An electrostatic hydraulic actuator with built-in sensor

Abstract

The present invention relates to the technical field of actuators, and discloses an electrostatic hydraulic actuator with a built-in sensor, including an actuator cylinder, a displacement sensor is installed on the left wall of the actuator cylinder, a liquid guide cylinder is fixedly inserted on the right wall of the actuator cylinder, an inner plunger heat pipe is fixedly inserted in the liquid guide cylinder, an outer plunger air pipe movably sleeved on the outer wall of the liquid guide cylinder is slidably sealed and connected to the inner wall of the actuator cylinder, a rotary cavity is arranged between the inner part of the outer plunger air pipe and the liquid guide cylinder, a liquid guide hole is opened on the upper wall of the outer plunger air pipe, an elastic heat dissipation nozzle capable of axial movement is slidably clamped on the bottom of the actuator cylinder, and conical nozzles are linearly distributed on the elastic heat dissipation nozzle. The present invention optimizes the volume of the equipment to be small, and designs the external structure of the actuator to be relatively compact and regular, so as to facilitate the arrangement and use of different workplaces, and cooperates with the use of the inner plunger heat pipe and the elastic heat dissipation nozzle to blow and dissipate heat, thereby increasing the heat dissipation and cooling effect of the hydraulic oil.

Description

Technical Field

[0001] The present invention relates to the technical field of actuators, and in particular to an electrostatic hydraulic actuator with a built-in sensor. Background Art

[0002] Electrostatic hydraulic actuator is a new type of high-performance servo actuator originated from the aerospace field, and is gradually becoming a universal basic component for various large-scale equipment. Although electrohydraulic piston pumps usually dominate in many large applications, there is a lack of appropriate micro electrostatic hydraulic actuators for use in hydraulic small applications such as prosthetics, exoskeleton design and robots. Electrostatic hydraulic actuator is a high power-to-weight ratio, high efficiency, high integration power-level digital hydraulic piston pump, mainly composed of motor, hydraulic pump, hydraulic cylinder, safety valve, check valve and other parts.

[0003] Patent publication CN117803632A discloses an electrostatic hydraulic actuator, including an actuator cylinder, a power unit and a cooling unit. The power unit provides power for the reciprocating motion of the piston rod in the actuator cylinder, and the cooling unit is installed closely with the power unit to take away the heat generated by the power unit. The patent sets an active cooling unit to improve the heat dissipation efficiency of the electrostatic hydraulic actuator.

[0004] During use, the electrostatic hydraulic actuator in the above patent is relatively large and irregular in size because the hydraulic pump, motor, heat dissipation module, accumulator and other structures are dispersedly arranged along the periphery of the actuator cylinder, and the extension in different directions occupies a space volume comparable to the volume of the actuator cylinder. It is more likely to come into contact with the outside world during use, causing damage to the parts, and is not convenient for arrangement and use in different workplaces. When driving the hydraulic oil flow to control the extension and contraction of the actuator, although the hydraulic oil is passively dissipated through a three-dimensional special-shaped flow channel with a large heat dissipation area, and a self-circulating heat dissipation module is provided to dissipate heat and cool the motor, and heat conduction can be used to reduce the heat of the hydraulic oil, its heat dissipation method using liquid phase change fluid gas-liquid conversion is actually still passive heat dissipation, and the heat dissipation effect of the hydraulic oil is not good, especially when the extension and contraction frequency or load is large, the hydraulic oil temperature rises rapidly, and the heat of the heat dissipation cooling terminal of the self-circulating heat dissipation module and the three-dimensional special-shaped flow channel in contact with the outside world cannot be actively and quickly dissipated, the cooling effect of the hydraulic oil is poor, and the actuator lacks stability. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that a general electrostatic hydraulic actuator has a large volume, an irregular structure, and poor operating stability due to poor cooling of the hydraulic oil during use. The present invention provides an electrostatic hydraulic actuator with a built-in sensor.

