A bidirectional hydraulic proportional solenoid

Abstract

A bidirectional hydraulic proportional electromagnet, whose mover assembly and stator assembly are respectively connected to the LVDT assembly, a front sensitive cavity is provided between the front end of the stator center rod and the mover spiral sleeve, and a rear sensitive cavity is provided between the rear end of the stator center rod and the mover push-pull rod, and the axial movement of the mover spiral sleeve is driven by the pressure difference between the front sensitive cavity and the rear sensitive cavity; the center hole of the mover spiral sleeve is connected to the high-pressure oil through the stator center rod, the stator positioning rod, and the stator adapter, and the first sensing hole and the second sensing hole on the wall of the mover spiral sleeve are respectively communicated with the two pairs of spiral high and low pressure grooves of the stator center rod to form two differentially changing servo spiral mechanisms; the oil flowing out of the first sensing hole flows into the front sensitive cavity through the communication groove of the mover spiral sleeve; the oil flowing out of the second sensing hole flows into the rear sensitive cavity through the first communication port of the mover 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.

Description

Technical Field

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

[0002] Hydraulic systems are common energy conversion and transmission systems in industry, and directional control valves are key components. The electromechanical converter, connecting the electrical and hydraulic components of the directional control valve, plays a crucial role in its performance. Proportional solenoids are the most widely used electromechanical converters in proportional directional control valves. However, proportional solenoids can only achieve unidirectional motion, and their output force is limited by the magnetic saturation of their soft magnetic materials. Bidirectional motion requires two coils, resulting in a complex and bulky structure.

[0003] A claw-pole magnetic levitation torque motor is an electro-mechanical converter that utilizes the magnetic force of 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, resulting in greater output angular displacement and torque than traditional moving-iron torque motors. Claw-pole magnetic levitation torque motors achieve bidirectional symmetrical rotation under forward and reverse currents. However, due to the magnetic saturation of the soft magnetic material, their output torque is insufficient to overcome the hydraulic forces of high-flow proportional valves. Summary of the Invention

[0004] To overcome the above-mentioned shortcomings of the prior art, achieve bidirectional motion, and overcome the limitations of output force, the present invention provides a bidirectional hydraulic proportional electromagnet. The present invention can achieve bidirectional motion with a single control coil, and has high thrust and stroke. It utilizes the magnetic force of a permanent magnet for axial and circumferential zero-point positioning. After inputting a control current, bidirectional angular displacement can be output proportionally, and the bidirectional angular displacement can be proportionally converted into bidirectional linear displacement through a hydraulic double-acting servo screw mechanism. Bidirectional motion with proportional characteristics can be achieved using a single control coil, greatly simplifying the structure; and the introduction of a hydraulic double-acting servo screw mechanism greatly increases its output power.

[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. The stator coil assembly 400 is provided with a through hole. 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 centerline. The direction along the axial centerline is defined as an axial direction.

[0007] The stator claw pole sleeve 500, the rotor core 200, the rotor spiral sleeve 600, and the stator center rod 700 are sequentially sleeved in the front portion of the through hole of the stator coil assembly 400 from the outside to the 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 aforementioned axis.

[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 affixed with the mover permanent magnet 300. The front end of the stator claw-pole sleeve 500 is connected to 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, which has the freedom of movement of circumferential rotation and 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. 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 communicate with the two pairs of spiral high and low pressure grooves of the stator center rod 700 respectively, forming 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 movable 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 movable 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 a rearward opening and an axial threaded hole 210 with a forward opening. The axially extending rotor permanent magnets 300 are evenly distributed around the circumference of the rotor core 200, with adjacent rotor permanent magnets 300 having opposite polarities. The front portion of the stator claw-pole sleeve 500 includes an axially extending upper claw pole 520 and a lower claw pole 540, which are inserted into the gap between two adjacent claw poles of the stator. The upper claw poles 520 and the lower claw poles 540 are alternately arranged circumferentially around the stator claw-pole sleeve 500, and a non-magnetic magnetic isolation ring 530 is placed between the upper claw poles 520 and the lower claw poles 540. When the stator coil assembly is not energized, a defined relative positional relationship exists between the stator claw-pole sleeve 500 and the rotor permanent magnets 300. Each stator upper claw pole tooth 520 directly faces two mover permanent magnets 300 with opposite polarities, and the facing areas are equal; each stator lower claw pole tooth 540 directly 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 directly 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 via the stator end cover 900; the stator end cover is fixedly connected to the stator adapter 1000 via the stator end cover external thread; the stator end cover uses bolts and the stator end cover threaded holes to press the stator claw-pole sleeve; 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 communicates with the central through hole of the stator claw-pole sleeve 500, forming a mounting hole that passes through the front and back; the rotor spiral sleeve 600 is disposed in the mounting hole; the rotor spiral sleeve 600 and the stator adapter 1000 are clearance-fitted;

