Multi-stage hydraulic cylinder mechanical feedback device

Abstract

The invention provides a multi-stage hydraulic cylinder mechanical feedback device, which relates to the technical field of hydraulic transmission and servo control, and comprises a multi-stage cylinder barrel, a first sliding mechanism, a second sliding mechanism, a multi-stage driving feedback mechanism and a feedback controller, a second sliding mechanism is arranged in the center of the interior of the first sliding mechanism in a sliding mode in the axial direction, the first sliding mechanism and the second sliding mechanism both provide power through hydraulic energy, and the first sliding mechanism, the second sliding mechanism and the multi-stage driving feedback mechanism output displacement of a multi-stage hydraulic cylinder from a first center hole through the shaft end of a second-stage feedback lead screw; according to the multi-stage telescopic hydraulic cylinder, through the multi-stage telescopic design, the working range and flexibility of the hydraulic cylinder are improved, meanwhile, accurate displacement control and feedback are achieved through introduction of the feedback controller, and accurate mechanical feedback is only conducted on the relative positions and speeds of the first-stage piston push rod and the multi-stage cylinder barrel which are located at the head and the tail in the mechanical feedback link; and the system is simple and convenient to install and debug.

Description

Technical Field

[0001] The present invention relates to the technical fields of hydraulic transmission and servo control, and particularly relates to a mechanical feedback device for a multi-stage hydraulic cylinder. Background Art

[0002] A multi-stage hydraulic cylinder, also known as a telescopic hydraulic cylinder, is formed by sleeving two or more piston cylinders. Through the multi-stage design, the multi-stage hydraulic cylinder can achieve a larger telescopic range in a smaller space; the telescopic length of each stage is shorter, which can increase stability; the multi-stage design can disperse the pressure during operation, reduce the wear of a single component, and thus extend the service life of the hydraulic cylinder. Because the working stroke of the multi-stage hydraulic cylinder can be very long and it can be retracted to a shorter length when not working, it is suitable for occasions where the installation space is limited but the stroke requirement is very long, such as the tipping truck and the telescopic boom of a crane.

[0003] With the development of technology, higher requirements are put forward for the precision of hydraulic control. In order to meet the precise control of the multi-stage hydraulic cylinder, it is necessary to use complex hydraulic servo technology, use external sensors to detect the speed and position of the multi-stage hydraulic cylinder, and use expensive proportional valves or servo valves for control. The external sensors are greatly affected by the environment, the proportional servo system is complex, and the debugging is inconvenient. The invention patent with the application number 200410069392.3 discloses a two-stage spiral internal feedback digital fluid cylinder, which realizes the position and speed of the hydraulic cylinder by adopting a mechanical closed-loop method, with a wonderful concept, but its mechanical closed-loop method cannot be simply applied to the control of the multi-stage hydraulic cylinder. Summary of the Invention

[0004] The present invention provides a mechanical feedback device for a multi-stage hydraulic cylinder to solve the technical problems raised in the above background art.

[0005] To solve the above technical problems, the present invention provides a mechanical feedback device for a multi-stage hydraulic cylinder, including: a multi-stage cylinder barrel, a first sliding mechanism, a second sliding mechanism, a multi-stage driving feedback mechanism, and a feedback controller. A first sliding mechanism is slidably arranged axially along the center inside the multi-stage cylinder barrel, a second sliding mechanism is slidably arranged axially along the center inside the first sliding mechanism, both the first sliding mechanism and the second sliding mechanism are powered by hydraulic energy, and the displacements of the multi-stage hydraulic cylinder by the first sliding mechanism, the second sliding mechanism, and the multi-stage driving feedback mechanism are output from the center hole one through the end of the secondary feedback lead screw and connected to the feedback controller.

[0006] Preferably, a first sliding cavity is axially opened along the center inside the multi-stage cylinder barrel, a multi-stage cylinder bottom is fixedly installed at the right end of the multi-stage cylinder barrel, and a center hole one is opened at the center of the multi-stage cylinder bottom.

[0007] Preferably, the first sliding mechanism includes: a secondary piston push rod, which is slidably connected along the axial direction inside the first sliding cavity. The secondary piston push rod is powered by the hydraulic medium inside the first sliding cavity. The right end of the multi-stage cylinder is fixedly installed with a secondary flow-through plate.

