generate a control magnetic flux after being energized. Figure 1 shown. Figure 3a This is a front view of the claw pole sleeve 500, the permanent magnet 300 of the rotor and the iron core 200 of the rotor. The structure of the stator claw pole sleeve 500 can be intuitively seen from this figure. The stator claw pole sleeve 500 is an annular sleeve formed by integrated processing, which contains the upper claw pole teeth 520 of the stator, the lower claw pole teeth 540 of the stator and the magnetic isolation ring 530. The upper claw pole teeth 520 of the stator and the lower claw pole teeth 540 of the stator are in opposite directions and are staggered. The upper claw pole teeth 520 of the stator and the lower claw pole teeth 540 of the stator are evenly distributed on the circumference of the claw pole sleeve 500. The magnetic isolation ring 530 is made of non-magnetic conductive material. The magnetic isolation ring 530 is densely filled between the upper claw pole teeth 520 of the stator and the lower claw pole teeth 540 of the stator. The upper claw pole teeth 520 of the stator and the lower claw pole teeth 540 of the stator are made of magnetic conductive materials, and there is only a magnetic isolation ring 530 between the upper claw pole teeth 520 of the stator and the lower claw pole teeth 540, and there is no other magnetic conductive material. The upper claw pole teeth 520 of the stator, the lower claw pole teeth 540 of the stator and the magnetic isolation ring 530 form an integrated annular sleeve. The upper claw pole teeth 520 of the stator and the lower claw pole teeth 540 of the stator have the same shape, and their shapes can be arbitrary, such as trapezoidal or rectangular. The front end of the stator claw pole sleeve 500 is provided with an internal thread, which is called the threaded hole 510 of the stator claw pole sleeve. The rear end of the stator claw pole sleeve 500 is provided with a shoulder, which is called the shoulder 550 of the stator claw pole sleeve. The front end of the stator claw pole sleeve 500 is fixedly connected to the LVDT stator assembly 120 through the threaded hole 510 of the stator claw pole sleeve, and the rear side is fixedly connected to the stator adapter 1000 through the threaded hole 510 of the stator claw pole sleeve. When the stator coil assembly 400 is not powered, there is a certain relative position relationship between the stator claw pole sleeve 500 and the mover permanent magnet 300. When the stator coil assembly 400 is not powered, each stator upper claw pole tooth 520 faces two mover permanent magnets 300 with opposite polarities, and the facing areas are equal; each stator lower claw pole tooth 540 faces two mover permanent magnets 300 with opposite polarities, and the facing areas are equal; adjacent stator upper claw pole teeth 520 and stator lower claw pole teeth 540 face the same mover permanent magnet 300, and the facing areas are equal.

[0078] The mover core 200 and the mover permanent magnet 300 are moving parts with the freedom of movement in both axial and circumferential directions. The mover core 200 and the mover permanent magnet 300 use the axial restoring force and circumferential restoring torque between the mover core 200 and the stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 to perform zero point positioning. After the stator coil assembly 400 is energized, the polarization magnetic flux and control magnetic flux differential between the mover permanent magnet 300 and the stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 drive the mover core 200 and the mover permanent magnet 300 to generate torque and output angular displacement.

[0079] Then the component structure of the double-acting servo screw mechanism is explained.