[0006] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0007] An electrostatic hydraulic actuator with a built-in sensor comprises an actuator cylinder, a displacement sensor is installed on the left wall of the actuator cylinder, a liquid guide cylinder is fixedly inserted on the right wall of the actuator cylinder, an inner plunger heat conduction pipe is fixedly inserted in the liquid guide cylinder, an outer plunger air duct movably sleeved on the outer wall of the liquid guide cylinder is slidably and sealedly connected to the inner wall of the actuator cylinder, a rotary cavity is arranged between the inner part of the outer plunger air duct and the liquid guide cylinder, a liquid guide hole is opened on the upper wall of the outer plunger air duct, an elastic heat dissipation nozzle capable of axial movement is slidably clamped on the bottom of the actuator cylinder, and conical nozzles are linearly distributed on the elastic heat dissipation nozzle;

[0008] Heat-conducting vortex tubes are fixedly connected to the left and right walls of the inner cavity of the actuator cylinder. Two extended ports are arranged at the bottom of the two heat-conducting vortex tubes, and cooling tubes are rotatably connected between them. A hydraulic pump and a dual-axis motor are arranged on the right side of the actuator cylinder. A liquid guide tube assembly is arranged between the hydraulic pump, the actuator cylinder and the liquid guide cylinder, and an energy storage assembly is fixedly connected to the periphery of the actuator cylinder.

[0009] Furthermore, a connection frame is fixedly connected to the right end of the actuating cylinder, a fixed connection head is provided at the right end of the connection frame, and the hydraulic pump and the dual-axis motor are fixedly connected to the upper side of the inner cavity of the connection frame.

[0010] Furthermore, a jacket cavity is provided between the liquid-conducting cylinder and the inner plunger heat-conducting tube, the jacket cavity is communicated with the rotary cavity, and the liquid-conducting hole is communicated with the rotary cavity and the inner cavity of the actuating cylinder.

[0011] Furthermore, a dynamic connector is provided at the left end of the outer plunger air duct, and an exhaust port is provided on one side of the bottom of the outer plunger air duct close to the dynamic connector. The left end of the inner plunger heat conducting tube extends to the outside of the liquid conducting tube and is provided with a plunger part, and the plunger part is slidably and sealingly connected to the inner wall of the outer plunger air duct.

[0012] Furthermore, the liquid guide tube assembly includes an output pipe and a return pipe arranged on the left wall of the hydraulic pump, the output pipe and the left side of the return pipe are fixedly connected with a U-shaped connecting pipe, the U-shaped connecting pipe is fixedly inserted into the upper wall of the liquid guide tube and is connected with the jacket cavity, and a three-way solenoid valve is provided at the connection between the U-shaped connecting tube and the output pipe and the return pipe, a connecting pipe is fixedly connected between the top left side of the U-shaped connecting tube and the actuator cylinder, and the dual-axis motor is drivingly connected to the hydraulic pump.

[0013] Furthermore, a fan is fixedly connected to the middle part of the inner cavity of the connecting frame, a transmission belt is arranged between the fan and the dual-axis motor, the left end of the fan has an air outlet and is fixedly connected to the right end of the inner plunger heat pipe, and an oblique air duct is fixedly connected to the side of the bottom of the inner plunger heat pipe close to the fan, and the oblique air duct is movably inserted in the elastic heat dissipation nozzle.

[0014] Furthermore, a circulating pump is provided on the heat-conducting vortex tube on the right side, and the circulating pump is fixedly connected to the right wall of the actuator cylinder. The two cooling tubes are symmetrically arranged on the bottom of the actuator cylinder and on both sides above the elastic heat dissipation nozzle, and a plurality of heat dissipation fins are arranged in a linear array on the two cooling tubes.