[0008] Preferably, the second sliding mechanism includes: a primary piston push rod, which is slidably arranged along the axial direction inside the secondary piston push rod. The right end of the secondary piston push rod is fixedly installed with a primary flow-through plate. An inner hole one is axially opened inside the primary piston push rod.

[0009] Preferably, the multi-stage drive feedback mechanism includes: a primary feedback lead screw, with a feedback adapter fixedly installed at the right end of the primary feedback lead screw. The feedback adapter is fixedly installed at the center of the primary flow-through plate and axially penetrates through the primary flow-through plate. On the left side section of the primary feedback lead screw located at the feedback adapter, the helix meshes with a primary feedback nut, and the primary feedback nut is fixedly connected to the right end of the primary piston push rod.

[0010] Preferably, an inner hole two is axially opened inside the primary feedback lead screw. The right end of the secondary feedback lead screw is axially fixedly installed with a secondary flow-through plate. A secondary feedback nut is fixedly installed at the right end of the feedback adapter, and the secondary feedback nut meshes with the secondary feedback lead screw. The lead pitches of the primary feedback lead screw and the secondary feedback lead screw are the same.

[0011] Preferably, an auxiliary braking and cleaning mechanism is further provided. The auxiliary braking and cleaning mechanism includes: an annular track, which is fixedly installed on the outer periphery of the left side of the multi-stage cylinder. A rotating tube is rotatably connected outside the annular track. An annular gear ring is fixedly connected outside the rotating tube. The annular gear ring meshes with a first straight gear. A first motor is fixedly installed on the outer wall of the multi-stage cylinder. The first straight gear is fixedly connected to the output shaft end of the first motor. The left end of the rotating tube is fixedly communicated with a first box body. Two sets of upper and lower braking and stabilizing mechanisms are symmetrically arranged along the center on the first box body.

[0012] Preferably, the upper braking and stabilizing mechanism includes: an H-shaped bracket, which is fixedly installed on the top wall of the first box body. A vertical internal thread sleeve is slidably connected up and down at the center of the top wall of the first box body. Vertical limiting strips are symmetrically fixedly connected to the front and rear of the internal thread sleeve. An arc-shaped clamping plate one is fixedly installed at the bottom end of the internal thread sleeve. A pair of sleeve brackets are symmetrically installed on the front and rear of the internal thread sleeve. Each sleeve bracket is slidably connected with a second vertical rod. A cleaning brush is fixedly installed at the bottom end of the second vertical rod. A first spring is fixedly connected between the cleaning brush and the sleeve bracket. A first push rod is slidably connected in the front and rear directions at the center of the front wall of the first box body. A second arc-shaped clamping plate is fixedly connected to the left end of the first push rod. A first vertical rod is fixedly connected to the top of the front end of the first push rod.

[0013] Preferably, both the first vertical rod and the internal thread sleeve are provided with clamping braking force by a clamping driving mechanism. The clamping driving mechanism includes: a first lead screw. The center of the top wall of the H-shaped bracket is rotatably connected to a vertical first lead screw. The first lead screw is threadedly connected to the internal thread tube. The top end of the first lead screw is fixedly connected to a horizontally arranged first worm gear. The top of the H-shaped bracket is rotatably provided with a first worm in the front-rear direction. The first worm is meshed and connected with the first worm gear. The rear end of the first worm is fixedly connected to the output shaft end of a second motor. The second motor is fixedly connected to the rear end of the H-shaped bracket. The front end of the first worm is fixedly connected to a first bevel gear.

[0014] Preferably, the bottom end of the first bevel gear is meshed and connected with a second bevel gear. The bottom end of the second bevel gear is fixedly connected to a first vertical shaft. The first vertical shaft rotates downward through the top wall of the first box body. The bottom end of the first vertical shaft is fixedly connected to a third bevel gear. The front end of the third bevel gear is meshed and connected with a fourth bevel gear. The top of the front end of the first box body is fixedly connected to an L-shaped bracket. A second lead screw in the front-rear direction is rotatably connected between the L-shaped bracket and the front wall of the first box body. The rear end of the second lead screw is fixedly connected to the fourth bevel gear. The second lead screw is threadedly connected to a second sleeve. The second sleeve is fixedly connected to the top end of the first vertical rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides a multi-stage hydraulic cylinder mechanical feedback device, which realizes the multi-stage telescopic function through the first sliding mechanism and the second sliding mechanism inside the multi-stage cylinder barrel. Hydraulic energy provides power for these two sliding mechanisms, and precise displacement control and feedback are realized through a feedback controller.