[0080] The double-acting servo screw mechanism assembly is composed of a mover screw sleeve 600, a stator center rod 700, a stator positioning rod 800, and a stator adapter 1000. Figure 4 The A-direction cross-sectional view of the structure diagram of the rotor spiral sleeve is shown in Figure 6b As shown, a central hole is provided at the axis of the rotor spiral sleeve 600, which is called the central hole 612 of the rotor spiral sleeve, for assembly with the stator center rod 700. A avoidance groove is provided in the middle of the rotor spiral sleeve 600, which is called the rotor spiral sleeve avoidance groove 611. Figure 6c As shown. The function of the mover spiral sleeve avoidance groove 611 is to allow the stator positioning rod 800 to pass through it, and the stator positioning rod 800 and the mover spiral sleeve 600 do not interfere with each other during the movement of the mover spiral sleeve 600. After the mover spiral sleeve 600 and the stator center rod 700 are matched, a variable cavity exists, which is called the front sensitive cavity 610 in the mover spiral sleeve, as shown in FIG. Figure 1 The outer side of the front end of the rotor spiral sleeve 600 is provided with an external thread, which is called the external thread 620 of the rotor spiral sleeve. Figure 6a The external thread 620 of the movable helical sleeve is provided with a communication groove, which is called the communication groove 630 of the movable helical sleeve. Figure 6c As shown. The front end of the rotor spiral sleeve 600 is provided with two groups of four sensing holes in the circumferential direction. The two groups of sensing holes are respectively called the first sensing holes 640 of the rotor spiral sleeve and the second sensing holes 650 of the rotor spiral sleeve. The circumferential phase difference between the first sensing holes 640 and the second sensing holes 650 in the same group is 180°, and the circumferential phase difference between the first sensing holes 640 and the second sensing holes 650 is 90°. Figure 6a The rotor spiral sleeve 600 is provided with an axial through hole at a position deviating from the axis. The hole of the through hole is called the first oil passage 670. The openings of the through hole on both sides of the rotor spiral sleeve 600 are respectively called the first communication opening 660 of the rotor spiral sleeve and the second communication opening 690 of the rotor spiral sleeve. Figure 6b A threaded hole is provided at the rear end of the rotor spiral sleeve 600, which is called the threaded hole 680 of the rotor spiral sleeve. Figure 6b The threaded hole is used to be fixedly connected with the mover push-pull rod 1100.

[0081] A blind hole is provided at the rear end of the stator center rod 700, which is called the communication opening 710 of the stator center rod. Figure 5a A circular oil passage is provided at the axis of the stator center rod 700, which is called the fourth oil passage 720. Figure 5b The front end of the stator center rod 700 is provided with a screw plug, referred to as the stator center rod screw plug 760, which is used to plug the fourth oil passage 720. Figure 5bAs shown. The communication port 710 of the stator center rod communicates with the fourth oil passage 720. Two groups of four spiral grooves are circumferentially arranged on the front end shoulder of the stator center rod 700. Two spiral grooves of the same shape and 180° circumferential phase difference form a group. The two groups of spiral grooves are respectively called the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod. Figure 5c As shown. The high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod have different shapes and are 90° out of phase in the circumferential direction. The low-pressure groove 750 of the stator center rod extends outside the shoulder, and a hole is provided in the high-pressure groove 740 of the stator center rod, which is called the high-pressure hole 730 of the stator center rod, as shown in FIG. Figure 5a The high pressure hole 730 of the stator center rod is connected to the fourth oil passage 720. Figure 5b shown.

[0082] The cross-section of the stator positioning rod is as follows: Figure 8 As shown. The stator positioning rod 800 is provided with an assembly hole with the same diameter as the stator center line rod 700 in the axial direction of the stator coil assembly 400, which is called the assembly hole 840 of the stator positioning rod. The stator positioning rod 800 is provided with a blind hole in the circumferential direction, whose center line is parallel to the center line of the assembly hole, which is called the communication port 820 of the stator positioning rod. A blind hole is provided at the center of the stator positioning rod 800, which is called the third oil channel 810. The head of the third oil channel 810 of the stator positioning rod is provided with a threaded hole, which is called the connection hole 860 of the stator positioning rod, which is used to be fixedly connected to the stator center rod 700. The communication port 820 of the stator positioning rod is connected to the third oil channel 810. The two outer cylindrical surfaces of the stator positioning rod 800 are respectively called the first positioning surface 830 of the stator positioning rod and the second positioning surface 850 of the stator positioning rod.

[0083] The structure of stator end cover 900 is as follows: Fig.10 As shown. The stator end cover 900 is a circular ring with a through hole in the center, which is called the stator end cover center hole 920. The stator end cover is provided with an external thread on the outside, which is called the stator end cover external thread 910, which is used to be fixed to the stator adapter. The stator end cover is provided with six threaded holes extending axially in the circumference, which are called stator end cover threaded holes 930. The stator adapter 1000 is provided with a through hole at the axis, which is called the stator adapter center hole 1060, as shown. Figure 7b The front end of the center hole 1060 of the stator adapter is used to cooperate with the rotor spiral sleeve 600, and the rear end is used to cooperate with the rotor push-pull rod 1100. The stator adapter 1000 is provided with a through hole at a position away from the axis, which is called the second oil passage 1010. Figure 7b The front end of the stator adapter 1000 is provided with two positioning holes, which are respectively called the first positioning hole 1020 of the stator adapter and the second positioning hole 1030 of the stator adapter. Figure 7bThe stator adapter 1000 is provided with two assembling holes in the circumferential direction, which are respectively referred to as the first assembling hole 1040 of the stator adapter and the second assembling hole 1050 of the stator adapter. Figure 7a shown.