[0015] Furthermore, the energy storage assembly includes an energy storage ring fixedly sleeved on the periphery of the actuating cylinder, the bottom of the energy storage ring has a notch, the front side of the energy storage ring has an energy storage cavity, an energy storage hole is opened between the top of the energy storage cavity and the actuating cylinder, and an elastic bent rod plug is slidably and sealably connected in the energy storage cavity.

[0016] Furthermore, a spiral groove is provided on the outer periphery of the right side of the cooling pipe, and a cross pin is fixedly connected to the upper wall of the right side of the elastic heat dissipation nozzle, and the cross pin is movably engaged with the spiral groove;

[0017] Both ends of the elastic bent rod plug extend outward into the notch, and the front end of the elastic bent rod plug is fixedly connected with an arc-shaped wedge plate, the arc-shaped wedge plate is slidably engaged with the lower wall of the actuator cylinder, and the lower end of the arc-shaped wedge plate is provided with an inclined surface that can movably abut against the cross pin.

[0018] The beneficial effects of the present invention are as follows:

[0019] The present invention arranges a conveying liquid guide tube and an inner plunger heat conduction tube for cooling and hydraulic oil in the actuator cylinder, arranges a hydraulic pump, a dual-axis motor and a liquid guide tube assembly for hydraulic oil conveying control on the right side of the actuator cylinder, arranges a cooling tube and an elastic heat dissipation nozzle for heat dissipation near the bottom of the actuator cylinder, and arranges an energy storage assembly on the periphery of the actuator cylinder, so that the volume of the equipment is optimized and small, the external structure of the actuator is relatively compact and more regular, and the probability of contact with the outside is reduced, thereby achieving heat dissipation of the actuator and facilitating arrangement and use in different workplaces.

[0020] When the present invention utilizes the liquid-conducting cylinder to centrally convey the hydraulic oil, the pressurized air conveyed by the inner plunger heat-conducting tube and the outer plunger air duct can dissipate the heat of the hydraulic oil in real time. At the same time, the heat-conducting vortex tubes and the cooling tubes on both sides cooperate to circulate the coolant, so that the hydraulic oil in the left and right chambers in the actuator cylinder can be dissipated. The elastic heat-dissipating nozzle is cooperated to spray pressurized air between the two cooling tubes, so as to blow and wipe the two cooling tubes and the outer wall of the actuator cylinder to dissipate the heat. When the air passes through the two cooling tubes and the slit between the cooling tubes and the actuator cylinder, a negative pressure area is created according to the Venturi effect, thereby driving the surrounding air flow, thereby increasing the heat dissipation and cooling effect of the hydraulic oil.

[0021] When the actuator moves quickly or the load is large, the energy storage component automatically moves to drive the elastic heat dissipation nozzle to move and blow the two cooling tubes and the outer wall of the actuator cylinder to cool them down, and at the same time drives the two cooling tubes to rotate and adjust the cooling surface, thereby improving the cooling effect on the hydraulic oil and ensuring the efficient and stable operation of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural diagram of the electrostatic hydraulic actuator of the present invention;

[0023] Figure 2 It is a three-dimensional cutaway view of the actuator cylinder of the electrostatic hydraulic actuator of the present invention;

[0024] Figure 3 It is a partial three-dimensional cutaway view of the actuating cylinder and the liquid guiding cylinder of the electrostatic hydraulic actuator of the present invention;

[0025] Figure 4 It is a partial exploded view of the actuator cylinder and the heat-conducting vortex tube of the electrostatic hydraulic actuator of the present invention;

[0026] Figure 5 It is a three-dimensional structural diagram of the elastic heat dissipation nozzle and cooling pipe of the electrostatic hydraulic actuator of the present invention;

[0027] Figure 6 It is a three-dimensional structural diagram of the U-shaped connecting pipe part of the electrostatic hydraulic actuator of the present invention;

[0028] Figure 7 It is a partial three-dimensional cutaway view of the energy storage ring of the electrostatic hydraulic actuator of the present invention.