[0016] Beneficial effects: Through the multi-stage telescopic design, the working range and flexibility of the hydraulic cylinder are improved. At the same time, the introduction of the feedback controller realizes precise displacement control and feedback, improving the stability and reliability of the system. The mechanical feedback link of the multi-stage hydraulic cylinder only performs precise mechanical feedback on the relative positions and speeds of the first piston push rod at the head and tail and the multi-stage cylinder barrel. And the system is simple, easy to install and debug. The mechanical feedback of the multi-stage hydraulic cylinder is output through the end of the second feedback lead screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a front sectional schematic view of a multi-stage hydraulic cylinder mechanical feedback device of the present invention;

[0019] Figure 2 is a connection schematic diagram of the feedback controller of the present invention;

[0020] Figure 3 is Figure 1 the partial enlarged view of location A in the figure;

[0021] Figure 4 is the connection schematic diagram of the multi-stage cylinder barrel and the auxiliary braking and cleaning mechanism of the present invention;

[0022] Figure 5 is the left sectional view of the auxiliary braking and cleaning mechanism of the present invention.

[0023] Reference numerals:

[0024] 1. Multi-stage cylinder barrel; 2. First sliding mechanism; 3. Second sliding mechanism; 4. Multi-stage drive feedback mechanism; 5. Feedback controller; 6. First sliding cavity; 7. Multi-stage cylinder bottom; 8. Central hole one; 9. Secondary piston push rod; 10. Secondary flow-through plate; 11. Second sliding cavity; 12. Installation cavity one; 13. Primary piston push rod; 14. Primary flow-through plate; 15. Inner hole one; 16. Primary feedback lead screw; 17. Feedback adapter; 18. Primary feedback nut; 19. Inner hole two; 20. Secondary feedback lead screw; 21. Secondary feedback nut; 22. Auxiliary braking and cleaning mechanism; 23. Ring track; 24. Rotating pipe; 25. Ring gear; 26. Spur gear one; 27. Motor one; 28. Box one; 29. Braking stability mechanism; 30. H-shaped bracket; 31. Internal thread sleeve; 32. Limiting strip; 33. Clamping plate one; 34. Sleeve bracket; 35. Vertical rod two; 36. Cleaning brush; 37. Spring one; 38. Push rod one; 39. Clamping plate two; 40. Vertical rod one; 41. Clamping drive mechanism; 42. Lead screw one; 43. Worm gear one; 44. Worm one; 45. Motor two; 46. Bevel gear one; 47. Bevel gear two; 48. Vertical shaft one; 49. Bevel gear three; 50. Bevel gear four; 51. L-shaped bracket; 52. Lead screw two; 53. Sleeve two. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts fall within the scope of protection of the present invention.

[0026] The following describes the preferred embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0027] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and do not particularly refer to the order or sequence. Nor are they used to limit the present invention. They are merely used to distinguish components or operations described with the same technical terms, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions and technical features between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] The present invention provides the following embodiments

[0029] Embodiment 1

[0030] The embodiment of the present invention provides a multi-stage hydraulic cylinder mechanical feedback device, as Figure 1 shown, including: a multi-stage cylinder barrel 1, a first sliding mechanism 2, a second sliding mechanism 3, a multi-stage drive feedback mechanism 4, and a feedback controller 5. The first sliding mechanism 2 is axially slidably provided at the center inside the multi-stage cylinder barrel. The second sliding mechanism 3 is axially slidably provided at the center inside the first sliding mechanism 2. Both the first sliding mechanism 2 and the second sliding mechanism 3 are powered by hydraulic energy. The first sliding mechanism 2, the second sliding mechanism 3, and the multi-stage drive feedback mechanism 4 output the displacement of the multi-stage hydraulic cylinder through the end of the secondary feedback lead screw from the center hole 8 and are connected to the feedback controller 5.

[0031] The working principle and its beneficial effects of the above technical solution are as follows:

[0032] Working principle: The multi-stage hydraulic cylinder mechanical feedback device of the embodiment of the present invention realizes the multi-stage telescopic function through the first sliding mechanism 2 and the second sliding mechanism 3 inside the multi-stage cylinder barrel 1. Hydraulic energy provides power for these two sliding mechanisms, and precise displacement control and feedback are realized through the feedback controller 5.

