An underwater highly corrosion-resistant electrostatic hydraulic actuator

Abstract

The present invention relates to the technical field of actuators, and discloses an underwater highly corrosion-resistant electrostatic hydraulic actuator, including a turntable, an actuator, a traction mechanism and a flange, wherein the turntable is rotatably connected to the flange, the actuator is mounted on one side of the turntable, and a plurality of traction mechanisms are arranged between the actuator and the turntable. In the present invention, various components in a traditional actuator are arranged in an axially sealed manner in a housing, and various components of the actuator are protected by an external housing to adapt to the underwater environment and avoid corrosion. At the same time, the accumulator assembly in the actuator is arranged in the form of an energy storage chamber in the actuating piston rod, and the accumulator is no longer directly exposed to the outside, the product structure is optimized, the overall structure of the actuator is more streamlined, and the power-to-weight ratio is greatly improved. At the same time, through the coordinated use of the traction mechanism, turntable, torsion spring and other components, the pressure can be buffered and the actuator can be reset to ensure its axial stability.

Description

Technical Field

[0001] The invention relates to the technical field of actuators, in particular to an underwater highly corrosion-resistant electrostatic hydraulic actuator. Background Art

[0002] Actuators are widely used in aircraft, missiles, ships, and rudder surface drives or rocket nozzle swing drives. They are used to convert the control signals from flight control or rudder control equipment into force and position outputs, drive the rudder surface or nozzle deflection, and thus control the movement of the aircraft. Therefore, actuators are important and indispensable actuators for aircraft, missiles, rockets, ships, and other equipment.

[0003] After searching, it was found that in the patent document with publication number CN117803632A, an electrostatic hydraulic actuator is provided, wherein the parts of the actuator are independently arranged outside, and the accumulator of the actuator is arranged on one side of the actuator cylinder in the form of an independent component. In an underwater environment, the parts of the actuator are exposed to the outside and are easily corroded. The independent arrangement of the accumulator makes the entire actuator larger in size and weight, and the power-to-weight ratio is limited. At the same time, when used underwater, the actuator will be deflected due to the influence of various factors such as water flow, water pressure and gravity. After the deflection, its axial work is difficult to maintain stability, and when the actuator is installed in a direct fixing manner, the connection between the piston rod of the actuator and the actuator cylinder will be worn after frequent deflection. The more wear, the easier it is for the piston rod to deviate when performing axial work. Summary of the invention

[0004] The object of the present invention is to provide an underwater electrostatic hydraulic actuator with high corrosion resistance, so as to solve the problems mentioned in the above background technology that the actuator is easily corroded when used underwater and the axial work of the actuator is difficult to maintain stability.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An underwater highly corrosion-resistant electrostatic hydraulic actuator comprises a turntable, an actuator and a flange, wherein the turntable is rotatably connected to the flange, the actuator is mounted on one side of the turntable, a plurality of traction mechanisms are arranged between the actuator and the turntable, the actuator comprises an actuator cylinder outer shell, a tailstock outer shell, a micro pump outer shell and a motor outer shell, an actuator cylinder is installed inside the actuator cylinder outer shell, a tailstock is installed inside the tailstock outer shell, a micro pump is installed inside the micro pump outer shell, a motor is installed inside the motor outer shell, the actuator cylinder is connected to the tailstock and the two are sealed by a tailstock sealing ring, the actuator cylinder is connected to the inside of the tailstock, an actuator piston rod is slidably connected inside the actuator cylinder, an accumulator rear end cover is fixed to one end of the actuator piston rod facing the tailstock, an end of the actuator piston rod close to the accumulator rear end cover is hollowed out to form an energy storage chamber, and an elastic energy storage structure is arranged inside the energy storage chamber.

[0007] As a further solution of the present invention: Actuating cylinder bushings are provided at both ends of the interior of the actuating cylinder, the actuating piston rod is sealingly and slidingly connected in the actuating cylinder through the two actuating cylinder bushings, one end of the actuating piston rod extends into the tail stock, and the other end thereof extends to the outside of the actuating cylinder, and a self-lubricating spherical bearing is fixed to the tip of the other end, an actuating piston is sleeved and fixed on the actuating piston rod, the actuating piston is slidably connected in the actuating cylinder, the interior of the actuating cylinder is divided into left and right chambers by the actuating piston, the left chamber inside the actuating cylinder is connected to the interior of the tail stock, the micro pump is a bidirectional pump, one port of the micro pump is connected to the tail stock, and the other port of the micro pump is connected to the right chamber inside the actuating cylinder.