[0029] Figure numerals: 1. actuator; 11. displacement sensor; 12. connecting frame; 2. liquid guide cylinder; 21. inner plunger heat pipe; 22. inclined air duct; 23. fan; 24. outer plunger air duct; 25. liquid guide hole; 3. elastic heat dissipation nozzle; 31. conical nozzle; 32. cross pin; 4. heat conduction vortex tube; 41. circulating pump; 42. cooling pipe; 43. cooling fin; 44. spiral groove; 5. hydraulic pump; 51. output pipe; 52. return pipe; 53. U-shaped connecting pipe; 54. three-way solenoid valve; 55. connecting pipe; 6. energy storage ring; 61. energy storage hole; 62. elastic bent rod plug; 63. arc wedge plate. DETAILED DESCRIPTION

[0030] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] Embodiment 1, as Figure 1-Figure 7As shown, an electrostatic hydraulic actuator with a built-in sensor comprises an actuator cylinder 1, a displacement sensor 11 is installed on the left wall of the actuator cylinder 1, a liquid guide cylinder 2 is fixedly inserted on the right wall of the actuator cylinder 1, an inner plunger heat conduction pipe 21 is fixedly inserted in the liquid guide cylinder 2, an outer plunger air pipe 24 movably sleeved on the outer wall of the liquid guide cylinder 2 is slidably and sealedly connected to the inner wall of the actuator cylinder 1, a rotary cavity is arranged between the inner part of the outer plunger air pipe 24 and the liquid guide cylinder 2, a liquid conduction hole 25 is opened on the upper wall of the outer plunger air pipe 24, an elastic heat dissipation nozzle 3 capable of axial movement is slidably clamped on the bottom of the actuator cylinder 1, and conical nozzles 31 are linearly distributed on the elastic heat dissipation nozzle 3;

[0032] Heat-conducting vortex tubes 4 are fixedly connected to the left and right walls of the inner cavity of the actuator cylinder 1. Two external extension ports are arranged at the bottom of the two heat-conducting vortex tubes 4, and cooling tubes 42 are rotatably connected between them. A hydraulic pump 5 and a dual-axis motor are arranged on the right side of the actuator cylinder 1. A liquid guide tube assembly is arranged between the hydraulic pump 5 and the actuator cylinder 1 and the liquid guide cylinder 2. An energy storage assembly is fixedly connected to the periphery of the actuator cylinder 1.

[0033] Since the liquid guide tube 2 and the inner plunger heat-conducting tube 21 are arranged in the actuator cylinder 1, and the hydraulic pump 5, the dual-axis motor and the liquid guide tube assembly are arranged on the right side of the actuator cylinder 1, the cooling tube 42 and the elastic heat dissipation nozzle 3 are arranged near the bottom of the actuator cylinder 1, and the energy storage assembly is arranged on the periphery of the actuator cylinder 1, the device volume is optimized and small, and the external structure of the actuator is relatively convergent and more regular, which reduces the probability of contact with the outside world, thereby facilitating the arrangement and use of different workplaces. When in use, the outer plunger air duct 24 divides the inside of the actuator cylinder 1 into left and right chambers, and the hydraulic pump 5 is driven to operate by the dual-axis motor. The liquid guide tube assembly automatically extracts the hydraulic oil in the left chamber through the liquid guide tube 2, the rotary chamber, and the liquid guide hole 25 and discharges it into the right chamber, or directly extracts the hydraulic oil from the right chamber and discharges it into the left chamber through the liquid guide tube 2, the rotary chamber, and the liquid guide hole 25, so as to control the movement of the outer plunger air duct 24, during which the displacement sensor 11 automatically The telescopic movement distance of the outer plunger air duct 24 is monitored to feedback control the liquid guide tube assembly to adjust the conveying and circulation direction of the hydraulic oil. When the actuator is running, the hydraulic oil conveyed in the liquid guide tube 2 can be dissipated in real time by conveying pressurized air into the inner plunger heat conduction tube 21. At the same time, the heat of the hydraulic oil is extracted through the heat conduction vortex tube 4 and the cooling tube 42 on both sides, so that the hydraulic oil in the left and right chambers of the actuator 1 can be dissipated synchronously. In conjunction with conveying pressurized air to the elastic heat dissipation nozzle 3, the elastic heat dissipation nozzle 3 disperses and sprays pressurized air between the two cooling tubes 42 through each conical nozzle 31, thereby blowing and wiping the two cooling tubes 42 and the outer wall of the bottom of the actuator 1 to dissipate heat. When the air passes through the two cooling tubes 42 and the slit between the cooling tube 42 and the actuator 1, a negative pressure area is automatically generated according to the Venturi effect, thereby driving the surrounding air flow, thereby increasing the heat dissipation and cooling effect of the hydraulic oil and ensuring the stable operation of the actuator.