[0033] Beneficial effects: Through the multi-stage telescopic design, the working range and flexibility of the hydraulic cylinder are improved. At the same time, the introduction of the feedback controller 5 realizes precise displacement control and feedback, improving the stability and reliability of the system. The mechanical feedback link of the multi-stage hydraulic cylinder only performs precise mechanical feedback on the relative position and speed of the first piston push rod 13 and the multi-stage cylinder barrel 1 at the head and tail. And the system is simple, easy to install and debug. The mechanical feedback of the multi-stage hydraulic cylinder is output through the end of the secondary feedback lead screw 20.

[0034] Embodiment 2

[0035] Based on Embodiment 1, as Figures 1-3 shown, a first sliding cavity 6 is axially formed in the center of the multi-stage cylinder barrel 1. A multi-stage cylinder bottom 7 is fixedly installed at the right end of the multi-stage cylinder barrel 1, and a first central hole 8 is formed in the center of the multi-stage cylinder bottom 7.

[0036] The first sliding mechanism 2 includes: a secondary piston push rod 9, which is axially slidably connected to the secondary piston push rod 9 inside the first sliding cavity 6. The secondary piston push rod 9 is powered by the hydraulic medium in the first sliding cavity 6. A secondary flow-through plate 10 is fixedly installed at the right end of the multi-stage cylinder barrel 1.

[0037] The second sliding mechanism 3 includes: a primary piston push rod 13, which is axially slidably arranged inside the secondary piston push rod 9. A primary flow-through plate 14 is fixedly installed at the right end of the secondary piston push rod 9, and a first inner hole 15 is axially formed inside the primary piston push rod 13.

[0038] A second sliding cavity 11 and a first installation cavity 12 are also axially formed inside the secondary piston push rod 9.

[0039] The working principle and beneficial effects of the above technical solution are as follows:

[0040] Working principle: Based on Embodiment 1, the specific structures of the multi-stage cylinder barrel 1, the first sliding mechanism 2, and the second sliding mechanism 3 are further clarified in this embodiment. The first sliding cavity 6 inside the multi-stage cylinder barrel 1 provides a sliding space for the secondary piston push rod 9, while the second sliding cavity 11 inside the secondary piston push rod 9 provides a sliding space for the primary piston push rod 13. This nested design enables the device to achieve multi-stage telescoping, and the first central hole 8 provides a connection port for the multi-stage drive feedback mechanism 4. The first sliding cavity 6, the second sliding cavity 11, and the first installation cavity 12 are the working cavities inside the multi-stage cylinder, and the multi-stage cylinder is actuated by the hydraulic medium in the working cavities.

[0041] Beneficial effects: By clarifying the specific structures and sliding methods of each sliding mechanism, the structural stability and working reliability of the device are improved. At the same time, this nested design also enables the device to achieve the function of multi-stage telescoping while maintaining compactness.

[0042] Embodiment 3

[0043] Based on Embodiment 2, as Figures 1-3As shown in the figure, the multi-stage drive feedback mechanism 4 includes: a first-stage feedback lead screw 16. A feedback adapter 17 is fixedly installed at the right end of the first-stage feedback lead screw 16. The feedback adapter 17 is fixedly installed at the center of the first-stage current-carrying plate 14. The feedback adapter 17 axially penetrates the first-stage current-carrying plate 14. A section of the first-stage feedback lead screw 16 to the left of the feedback adapter 17 is helically engaged with a first-stage feedback nut 18. The first-stage feedback nut 18 is fixedly connected to the right end of the first-stage piston push rod 13.

[0044] An inner hole two 19 along the axial direction is provided inside the first-stage feedback lead screw 16. A second-stage current-carrying plate 10 is fixedly installed at the right end of the second-stage feedback lead screw 20 along the axial direction. A second-stage feedback nut 21 is fixedly installed at the right end of the feedback adapter 17. The second-stage feedback nut 21 is engaged with the second-stage feedback lead screw 20. The lead pitches of the first-stage feedback lead screw 16 and the second-stage feedback lead screw 20 are the same.

[0045] The working principle and its beneficial effects of the above technical solution are as follows:

[0046] Working principle: On the basis of Embodiment 2, this embodiment introduces a multi-stage drive feedback mechanism 4, including a first-stage feedback lead screw 16 and a second-stage feedback lead screw 20. These two lead screws are respectively connected to the first-stage piston push rod 13 and the second-stage piston push rod 9 through screw connections and are linked through the feedback adapter 17. At the same time, since the lead pitches of the first-stage feedback lead screw 16 and the second-stage feedback lead screw 20 are the same, precise mechanical feedback on the relative positions and speeds of the first-stage piston push rod 13 and the multi-stage cylinder barrel 1 at the head and tail can be achieved.