[0084] A chamber is provided in the push-pull rod 1100 of the mover, and the chamber is called the rear sensitive chamber 1110 in the push-pull rod of the mover after cooperating with the stator center rod 700. Figure 9b The outer circumference of the front end of the mover push-pull rod 1100 is provided with an external thread, which is called the external thread 1130 of the mover push-pull rod. Figure 9a The external thread 1130 of the push-pull rod of the mover is provided with an opening, which is called the push-pull rod opening 1120 of the mover. Fig.9c The movable push-pull rod communication port 1120 is in communication with the second communication port 690 of the movable spiral sleeve.

[0085] Next, the positional relationship of each component of the bidirectional hydraulic proportional solenoid will be described.

[0086] The assembly diagram of the bidirectional hydraulic proportional solenoid is as follows: Figure 1 The front part of the through hole of the stator coil assembly 400 is sleeved with a stator claw pole sleeve 500, a rotor core 200, a rotor spiral sleeve 600, and a stator center rod 700 in sequence from outside to inside. The stator claw pole sleeve 500, the rotor core 200, the rotor spiral sleeve 600, and the stator center rod 700 are all rotating bodies, and their central axes are all on the axis center line; a stator positioning rod 800 is stored in the rear part of the through hole of the stator coil assembly 400, and the center line of the stator positioning rod 800 is perpendicular to the axis. Center line; the front part of the stator coil assembly 400 is the LVDT stator assembly 120 and the LVDT mover assembly 110, both of which are rotating bodies, and their central axes are all on the said axis center line; the rear part of the stator coil assembly 400 is the stator adapter 1000 and the mover push-pull rod 1100 from the outside to the inside, both of which are rotating bodies, and their central axes are all on the said axis center line.

[0087] The front end of the mover spiral sleeve 600 is fixedly connected to the mover core 200 through the external thread 620 of the mover spiral sleeve, and the rear end passes through the front end through hole of the stator adapter 1000 and is fixedly connected to the mover push-pull rod through the threaded hole 680 of the mover spiral sleeve. The mover spiral sleeve 600 and the stator adapter 1000 are clearance-fitted, and the mover spiral sleeve 600 can perform axial direct motion and circumferential rotation within the range of travel in the stator adapter 1000. The stator positioning rod 800 passes through the second assembly hole 1050 of the stator adapter, the mover spiral sleeve avoidance groove 611, and the first assembly hole 1040 of the stator adapter in sequence perpendicular to the axis. The stator positioning rod 800 is fixedly connected to the stator adapter 1000 by bolts. The stator center rod 700 passes through the center hole 612 of the rotor spiral sleeve and the assembly hole 840 of the stator positioning rod in the axial direction, and then cooperates with the rotor push-pull rod 1100 to form a rear sensitive cavity 1110 in the rotor push-pull rod. The stator center rod 700 is fixedly connected to the stator positioning rod 800 by bolts. The stator center rod 700 supports the rotor spiral sleeve 600 so that its axis is consistent with the axis of the entire rotating body.

[0088] The mover core 200, the mover permanent magnet 300, the mover spiral sleeve 600, the LVDT mover assembly 110 and the mover push-pull rod 1100 are fixedly connected to form a mover assembly. The mover assembly has the degree of freedom of circumferential rotation and the degree of freedom of axial direct motion. The stator coil assembly 400, the stator claw pole sleeve 500, the stator center rod 700, the stator positioning rod 800, the stator end cover 900, the LVDT stator assembly 120 and the stator adapter 1000 are fixedly connected to form a stator assembly. The relative movement between the mover assembly and the stator assembly is mainly supported by a rotating pair and a moving pair between the stator center rod 700 and the mover spiral sleeve 600.