[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 screwed 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 passed through 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 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 said chamber to form a rear sensitive cavity 1110.

[0016] Preferably, two groups of four spiral grooves are provided circumferentially on the side wall of the stator center rod 700. Two spiral grooves of the same shape and with a circumferential phase difference of 180° constitute a group. The two groups of spiral grooves are 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 adjacent high-pressure grooves 740 and 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 and the low-pressure groove 750 of the stator center rod are both provided on the shoulder of the stator center rod 700, but have different shapes. 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 mover spiral sleeve 600; the mover 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 mover spiral sleeve and the second sensing holes 650 of the mover 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 mover spiral sleeve 600 is provided with a first oil channel 670 parallel to the axial direction at a position deviated from the axis center line, and the openings of the first oil channel 670 on both sides of the mover spiral sleeve are respectively called the first communication port 660 of the mover spiral sleeve and the second communication port 690 of the mover spiral sleeve.

[0018] Preferably, 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 circumference of the stator positioning rod 800, 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 on the front side wall of the mover push-pull rod. The third communication port 1120 is communicated with the second communication port 690 on the mover spiral sleeve 600.

[0020] An axial second 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 constitute 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 constitute 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 channel 810 of the stator positioning rod, and the oil channel 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 passes through the servo screw mechanism and flows out from the first sensing hole 640 and the second sensing hole 650 of the movable spiral sleeve respectively, 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 channel 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 mover spiral sleeve 600 is driven by the pressure difference between the sensitive cavity 610 in the mover spiral sleeve and the sensitive cavity 1110 in the mover push-pull rod; the effective action area of ​​the sensitive cavity 610 in the mover spiral sleeve and the sensitive cavity 1110 in the mover push-pull rod on the mover spiral sleeve 600 is equal; when the mover assembly is at the circumferential and axial zero point, 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; the first servo screw machine The structure and the second servo spiral mechanism perform mechanical feedback; when the mover spiral sleeve 600 produces angular displacement and deviates from the circumferential zero point, the communication area between the sensing hole 640 of the mover 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 mover 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 mover spiral sleeve; similarly, the pressure of the sensitive cavity 1110 in the mover push-pull rod also changes, and the pressure of the sensitive cavity 610 in the mover spiral sleeve and the mover push-pull rod The pressure change trends of the inner sensitive cavity 1110 are opposite, one pressure increases and the other pressure decreases; the movable spiral sleeve 600 will produce axial displacement under the drive of the pressure difference. During the axial displacement, the communication area between the first sensing hole 640 of the movable 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 movable 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 movable 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 will be equal to the pressure of the sensitive cavity 1110 in the rotor push-pull rod, the force of the rotor spiral sleeve 600 is balanced, and the movement stops;