[0047] During specific operation: The first-stage feedback nut 18 is rigidly installed on the first-stage piston push rod 13; the feedback adapter 17 is rigidly installed on the first-stage feedback lead screw 16 and is installed on the second-stage piston push rod 9 together through the first-stage current-carrying plate 14. The first-stage current-carrying plate 14 restricts the axial relative movement between the first-stage feedback lead screw 16 and the second-stage piston push rod 9; the second-stage feedback nut 21 is rigidly installed on the feedback adapter 17; the second-stage feedback lead screw 20 is installed on the multi-stage cylinder barrel 1 through the second-stage current-carrying plate 10. The second-stage current-carrying plate 10 restricts the axial relative movement between the second-stage feedback lead screw 20 and the multi-stage cylinder barrel 1; the lead pitches of the first-stage feedback lead screw 16 and the second-stage feedback lead screw 20 are the same; the mechanical feedback of the multi-stage hydraulic cylinder is output through the shaft end of the second-stage feedback lead screw 20.

[0048] When there is no relative movement between the secondary piston push rod 9 and the multi-stage cylinder barrel 1, and only relative axial movement occurs between the primary piston push rod 13 and the secondary piston push rod 9, since the primary flow-through plate 14 restricts the axial movement of the primary feedback lead screw 16 and the secondary piston push rod 9, the primary feedback nut 18 drives the primary feedback lead screw 16 to rotate, and the primary feedback lead screw 16 then drives the feedback adapter 17, the secondary feedback nut 21 and the secondary feedback lead screw 20 to rotate together. The mechanical feedback of the multi-stage hydraulic cylinder is output through the shaft end of the secondary feedback lead screw 20.

[0049] When there is no relative movement between the primary piston push rod 13 and the secondary piston push rod 9, and only relative axial movement occurs between the secondary piston push rod 9 and the multi-stage cylinder barrel 1, since the secondary flow-through plate 10 restricts the axial movement of the secondary feedback lead screw 20 and the multi-stage cylinder barrel 1, the secondary feedback nut 21 drives the secondary feedback lead screw 20 to rotate. The mechanical feedback of the multi-stage hydraulic cylinder is output through the shaft end of the secondary feedback lead screw 20.

[0050] When there is no relative movement between the primary piston push rod 13 at the head and tail positions and the multi-stage cylinder barrel 1, and only the secondary piston push rod 9 at the middle position moves axially, the primary feedback nut 18 drives the primary feedback lead screw 16, the feedback adapter 17 and the secondary feedback nut 21 to rotate together. The primary feedback lead screw 16 advances along the lead of the primary feedback lead screw 16, and at the same time the secondary feedback nut 21 advances along the secondary feedback lead screw 20; since the leads of the primary feedback lead screw 16 and the secondary feedback lead screw 20 are the same, the secondary feedback nut 21 completely advances along the helix of the secondary feedback lead screw 20 and will not generate axial or circumferential force on the secondary feedback lead screw 20, and the secondary feedback lead screw 20 will not generate feedback.

[0051] Thus, the mechanical feedback link of the multi-stage hydraulic cylinder only performs precise mechanical feedback on the relative positions and speeds of the primary piston push rod 13 at the head and tail and the multi-stage cylinder barrel 1, and the system is simple, and installation and debugging are convenient.

[0052] Beneficial effects: The introduction of the multi-stage drive feedback mechanism 4 realizes precise displacement control and feedback, and improves the stability and reliability of the system. At the same time, due to the adoption of the spiral connection method, it has the advantages of simple structure and easy maintenance.

[0053] Embodiment 4

[0054] On the basis of Embodiment 2, as Figure 2 , Figure 4 and Figure 5As shown, an auxiliary braking and cleaning mechanism 22 is further provided. The auxiliary braking and cleaning mechanism 22 includes: an annular track 23, the annular track 23 is fixedly installed on the outer periphery of the left side of the multi-stage cylinder barrel 1, a rotating pipe 24 is rotatably connected outside the annular track 23, an annular gear ring 25 is fixedly connected outside the rotating pipe 24, the annular gear ring 25 is meshed and connected with a first straight gear 26, a first motor 27 is fixedly installed on the outer wall of the multi-stage cylinder barrel 1, and the first straight gear 26 is fixedly connected to the output shaft end of the first motor 27. The left end of the rotating pipe 24 is fixedly communicated with a first box body 28, and two sets of upper and lower braking and stabilizing mechanisms 29 are symmetrically arranged along the center on the first box body 28.