[0089] Next, the oil passage connection relationship of the double-acting servo screw mechanism is explained.

[0090] The high-pressure oil flows from the rear end to the front end in turn through the stator adapter 1000, the stator positioning rod 800, the stator center rod 700, and the rotor spiral sleeve 600. The second oil passage 1010 communicates with the third oil passage 810 through the communication port 820 of the stator positioning rod. The third oil passage 810 communicates with the fourth oil passage 720 through the communication port 710 of the stator center rod. When the rotor assembly is at the zero point in the circumferential and axial directions, the communication area of ​​the first sensing hole 640 of the rotor spiral sleeve is equal to that of the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod, and the communication area of ​​the second sensing hole 650 of the rotor spiral sleeve is equal to that of the high-pressure groove 740 of the stator center rod and the low-pressure groove 750 of the stator center rod. The first sensing hole 640 of the rotor spiral sleeve, the high pressure groove 740 of the stator center rod, and the low pressure groove 750 of the stator center rod form a first servo screw mechanism, and the second sensing hole 650 of the rotor spiral sleeve, the high pressure groove 740 of the stator center rod, and the low pressure groove 750 of the stator center rod form a second servo screw mechanism, and the two servo screw mechanisms change differentially. The two differentially acting servo screw mechanisms are called double-acting servo screw mechanisms. High-pressure oil flows through the second oil channel 1010, the third oil channel 810, and the fourth oil channel 720 and flows out from the high pressure hole 730 of the stator center rod. The oil flowing out of the high pressure hole 730 of the stator center rod passes through the first servo screw mechanism and the second servo screw mechanism, and flows out from the first sensing hole 640 of the rotor spiral sleeve and the second sensing hole 650 of the rotor spiral sleeve respectively, and the oil pressure changes. The oil after the pressure change flows into the front sensitive cavity and the rear sensitive cavity respectively through the rotor spiral sleeve 600. The oil flowing out of the first sensing hole 640 of the mover spiral sleeve flows into the front sensitive cavity 610 in the mover spiral sleeve through the communication groove 630 of the mover spiral sleeve. The oil flowing out of the second sensing hole 650 of the mover spiral sleeve flows into the first oil passage 670 from the first communication port 660 of the mover spiral sleeve, and then flows out of the second communication port 690 of the mover spiral sleeve. The oil flowing out of the second communication port 690 of the mover spiral sleeve flows into the rear sensitive cavity 1110 in the mover push-pull rod through the communication port 1120 of the mover push-pull rod.

[0091] Next, the working principle of the double-acting servo screw mechanism is explained.

[0092] The axial movement of the rotor spiral sleeve 600 is driven by the pressure difference between the front sensitive chamber 610 in the rotor spiral sleeve and the rear sensitive chamber 1110 in the rotor push-pull rod. The front sensitive chamber 610 in the rotor spiral sleeve and the rear sensitive chamber 1110 in the rotor push-pull rod have the same effective action area on the rotor spiral sleeve 600. When the rotor assembly is at the zero point in the circumferential and axial directions, the pressure of the front sensitive chamber 610 in the rotor spiral sleeve is equal to the pressure of the rear sensitive chamber 1110 in the rotor push-pull rod, and the rotor spiral sleeve 600 is balanced. The first servo spiral mechanism and the second servo spiral mechanism have a mechanical feedback function. When the rotor spiral sleeve 600 produces an angular displacement and deviates from the circumferential zero point, the communication area between the first sensing hole 640 of the rotor spiral sleeve and the high-pressure groove 740 of the stator center rod is not equal to the communication area between the first sensing hole 640 of the rotor spiral sleeve and the low-pressure groove 750 of the stator center rod, resulting in a change in the pressure of the front sensitive chamber 610 in the rotor spiral sleeve. Similarly, the pressure of the rear sensitive chamber 1110 in the mover push-pull rod also changes, and the pressure of the front sensitive chamber 610 in the mover spiral sleeve and the pressure of the rear sensitive chamber 1110 in the mover push-pull rod change in opposite trends, one pressure increases and the other pressure decreases. Driven by the pressure difference, the mover spiral sleeve 600 will produce axial displacement, and during the axial displacement, the communication area between the first sensing hole 640 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod will change, and the communication area between the first sensing hole 640 of the mover spiral sleeve and the low-pressure groove 750 of the stator center rod will also change, and the change trend is opposite. Finally, the communication area between the first sensing hole 640 of the mover spiral sleeve and the low-pressure groove 750 of the stator center rod will be equal to the communication area between the first sensing hole 640 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod. Similarly, the communication area between the second sensing hole 650 of the mover spiral sleeve and the low-pressure groove 750 of the stator center rod will be equal to the communication area between the second sensing hole 650 of the mover spiral sleeve and the high-pressure groove 740 of the stator center rod. At this time, the pressure of the front sensitive cavity 610 in the mover spiral sleeve is equal to the pressure of the rear sensitive cavity 1110 in the mover push-pull rod, and the mover spiral sleeve 600 is balanced and stops moving. If the input current is turned off, the mover assembly will return to the axial and circumferential zero position under the action of the magnetic force and the double-acting servo screw mechanism. Finally, the working principle of the double-acting hydraulic proportional electromagnet.