[0034] Furthermore, a connecting frame 12 is fixedly connected to the right end of the actuator 1, and a fixed connecting head is provided at the right end of the connecting frame 12. The hydraulic pump 5 and the dual-axis motor are fixedly connected to the upper side of the inner cavity of the connecting frame 12. The connecting frame 12 is used to surround the hydraulic pump 5, the dual-axis motor and the liquid guide tube assembly, thereby relatively protecting them and reducing the probability of contact with the outside world.

[0035] Embodiment 2, based on the above embodiment, a jacket cavity is provided between the liquid-conducting cylinder 2 and the inner plunger heat-conducting tube 21 , the jacket cavity is connected with the rotary cavity, and the liquid-conducting hole 25 is connected with the rotary cavity and the inner cavity of the actuating cylinder 1 .

[0036] The design of the jacket cavity and the rotary cavity facilitates the output and reflux of the hydraulic oil from the middle of the actuator 1. At the same time, when pressurized air flows through the inner plunger heat pipe 21, the air can absorb the heat of the hydraulic oil in the jacket cavity and bring it out.

[0037] Furthermore, a dynamic connector is provided at the left end of the outer plunger air duct 24, and an exhaust port is provided on one side of the bottom of the outer plunger air duct 24 close to the dynamic connector. The left end of the inner plunger heat pipe 21 extends to the outside of the liquid guide tube 2 and is provided with a plunger part, which is slidably and sealedly connected to the inner wall of the outer plunger air duct 24.

[0038] By setting the exhaust port on the side of the bottom of the outer plunger air duct 24 close to the movable connector, it is convenient to avoid the exhaust port from being closed when the outer plunger air duct 24 retracts, thereby ensuring continuous heat dissipation. The plunger part at the left end of the inner plunger heat pipe 21 extends to the outside of the liquid guide tube 2 and is slidably and sealedly connected to the inner wall of the outer plunger air duct 24, thereby avoiding leakage of hydraulic oil.

[0039] Embodiment three, on the basis of the above embodiment, the liquid guide tube assembly includes an output tube 51 and a return tube 52 arranged on the left wall of the hydraulic pump 5, the output tube 51 and the return tube 52 are fixedly connected with a U-shaped connecting tube 53 on the left side, the U-shaped connecting tube 53 is fixedly inserted on the upper wall of the liquid guide tube 2 and is connected with the jacket cavity, and a three-way solenoid valve 54 is provided at the connection between the U-shaped connecting tube 53 and the output tube 51 and the return tube 52, a connecting tube 55 is fixedly connected between the top left side of the U-shaped connecting tube 53 and the actuator 1, and the dual-axis motor is drivingly connected to the hydraulic pump 5.