[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 an 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 a reverse angular displacement proportionally and a 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 according to the present invention comprises 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 cap 900, a stator adapter 1000, a mover push-pull rod 1100, and an LVDT assembly 100. The direction from the through hole of the stator coil assembly 400 toward 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 axial centerline, and the direction along the axial centerline is defined as the 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, namely 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 circumferentially on the outside of the rotor core 200, 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 when energized. The stator claw pole sleeve 500 is an annular sleeve made by integral processing, which contains the stator upper claw pole teeth 520, the stator lower claw pole teeth 540 and the magnetic isolation ring 530. The stator upper claw pole teeth 520 and the stator lower claw pole teeth 540 are oriented in opposite directions and are staggered. The upper stator claw pole teeth 520 and the lower stator claw pole teeth 540 are evenly distributed circumferentially around the claw pole sleeve 500. The magnetic isolation ring 530 is made of a non-magnetic material. The magnetic isolation ring 530 is densely packed between the upper stator claw pole teeth 520 and the lower stator claw pole teeth 540. The upper stator claw pole teeth 520 and the lower stator claw pole teeth 540 are made of a magnetically conductive material, and only the magnetic isolation ring 530 exists between them; no other magnetically conductive material exists. The upper stator claw pole teeth 520, the lower stator claw pole teeth 540, and the magnetic isolation ring 530 form an integrated annular sleeve. The upper stator claw pole teeth 520 and the lower stator claw pole teeth 540 have the same shape, and their shapes can be any other, such as trapezoidal or rectangular. The front end of the stator claw pole sleeve 500 is provided with internal threads, referred to as the stator claw pole sleeve threaded hole 510. The rear end of the stator claw-pole sleeve 500 has a shoulder, referred to as the stator claw-pole sleeve shoulder 550. The front end of the stator claw-pole sleeve 500 is secured to the LVDT stator assembly 120 via threaded holes 510 in the stator claw-pole sleeve, while the rear end is secured to the stator adapter 1000 via threaded holes 510 in the stator claw-pole sleeve. When the stator coil assembly 400 is de-energized, the stator claw-pole sleeve 500 and the mover permanent magnet 300 maintain a defined relative position. When the stator coil assembly 400 is not energized, each stator upper claw pole tooth 520 faces two mover permanent magnets 300 with opposite polarity, and the facing areas are equal; each stator lower claw pole tooth 540 faces two mover permanent magnets 300 with opposite polarity, 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 both axial and circumferential degrees of freedom. They utilize the axial restoring force and circumferential restoring torque between the mover core 200 and the mover permanent magnet 300 and the upper and lower stator claw pole teeth 520, 540 to achieve zero-point positioning. When the stator coil assembly 400 is energized, the polarization flux and control flux differential between the mover permanent magnet 300 and the upper and lower stator claw pole teeth 520, 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, 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 is matched with the stator center rod 700, 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. There are two groups of four sensing holes circumferentially provided at the front end of the rotor spiral sleeve 600. 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, called the threaded hole 680 of the rotor spiral sleeve, which is used to be fixedly connected to the rotor push-pull rod 1100.

[0031] A blind hole is provided circumferentially at the rear end of the stator center rod 700, which is called the stator center rod communication port 710. A circular oil channel is provided at the axis of the stator center rod 700, which is called the fourth oil channel 720. A screw plug is provided at the front end of the stator center rod 700, which is called the stator center rod screw plug 760, which is used to block the fourth oil channel 720. The stator center rod communication port 710 is connected to the fourth oil channel 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 with a circumferential phase difference of 180° form a group. The two groups of spiral grooves are respectively called the stator center rod high-pressure groove 740 and the stator center rod low-pressure groove 750. The stator center rod high-pressure groove 740 and the stator center rod low-pressure groove 750 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 connected to the fourth oil passage 720.

[0032] The stator locating rod 800 is provided with an assembly hole having the same diameter as the stator centerline rod 700 in the axial direction of the stator coil assembly 400, referred to as the stator locating rod assembly hole 840. The stator locating rod 800 is provided with a blind hole in the circumference thereof, whose centerline is parallel to the centerline of the assembly hole, referred to as the stator locating rod communication port 820. A blind hole is provided at the center of the stator locating rod 800, referred to as the third oil passage 810. The head of the stator locating rod third oil passage 810 is provided with a threaded hole, referred to as the stator locating rod connection hole 860, for secure connection to the stator centerline rod 700. The stator locating rod communication port 820 communicates with the third oil passage 810. The two outer circumferential surfaces of the stator locating rod 800 are respectively referred to as the first positioning surface 830 of the stator locating rod and the second positioning surface 850 of the stator locating 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 outside of the stator end cover is provided with an external thread, 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 axially extending threaded holes in the circumference, called stator end cover threaded holes 930. A through hole is provided at the axis of the stator adapter 1000, which is called the stator adapter center hole 1060. The front end of the stator adapter center hole 1060 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 off 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 circumferential assembly holes, 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] The mover push-pull rod 1100 has a chamber within it. This chamber, when combined with the stator center rod 700, is referred to as the mover push-pull rod rear sensitive chamber 1110. The outer periphery of the front end of the mover push-pull rod 1100 is provided with external threads, referred to as the mover push-pull rod external threads 1130. An opening, referred to as the mover push-pull rod communication port 1120, is formed within this thread 1130. This communication port 1120 communicates with the second communication port 690 of the mover's 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, the LVDT stator assembly 120 and the LVDT mover assembly 110 are both 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, the stator adapter 1000 and the mover push-pull rod 1100 are both 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 linear motion and circumferential rotation within the range of travel within 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 axially passes through the center hole 612 of the rotor spiral sleeve and the assembly hole 840 of the stator positioning rod. It then cooperates with the rotor push-pull rod 1100 to form a rear sensing cavity 1110 within the rotor push-pull rod. The stator center rod 700 is fixed to the stator positioning rod 800 via bolts. The stator center rod 700 supports the rotor spiral sleeve 600, aligning its axis with the axis of the entire rotor.