[0093] When the input current of the stator coil assembly 400 is zero, the mover assembly is in the axial and circumferential zero position under the action of the axial restoring force and the circumferential restoring torque. When the stator coil assembly 400 is input with the control current, the mover assembly generates an angular displacement in proportion to the control current under the drive of the electromagnetic torque. After the mover assembly generates an angular displacement, the mover assembly generates an axial displacement in proportion under the action of the double-acting servo screw mechanism. If a reverse control current is input, the mover assembly can generate a reverse angular displacement in proportion and a reverse axial displacement in proportion.

[0094] In particular, the LVDT assembly 100 is used to measure and feed back the displacement of the mover push-pull rod 1100 to achieve closed-loop control. Removing the LVDT assembly 100 will not affect the function of the present invention, and the bidirectional hydraulic proportional solenoid can still achieve proportional characteristics.

[0095] The contents described in the embodiments of this specification are merely an enumeration of implementation forms of the inventive concept. The protection scope of the present invention should not be deemed to be limited to the specific forms described in the embodiments. The protection scope of the present invention also extends to equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.

Claims

1. A bidirectional hydraulic proportional electromagnet, comprising a stator coil assembly (400), wherein a through hole is provided on the stator coil assembly (400), the direction of the through hole of the stator coil assembly (400) toward the LVDT assembly is defined as a forward direction, the central axis of the through hole of the stator coil assembly (400) is defined as an axial line, and the direction along the axial line is defined as an axial direction, wherein: The front part of the through hole of the stator coil assembly (400) is sleeved with a stator claw pole sleeve (500), a mover iron core (200), a mover spiral sleeve (600), and a stator center rod (700) in sequence from outside to inside, and the stator claw pole sleeve (500), the mover iron core (200), the mover spiral sleeve (600), and the stator center rod (700) are all rotating bodies, and their central axes are all on the axis line; The stator claw pole sleeve (500) is fixedly connected to the inner wall of the central through hole of the stator coil assembly (400), and the outer wall of the mover core (200) is affixed with a mover permanent magnet (300); the front end of the stator claw pole sleeve (500) is a connection end with the stator assembly (110) of the LVDT, and the front end of the mover core (200) forms a connection end with the mover assembly (120) of the LVDT; The mover core (200), the mover permanent magnet (300), the mover spiral sleeve (600) and the mover push-pull rod (1100) are fixedly connected to form a mover assembly, and the mover assembly has a circumferential rotational degree of freedom and an axial direct motion degree of freedom; the stator coil assembly (400), the stator claw pole sleeve (500), the stator center rod (700), the stator positioning rod (800), the stator end cover (900) and the stator adapter (1000) are fixedly connected to form a stator assembly; A front sensitive cavity is provided between the front end of the stator center rod (700) and the rotor spiral sleeve (600), and a rear sensitive cavity is provided between the rear end of the stator center rod (700) and the rotor push-pull rod (1100). The axial movement of the rotor spiral sleeve (600) is driven by the pressure difference between the front sensitive cavity and the rear sensitive cavity. The center hole (612) of the rotor spiral sleeve is connected to high-pressure oil through the stator center rod (700), the stator positioning rod (800), and the stator adapter (1000). The first sensing hole (640) and the second sensing hole on the wall of the rotor spiral sleeve (600) are connected to the stator center rod (700), the stator positioning rod (800), and the stator adapter (1000). (650) are respectively communicated with the two pairs of spiral high and low pressure grooves of the stator center rod (700) to form two servo spiral mechanisms with differential changes; the oil flowing out of the first sensing hole (640) flows into the front sensitive cavity (610) through the communication groove (630) of the rotor spiral sleeve; the oil flowing out of the second sensing hole (650) flows into the rear sensitive cavity (1110) through the first communication port (660) of the rotor spiral sleeve; the two servo spiral mechanisms proportionally convert the bidirectional angular displacement output by the claw pole torque motor into reciprocating linear motion through mechanical feedback.

