Full-stroke spiral swing oil cylinder capable of being self-locked at any position

Abstract

The invention relates to the technical field of hydraulic oil cylinders, and discloses a full-stroke spiral swing oil cylinder capable of being self-locked at any position, which comprises a cylinder body, a rotating shaft is rotatably arranged in the middle of the cylinder body in a penetrating manner, a worm gear ring is rotatably connected to the right end of the rotating shaft in a sleeving manner, a clamping groove is formed in the inner wall of the worm gear ring, and a pressure sensor is arranged between the worm gear ring and the rotating shaft. An adjusting worm is arranged at the rear end of the worm gear ring, oil pipes are fixedly connected to the upper side and the lower side of the right end of the cylinder body, and contraction sections are arranged on the left sides of the oil pipes. When the oil cylinder operates, the pin column is automatically driven to be disengaged from the clamping groove according to the Bernoulli principle, the energy storage assembly is matched to drive the adjusting guide ring to assist in disengagement of the pin column, unlocking of the rotating shaft is safe, reliable and rapid, a pressure sensor is matched to adjust rotation of the worm gear ring, and the clamping groove is always opposite to the pin column; therefore, quick and stable self-locking at any position is achieved, pressure relief is not needed, and quick response can be achieved during secondary operation.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic cylinders, and in particular to a spiral swing cylinder which is self-locking at any position throughout the entire stroke. Background Art

[0002] The spiral swing cylinder is a hydraulic actuator that converts hydraulic energy into mechanical energy and performs the required rotational reciprocating or other forms of motion. The spiral swing cylinder uses the helical thread meshing structure to transmit pressure in the linear motion of the piston using hydraulic oil, driving the piston to rotate along the spiral rod and generate a swinging motion. This design eliminates the transmission gap in the traditional swing mechanism and ensures the smoothness of the movement. With the development of industry, the swing cylinder is not only required to have a compact structure and a large swing angle, but also has higher and higher requirements for its output torque and transmission efficiency.

[0003] Chinese patent CN112283198B discloses a mechanical self-locking spiral swing oil cylinder, including a spiral swing oil cylinder body, a locking end cover, a self-locking cylinder barrel, a self-locking piston, a tail cover, a locking spring, a spring sleeve, a steel ball, a fixing spring and a control bolt. The spiral swing cylinder barrel is provided with oil ports A, oil ports B and control ports C, and the control port C is connected to the oil ports A and B through a valve group. The self-locking piston is located in the self-locking cylinder barrel, and the interior of the self-locking cylinder barrel is divided into an unlocking chamber and a locking chamber that are not connected to each other. The unlocking chamber is connected to the control port C, and the locking chamber is connected to the unlocking chamber through a valve group. The self-locking piston reciprocates under the action of the medium pressure between the unlocking chamber and the locking chamber. A locking pin is processed on one side of the self-locking piston, and an anti-rotation hole is processed on the self-locking cylinder barrel. The invention automatically realizes the mechanical locking and unlocking of the spiral swing oil cylinder by setting a simple mechanical structure, thereby improving work efficiency.

[0004] During use of the mechanical self-locking spiral swing cylinder in the above-mentioned patent, when the locking pin is inserted into the locking hole on the spiral swing cylinder, the spiral swing cylinder is immediately locked. When unlocking, it is necessary to fill the cylinder with oil to use the oil pressure to drive the self-locking piston to drive the locking pin to come out. The corresponding oil filling will also act on the cylinder piston, strengthening the swinging tendency of the spiral swing cylinder, and the radial pressure of the locking hole on the locking pin is increased. In addition, when the external load of the spiral swing cylinder is large, the radial pressure of the locking hole on the locking pin is greater, so the locking pin is not easy to come out, and it is easy to cause safety problems; when the spiral swing cylinder is rotated to the extreme position and needs to be locked, it is also necessary to release the pressure in the cylinder to achieve locking. When the spiral swing cylinder moves relatively frequently, it is often unable to respond quickly during the secondary action after pressure relief, and it is necessary to input sufficient oil for pressurization before it can operate stably. Summary of the invention

[0005] The purpose of the present invention is to solve the problems that the unlocking of the general spiral swing cylinder is not safe, reliable and rapid enough and the response rate is slow during the secondary operation during use. The present invention provides a spiral swing cylinder that is self-locking at any position throughout the stroke.