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

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

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

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

[0042] The axial movement of the rotor helical sleeve 600 is driven by the pressure difference between the front sensitive cavity 610 within the rotor helical sleeve and the rear sensitive cavity 1110 within the rotor push-pull rod. The effective areas of the front sensitive cavity 610 and the rear sensitive cavity 1110 within the rotor push-pull rod on the rotor helical sleeve 600 are equal. When the rotor assembly is at its circumferential and axial zero point, the pressure in the front sensitive cavity 610 and the rear sensitive cavity 1110 within the rotor push-pull rod are equal, resulting in force balance within the rotor helical sleeve 600. The first and second servo helical mechanisms provide mechanical feedback. When the rotor helical sleeve 600 experiences angular displacement and deviates from its circumferential zero point, the communication area between the first sensing hole 640 of the rotor helical sleeve and the high-pressure groove 740 of the stator center rod becomes unequal to the communication area between the first sensing hole 640 of the rotor helical sleeve and the low-pressure groove 750 of the stator center rod, causing the pressure in the front sensitive cavity 610 of the rotor helical sleeve to change. Similarly, the pressure in the rear sensitive chamber 1110 within the mover push-pull rod also changes, and the pressure in the front sensitive chamber 610 within the mover spiral sleeve and the pressure in the rear sensitive chamber 1110 within the mover push-pull rod change in opposite trends: one pressure increases while the other decreases. Driven by the pressure difference, the mover spiral sleeve 600 will produce axial displacement. 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. 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 once again 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's spiral sleeve and the low-pressure groove 750 of the stator's center rod will be equal to the communication area between the second sensing hole 650 of the mover's spiral sleeve and the high-pressure groove 740 of the stator's center rod. At this point, the pressure in the front sensing chamber 610 of the mover's spiral sleeve will be equal to the pressure in the rear sensing chamber 1110 of the mover's push-pull rod. The mover's spiral sleeve 600 is now balanced and stops moving. If the input current is turned off, the mover assembly returns to its axial and circumferential zero position under the influence of the magnetic force and the dual-acting servo screw mechanism.

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

[0044] When the input current to the stator coil assembly 400 is zero, the rotor assembly is in both the axial and circumferential zero positions due to the large axial restoring force and circumferential restoring torque. When a control current is input to the stator coil assembly 400, the rotor assembly, driven by the electromagnetic torque, generates angular displacement proportional to the control current. After the angular displacement, the rotor assembly generates axial displacement proportionally under the action of the double-acting servo screw mechanism. If a reverse control current is input, the rotor assembly can generate both reverse angular displacement and reverse axial displacement proportionally.

[0045] In particular, the LVDT assembly 100 is used to measure and feedback 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 achieves bidirectional motion through a single control coil, with high thrust and stroke. It offers both circumferential rotational freedom and axial linear freedom. When de-energized, it utilizes the magnetic force between the claw-pole sleeve 500 and the mover permanent magnet 300 for circumferential and axial zero-point positioning. When a control current is applied, the mover core 200 can output proportional bidirectional angular displacement. The mover spiral sleeve 600 and stator center rod 700 convert bidirectional angular displacement proportionally into bidirectional linear displacement.