[0040] When in use, the hydraulic pump 5 is driven by a dual-axis motor, and the output pipe 51 connected to the hydraulic pump 5 outputs hydraulic oil to the rear part of the U-shaped connecting pipe 53, while the return pipe 52 sucks the hydraulic oil from the front part of the U-shaped connecting pipe 53. The three-way solenoid valves 54 on both sides are controlled to make the upper and lower connecting directions of the U-shaped connecting pipe 53 opposite, so that the left chamber in the actuator 1 separated by the outer plunger air duct 24 can be controlled to be filled with oil while the right chamber is drained, or the left chamber is drained and the right chamber is filled with oil. During this period, the displacement sensor 11 automatically monitors the extension and retraction distance of the outer plunger air duct 24, thereby automatically feedback controlling the three-way solenoid valves 54 on both sides to perform different pipeline conduction adjustments to change the direction of hydraulic oil delivery, thereby controlling the outer plunger air duct 24 to quickly adjust the extension and retraction when it moves left and right.

[0041] Embodiment 4, on the basis of the above embodiment, a fan 23 is fixedly connected to the middle part of the inner cavity of the connecting frame 12, a transmission belt is arranged between the fan 23 and the dual-axis motor, the left end of the fan 23 has an air outlet and is fixedly connected to the right end of the inner plunger heat pipe 21, and an inclined air duct 22 is fixedly connected to the side of the bottom of the inner plunger heat pipe 21 close to the fan 23, and the inclined air duct 22 is movably inserted in the elastic heat dissipation nozzle 3.

[0042] When the dual-axis motor drives the actuator to extend and retract, the dual-axis motor synchronously drives the fan 23 to operate through the transmission belt. The fan 23 presses the external air into the inner plunger heat pipe 21, and diverts the external air into the elastic heat dissipation nozzle 3 through the inclined air duct 22, thereby achieving heat dissipation and cooling in different areas.

[0043] Embodiment 5, on the basis of the above embodiment, a circulating pump 41 is provided on the right heat-conducting vortex tube 4, and the circulating pump 41 is fixedly connected to the right wall of the actuator cylinder 1, and two cooling tubes 42 are symmetrically arranged on the bottom of the actuator cylinder 1 and on both sides above the elastic heat dissipation nozzle 3, and a plurality of heat dissipation fins 43 are arranged in a linear array on the two cooling tubes 42.

[0044] The design of the heat dissipation fins 43 increases the contact area between the cooling tube 42 and the air, thereby increasing the heat dissipation effect. At the same time, the circulating pump 41 runs simultaneously when the actuator is running. The circulating pump 41 automatically drives the coolant in the heat-conducting vortex tubes 4 and the cooling tubes 42 on both sides to circulate, thereby increasing the heat dissipation speed. When the elastic heat dissipation nozzle 3 is used to disperse the pressurized air between the two cooling tubes 42 through each conical nozzle 31, according to the Venturi effect, when the air passes through the two cooling tubes 42 and the slit between the cooling tube 42 and the actuator 1, a negative pressure zone is automatically formed, thereby driving the surrounding air flow. The heat dissipation fins 43 are in accelerated contact with a large amount of air and the heat is taken away, thereby increasing the heat dissipation and cooling effect of the hydraulic oil and ensuring the stable operation of the actuator.

[0045] Embodiment 6, on the basis of the above embodiment, the energy storage assembly includes an energy storage ring 6 fixedly sleeved on the outer periphery of the actuator cylinder 1, the bottom of the energy storage ring 6 has a notch, the front side of the energy storage ring 6 has an energy storage cavity, an energy storage hole 61 is opened between the top of the energy storage cavity and the actuator cylinder 1, and an elastic bent rod plug 62 is slidably and sealably connected in the energy storage cavity.