[0006] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions: A spiral swing oil cylinder with self-locking at any position in the whole stroke comprises a cylinder body, a rotating shaft is rotatably penetrated in the middle of the cylinder body, a worm gear ring is rotatably sleeved on the right end of the rotating shaft, a clamping groove is provided on the inner wall of the worm gear ring, a pressure sensor is provided between the worm gear ring and the rotating shaft, an adjusting worm is provided at the rear end of the worm gear ring, oil pipes are fixedly connected to the upper and lower sides of the right end of the cylinder body, a contraction section is provided on the left side of the oil pipe, a U-shaped control pipe whose left end is connected to the contraction section is fixedly connected to the oil pipe, and elastic control plugs are slidably connected to the two ends of the inner cavity of the U-shaped control pipe; A pin column movably engaged with the slot is arranged on the right side of the rotating shaft, a wedge slot is arranged on the left side of the pin column, an energy storage assembly is arranged on the periphery of the cylinder body, an L-shaped elastic force adjustment plate is arranged on the front side of the cylinder body, an adjustment guide ring capable of axial movement is arranged on the periphery of the right side of the rotating shaft, and an inclined surface capable of abutting against each other is provided between the right end of the adjustment guide ring and the wedge slot.

[0007] Furthermore, the adjusting worm is rotatably connected to the right wall of the cylinder body, and the adjusting worm is driven by a driving motor arranged on the right wall of the cylinder body, and the pressure sensor controls the rotation of the adjusting worm by feedback controlling the driving motor.

[0008] Furthermore, a groove is provided at the top of the right end of the rotating shaft, and a protrusion extending into the groove is provided on the inner wall of the worm gear ring. The pressure sensor is fixedly connected between the inner wall of the groove and the protrusion. There are two pressure sensors and they are symmetrically arranged on both sides of the protrusion.

[0009] Furthermore, both ends of the inner cavity of the U-shaped control tube are provided with limiting sliding grooves corresponding to the elastic control plug, and the top wall of the limiting sliding groove on the left side is far away from the elastic control plug.

[0010] Furthermore, an end cover is movably mounted on the right end of the cylinder body, and notches corresponding to the U-shaped control tube and the L-shaped elastic force adjustment plate are respectively opened on the left side of the end cover.

[0011] Further, a cross slot is provided on the right side of the rotating shaft, an adjusting column is slidably inserted on the right side of the cross slot, and oblique slots in opposite directions are respectively provided on the upper and lower sides of the adjusting column, the number of the pins is the same as that of the slots and both are two, and the two pins are respectively slidably inserted on the front and rear sides of the cross slot, and the adjacent sides of the two pins are respectively provided with notches adapted to the adjusting column, and the two notches are respectively fixedly connected with pin protrusions that are movably engaged with the corresponding oblique slots; The right end of the regulating column is rotatably connected with a shaft sleeve, a U-shaped piston control rod is fixedly inserted on the shaft sleeve, and the U-shaped piston control rod is slidably inserted between the two U-shaped control tubes.

[0012] Furthermore, the energy storage assembly includes an arc-shaped energy storage sealing cylinder fixedly connected to both sides of the periphery of the cylinder body, an oil hole is opened between the energy storage sealing cylinder and the top wall of the cylinder body, the two oil holes are respectively located on both sides of the oil cylinder piston, an arc-shaped elastic piston rod is slidably connected in the energy storage sealing cylinder, the piston part of the elastic piston rod is located in front of the oil hole, the upper oil pipe is connected to the top of the inner cavity of the right energy storage sealing cylinder, and an oil groove is arranged between the lower oil pipe and the top of the left energy storage sealing cylinder, and the oil groove is composed of a straight groove part opened on the lower wall of the cylinder body and a curved groove part opened on the left wall of the cylinder body.

[0013] Furthermore, a avoidance groove is opened on the front side of the cylinder body, and the L-shaped elastic adjustment plate is slidably clamped in the avoidance groove. The bottom of the elastic piston rod passes through the energy storage sealing cylinder and is movably abutted against the L-shaped elastic adjustment plate. The right end of the L-shaped elastic adjustment plate is fixedly connected with a screw sleeve, and the adjustment guide ring is threadedly connected to the inner wall of the screw sleeve.