[0008] As a further solution of the present invention: an accumulator oil port is penetrated through the rear end cover of the accumulator, the energy storage chamber is connected with the interior of the tailstock through the accumulator oil port, and an electromagnetic valve is installed in the accumulator oil port, an accumulator piston is slidably connected in the energy storage chamber, the interior of the energy storage chamber is divided into two left and right chambers by the accumulator piston, and the elastic energy storage structure is installed in the right chamber of the energy storage chamber.

[0009] As a further solution of the present invention: the actuator cylinder outer shell, the tailstock outer shell, the micro pump outer shell and the motor outer shell are axially fixedly connected in sequence, and two adjacent outer shells are sealed by a shell connecting sleeve, and the inner and outer surfaces of the actuator cylinder outer shell, the tailstock outer shell, the micro pump outer shell and the motor outer shell are sprayed with anti-corrosion material.

[0010] As a further scheme of the present invention: the traction mechanism includes a piston rod, a piston cylinder and a damping hydraulic cylinder, the piston cylinder is slidably connected in the damping hydraulic cylinder, and one end of the piston cylinder extends to the outside of the damping hydraulic cylinder, the piston rod is slidably connected in the piston cylinder, and one end of the piston rod extends to the outside of the piston cylinder, one end of the piston rod is fixed with a connecting head, one end of the damping hydraulic cylinder is fixed with a base, a traction ball head is fixed on the base, one end of the damping hydraulic cylinder is sleeved and fixed with a threaded cylinder, the outer surface of the threaded cylinder is provided with a thread, the threaded cylinder is connected to an adjusting nut through the thread on its outer surface, one side of the adjusting nut is rotatably connected to a patch, a patch is fixed to the front end of the piston cylinder, an external traction spring is fixed between the two patches, and the external traction spring is sleeved on the outside of the threaded cylinder, the damping hydraulic cylinder and the piston cylinder.

[0011] As a further solution of the present invention: a first piston is fixed to one end of the piston rod located in the piston cylinder, a second piston is fixed to one end of the piston cylinder located in the damping hydraulic cylinder, an internal traction spring is fixed between the first piston and the second piston, and the internal traction spring is arranged in a cavity inside the piston cylinder.

[0012] As a further solution of the present invention: the interior of the damping hydraulic cylinder is filled with hydraulic oil, the interior of the damping hydraulic cylinder is divided into two front and rear cavities by the second piston, a plurality of first throttling holes with both ends penetrating are evenly opened at the edge of the inner wall of the second piston, the front and rear two cavities inside the damping hydraulic cylinder are connected through the plurality of first throttling holes, a second throttling hole is penetrated at the center of the inner wall of the second piston, the piston cylinder and the damping hydraulic cylinder are connected through the interior of the second throttling hole, and the aperture of the second throttling hole is smaller than the aperture of the first throttling hole.

[0013] As a further solution of the present invention: an annular groove is provided on the side of the flange facing the turntable, and a number of balls are evenly arranged in the annular groove; a hole with two ends passing through is provided at the center of the inner wall of the flange, and a rotating shaft is rotatably connected in the hole, a torsion spring is sleeved on the outside of the rotating shaft, and plugs are provided on the outside of the flange corresponding to both sides of the hole, the plugs are used to seal the hole on the flange, and one end of the rotating shaft is fixedly connected to the turntable.

[0014] As a further solution of the present invention: a ball head hinge seat is fixed at the center of the turntable facing the actuator side, and guide grooves are opened on the inner wall of the turntable corresponding to the two sides of the ball head hinge seat, and ball head connecting parts are slidably connected in the two guide grooves, and the traction ball head ball joint is connected to the ball head connecting part, and guide rods are fixed in the two guide grooves, and the two guide rods are slidably inserted with the corresponding ball head connecting parts respectively, and guide springs are sleeved on the two guide rods, and the two ends of the two guide springs are respectively connected and fixed to the corresponding ball head connecting parts and the inner wall of one side of the guide groove, and an annular strip is fixed on the side of the turntable facing the flange, and the annular strip is arranged corresponding to the annular groove and the annular strip is slidably connected in the annular groove through a plurality of ball bearings.