2. A bidirectional hydraulic proportional solenoid as claimed in claim 1, characterized in that: The rotor core (200) is provided with an axial blind hole with an opening facing backward and an axial threaded hole (210) with an opening facing forward; the axially extending rotor permanent magnets (300) are evenly distributed on the circumferential outer side of the rotor core (200), and the polarities of two adjacent rotor permanent magnets (300) are opposite; the front part of the stator claw pole sleeve (500) comprises an axially extending upper claw pole (520) and a lower claw pole (540), the upper claw pole (520) and the lower claw pole (540) are mutually inserted into the gap between two adjacent claw poles of the other party, and the upper claw pole (520) and the lower claw pole (540) are alternately arranged in the circumferential direction of the stator claw pole sleeve (500), and the upper claw pole (520) ) and the lower claw pole (540) are filled with a non-magnetic magnetic isolation ring (530); when the stator coil assembly is not energized, a certain relative position relationship exists between the stator claw pole sleeve (500) and the mover permanent magnet (300); each stator upper claw pole tooth (520) faces two mover permanent magnets (300) with opposite polarities, and the facing areas are equal; each stator lower claw pole tooth (540) faces two mover permanent magnets (300) with opposite polarities, and the facing areas are equal; adjacent stator upper claw pole teeth (520) and stator lower claw pole teeth (540) face the same mover permanent magnet (300), and the facing areas are equal.

3. A bidirectional hydraulic proportional solenoid as claimed in claim 2, characterized in that: The rear end of the stator claw pole sleeve (500) is fixedly connected to the stator adapter (1000) through the stator end cover (900); the stator end cover (900) is fixedly connected to the stator adapter (1000) through the stator end cover external thread; the stator end cover (900) presses the stator claw pole sleeve (500) through bolts and the stator end cover threaded holes; the central through hole (920) of the stator end cover, the stator end cover threaded holes and the central through hole (1060) of the stator adapter all extend along the axis; the central through hole (1060) of the stator adapter is connected to the central through hole of the stator claw pole sleeve (500) to form a mounting hole that penetrates from front to back; the rotor spiral sleeve (600) is arranged in the mounting hole; the rotor spiral sleeve (600) and the stator adapter (1000) are clearance-matched; The movable element spiral sleeve (600) has an axial central through hole (612), and the rear end of the central through hole (612) of the movable element spiral sleeve is threadedly connected to the external thread of the front end of the movable element push-pull rod (1100).

4. A bidirectional hydraulic proportional solenoid as claimed in claim 3, characterized in that: The stator positioning rod (800) is inserted into the stator adapter (1000) and the rotor spiral sleeve (600) perpendicularly to the axis, and the rotor spiral sleeve (600) is provided with an axial avoidance groove (611), and the stator positioning rod (800) passes through the central through hole of the stator adapter (1000) and the avoidance groove (611) of the rotor spiral sleeve (600); the stator positioning rod (800) is provided with an axial assembly hole (840), and the assembly hole (840) is communicated with the central through hole (612) of the rotor spiral sleeve for the stator center rod (700) to pass through.

5. A bidirectional hydraulic proportional solenoid as claimed in claim 4, characterized in that: The stator center rod (700) is inserted into the center through hole of the rotor spiral sleeve (600) through clearance fit, and a screw is provided at one end of the stator positioning rod (800) to fasten the stator center rod (700) and the stator positioning rod (800) together; the front end surface of the stator center rod (700) and the wall surface of the center through hole of the rotor spiral sleeve (600) and the wall surface of the axial blind hole of the rotor iron core form a front sensitive cavity (610) with a variable volume; the front end of the rotor push-pull rod (1100) is provided with an axially concave cavity, and the rear end of the stator center rod (700) is inserted into the cavity to form a rear sensitive cavity (1110).