[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 electromagnet, 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 throughout 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 an exploded view of a claw-pole torque motor.

[0053] Figure 3a This is the front view of the claw pole sleeve, the mover permanent magnet and the mover iron 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 cross-sectional 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 push-pull rod structure diagram of the mover.

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

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

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

[0069] Description of reference numerals:

[0070] 100 is the LVDT assembly, 200 is the mover core, 300 is the mover permanent magnet, 400 is the stator coil assembly, 500 is the stator claw pole sleeve, 600 is the mover spiral sleeve, 700 is the stator center rod, 800 is the stator positioning rod, 900 is the stator end cover, 1000 is the stator adapter, 1100 is the mover push-pull rod, 110 is the LVDT mover assembly, 120 is the LVDT stator assembly, 210 is the first threaded hole of the mover core, 220 is the second threaded hole of the mover core, 510 is the stator claw pole sleeve Threaded hole, 520 is the stator claw pole tooth, 530 is the magnetic isolation ring, 540 is the stator lower claw pole tooth, 550 is the shoulder of the stator claw pole sleeve, 610 is the front sensitive cavity in the mover spiral sleeve, 611 is the mover spiral sleeve avoidance groove, 612 is the center hole of the mover spiral sleeve, 620 is the external thread of the mover spiral sleeve, 630 is the communication groove of the mover spiral sleeve, 640 is the first sensing hole of the mover spiral sleeve, 650 is the second sensing hole of the mover spiral sleeve, 660 is the first communication port of the mover spiral sleeve, 670 is the first oil channel, 680 is the mover The threaded hole of the rotor spiral sleeve, 690 is the second communication port 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 solutions of the invention patent in conjunction with the accompanying drawings. Obviously, the implementation cases described are only some of the implementation cases of the present invention, not all of the implementation cases. Based on the implementation cases of the present invention, all other implementation cases obtained by ordinary technicians in this field without making any 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 terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and are therefore not to be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

[0073] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0074] This embodiment provides a bidirectional hydraulic proportional solenoid.

[0075] A bidirectional hydraulic proportional electromagnet assembly diagram is shown as follows Figure 1 As shown, the stator assembly 100 comprises a rotor core 200, a rotor permanent magnet 300, a stator coil assembly 400, a stator claw pole sleeve 500, a rotor spiral sleeve 600, a stator center rod 700, a stator positioning rod 800, a stator end cap 900, a stator adapter 1000, a rotor push-pull rod 1100, and an LVDT assembly 100. The direction from the through-hole of the stator coil assembly 400 toward 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 axial centerline, and the direction along the axial centerline is defined as 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. There are two threaded holes in the rotor core, namely 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 around the outside of the mover core 200, 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 outside of the stator claw pole sleeve 500 and can generate a control magnetic flux when energized. Figure 1 shown. Figure 3a This is a front view of the claw-pole sleeve 500, the rotor permanent magnet 300, and the rotor core 200. This view provides a visual representation of the structure of the stator claw-pole sleeve 500. The stator claw-pole sleeve 500 is an integrally machined annular sleeve that contains the upper stator claw-pole teeth 520, the lower stator claw-pole teeth 540, and the magnetic isolation ring 530. The upper stator claw-pole teeth 520 and the lower stator claw-pole teeth 540 face opposite directions and are staggered. The upper stator claw-pole teeth 520 and the lower stator claw-pole teeth 540 are evenly distributed circumferentially around the circumference of the claw-pole sleeve 500. The magnetic isolation ring 530 is made of a non-magnetic material. The magnetic isolation ring 530 is densely packed between the upper stator claw-pole teeth 520 and the lower stator claw-pole teeth 540. The upper stator claw-pole teeth 520 and the lower stator claw-pole teeth 540 are made of a magnetically conductive material, and only a magnetic isolation ring 530 exists between the upper stator claw-pole teeth 520 and the lower stator claw-pole teeth 540, without any other magnetically conductive material. The upper stator claw-pole teeth 520, the lower stator claw-pole teeth 540, and the magnetic isolation ring 530 form an integrated annular sleeve. The upper stator claw-pole teeth 520 and the lower stator claw-pole teeth 540 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, referred to as the stator claw-pole sleeve threaded hole 510. The rear end of the stator claw-pole sleeve 500 is provided with a shoulder, referred to as 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 its threaded holes 510, and the rear end is fixedly connected to the stator adapter 1000 through its threaded holes 510. When the stator coil assembly 400 is not energized, the stator claw-pole sleeve 500 and the mover permanent magnet 300 have a defined relative positional relationship. When the stator coil assembly 400 is not energized, each upper stator claw-pole tooth 520 directly faces two mover permanent magnets 300 of opposite polarity, with the facing areas being equal. Each lower stator claw-pole tooth 540 directly faces two mover permanent magnets 300 of opposite polarity, with the facing areas being equal. Adjacent upper stator claw-pole teeth 520 and lower stator claw-pole teeth 540 directly face the same mover permanent magnet 300, with the facing areas being equal.