[0046] The energy storage component as a whole is designed to be annularly connected to the outer wall of the actuator cylinder 1, which improves the regularity of the external structure of the actuator and reduces the probability of leakage caused by the traditional external tank-shaped energy storage device contacting the outside world. When the energy storage device of the present invention is used, the energy storage chamber can be filled with nitrogen, and the filling gas is separated from the hydraulic oil by the elastic bent rod plug 62. When the actuator moves quickly or the load is large, the internal pressure of the actuator cylinder 1 increases, and the hydraulic oil in the actuator cylinder 1 enters the energy storage chamber through the energy storage hole 61, squeezing the elastic bent rod plug 62 to compress the filling air for energy storage.

[0047] Embodiment 7, based on the above embodiment, a spiral groove 44 is provided on the right periphery of the cooling tube 42, a cross pin 32 is fixedly connected to the upper wall of the right side of the elastic heat dissipation nozzle 3, and the cross pin 32 is movably engaged with the spiral groove 44;

[0048] Both ends of the elastic bent rod plug 62 extend outward into the notch, and the front end of the elastic bent rod plug 62 is fixedly connected to an arcuate wedge plate 63, which is slidably engaged with the lower wall of the actuator cylinder 1, and the lower end of the arcuate wedge plate 63 is provided with an inclined surface that can movably abut against the cross pin 32.

[0049] When the energy storage assembly is storing energy, the elastic bent rod plug 62 synchronously drives the arc wedge plate 63 to squeeze the cross pin 32 using the inclined surface, thereby driving the elastic heat dissipation nozzle 3 to move leftward, changing the cooling area of ​​the conical nozzle 31 that sprays pressurized air, and at the same time the cross pin 32 drives the spiral groove 44 to make the cooling tubes 42 on both sides rotate to receive comprehensive blowing and cooling. When the energy storage assembly releases energy, as the elastic bent rod plug 62 resets, the elastic heat dissipation nozzle 3 automatically resets under the action of its own elastic force, and the elastic heat dissipation nozzle 3 thus blows back and forth, increasing the cooling and blowing range of the cooling tube 42 and the actuator 1, enhancing the cooling effect, and further ensuring the stability of the operation when the actuator moves quickly or the load is large.

[0050] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electrostatic hydraulic actuator with a built-in sensor, comprising an actuator cylinder (1), characterized in that: A displacement sensor (11) is installed on the left wall of the actuating cylinder (1); a liquid guide cylinder (2) is fixedly inserted on the right wall of the actuating cylinder (1); an inner plunger heat conduction pipe (21) is fixedly inserted in the liquid guide cylinder (2); an outer plunger air pipe (24) sleeved on the outer wall of the liquid guide cylinder (2) is slidably and sealingly connected to the inner wall of the actuating cylinder (1); a rotary cavity is provided between the inner part of the outer plunger air pipe (24) and the liquid guide cylinder (2); a liquid conduction hole (25) is provided on the upper wall of the outer plunger air pipe (24); an elastic heat dissipation nozzle (3) capable of axial movement is slidably clamped on the bottom of the actuating cylinder (1); and conical nozzles (31) are linearly distributed on the top of the elastic heat dissipation nozzle (3); The left and right walls of the inner cavity of the actuator cylinder (1) are fixedly connected to heat-conducting vortex tubes (4), and two extension ports are arranged at the bottom of the two heat-conducting vortex tubes (4), and a cooling tube (42) is rotatably connected between them. A hydraulic pump (5) and a dual-axis motor are arranged on the right side of the actuator cylinder (1), and a liquid guide tube assembly is arranged between the hydraulic pump (5) and the actuator cylinder (1) and the liquid guide cylinder (2). An energy storage assembly is fixedly connected to the periphery of the actuator cylinder (1).

2. The electrostatic hydraulic actuator with built-in sensor according to claim 1, characterized in that: The right end of the actuating cylinder (1) is fixedly connected to a connecting frame (12), the right end of the connecting frame (12) is provided with a fixed connecting head, and the hydraulic pump (5) and the dual-axis motor are fixedly connected to the upper side of the inner cavity of the connecting frame (12).