[0014] Furthermore, a symmetrical guide rod is fixedly connected to the right end of the cylinder body, the adjusting guide ring is slidably sleeved between the guide rods, and the adjusting guide ring is movably sleeved on the periphery of the rotating shaft.

[0015] The beneficial effects of the present invention are as follows: When the oil cylinder is operated, the hydraulic oil in the two oil pipes generates negative pressure at the contraction section as it flows rapidly, driving the elastic control plug to move, thereby automatically driving the pin to disengage from the slot. Synchronously, as the oil is quickly supplied to the corresponding side of the oil cylinder, the energy storage component first absorbs the oil to stabilize the pressure, and drives the L-shaped elastic adjustment plate to make the adjustment guide ring squeeze the wedge groove on the pin, thereby assisting the pin to disengage, and unlocking the rotating shaft is safe, reliable and rapid.

[0016] When the present invention is operated after the rotating shaft is unlocked, as the pressure sensor changes in the extrusion pressure of the rotating shaft, the automatic control worm drives the worm gear ring to rotate continuously, so that the extrusion pressure is restored, and the slot is always opposite to the pin. When the oil cylinder stops operating, the worm gear ring is automatically adjusted into place, and the elastic control plug immediately uses its own elastic force to drive the pin to be re-engaged in the slot, thereby locking the rotating shaft and cooperating with the worm gear ring to self-lock under the action of the adjusting worm, thereby realizing fast and stable self-locking at any position without the need for pressure relief, and the secondary operation can respond quickly.

[0017] After the oil cylinder drives the energy storage component to move, as the auxiliary shaft is unlocked, the energy storage component automatically discharges oil under the action of its own elastic force, thereby controlling the automatic reset of the adjustment guide ring to avoid affecting the secondary locking of the shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional structural diagram of the spiral swing cylinder of the present invention; Figure 2 It is a three-dimensional cutaway view of the cylinder body and end cover of the spiral swing oil cylinder of the present invention; Figure 3 This is a three-dimensional structural diagram of the rotating shaft portion of the spiral swing cylinder of the present invention; Figure 4 It is a partial three-dimensional cutaway view of the oil pipe of the spiral swing oil cylinder and the U-shaped control pipe of the present invention; Figure 5 It is an exploded view of the adjusting column and the pin part of the spiral swing oil cylinder of the present invention; Figure 6 It is a three-dimensional cutaway view of the rotating shaft and the adjusting guide ring of the spiral swing cylinder of the present invention; Figure 7 The present invention is a three-dimensional section of the spiral swing oil cylinder body and the energy storage sealing cylinder Figure 1 ; Figure 8 The present invention is a three-dimensional section of the spiral swing oil cylinder body and the energy storage sealing cylinder Figure 2 .

[0019] Figure numerals: 1. cylinder body; 11. oil groove; 12. avoidance groove; 2. rotating shaft; 21. adjusting column; 22. inclined groove; 23. pin column; 24. pin protrusion; 25. wedge groove; 3. worm gear ring; 31. slot; 32. pressure sensor; 33. adjusting worm; 4. oil pipe; 41. U-shaped control pipe; 42. elastic control plug; 43. U-shaped piston control rod; 44. bushing; 5. energy storage sealing cylinder; 51. oil hole; 52. elastic piston rod; 6. L-shaped elastic adjustment plate; 61. screw sleeve; 62. adjusting guide ring; 63. guide rod; 7. end cover. DETAILED DESCRIPTION

[0020] 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.

[0021] Embodiment 1, as Figure 1-Figure 8 As shown, a spiral swing oil cylinder with full stroke and arbitrary position self-locking comprises a cylinder body 1, a rotating shaft 2 is rotatably penetrated in the middle of the cylinder body 1, a worm gear ring 3 is rotatably sleeved on the right end of the rotating shaft 2, a clamping groove 31 is opened on the inner wall of the worm gear ring 3, a pressure sensor 32 is arranged between the worm gear ring 3 and the rotating shaft 2, an adjusting worm 33 is arranged at the rear end of the worm gear ring 3, an oil pipe 4 is fixedly connected to both the upper and lower sides of the right end of the cylinder body 1, a contraction section is arranged on the left side of the oil pipe 4, a U-shaped control pipe 41 whose left end is connected to the contraction section is fixedly connected to the oil pipe 4, and elastic control plugs 42 are slidably connected to the two ends of the inner cavity of the U-shaped control pipe 41 respectively; A pin 23 movably engaged with the slot 31 is provided on the right side of the rotating shaft 2, a wedge slot 25 is provided on the left side of the pin 23, an energy storage assembly is provided on the periphery of the cylinder body 1, an L-shaped elastic force adjustment plate 6 is provided on the front side of the cylinder body 1, and an adjustment guide ring 62 capable of axial movement is provided on the periphery of the right side of the rotating shaft 2, and there are inclined surfaces between the right end of the adjustment guide ring 62 and the wedge slot 25 that can abut against each other.