[0078] The mover core 200 and the mover permanent magnet 300 are moving parts with both axial and circumferential degrees of freedom. They utilize the axial restoring force and circumferential restoring torque between the mover core 200 and the mover permanent magnet 300 and the upper and lower stator claw pole teeth 520, 540 to achieve zero-point positioning. When the stator coil assembly 400 is energized, the polarization flux and control flux differential between the mover permanent magnet 300 and the upper and lower stator claw pole teeth 520, 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 of the rotor spiral sleeve is shown in Figure 6b As shown, 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 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 is formed, which is called the front sensitive cavity 610 in the mover spiral sleeve. 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 As shown. A communication groove is provided on the external thread 620 of the movable helical sleeve, 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 degrees, and the circumferential phase difference between the first sensing holes 640 and the second sensing holes 650 is 90 degrees. Figure 6a As shown. The rotor spiral sleeve 600 is provided with an axial through hole at a position deviated from the axis. The hole 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 opening 660 of the rotor spiral sleeve and the second communication opening 690 of the rotor spiral sleeve. Figure 6b As shown. The rear end of the rotor spiral sleeve 600 is provided with a threaded hole, which is called the threaded hole 680 of the rotor spiral sleeve. Figure 6b The threaded hole is used to be fixedly connected to 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 stator center rod communication port 710. Figure 5a As shown. A circular oil channel is provided at the axis of the stator center rod 700, which is called the fourth oil channel 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 block the fourth oil passage 720. Figure 5bAs shown. The communication port 710 of the stator center rod is connected to the fourth oil channel 720. Two groups of four spiral grooves are circumferentially provided on the front shoulder of the stator center rod 700. Two spiral grooves of the same shape and 180° circumferential phase difference constitute a group. The two groups of spiral grooves are respectively called the high-pressure groove 740 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. 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. Figure 5a The high pressure hole 730 of the stator center rod is connected to the fourth oil passage 720, as shown in FIG. 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 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 circumference, 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: Figure 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 fix with the stator adapter. The stator end cover is provided with six axially extending threaded holes 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 As shown. 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 channel 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 circumferential assembly holes, which are respectively referred to as the first assembly hole 1040 of the stator adapter and the second assembly 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 As shown. The outer circle 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 As shown. An opening is provided on the external thread 1130 of the push-pull rod, which is called the push-pull rod communication opening 1120. Figure 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 the various components of the bidirectional hydraulic proportional solenoid will be described.

[0086] The assembly diagram of the bidirectional hydraulic proportional solenoid is as follows Figure 1 As shown. The front part of the through hole of the stator coil assembly 400 is sequentially sleeved with the stator claw pole sleeve 500, the rotor core 200, the rotor spiral sleeve 600, and the stator center rod 700 from the outside to the 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, the LVDT stator assembly 120 and the LVDT mover assembly 110 are both 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, the stator adapter 1000 and the mover push-pull rod 1100 are both 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 linear motion and circumferential rotation within the range of travel within 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 axially passes through the center hole 612 of the rotor spiral sleeve and the assembly hole 840 of the stator positioning rod. It then cooperates with the rotor push-pull rod 1100 to form a rear sensing cavity 1110 within the rotor push-pull rod. The stator center rod 700 is fixed to the stator positioning rod 800 via bolts. The stator center rod 700 supports the rotor spiral sleeve 600, aligning its axis with the axis of the entire rotor.