6. A bidirectional hydraulic proportional solenoid as claimed in claim 5, characterized in that: The side wall of the stator center rod (700) is provided with two groups of four spiral grooves in the circumferential direction. Two spiral grooves of the same shape and with a circumferential phase difference of 180 degrees form one group. The two groups of spiral grooves are respectively a high-pressure groove (740) of the stator center rod and a low-pressure groove (750) of the stator center rod. The phase difference between the adjacent high-pressure grooves (740) of the stator center rod and the low-pressure grooves (750) of the stator center rod is 90 degrees, forming two pairs of high- and low-pressure grooves. The high-pressure groove (740) of the stator center rod and the low-pressure groove (750) of the stator center rod are both arranged on the shoulder of the stator center rod (700), but their shapes are different. The low-pressure groove (750) of the stator center rod extends outside the shoulder, while the high-pressure groove (740) of the stator center rod does not reach the shoulder. A high-pressure hole (730) is arranged in the high-pressure groove (740) of the stator center rod, and the high-pressure hole (730) is communicated with the central through hole (720) of the stator center rod.

7. A bidirectional hydraulic proportional solenoid as claimed in claim 6, characterized in that: A communication groove (630) is provided on the front side wall of the rotor spiral sleeve (600); two groups of four sensing holes are provided on the rotor spiral sleeve (600) in a circumferential direction, and the two groups of sensing holes are respectively called first sensing holes (640) of the rotor spiral sleeve and second sensing holes (650) of the rotor spiral sleeve; the circumferential phase difference between the sensing holes in the same group is 180°, and the circumferential phase difference between the sensing holes in different groups is 90°; the rotor spiral sleeve (600) is provided with a first oil passage (670) parallel to the axial direction at a position deviating from the axis center line, and the openings of the first oil passage (670) on both sides of the rotor spiral sleeve are respectively called the first communication opening (660) of the rotor spiral sleeve and the second communication opening (690) of the rotor spiral sleeve.

8. A bidirectional hydraulic proportional solenoid as claimed in claim 7, characterized in that: The central blind hole of the stator positioning rod (800) is set as the third oil passage (810), and a communication port (820) is provided in the circumferential direction of the stator positioning rod (800), and the communication port (820) is connected to the third oil passage (810); A third communication port (1120) is provided on the external thread (1130) on the front side wall of the mover push-pull rod, and the third communication port (1120) is communicated with the second communication port (690) on the mover spiral sleeve (600); A second axial oil passage (1010) is provided at a position of the stator adapter (1000) deviating from the axis center line, the front end of the second oil passage (1010) is connected to a communication port (820) of the stator positioning rod (800), and the third oil passage (810) on the stator positioning rod (800) is connected to the first oil passage (720) of the stator center rod (700) through the communication port (710) on the side wall of the stator center rod (700).

9. A bidirectional hydraulic proportional solenoid as claimed in claim 8, characterized in that: When the rotor assembly is at the zero point in the circumferential and axial directions, the communication areas of the first sensing hole (640) of the rotor spiral sleeve (600) and the high pressure groove (740) of the stator center rod (700) and the low pressure groove (750) of the stator center rod (700) are equal, and the communication areas of the second sensing hole (650) of the rotor spiral sleeve (600) and the high pressure groove (740) of the stator center rod and the low pressure groove (750) of the stator center rod are equal; the first sensing hole (640) of the rotor spiral sleeve and the high pressure groove (740) of the stator center rod and the low pressure groove (750) of the stator center rod form a first servo spiral mechanism, and the second sensing hole (650) of the rotor spiral sleeve and the high pressure groove (740) of the stator center rod and the low pressure groove (750) of the stator center rod form a second servo spiral mechanism, and the two servo spiral mechanisms change differentially; the high pressure oil flows through the oil passage (10 10), the oil passage (810) of the stator positioning rod and the oil passage (720) of the stator center rod flow out from the high-pressure hole (730) of the stator center rod; the oil flowing out of the high-pressure hole (730) of the stator center rod flows out from the first sensing hole (640) and the second sensing hole (650) of the rotor spiral sleeve respectively after passing through the servo spiral mechanism, and the oil pressure changes; the oil flowing out of the first sensing hole (640) flows into the sensitive cavity (610) in the rotor spiral sleeve through the communication groove (630) of the rotor spiral sleeve; the oil flowing out of the second sensing hole (650) flows into the second oil passage (670) of the rotor spiral sleeve from the communication port (660) of the rotor spiral sleeve, and then flows out from the communication port (690) of the rotor spiral sleeve; the oil flowing out of the second communication port (690) of the rotor spiral sleeve flows into the rear sensitive cavity (1110) through the communication port (1120) of the rotor push-pull rod.