[0015] As a further solution of the present invention: a mounting sleeve is sleeved and fixed on the outside of the actuator, a positioning ring groove is provided on the outer surface of the mounting sleeve, mounting half rings are provided on both sides of the outside of the mounting sleeve, the two mounting half rings are assembled to form a whole and sleeved and fixed on the mounting sleeve, the two mounting half rings are fixed by bolts, a connecting ear is integrally formed on one side of the mounting half ring, the connecting head is rotatably connected to the connecting ear, a positioning ring strip is provided on the side of the inner wall of the mounting half ring corresponding to the positioning ring groove, the positioning ring strip cooperates with the positioning ring groove, and is used to position and fix the mounting half ring on the mounting sleeve, a ball head is provided on the end of the actuator facing the turntable, and the ball head is connected to the ball head hinge seat by a ball joint.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] In the present invention, various components in the traditional actuator are axially sealed and arranged in the shell. The various components of the actuator are protected by the external shell to adapt to the underwater environment and avoid corrosion. At the same time, the accumulator assembly in the actuator is arranged in the actuating piston rod in the form of an energy storage chamber. The accumulator is no longer directly exposed to the outside. When used underwater, compared with the traditional accumulator, corrosion can be directly avoided. The product structure is optimized, the overall structure of the actuator is more streamlined, and the power-to-weight ratio is greatly improved. Furthermore, considering the complex underwater environment, the actuator will be affected by various factors such as water flow, water pressure and gravity. During its axial work process, the actuator itself will be deflected. Through the coordinated use of the traction mechanism, turntable, torsion spring and other components, the actuator can be reset to ensure its axial stability. The actuator is protected by buffering the pressure in different directions. The service life of the actuator is longer. Compared with the method of directly fixing the actuator, the actuating piston rod of the actuator is less prone to wear and its axial work capacity will be better. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 This is a first viewing angle diagram of the present invention.

[0020] Figure 2 It is a structural separation diagram of the present invention.

[0021] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0022] Figure 4 for Figure 2 Enlarged view of point B in the middle.

[0023] Figure 5 This is a first viewing angle diagram of the connection between the turntable and the actuator in the present invention.

[0024] Figure 6 This is a second viewing angle diagram of the connection between the turntable and the actuator in the present invention.

[0025] Figure 7 for Figure 5 Enlarged view of point C in the middle.

[0026] Figure 8 The actuator and the traction mechanism are connected and separated in the present invention. Figure 1 .

[0027] Fig. 9 The actuator and the traction mechanism are connected and separated in the present invention. Figure 2 .

[0028] Fig.10 This is a first perspective view of the internal structure of the actuator in the present invention.

[0029] Fig.11 This is a second viewing angle diagram of the internal structure of the actuator in the present invention.

[0030] Fig.12 Schematic diagram of the internal structure of the actuating piston rod in the actuator.

[0031] Fig.13 This is a structural diagram of the separate components in the traction mechanism.

[0032] Fig.14 It is a schematic diagram of the internal structure of the piston cylinder and the damping hydraulic cylinder in the traction mechanism.

[0033] Fig.15It is a schematic diagram of the structure of the second piston in the traction mechanism.

[0034] Notes on reference numerals: 1-turntable, 2-actuator, 201-actuator outer shell, 202-tailstock outer shell, 203-micro pump outer shell, 204-motor outer shell, 205-actuator piston rod, 206-actuator bushing, 207-actuator piston, 208-actuator, 209-tailstock sealing ring, 210-accumulator rear end cover, 211-tailstock, 212-micro pump, 213-motor, 214-housing connecting sleeve, 215-accumulator oil port, 216-accumulator chamber, 217-accumulator piston, 218-elastic energy storage structure, 219-self-lubricating spherical bearing, 3-traction mechanism, 301-connector, 302-patch, 303-piston rod, 304-piston cylinder, 305-damping hydraulic cylinder, 306-external traction spring, 307-threaded cylinder, 308-adjusting nut, 309-base, 310-traction ball head, 311-first piston, 312-inner traction spring, 313-second piston, 314-first throttle hole, 315-second throttle hole, 4-flange, 5-plug, 6-annular groove, 7-ball, 8-rotating shaft, 9-torsion spring, 10-ball head connector, 11-ball head hinge seat, 12-annular strip, 13-guide groove, 14-guide rod, 15-guide spring, 16-mounting sleeve, 17-positioning ring groove, 18-mounting half ring, 19-connecting ear, 20-positioning ring strip, 21-ball head. DETAILED DESCRIPTION

[0035] The following embodiments will be described in detail with reference to the accompanying drawings. In the drawings or descriptions, similar or identical parts use the same reference numerals, and in actual applications, the shape, thickness or height of each component may be enlarged or reduced. The embodiments listed in the present invention are only used to illustrate the present invention and are not used to limit the scope of the present invention. Any obvious modifications or changes made to the present invention do not depart from the spirit and scope of the present invention.