[0055] The upper braking and stabilizing mechanism 29 includes: an H-shaped bracket 30, the H-shaped bracket 30 is fixedly installed on the top wall of the first box body 28, a vertical internal thread sleeve 31 is slidably connected up and down at the center of the top wall of the first box body 28, vertical limiting strips 32 are symmetrically fixedly connected to the front and rear of the internal thread sleeve 31, an arc-shaped first clamping plate 33 is fixedly installed at the bottom end of the internal thread sleeve 31, a pair of sleeve brackets 34 are symmetrically installed on the front and rear of the internal thread sleeve 31, a second vertical rod 35 is slidably connected up and down to each sleeve bracket 34, a cleaning brush 36 is fixedly installed at the bottom end of the second vertical rod 35, and a first spring 37 is fixedly connected between the cleaning brush 36 and the sleeve bracket 34. A first push rod 38 is slidably connected in the front-back direction at the center of the front wall of the first box body 28, an arc-shaped second clamping plate 39 is fixedly connected to the left end of the first push rod 38, and a first vertical rod 40 is fixedly connected to the top of the front end of the first push rod 38.

[0056] The working principle and its beneficial effects of the above technical solution are as follows:

[0057] Working principle: On the basis of Embodiment 2, an auxiliary braking and cleaning mechanism 22 is added in this embodiment. This mechanism drives the first straight gear 26 to rotate through the first motor 27, and then drives the annular gear ring 25 and the rotating pipe 24 to rotate. The first box body 28 at the left end of the rotating pipe 24 brakes and stabilizes the sliding mechanism through the braking and stabilizing mechanism 29. At the same time, the cleaning brush 36 rotates together with the rotating pipe 24 and the first box body 28 to rotate and clean the surfaces of the first piston push rod 13 and the second piston push rod 9 in the sliding mechanism. When braking is required, the clamping driving mechanism 41 drives the first clamping plate 33 and the second clamping plate 39 to clamp the sliding mechanism; when cleaning is required, the cleaning brush 36 closely adheres to the surface of the sliding mechanism under the action of the first spring 37 for cleaning.

[0058] Beneficial effects: The introduction of the auxiliary braking and cleaning mechanism 22 improves the safety and stability of the device, and at the same time ensures the cleanliness and smooth operation of the first sliding mechanism 2 and the second sliding mechanism 3. This design not only improves the working efficiency of the device, but also extends the service life.

[0059] Embodiment 5

[0060] On the basis of Embodiment 4, asFigure 3 and Figure 4 As shown in Figure 4 , both the first vertical rod 40 and the internally threaded sleeve 31 are provided with clamping braking forces through the clamping drive mechanism 41. The clamping drive mechanism 41 includes: a first lead screw 42. The center of the top wall of the H-shaped bracket 30 is rotatably connected to the vertical first lead screw 42. The first lead screw 42 is threadedly connected to the internally threaded tube. The top end of the first lead screw 42 is fixedly connected to a first worm gear 43 in the horizontal direction. The H-shaped bracket 30 is rotatably provided with a first worm 44 in the front-rear direction at the top. The first worm 44 is meshed and connected to the first worm gear 43. The rear end of the first worm 44 is fixedly connected to the output shaft end of the second motor 45. The second motor 45 is fixedly connected to the rear end of the H-shaped bracket 30. The front end of the first worm 44 is fixedly connected to a first bevel gear 46.

[0061] The bottom end of the first bevel gear 46 is meshed and connected to a second bevel gear 47. The bottom end of the second bevel gear 47 is fixedly connected to a first vertical shaft 48. The first vertical shaft 48 rotates downward through the top wall of the first box body 28. The bottom end of the first vertical shaft 48 is fixedly connected to a third bevel gear 49. The front end of the third bevel gear 49 is meshed and connected to a fourth bevel gear 50. The top of the front end of the first box body 28 is fixedly connected to an L-shaped bracket 51. A second lead screw 52 in the front-rear direction is rotatably connected between the L-shaped bracket 51 and the front wall of the first box body 28. The rear end of the second lead screw 52 is fixedly connected to the fourth bevel gear 50. The second lead screw 52 is threadedly connected to a second sleeve 53. The second sleeve 53 is fixedly connected to the top end of the first vertical rod 40.