[0022] The adjusting worm 33 is rotatably connected to the right wall of the cylinder body 1 , and the adjusting worm 33 is driven by a driving motor arranged on the right wall of the cylinder body 1 . The pressure sensor 32 controls the driving motor to rotate the adjusting worm 33 through feedback control.

[0023] When the spiral swing cylinder is in use, the two U-shaped control tubes 41 are also filled with hydraulic oil. When the hydraulic oil in the oil pipe 4 does not flow, the hydraulic oil in the oil pipe 4 exerts equal pressure on the elastic control plugs 42 at both ends of the U-shaped control tube 41. The elastic control plugs 42 at both ends are stable and stationary under the action of their own elastic force. When hydraulic oil is input through one oil pipe 4 and hydraulic oil is returned through the other oil pipe 4, the hydraulic oil flows rapidly, thereby generating negative pressure at the contraction section of the oil pipe 4 according to the Bernoulli principle, and the elastic control plug 42 on the left is stretched to move toward the contraction section, thereby driving the pin 23 The pin 23 is not easily dislodged from the card slot 31, and the corresponding hydraulic oil causes the energy storage component on the corresponding side to automatically perform elastic buffering of the hydraulic oil, absorb the flowing hydraulic oil to stabilize the pressure, and avoid the hydraulic oil from exerting a large force on the cylinder piston, thereby suppressing the sudden movement of the cylinder piston. At the same time, the movement of the cylinder piston causes the shaft 2 to rotate, thereby preventing the card slot 31 from exerting excessive radial pressure on the pin 23, and the pin 23 is not easy to dislodge. The corresponding hydraulic oil causes the energy storage component to move and drive the L-shaped elastic force adjustment plate 6 to make the adjustment guide ring 62 squeeze the wedge groove 25 on the pin 23, and the wedge groove Based on the inclined surface abutting against the adjusting guide ring 62, the pin 23 is assisted to be disengaged from the slot 31, which is safe, reliable and rapid for unlocking the shaft 2, and avoids the pin 23 and the slot 31 from being stuck. After the energy storage component is actuated, as the unlocking of the auxiliary shaft 2 is completed, the energy storage component automatically discharges the oil from the cylinder 1 to reset it, and the corresponding L-shaped elastic adjustment plate 6 uses its own elastic force to drive the adjusting guide ring 62 to reset, avoiding affecting the secondary locking of the shaft 2. When the shaft 2 is subsequently unlocked and operated, the pressure sensor 32 automatically controls the adjusting worm according to the change of the extrusion pressure of the shaft 2. The rod 33 drives the worm gear ring 3 to rotate, so that the extrusion pressure of the pressure sensor 32 always remains consistent with the continuous pressure, and the slot 31 is always opposite to the pin 23. When the cylinder stops operating, the worm gear ring 3 automatically adjusts into place, the hydraulic oil in the oil pipe 4 stops flowing, and the elastic control plug 42 automatically resets itself using its own elastic force, and drives the pin 23 to reset and re-enter the slot 31, locking the rotating shaft 2, and cooperating with the worm gear ring 3 to self-lock under the action of the adjusting worm 33, thereby realizing fast and stable self-locking at any position without the need for pressure relief, and the secondary operation can respond quickly.

[0024] Embodiment 2, based on the above embodiment, a groove is opened at the top of the right end of the rotating shaft 2, and the inner wall of the worm gear ring 3 is provided with a protrusion extending into the groove, and the pressure sensor 32 is fixedly connected between the inner wall of the groove and the protrusion. There are two pressure sensors 32 and they are symmetrically arranged on both sides of the protrusion.