[0036] See also Figures 1 to 15In an embodiment of the present invention, an underwater highly corrosion-resistant electrostatic hydraulic actuator includes a turntable 1, an actuator 2, a traction mechanism 3 and a flange 4. The turntable 1 is rotatably connected to the flange 4. The actuator 2 is installed on one side of the turntable 1, and a plurality of traction mechanisms 3 are arranged between the actuator 2 and the turntable 1. In this embodiment, two traction mechanisms 3 are taken as an example for introduction. The two traction mechanisms 3 are symmetrically arranged on both sides of the actuator 2. The actuator 2 is pulled and stabilized at the center position of one side of the turntable 1 by the two traction mechanisms 3 to maintain axial output. Under the influence of factors such as water flow, water pressure and dead weight, the actuator 2 will be deflected. At this time, the traction mechanism 3 can be used to pull and reset it, so that the actuator 2 maintains the axial output. When the actuator 2 is deflected, the traction mechanism 3 will deflect synchronously, driving the turntable 1 to rotate on one side of the flange 4. After the external force is weakened or disappears, the turntable 1 will slowly rotate and reset, driving the actuator 2 to reset synchronously, so that the actuator 2 maintains the axial output again.

[0037] See also Figures 10-12 The actuator 2 includes an actuator cylinder housing 201, a tailstock housing 202, a micro pump housing 203 and a motor housing 204. The actuator cylinder housing 201, the tailstock housing 202, the micro pump housing 203 and the motor housing 204 are axially fixedly connected in sequence, and two adjacent housings are sealed by a housing connecting sleeve 214. The actuator-related parts are installed in the corresponding housing, and the parts of the actuator are protected by the housing to avoid direct contact with water and corrosion, and anti-corrosion materials are sprayed on both the inner and outer surfaces of the housing to further improve its corrosion resistance;

[0038] An actuator 208 is installed inside the actuator outer shell 201, a tailstock 211 is installed inside the tailstock outer shell 202, a micro pump 212 is installed inside the micro pump outer shell 203, a motor 213 is installed inside the motor outer shell 204, the actuator 208 is connected to the tailstock 211 and the two are sealed by a tailstock sealing ring 209, the actuator 208 is connected to the inside of the tailstock 211, one end of the output shaft of the motor 213 is connected to the micro pump 212, and the micro pump 212 is driven by the motor 213 to operate, and the micro pump 212 is a bidirectional pump, which can perform bidirectional oil pumping operation;

[0039] The interior of the actuator cylinder 208 is slidably connected with an actuator piston rod 205, one end of the actuator piston rod 205 extends into the tailstock 211, and the other end thereof extends to the outside of the actuator cylinder 208, and a self-lubricating spherical bearing 219 is fixed to the end of the other end for external work and connection with other workpieces, an actuator piston 207 is sleeved and fixed on the actuator piston rod 205, and the actuator piston 207 is slidably connected in the actuator cylinder 208, and the interior of the actuator cylinder 208 is divided into two left and right chambers by the actuator piston 207, wherein the left chamber is connected to the interior of the tailstock 211, and the right chamber is an independent chamber and is not connected to the tailstock 211;

[0040] The tailstock 211 is filled with hydraulic oil. The micro pump 212 has two ports, one of which is directly inserted into the tailstock 211. The micro pump 212 pumps oil into the tailstock 211. The hydraulic oil enters the left chamber inside the actuating cylinder along the connection channel between the tailstock and the actuating cylinder. By continuously pumping hydraulic oil into the left chamber, the actuating piston 207 can be pushed to move to one side and drive the actuating piston rod 205 to move and work outward. The right chamber of the actuating cylinder 208 is connected to the other port of the micro pump 212 through a pipeline. The micro pump 212 can inject and absorb oil into the right chamber, thereby realizing the forward and reverse movement of the actuating piston rod 205.