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

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

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

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

[0092] The axial movement of the rotor helical sleeve 600 is driven by the pressure difference between the front sensitive cavity 610 within the rotor helical sleeve and the rear sensitive cavity 1110 within the rotor push-pull rod. The effective areas of the front sensitive cavity 610 and the rear sensitive cavity 1110 within the rotor push-pull rod on the rotor helical sleeve 600 are equal. When the rotor assembly is at its circumferential and axial zero point, the pressure in the front sensitive cavity 610 and the rear sensitive cavity 1110 within the rotor push-pull rod are equal, resulting in force balance within the rotor helical sleeve 600. The first and second servo helical mechanisms provide mechanical feedback. When the rotor helical sleeve 600 experiences angular displacement and deviates from its circumferential zero point, the communication area between the first sensing hole 640 of the rotor helical sleeve and the high-pressure groove 740 of the stator center rod becomes unequal to the communication area between the first sensing hole 640 of the rotor helical sleeve and the low-pressure groove 750 of the stator center rod, causing the pressure in the front sensitive cavity 610 of the rotor helical sleeve to change. Similarly, the pressure in the rear sensitive chamber 1110 within the mover push-pull rod also changes, and the pressure in the front sensitive chamber 610 within the mover spiral sleeve and the pressure in the rear sensitive chamber 1110 within the mover push-pull rod change in opposite trends: one pressure increases while the other decreases. Driven by the pressure difference, the mover spiral sleeve 600 will produce axial displacement. 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. 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 once again 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's spiral sleeve and the low-pressure groove 750 of the stator's center rod will be equalized to the communication area between the second sensing hole 650 of the mover's spiral sleeve and the high-pressure groove 740 of the stator's center rod. At this point, the pressure in the front sensitive cavity 610 of the mover's spiral sleeve will be equalized to the pressure in the rear sensitive cavity 1110 of the mover's push-pull rod. The force on the mover's spiral sleeve 600 is balanced, and movement ceases. If the input current is turned off, the mover assembly will return to its axial and circumferential zero position under the influence of the magnetic force and the double-acting servo screw mechanism. Finally, the operating principle of the double-acting hydraulic proportional solenoid is explained.

[0093] When the input current to the stator coil assembly 400 is zero, the rotor assembly is in both the axial and circumferential zero positions due to the large axial restoring force and circumferential restoring torque. When a control current is input to the stator coil assembly 400, the rotor assembly, driven by the electromagnetic torque, generates angular displacement proportional to the control current. After the angular displacement, the rotor assembly generates axial displacement proportionally under the action of the double-acting servo screw mechanism. If a reverse control current is input, the rotor assembly can generate both reverse angular displacement and reverse axial displacement proportionally.

[0094] In particular, the LVDT assembly 100 is used to measure and feedback 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 the implementation forms of the inventive concept. The protection scope of the present invention should not be regarded as 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, and the invention is characterized in that: The stator claw pole sleeve (500), the mover core (200), the mover spiral sleeve (600), and the stator center rod (700) are sequentially sleeved in the front portion of the through hole of the stator coil assembly (400) 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. 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 central through 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). The first sensing hole (640) and the second sensing hole (640) on the wall of the rotor spiral sleeve (600) are connected to the high-pressure oil. The holes (650) are respectively communicated with the two pairs of high and low pressure grooves of the spiral shape of the stator center rod (700), forming 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 according to claim 1, characterized in that: The mover 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 mover permanent magnets (300) are evenly distributed on the circumferential outer side of the mover core (200), and the polarities of two adjacent mover permanent magnets (300) are opposite; the front portion of the stator claw pole sleeve (500) includes an axially extending upper claw pole tooth (520) and a lower claw pole tooth (540), the upper claw pole tooth (520) and the lower claw pole tooth (540) are inserted into the gap between two adjacent claw poles of the other party, and the upper claw pole teeth (520) and the lower claw pole teeth (540) are alternately arranged in the circumferential direction of the stator claw pole sleeve (500), and the upper claw pole teeth ( A non-magnetic magnetic isolation ring (530) is filled between the upper claw pole teeth (520) and the lower claw pole teeth (540); when the stator coil assembly is not energized, a definite relative positional 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 according to 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), forming a mounting hole that passes through the front and 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 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 screwed to the external thread of the front end of the mover push-pull rod (1100).