10. A bidirectional hydraulic proportional solenoid as claimed in claim 8, characterized in that: The axial movement of the movable helical sleeve (600) is driven by the pressure difference between the sensitive cavity (610) in the movable helical sleeve and the sensitive cavity (1110) in the movable push-pull rod; the effective action area of ​​the sensitive cavity (610) in the movable helical sleeve and the sensitive cavity (1110) in the movable push-pull rod on the movable helical sleeve (600) is equal; when the movable assembly is at the zero point in the circumferential direction and the axial direction, the pressure of the front sensitive cavity (610) in the movable helical sleeve is equal to the pressure of the rear sensitive cavity (1110) in the movable push-pull rod, and the movable helical sleeve (600) is balanced in force; the first servo screw mechanism and The second servo screw mechanism performs mechanical feedback; when the rotor spiral sleeve (600) produces an angular displacement and deviates from the circumferential zero point, the communication area between the sensing hole (640) of the rotor spiral sleeve and the high-pressure groove (740) of the stator center rod is not equal to the communication area between the sensing hole (640) of the rotor spiral sleeve and the low-pressure groove (750) of the stator center rod, resulting in a change in the pressure of the sensitive cavity (610) in the rotor spiral sleeve; similarly, the pressure of the sensitive cavity (1110) in the rotor push-pull rod also changes, and the pressure of the sensitive cavity (610) in the rotor spiral sleeve and the sensitive cavity (1110) in the rotor push-pull rod are equal. The pressure change trends of the sensing chamber (1110) are opposite, one pressure increases while the other pressure decreases; the rotor spiral sleeve (600) will generate axial displacement under the drive of the pressure difference, and the communication area between the first sensing hole (640) of the rotor spiral sleeve and the high-pressure groove (740) of the stator center rod will change during the axial displacement, and the communication area between the first sensing hole (640) of the rotor spiral sleeve and the low-pressure groove (750) of the stator center rod will also change, and the change trends are opposite; finally, the first sensing hole (640) of the rotor spiral sleeve and the low-pressure groove (750) of the stator center rod will change. The communication area will be equal to the communication area between the first sensing hole (640) of the rotor spiral sleeve and the high-pressure groove (740) of the stator center rod; similarly, the communication area between the second sensing hole (650) of the rotor spiral sleeve and the low-pressure groove (750) of the stator center rod will be equal to the communication area between the second sensing hole (650) of the rotor spiral sleeve and the high-pressure groove (740) of the stator center rod; at this time, the pressure of the sensitive cavity (610) in the rotor spiral sleeve is equal to the pressure of the sensitive cavity (1110) in the rotor push-pull rod, and the rotor spiral sleeve (600) is balanced and stops moving; When the input current of the stator coil assembly (400) is zero, the movable assembly (120) is in the axial and circumferential zero position under the action of the axial restoring force and the circumferential restoring moment; when the stator coil assembly (400) inputs the control current, the movable assembly (120) generates an angular displacement in proportion to the control current under the drive of the electromagnetic torque; after the movable assembly (120) generates an angular displacement, the movable assembly generates an axial displacement in proportion under the action of the double-acting servo screw mechanism; If a reverse control current is input, the movable subassembly (120) can generate a proportional reverse angular displacement and a proportional reverse axial displacement; if the input current is turned off, the movable subassembly will return to the axial and circumferential zero position under the action of the magnetic force and the double-acting servo screw mechanism.

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