[0041] Both ends of the actuator cylinder 208 are provided with actuator cylinder bushings 206. The actuator piston rod 205 is sealed and slidably connected in the actuator cylinder 208 through the two actuator cylinder bushings 206. The end of the actuator piston rod 205 facing the tailstock 211 is fixed with the accumulator rear end cover 210. The end of the actuator piston rod 205 close to the accumulator rear end cover 210 is hollowed out to form an energy storage chamber 216. The accumulator rear end cover 210 is penetrated with an accumulator oil port 215. The energy storage chamber 216 is connected with the inside of the tailstock 211 through the accumulator oil port 215, and a solenoid valve is installed in the accumulator oil port 215.

[0042] An accumulator piston 217 is slidably connected in the energy storage chamber 216. The interior of the energy storage chamber 216 is divided into two left and right chambers by the accumulator piston 217. An elastic energy storage structure 218 is installed in the right chamber. In this embodiment, the elastic energy storage structure 218 is a compression energy storage structure made of a spring, which can be used with existing technology. When hydraulic oil enters the left chamber of the energy storage chamber 216 through the accumulator oil port 215, as the pressure increases, the accumulator piston 217 will move to the right. At this time, the elastic energy storage structure 218 is squeezed and energy is stored. When the pressure needs to be released, the solenoid valve in the oil port is opened to allow the hydraulic oil to flow back into the tailstock 211, and the energy of the elastic energy storage structure 218 is released, thereby supplementing the power of the actuator 2 to do work outward;

[0043] In this embodiment, the accumulator of the actuator in the prior art is arranged in the form of an energy storage chamber 216 in the actuating piston rod 205. The accumulator is no longer directly exposed to the outside, the overall structure of the actuator is more streamlined, and the power-to-weight ratio is improved. In addition, in an underwater environment, if the accumulator is directly exposed to the outside, it is easy to be corroded. The design of the energy storage chamber directly avoids corrosion, and the product structure is optimized.

[0044] See also Figures 2 to 4 A ring groove 6 is provided on the side of the flange 4 facing the turntable 1, and a number of balls 7 are evenly arranged in the ring groove 6. A hole with two ends passing through is provided in the center of the inner wall of the flange 4, and a rotating shaft 8 is rotatably connected in the hole. A torsion spring 9 is sleeved on the outside of the rotating shaft 8. Plugs 5 are provided on both sides of the corresponding holes on the outside of the flange 4. The plugs 5 are used to seal the holes on the flange 4, and one end of the rotating shaft 8 is connected and fixed to the turntable 1.

[0045] See also Figures 5 to 7 A ball joint seat 11 is fixed at the center of the side of the turntable 1 facing the actuator 2. Guide grooves 13 are opened on both sides of the inner wall of the turntable 1 corresponding to the ball joint seat 11. Ball joint members 10 are slidably connected in the two guide grooves 13. Guide rods 14 are fixed in the two guide grooves 13. The two guide rods 14 are slidably plugged with the corresponding ball joint members 10 respectively. Guide springs 15 are sleeved on the two guide rods 14. The two ends of the two guide springs 15 are respectively connected and fixed to the corresponding ball joint members 10 and the inner wall of one side of the guide groove 13. An annular strip 12 is fixed on the side of the turntable 1 facing the flange 4. The annular strip 12 is arranged corresponding to the annular groove 6 and the annular strip 12 is slidably connected in the annular groove 6 through a plurality of balls 7.

[0046] See also Figures 8-9 A mounting sleeve 16 is sleeved and fixed on the outside of the actuator 2, and a positioning ring groove 17 is provided on the outer surface of the mounting sleeve 16. Mounting half rings 18 are provided on both sides of the outside of the mounting sleeve 16. The two mounting half rings 18 are assembled to form a whole and are sleeved and fixed on the mounting sleeve 16. The two mounting half rings 18 are fixed by bolts. A connecting ear 19 is integrally formed on one side of the mounting half ring 18. A positioning ring strip 20 is provided on the side of the inner wall of the mounting half ring 18 corresponding to the positioning ring groove 17. The positioning ring strip 20 cooperates with the positioning ring groove 17 to facilitate the positioning and fixing of the mounting half ring 18 on the mounting sleeve 16. A ball head 21 is provided on the end of the actuator 2 facing the turntable 1, and the ball head 21 is ball-jointed in the ball head hinge seat 11.

[0047] See also Figures 13-15The traction mechanism 3 includes a piston rod 303, a piston cylinder 304 and a damping hydraulic cylinder 305. The piston cylinder 304 is slidably connected in the damping hydraulic cylinder 305, and one end of the piston cylinder 304 extends to the outside of the damping hydraulic cylinder 305. The piston rod 303 is slidably connected in the piston cylinder 304, and one end of the piston rod 303 extends to the outside of the piston cylinder 304. A connecting head 301 is fixed to one end of the piston rod 303, and the connecting head 301 is rotatably connected to the connecting ear 19. A base 309 is fixed to one end of the damping hydraulic cylinder 305, and a traction ball head 310 is fixed on the base 309. The traction ball head 310 is ball-jointed to the ball head connector 10.