[0025] Initially, the pressure sensors 32 on both sides are subjected to the same pressure. Subsequently, no matter in which direction the rotating shaft 2 rotates, there is always a decompression effect on the pressure sensor 32 in that direction and a pressurization effect on the pressure sensor 32 in the opposite direction, so that it is convenient for the feedback control drive motor to drive the adjusting worm 33 to adjust the rotation of the worm gear ring 3 in the same direction as the rotating shaft 2, and when the pressures corresponding to the two pressure sensors 32 are the same, the slot 31 is always opposite to the pin 23, so that the cylinder can achieve self-locking at any position.

[0026] Embodiment 3, based on the above embodiment, both ends of the inner cavity of the U-shaped control tube 41 are provided with limiting slide grooves corresponding to the elastic control plug 42, and the top wall of the left limiting slide groove is far away from the elastic control plug 42.

[0027] Through the design of the limiting slide groove, the hydraulic oil pressure fluctuation in the oil pipe 4 is avoided, which causes the elastic control plug 42 to move with an excessive amplitude, thereby ensuring safe use. At the same time, there is a spatial margin on the top of the left elastic control plug 42, which ensures that the elastic control plug 42 can move a fixed distance toward the contraction section under the action of negative pressure.

[0028] Embodiment 4, on the basis of the above embodiment, an end cover 7 is movably mounted on the right end of the cylinder body 1, and notches corresponding to the U-shaped control tube 41 and the L-shaped elastic force adjustment plate 6 are respectively opened on the left side of the end cover 7.

[0029] This design facilitates protection of the worm gear ring 3, the adjusting worm 33, the pressure sensor 32, the U-shaped piston control rod 43, etc., ensuring safe use. At the same time, the notch design facilitates the end cover 7 to be disassembled to the right for equipment maintenance.

[0030] Embodiment 5, on the basis of the above embodiment, a cross slot is provided on the right side of the rotating shaft 2, an adjusting column 21 is slidably inserted on the right side of the cross slot, and oblique slots 22 in opposite directions are provided on the upper and lower sides of the adjusting column 21, the number of pins 23 and the number of slots 31 are the same and both are two, the two pins 23 are slidably inserted on the front and rear sides of the cross slot, the adjacent sides of the two pins 23 are respectively provided with notches adapted to the adjusting column 21, and the two notches are respectively fixedly connected with pin protrusions 24 that are movably engaged with the corresponding oblique slots 22; The right end of the adjusting column 21 is rotatably connected to a shaft sleeve 44 , on which a U-shaped piston control rod 43 is fixedly inserted, and the U-shaped piston control rod 43 is slidably inserted between the two U-shaped control tubes 41 .

[0031] Initially, the piston part of the U-shaped piston control rod 43 is located between the two elastic control plugs 42 in the U-shaped control tube 41. When hydraulic oil passes through the contraction section of the oil pipe 4 quickly and generates negative pressure, the elastic control plug 42 on the left is stretched and moves toward the contraction section, while the elastic control plug 42 on the right is compressed and moves in the opposite direction. The hydraulic oil in the U-shaped control tube 41 drives the U-shaped piston control rod 43 to move the shaft sleeve 44 to the left, and the adjusting column 21 drives the inclined groove 22 to move to the left. The inclined groove 22 drives the upper and lower pin protrusions 24 to make the pins 23 on both sides move toward each other, and the pins 23 automatically escape from the slots 31. In this process, the negative pressure generated by the contraction sections of the two oil pipes 4 is used to simultaneously apply control force on the pins 23, and the control is reliable and stable. By utilizing the rotation properties of the adjusting column 21 and the shaft sleeve 44, when the rotating shaft 2 is rotated to any angle, the rotating shaft 2 can be controlled to be unlocked.

[0032] Embodiment 6. On the basis of the above embodiments, the energy storage assembly includes an arc-shaped energy storage sealing cylinder 5 fixedly connected to both sides of the periphery of the cylinder body 1, an oil hole 51 is opened between the energy storage sealing cylinder 5 and the top wall of the cylinder body 1, and the two oil holes 51 are respectively located on both sides of the oil cylinder piston, and an arc-shaped elastic piston rod 52 is slidably connected in the energy storage sealing cylinder 5, and the piston part of the elastic piston rod 52 is located in front of the oil hole 51, the upper oil pipe 4 is connected to the top of the inner cavity of the right energy storage sealing cylinder 5, and an oil groove 11 is arranged between the lower oil pipe 4 and the top of the left energy storage sealing cylinder 5, and the oil groove 11 is composed of a straight groove part opened on the lower wall of the cylinder body 1 and a curved groove part opened on the left wall of the cylinder body 1.