3. The electrostatic hydraulic actuator with built-in sensor according to claim 2, characterized in that: A jacket cavity is provided between the liquid-conducting cylinder (2) and the inner plunger heat-conducting tube (21), the jacket cavity is in communication with the rotary cavity, and the liquid-conducting hole (25) is in communication with the rotary cavity and the inner cavity of the actuating cylinder (1).

4. The electrostatic hydraulic actuator with built-in sensor according to claim 3, characterized in that: A movable connector is provided at the left end of the outer plunger air duct (24); an exhaust port is provided at the bottom of the outer plunger air duct (24) on one side close to the movable connector; the left end of the inner plunger heat conducting tube (21) extends to the outside of the liquid conducting cylinder (2) and is provided with a plunger portion; the plunger portion is slidably and sealingly connected to the inner wall of the outer plunger air duct (24).

5. The electrostatic hydraulic actuator with built-in sensor according to claim 4, characterized in that: The liquid guide tube assembly comprises an output tube (51) and a return tube (52) arranged on the left wall of the hydraulic pump (5); the output tube (51) and the return tube (52) are fixedly connected to the left side of a U-shaped connecting tube (53); the U-shaped connecting tube (53) is fixedly plugged into the upper wall of the liquid guide tube (2) and is connected to the jacket cavity; a three-way solenoid valve (54) is arranged at the connection between the U-shaped connecting tube (53) and the output tube (51) and the return tube (52); a connecting tube (55) is fixedly connected between the left side of the top of the U-shaped connecting tube (53) and the actuator tube (1); and the dual-axis motor is drivingly connected to the hydraulic pump (5).

6. The electrostatic hydraulic actuator with built-in sensor according to claim 5, characterized in that: A fan (23) is fixedly connected to the middle of the inner cavity of the connection frame (12); a transmission belt is provided between the fan (23) and the dual-axis motor; the left end of the fan (23) has an air outlet and is fixedly connected to the right end of the inner plunger heat conducting pipe (21); a side of the bottom of the inner plunger heat conducting pipe (21) close to the fan (23) is fixedly connected to an inclined air duct (22); the inclined air duct (22) is movably plugged into the elastic heat dissipation nozzle (3).

7. The electrostatic hydraulic actuator with built-in sensor according to claim 6, characterized in that: A circulation pump (41) is arranged on the heat-conducting vortex tube (4) on the right side, and the circulation pump (41) is fixedly connected to the right wall of the actuator cylinder (1). The two cooling tubes (42) are symmetrically arranged on the bottom of the actuator cylinder (1) and on both sides above the elastic heat dissipation nozzle (3), and a plurality of heat dissipation fins (43) are arranged in a linear array on the two cooling tubes (42).

8. The electrostatic hydraulic actuator with built-in sensor according to claim 7, characterized in that: The energy storage assembly comprises an energy storage ring (6) fixedly sleeved on the outer periphery of the actuating cylinder (1), the bottom of the energy storage ring (6) having a notch, the front interior of the energy storage ring (6) having an energy storage cavity, an energy storage hole (61) being provided between the top of the energy storage cavity and the actuating cylinder (1), and an elastic bent rod plug (62) being slidably and sealingly connected in the energy storage cavity.

9. The electrostatic hydraulic actuator with built-in sensor according to claim 8, characterized in that: A spiral groove (44) is provided on the outer periphery of the right side of the cooling pipe (42); a cross pin (32) is fixedly connected to the upper wall of the right side of the elastic heat dissipation nozzle (3); and the cross pin (32) is movably engaged with the spiral groove (44); Both ends of the elastic bent rod plug (62) extend outward into the notch, and a curved wedge plate (63) is fixedly connected to the front end of the elastic bent rod plug (62). The curved wedge plate (63) is slidably engaged with the lower wall of the actuating cylinder (1), and a slope that can movably abut against the cross pin (32) is provided at the lower end of the curved wedge plate (63).

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