[0048] In this embodiment, one end of the traction mechanism 3 is rotatably connected to the actuator 2 through the cooperation of the connecting head 301 and the connecting ear 19, and the other end of the traction mechanism 3 is spherically connected to the turntable 1 through the cooperation of the traction ball head 310 and the ball head connector 10. At the same time, one end of the actuator 2 is spherically connected to the turntable 1 through the cooperation of the ball head 21 and the ball head hinge seat 11. When the actuator 2 is subjected to horizontal pressure, the actuator 2 can maintain axial stability under the cooperation of multiple traction mechanisms 3 and the ball head hinge seat 11. When the actuator 2 is subjected to vertical pressure, the actuator 2 will tilt downward, and the traction mechanism 3 can pull it to reset and buffer the pressure.

[0049] When the actuator 2 is subjected to oblique pressure, the actuator 2 will be deflected. At this time, the traction mechanism 3 will not only pull the actuator 2 to buffer it, but also be driven by the actuator 2 to deflect synchronously. When the actuator 2 and the traction mechanism 3 are deflected at the same time, the turntable 1 will be driven to rotate on one side of the flange 4. At this time, the torsion spring 9 will be compressed. The oblique pressure is buffered by the combination of the torsion spring 9 and the traction mechanism 3. After the pressure disappears, the torsion spring 9 is reset to drive the turntable 1 to reset, so that the actuator 2 can be restored to a state where it can perform axial stable output.

[0050] One end of the damping hydraulic cylinder 305 is sleeved and fixed with a threaded cylinder 307, the outer surface of the threaded cylinder 307 is provided with threads, the threaded cylinder 307 is connected to an adjusting nut 308 through the threads on its outer surface, one side of the adjusting nut 308 is rotatably connected to a patch 302, the front end of the piston cylinder 304 is fixed with a patch 302, an external traction spring 306 is fixed between the two patches 302, and the external traction spring 306 is sleeved on the outside of the threaded cylinder 307, the damping hydraulic cylinder 305 and the piston cylinder 304;

[0051] A first piston 311 is fixed to one end of the piston rod 303 located in the piston cylinder 304, a second piston 313 is fixed to one end of the piston cylinder 304 located in the damping hydraulic cylinder 305, an inner traction spring 312 is fixed between the first piston 311 and the second piston 313, the inner traction spring 312 is arranged in a cavity inside the piston cylinder 304, and the damping hydraulic cylinder 305 is filled with hydraulic oil;

[0052] The interior of the damping hydraulic cylinder 305 is divided into two front and rear cavities by the second piston 313. A plurality of first throttling holes 314 penetrating at both ends are evenly opened at the edge of the inner wall of the second piston 313. The front and rear cavities inside the damping hydraulic cylinder 305 are connected through the plurality of first throttling holes 314. A second throttling hole 315 is penetrated at the center of the inner wall of the second piston 313. The piston cylinder 304 and the damping hydraulic cylinder 305 are connected through the interior of the second throttling hole 315. The aperture of the second throttling hole 315 is smaller than that of the first throttling hole 314, so as to ensure that under the pressure, most of the hydraulic oil can enter the front cavity of the damping hydraulic cylinder 305 to ensure the damping effect.

[0053] In this embodiment, the piston rod 303, the piston cylinder 304 and the inner traction spring 312 cooperate to form a primary buffer structure of the traction mechanism 3, the piston cylinder 304, the second piston 313, the damping hydraulic cylinder 305 and the hydraulic oil inside the damping hydraulic cylinder 305 cooperate to form a secondary buffer structure of the traction mechanism 3, the piston cylinder 304, the damping hydraulic cylinder 305 and the outer traction spring 306 cooperate to form a tertiary buffer structure of the traction mechanism 3, the three buffer structures cooperate with each other, so that the traction mechanism 3 can fully buffer the pressure and impact of the actuator 2 under water, the traction force of the traction mechanism 3 is stronger, so that the actuator 2 can maintain a higher stability, the elastic coefficient of the outer traction spring 306 in the three-stage buffer structure is adjustable, and it can be achieved by turning the adjusting nut 308 to shorten or extend the distance between the two patches 302;