[0033] When in use, the energy storage sealing cylinder 5 and the cavity on one side of the elastic piston rod 52 are filled with nitrogen. When hydraulic oil is input into the oil pipe 4 on the upper side, the hydraulic oil enters the energy storage sealing cylinder 5 on the right. With the rapid delivery of the hydraulic oil, the oil pressure increases rapidly. Since the hydraulic oil is delivered along the length direction of the energy storage sealing cylinder 5, the hydraulic oil first squeezes the elastic piston rod 52, and the elastic piston rod 52 absorbs most of the pressure increment and moves downward. However, since the oil hole 51 leading to the inside of the cylinder body 1 is relatively perpendicular to the flow direction of the hydraulic oil, the hydraulic oil cannot It quickly enters the cylinder body 1. Correspondingly, when the hydraulic oil is input into the oil pipe 4 on the lower side, the hydraulic oil enters the energy storage sealing cylinder 5 on the left through the oil groove 11. The hydraulic oil is also transported along the length direction of the energy storage sealing cylinder 5. The oil hole 51 leading to the inside of the cylinder body 1 is also relatively perpendicular to the flow direction of the hydraulic oil. The hydraulic oil cannot quickly enter the cylinder body 1, so that the energy storage component is used for elastic buffering, which relatively delays the movement of the cylinder piston and avoids the cylinder piston being subjected to the instantaneous high-pressure impact of the hydraulic oil and immediately moving to drive the rotating shaft 2 to swing suddenly.

[0034] A avoidance groove 12 is opened on the front side of the cylinder body 1, and the L-shaped elastic adjustment plate 6 is slidably engaged in the avoidance groove 12. The bottom of the elastic piston rod 52 passes through the energy storage sealing tube 5 and is movably abutted against the L-shaped elastic adjustment plate 6. The right end of the L-shaped elastic adjustment plate 6 is fixedly connected with a screw sleeve 61, and the adjustment guide ring 62 is threadedly connected to the inner wall of the screw sleeve 61.

[0035] Furthermore, a symmetrical guide rod 63 is fixedly connected to the right end of the cylinder body 1 , and the adjusting guide ring 62 is slidably sleeved between the guide rods 63 , and the adjusting guide ring 62 is movably sleeved on the outer periphery of the rotating shaft 2 .

[0036] When any energy storage component is in operation, any elastic piston rod 52 can move downward to push the L-shaped elastic adjustment plate 6 to drive the screw sleeve 61 to deflect, and the adjustment guide ring 62 threadedly connected to the screw sleeve 61 is thereby driven to move to the right along the guide rod 63. Therefore, no matter how the hydraulic oil flows, the adjustment guide ring 62 can squeeze the wedge groove 25 to assist the pin 23 to disengage from the slot 31. When controlling the adjustment guide ring 62 to assist the pin 23 to disengage from the slot 31, the shaft 2 will not swing immediately due to the action of the energy storage component, thereby relatively reducing the radial pressure of the slot 31 on the pin 23, making it easier for the pin 23 to stably and reliably disengage.

[0037] 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. A spiral swing cylinder with self-locking at any position throughout the stroke, comprising a cylinder body (1), characterized in that: A rotating shaft (2) is rotatably provided in the middle of the cylinder body (1), a worm gear ring (3) is rotatably sleeved on the right end of the rotating shaft (2), a clamping groove (31) is provided on the inner wall of the worm gear ring (3), a pressure sensor (32) is provided between the worm gear ring (3) and the rotating shaft (2), an adjusting worm (33) is provided at the rear end of the worm gear ring (3), an oil pipe (4) is fixedly connected to the upper and lower sides of the right end of the cylinder body (1), the oil pipe (4) has a contraction section on the left side, a U-shaped control pipe (41) is fixedly connected to the oil pipe (4), the left end of which is connected to the contraction section, and elastic control plugs (42) are slidably connected to the two ends of the inner cavity of the U-shaped control pipe (41); A pin (23) movably engaged with the locking groove (31) is arranged on the right side of the rotating shaft (2), a wedge groove (25) is provided on the left side of the pin (23), an energy storage assembly is arranged on the periphery of the cylinder body (1), an L-shaped elastic force adjustment plate (6) is arranged on the front side of the cylinder body (1), and an axially movable adjustment guide ring (62) is arranged on the periphery of the right side of the rotating shaft (2), and a right end of the adjustment guide ring (62) and the wedge groove (25) both have inclined surfaces that can abut against each other.

2. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 1, characterized in that: The adjusting worm (33) is rotatably connected to the right wall of the cylinder body (1), and the adjusting worm (33) is driven by a driving motor arranged on the right wall of the cylinder body (1). The pressure sensor (32) controls the driving motor to rotate the adjusting worm (33) through feedback control.

3. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 2, characterized in that: A groove is provided at the top of the right end of the rotating shaft (2); a protrusion extending into the groove is provided on the inner wall of the worm gear ring (3); the pressure sensor (32) is fixedly connected between the inner wall of the groove and the protrusion; there are two pressure sensors (32) which are symmetrically arranged on both sides of the protrusion.

4. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 3, characterized in that: Both ends of the inner cavity of the U-shaped control tube (41) are provided with limiting sliding grooves corresponding to the elastic control plug (42), and the top wall of the limiting sliding groove on the left side is away from the elastic control plug (42).

5. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 4, characterized in that: An end cover (7) is movably mounted on the right end of the cylinder body (1), and notches corresponding to the U-shaped control tube (41) and the L-shaped elastic force adjustment plate (6) are respectively provided on the left side of the end cover (7).

6. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 5, characterized in that: A cross slot is provided on the right side of the rotating shaft (2), an adjusting column (21) is slidably inserted on the right side of the cross slot, and oblique slots (22) in opposite directions are respectively provided on the upper and lower sides of the adjusting column (21), the number of the pins (23) and the number of the clamping slots (31) are the same and both are two, the two pins (23) are slidably inserted on the front and rear sides of the cross slot respectively, and notches adapted to the adjusting column (21) are respectively provided on the adjacent sides of the two pins (23), and pin protrusions (24) movably engaged with the corresponding oblique slots (22) are respectively fixedly connected to the two notches; The right end of the regulating column (21) is rotatably connected to a shaft sleeve (44), a U-shaped piston control rod (43) is fixedly plugged into the shaft sleeve (44), and the U-shaped piston control rod (43) is slidably plugged between the two U-shaped control tubes (41).

7. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 6, characterized in that: The energy storage assembly comprises an arc-shaped energy storage sealing cylinder (5) fixedly connected to both sides of the outer periphery of the cylinder body (1); an oil hole (51) is opened between the energy storage sealing cylinder (5) and the top wall of the cylinder body (1); the two oil holes (51) are respectively located on both sides of the oil cylinder piston; an arc-shaped elastic piston rod (52) is slidably connected in the energy storage sealing cylinder (5); the piston part of the elastic piston rod (52) is located in front of the oil hole (51); the upper oil pipe (4) is connected to the top of the inner cavity of the right energy storage sealing cylinder (5); an oil groove (11) is arranged between the lower oil pipe (4) and the top of the left energy storage sealing cylinder (5); the oil groove (11) is composed of a straight groove part opened on the lower wall of the cylinder body (1) and a curved groove part opened on the left wall of the cylinder body (1).

8. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 7, characterized in that: The cylinder body (1) is provided with a avoidance groove (12) on the front side, the L-shaped elastic adjustment plate (6) is slidably engaged in the avoidance groove (12), the bottom of the elastic piston rod (52) passes through the energy storage sealing cylinder (5) and is movably abutted against the L-shaped elastic adjustment plate (6), the right end of the L-shaped elastic adjustment plate (6) is fixedly connected with a screw sleeve (61), and the adjustment guide ring (62) is threadedly connected to the inner wall of the screw sleeve (61).

9. A spiral swing cylinder with self-locking at any position throughout the stroke according to claim 8, characterized in that: The right end of the cylinder body (1) is fixedly connected to a symmetrical guide rod (63), the adjustment guide ring (62) is slidably sleeved between the guide rods (63), and the adjustment guide ring (62) is movably sleeved on the periphery of the rotating shaft (2).

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