[0062] The working principle and its beneficial effects of the above technical solution are as follows:

[0063] Working principle: On the basis of Embodiment 4, the structure and working principle of the clamping drive mechanism 41 are described in detail in this embodiment. The clamping drive mechanism 41 drives the first worm 44 to rotate through the second motor 45, and then drives the first worm gear 43 and the first lead screw 42 to rotate. The rotation of the first lead screw 42 drives the internally threaded sleeve 31 to move up and down through threaded connection, and then drives the upper and lower pair of first clamping plates 33 to clamp the sliding mechanism. At the same time, the bevel gear transmission mechanism transmits the rotation power of the first worm 44 to the second lead screw 52 (specifically, the rotation of the first worm 44 drives the first bevel gear 46 to rotate, and the first bevel gear 46 meshes and drives the second bevel gear 47, the first vertical shaft 48 and the third bevel gear 49 to rotate synchronously. The third bevel gear 49 then meshes and drives the fourth bevel gear 50 and the second lead screw 52 to rotate synchronously), driving the second sleeve 53 and the first vertical rod 40 to move back and forth, and then driving the left and right pair of second clamping plates 39 to further clamp the sliding mechanism.

[0064] Beneficial effects: The introduction of the clamping drive mechanism 41 realizes the precise clamping and stabilization of the sliding mechanism, improving the safety and stability of the device. At the same time, this mechanism has a compact structure, is easy to maintain, and can realize the all-round clamping and stabilization of the sliding mechanism. This design not only improves the working efficiency of the device but also reduces the failure rate.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-stage hydraulic cylinder mechanical feedback device, characterized in that: include: A multi-stage cylinder (1), a first sliding mechanism (2), a second sliding mechanism (3), a multi-stage drive feedback mechanism (4) and a feedback controller (5); a first sliding mechanism (2) is provided at the center of the multi-stage cylinder for axial sliding, a second sliding mechanism (3) is provided at the center of the first sliding mechanism (2) for axial sliding, the first sliding mechanism (2) and the second sliding mechanism (3) are both powered by hydraulic energy, the first sliding mechanism (2), the second sliding mechanism (3) and the multi-stage drive feedback mechanism (4) output the displacement of the multi-stage hydraulic cylinder from the center hole 1 (8) through the shaft end of the secondary feedback screw rod (20), and are connected to the feedback controller (5).

2. A multi-stage hydraulic cylinder mechanical feedback device according to claim 1, characterized in that: A first sliding cavity (6) is axially provided at the inner center of the multi-stage cylinder barrel (1), a multi-stage cylinder bottom (7) is fixedly mounted at the right end of the multi-stage cylinder barrel (1), and a center hole (8) is provided at the center of the multi-stage cylinder bottom (7).

3. A multi-stage hydraulic cylinder mechanical feedback device according to claim 2, characterized in that: The first sliding mechanism (2) comprises: a secondary piston push rod (9), the first sliding cavity (6) is axially slidably connected to the secondary piston push rod (9), the secondary piston push rod (9) is driven by the hydraulic medium in the first sliding cavity (6) to provide power, and the right end of the multi-stage cylinder (1) is fixedly installed with a secondary flow plate (10).

4. A multi-stage hydraulic cylinder mechanical feedback device according to claim 3, characterized in that: The second sliding mechanism (3) comprises: a primary piston push rod (13), a primary piston push rod (13) is axially slidably arranged inside the secondary piston push rod (9), a primary flow plate (14) is fixedly installed at the right end of the secondary piston push rod (9), and an inner hole (15) is axially opened inside the primary piston push rod (13).

5. A multi-stage hydraulic cylinder mechanical feedback device according to claim 4, characterized in that: The multi-stage drive feedback mechanism (4) comprises: a first-stage feedback screw (16), a feedback adapter (17) fixedly mounted on the right end of the first-stage feedback screw (16), the feedback adapter (17) fixedly mounted at the center of the first-stage flow plate (14), the feedback adapter (17) fixedly penetrating the first-stage flow plate (14) along the axial direction, a spiral section on the left side of the feedback adapter (17) on the first-stage feedback screw (16) meshing with a first-stage feedback nut (18), and the first-stage feedback nut (18) fixedly connected to the right end of the first-stage piston push rod (13).