[0054] In the secondary buffer structure, the hydraulic oil in the damping hydraulic cylinder 305 can not only flow in the cavities on the front and rear sides thereof, but also partially flow into the piston cylinder 304. When the hydraulic oil enters the piston cylinder 304, the inner traction spring 312 will be immersed in the hydraulic oil. The inner traction spring 312 will encounter greater resistance when it is extended and retracted, so that the spring can provide greater support force. At the same time, the hydraulic oil will also take away the heat generated by the spring when it is extended and retracted. The oil bath cooling of the inner traction spring 312 can ensure its stable working state and thereby provide a better support effect.

[0055] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0056] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An underwater highly corrosion-resistant electrostatic hydraulic actuator, comprising a turntable (1), an actuator (2), and a flange (4), wherein the turntable (1) is rotatably connected to the flange (4), and the actuator (2) is mounted on one side of the turntable (1), characterized in that: A plurality of traction mechanisms (3) are arranged between the actuator (2) and the turntable (1); the actuator (2) comprises an actuator cylinder outer shell (201), a tailstock outer shell (202), a micro pump outer shell (203) and a motor outer shell (204); an actuator cylinder (208) is installed inside the actuator cylinder outer shell (201); a tailstock (211) is installed inside the tailstock outer shell (202); a micro pump (212) is installed inside the micro pump outer shell (203); a motor (213) is installed inside the motor outer shell (204); and the actuator cylinder (208) is installed inside the actuator cylinder outer shell (201). 8) connected to the tailstock (211) and sealed by a tailstock sealing ring (209), the actuating cylinder (208) is connected to the inside of the tailstock (211), an actuating piston rod (205) is slidably connected inside the actuating cylinder (208), an accumulator rear end cover (210) is fixed to one end of the actuating piston rod (205) facing the tailstock (211), an end of the actuating piston rod (205) close to the accumulator rear end cover (210) is hollowed out to form an energy storage chamber (216), and an elastic energy storage structure (218) is provided in the energy storage chamber (216); The traction mechanism (3) comprises a piston rod (303), a piston cylinder (304) and a damping hydraulic cylinder (305); the piston cylinder (304) is slidably connected in the damping hydraulic cylinder (305), and one end of the piston cylinder (304) extends to the outside of the damping hydraulic cylinder (305); the piston rod (303) is slidably connected in the piston cylinder (304), and one end of the piston rod (303) extends to the outside of the piston cylinder (304); a connector (301) is fixed to one end of the piston rod (303); a base (309) is fixed to one end of the damping hydraulic cylinder (305); and a traction ball head (310) is fixed to the base (309); A ball joint seat (11) is fixed at the center of the turntable (1) on the side facing the actuator (2), and guide grooves (13) are provided on both sides of the inner wall of the turntable (1) corresponding to the ball joint seat (11), and ball joint members (10) are slidably connected in the two guide grooves (13), and the traction ball head (310) is ball-jointed to the ball joint member (10).

2. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 1, characterized in that: Both ends of the actuating cylinder (208) are provided with an actuating cylinder bushing (206). The actuating piston rod (205) is sealingly and slidably connected in the actuating cylinder (208) via the two actuating cylinder bushings (206). One end of the actuating piston rod (205) extends into the tailstock (211), and the other end thereof extends to the outside of the actuating cylinder (208). A self-lubricating spherical bearing (219) is fixed to the tip of the other end. An actuating piston (207) is sleeved and fixed on the actuating piston rod (205). The actuating piston (207) is slidably connected in the actuating cylinder (208); the interior of the actuating cylinder (208) is divided into two left and right chambers by the actuating piston (207); the left chamber inside the actuating cylinder (208) is connected to the interior of the tailstock (211); the micro pump (212) is a bidirectional pump; one port of the micro pump (212) is connected to the tailstock (211), and the other port of the micro pump (212) is connected to the right chamber inside the actuating cylinder (208).

3. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 2, characterized in that: An accumulator oil port (215) is formed through the rear end cover (210) of the accumulator, the accumulator chamber (216) is connected to the interior of the tailstock (211) through the accumulator oil port (215), a solenoid valve is installed in the accumulator oil port (215), an accumulator piston (217) is slidably connected in the accumulator chamber (216), the interior of the accumulator chamber (216) is divided into two left and right chambers by the accumulator piston (217), and the elastic energy storage structure (218) is installed in the right chamber of the accumulator chamber (216).

4. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 3, characterized in that: The actuator cylinder outer shell (201), the tailstock outer shell (202), the micro pump outer shell (203) and the motor outer shell (204) are axially fixedly connected in sequence, and two adjacent outer shells are sealed by a shell connecting sleeve (214). The inner and outer surfaces of the actuator cylinder outer shell (201), the tailstock outer shell (202), the micro pump outer shell (203) and the motor outer shell (204) are sprayed with anti-corrosion material.

5. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 1, characterized in that: A threaded cylinder (307) is sleeved and fixed on one end of the damping hydraulic cylinder (305); a thread is provided on the outer surface of the threaded cylinder (307); the threaded cylinder (307) is connected to an adjusting nut (308) via the thread on its outer surface; one side of the adjusting nut (308) is rotatably connected to a patch (302); a patch (302) is fixed to the front end of the piston cylinder (304); an external traction spring (306) is fixed between the two patches (302); and the external traction spring (306) is sleeved on the outside of the threaded cylinder (307), the damping hydraulic cylinder (305) and the piston cylinder (304).

6. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 5, characterized in that: A first piston (311) is fixed to one end of the piston rod (303) located in the piston cylinder (304), a second piston (313) is fixed to one end of the piston cylinder (304) located in the damping hydraulic cylinder (305), an internal traction spring (312) is fixed between the first piston (311) and the second piston (313), and the internal traction spring (312) is arranged in a cavity inside the piston cylinder (304).

7. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 6, characterized in that: The damping hydraulic cylinder (305) is filled with hydraulic oil. The interior of the damping hydraulic cylinder (305) is divided into two front and rear cavities by the second piston (313). A plurality of first throttling holes (314) penetrating at both ends are evenly opened at the edge of the inner wall of the second piston (313). The front and rear cavities inside the damping hydraulic cylinder (305) are connected through the plurality of first throttling holes (314). A second throttling hole (315) is penetrated at the center of the inner wall of the second piston (313). The piston cylinder (304) and the damping hydraulic cylinder (305) are connected to each other through the second throttling hole (315). The aperture of the second throttling hole (315) is smaller than the aperture of the first throttling hole (314).

8. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 7, characterized in that: The flange (4) is provided with an annular groove (6) on one side facing the turntable (1), and a plurality of balls (7) are evenly arranged in the annular groove (6). A hole with two ends passing through is provided at the center of the inner wall of the flange (4), and a rotating shaft (8) is rotatably connected in the hole. A torsion spring (9) is sleeved on the outside of the rotating shaft (8). Plugs (5) are provided on the outside of the flange (4) on both sides corresponding to the hole, and the plugs (5) are used to seal the hole on the flange (4). One end of the rotating shaft (8) is connected and fixed to the turntable (1).

9. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 8, characterized in that: A guide rod (14) is fixed in each of the two guide grooves (13). The two guide rods (14) are respectively slidably plugged with the corresponding ball head connectors (10). A guide spring (15) is sleeved on each of the two guide rods (14). The two ends of the two guide springs (15) are respectively connected and fixed to the corresponding ball head connectors (10) and the inner wall of one side of the guide groove (13). An annular strip (12) is fixed on the side of the turntable (1) facing the flange (4). The annular strip (12) is arranged corresponding to the annular groove (6) and the annular strip (12) is slidably connected to the annular groove (6) through a plurality of balls (7).

10. The underwater highly corrosion-resistant electrostatic hydraulic actuator according to claim 9, characterized in that: The actuator (2) is externally sleeved with a mounting sleeve (16), the outer surface of the mounting sleeve (16) is provided with a positioning ring groove (17), both sides of the outside of the mounting sleeve (16) are provided with mounting half rings (18), the two mounting half rings (18) are assembled to form a whole and sleeved and fixed on the mounting sleeve (16), the two mounting half rings (18) are fixed by bolts, one side of the mounting half ring (18) is integrally formed with a connecting ear (19), the connecting head (301) is rotatably connected to the connecting ear (19), a positioning ring strip (20) is provided on the inner wall of the mounting half ring (18) corresponding to the side of the positioning ring groove (17), and the positioning ring strip (20) cooperates with the positioning ring groove (17) to position and fix the mounting half ring (18) on the mounting sleeve (16), and a ball head (21) is provided on the end of the actuator (2) facing the turntable (1), and the ball head (21) is ball-jointed in the ball head hinge seat (11).

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