4. A bidirectional hydraulic proportional solenoid according to 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; the rotor spiral sleeve (600) is provided with an axial avoidance groove (611); 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); 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 according to claim 4, characterized in that: The stator center rod (700) is inserted into the center 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) and the stator positioning rod (800) together; the front end surface of the stator center rod (700), the wall surface of the center 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 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 according to claim 5, characterized in that: Two groups of four spiral grooves are provided on the side wall of the stator center rod (700) in a 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 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 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 provided 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 fourth oil passage (720) of the stator center rod.

7. A bidirectional hydraulic proportional solenoid according to claim 6, characterized in that: A communication groove (630) is provided on the front side wall of the movable spiral sleeve (600); the movable spiral sleeve (600) is provided with two groups of four sensing holes in a circumferential direction, the two groups of sensing holes are respectively referred to as 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 passage (670) parallel to the axial direction at a position deviated from the axis center line, and the openings of the first oil passage (670) on both sides of the movable spiral sleeve are respectively referred to as the first communication opening (660) of the movable spiral sleeve and the second communication opening (690) of the movable spiral sleeve.

8. A bidirectional hydraulic proportional solenoid according to claim 7, characterized in that: The central blind hole of the stator positioning rod (800) is set as the third oil channel (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 channel (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 in communication with the second communication port (690) of the mover spiral sleeve; 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 fourth 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 according to claim 8, characterized in that: When the rotor assembly is at the zero point in the circumferential and axial directions, the communication area between the first sensing hole (640) of the rotor spiral sleeve (600), 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 rotor spiral sleeve (600), 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 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 spiral 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 spiral mechanism, and the two servo spiral mechanisms change differentially; the high pressure oil flows through the second oil passage (1010) of the stator adapter, The oil passage (810) of the stator positioning rod and the fourth 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 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 front 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 first oil passage (670) of the movable spiral sleeve from the first communication port (660) of the movable spiral sleeve, and then flows out from the second 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 third communication port (1120) of the movable push-pull rod.

10. A bidirectional hydraulic proportional solenoid according to claim 8, characterized in that: The axial movement of the movable spiral sleeve (600) is driven by the pressure difference between the front sensitive cavity (610) in the movable spiral sleeve and the rear sensitive cavity (1110) in the movable push-pull rod; the effective action area of ​​the front sensitive cavity (610) in the movable spiral sleeve and the rear sensitive cavity (1110) in the movable push-pull rod on the movable spiral 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 spiral sleeve is equal to the pressure of the rear sensitive cavity (1110) in the movable push-pull rod, and the force on the movable spiral sleeve (600) is balanced; the first servo screw machine The mechanism and the second servo spiral mechanism perform mechanical feedback; when the movable spiral sleeve (600) generates angular displacement and deviates from the circumferential zero point, the communication area between the sensing hole (640) of the movable 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 movable spiral sleeve and the low-pressure groove (750) of the stator center rod, resulting in a change in the pressure of the front sensitive cavity (610) in the movable spiral sleeve; similarly, the pressure of the rear sensitive cavity (1110) in the movable push-pull rod also changes, and the pressure of the front sensitive cavity (610) in the movable spiral sleeve and the movable push-pull rod are different. The pressure change trends of the rear sensitive cavity (1110) inside are opposite, one pressure increases and the other pressure decreases; the movable spiral sleeve (600) will produce axial displacement under the drive of the pressure difference, and the communication area between the first sensing hole (640) of the movable 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 movable 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 movable spiral sleeve and the low-pressure groove (750) of the stator center rod will change. ) 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 will be equal to the pressure of the rear sensitive cavity (1110) in the mover push-pull rod, and the force of the mover spiral sleeve (600) will stop 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 torque; 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 assembly (120) can generate a reverse angular displacement in proportion and a reverse axial displacement in proportion; if the input current is turned off, the movable assembly returns 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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