6. A multi-stage hydraulic cylinder mechanical feedback device according to claim 5, characterized in that: The first-level feedback screw (16) is provided with an axial inner hole (19), the right end of the second-level feedback screw (20) is axially fixed to the second-level flow plate (10), the right end of the feedback adapter (17) is fixedly mounted with a second-level feedback nut (21), the second-level feedback nut (21) is meshed with the second-level feedback screw (20), and the lead of the first-level feedback screw (16) is the same as the lead of the second-level feedback screw (20).

7. A multi-stage hydraulic cylinder mechanical feedback device according to claim 1, characterized in that: An auxiliary braking and cleaning mechanism (22) is also provided, the auxiliary braking and cleaning mechanism (22) comprising: an annular track (23), the annular track (23) is fixedly installed on the left periphery of the multi-stage cylinder (1), the annular track (23) is rotatably connected to a rotating tube (24) outside, the rotating tube (24) is fixedly connected to an annular gear ring (25), the annular gear ring (25) is meshedly connected to a spur gear one (26), a motor one (27) is fixedly installed on the outer wall of the multi-stage cylinder (1), the spur gear one (26) is fixedly connected to the output shaft end of the motor one (27), the left end of the rotating tube (24) is fixedly connected to a box body one (28), and two sets of upper and lower braking stabilizing mechanisms (29) are symmetrically provided along the center of the box body one (28).

8. A multi-stage hydraulic cylinder mechanical feedback device according to claim 7, characterized in that: The upper brake stabilizing mechanism (29) comprises: an H-shaped bracket (30), the top wall of the box body (28) is fixedly mounted with the H-shaped bracket (30), the center of the top wall of the box body (28) is slidably connected to a vertical internal threaded sleeve (31), the internal threaded sleeve (31) is symmetrically fixedly connected to a vertical limit strip (32) front and back, an arc-shaped clamping plate (33) is fixedly mounted on the bottom end of the internal threaded sleeve (31), and a pair of sleeve brackets (34) are symmetrically mounted on the internal threaded sleeve (31) front and back. ), each sleeve bracket (34) is slidably connected to a vertical rod (35) up and down, a cleaning brush (36) is fixedly installed at the bottom end of the vertical rod (35), a spring (37) is fixedly connected between the cleaning brush (36) and the sleeve bracket (34), the front wall center of the box body (28) is slidably connected to a push rod (38) along the front and rear directions, the left end of the push rod (38) is fixedly connected to an arc-shaped clamping plate (39), and the front end top of the push rod (38) is fixedly connected to a vertical rod (40).

9. A multi-stage hydraulic cylinder mechanical feedback device according to claim 8, characterized in that: The vertical rod (40) and the internal threaded sleeve (31) are both provided with a clamping braking force through a clamping driving mechanism (41), and the clamping driving mechanism (41) comprises: a lead screw (42), the center of the top wall of the H-shaped bracket (30) is rotatably connected to the vertical lead screw (42), the lead screw (42) is threadedly connected to the internal threaded tube, the top end of the lead screw (42) is fixedly connected to a horizontal worm gear (43), the top of the H-shaped bracket (30) is provided with a worm (44) that rotates along the front-back direction, the worm (44) is meshedly connected to the worm gear (43), the rear end of the worm (44) is fixedly connected to the output shaft end of the motor (45), the motor (45) is fixedly connected to the rear end of the H-shaped bracket (30), and the front end of the worm (44) is fixedly connected to a bevel gear (46).

10. A multi-stage hydraulic cylinder mechanical feedback device according to claim 9, characterized in that: The bottom end of the bevel gear 1 (46) is meshedly connected to the bevel gear 2 (47), the bottom end of the bevel gear 2 (47) is fixedly connected to the vertical shaft 1 (48), the vertical shaft 1 (48) rotates downward to penetrate the top wall of the box body 1 (28), the bottom end of the vertical shaft 1 (48) is fixedly connected to the bevel gear 3 (49), the front end of the bevel gear 3 (49) is meshedly connected to the bevel gear 4 (50), the top of the front end of the box body 1 (28) is fixedly connected to the L-shaped bracket (51), the L-shaped bracket (51) and the front wall of the box body 1 (28) are rotatably connected to the lead screw 2 (52) along the front-to-back direction, the rear end of the lead screw 2 (52) is fixedly connected to the bevel gear 4 (50), the lead screw 2 (52) is threadedly connected to the sleeve 2 (53), and the sleeve 2 (53) is fixedly connected to the top of the vertical rod 1 (40).

Images