Actuating mechanism of quick-response and high-precision telescopic positioning system

Abstract

The invention relates to an actuating mechanism of a quick-response and high-precision telescopic positioning system, which comprises a valve body, a valve core, a spring, a base platform, a hydraulic cylinder, an electromagnetic valve, a control system and a protection system, the control system is used for judging and leveling the inclination of the base platform through the horizontal judgment mechanism and the power-on control module; the protection system carries out multiple guarantees on lifting of the base platform through a sensing module, a standby control module and a standby locking valve. Due to the adoption of the technical scheme, the possibility of inclination of the offshore base in the construction process is reduced to a certain extent, so that the safety of offshore construction is ensured to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of hydraulic transmission technology, and more specifically to an actuator for a fast-response and high-precision telescopic positioning system. Background Technology

[0002] With the rapid pace of urban construction and economic development, the demand for electricity is gradually increasing, leading to a surge in the construction and renovation of ultra-high offshore power transmission towers. The establishment of offshore bases is a crucial foundation for the dismantling and erection of ultra-large and ultra-high spanning towers. Offshore bases are dispersed across the sea surface, and their stress and deformation states change rapidly, making manual monitoring theoretically and technically impossible. Furthermore, strong nonlinear influences exist between the stress points of the offshore base; adjustments to individual stress points affect the overall force distribution. Therefore, simple feedback control cannot meet the requirements. Additionally, the monitoring feedback signals of the state parameters at each stress point exhibit a certain lag, causing deviations in the final control effect due to traditional communication methods.

[0003] The pole support base monitoring system monitors multiple stress points and adjusts the deformation and posture of the pole support base in real time to ensure that the pole support base is under normal stress. The system uses hydraulic cylinders equipped with load sensors, PCLs, solenoid valves, and displacement sensors to adjust the height of each stress point of the pole support base. When the PCL senses the load data generated by the load sensors on multiple hydraulic cylinders and compares them, it controls the opening and closing of the solenoid valves to adjust the extension and retraction of the hydraulic cylinders.

[0004] In the use of this system, the base is supported by a single hydraulic rod. Due to the influence of various factors at the offshore site, it is not easy to keep the installation of a single hydraulic rod vertical, which makes it difficult to install the base horizontally. This can easily cause the mast installed on the base to tilt due to the platform tilting, making leveling very troublesome. Moreover, the overall tilt can easily lead to unstable stress, which can easily affect construction safety. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an actuator for a fast-response and high-precision telescopic positioning system, so as to solve the problem that the existing technology uses a single hydraulic rod to support the base. Due to the influence of various factors in the offshore site, it is not easy to keep the installation of a single hydraulic rod vertical, which makes it difficult to install the base horizontally. As a result, the mast installed on the base is prone to tilting due to the tilt of the platform, making leveling very troublesome. Moreover, the overall tilting can easily lead to unstable force, which can easily affect construction safety.

[0006] This invention is achieved through the following technical solution: An actuator for a fast-response and high-precision telescopic positioning system includes a base platform, hydraulic cylinders, and solenoid valves. The base platform is horizontally positioned. Multiple hydraulic cylinders are spaced apart around the base platform and connected to its lower end face. Multiple solenoid valves are connected one-to-one with each hydraulic cylinder to control the flow direction and on / off state of the hydraulic cylinders. The system includes a control system comprising a horizontal judgment mechanism and an energized control module. The horizontal judgment mechanism is connected to the base platform and used to determine whether the base platform is tilted. Both the horizontal judgment mechanism and the solenoid valves are electrically connected to the energized control module, which controls the on / off state of the solenoid valves when the horizontal judgment mechanism determines that the base platform is tilted. The protection system includes a sensing module, a backup control module, and a backup locking valve. The backup locking valve is connected to the hydraulic cylinder and is used to control the flow direction and on / off state of the hydraulic cylinder's oil circuit. The sensing module is electrically connected to a level judgment mechanism. The sensing module is used to sense whether the output end of the hydraulic cylinder is correctly raised or lowered when the base platform tilts. Both the sensing module and the backup locking valve are electrically connected to the backup control module. The backup control module is used to control the oil circuit by controlling the backup locking valve when the sensing module detects that the output end of the hydraulic cylinder is not correctly raised or lowered.

[0007] Furthermore, the level judgment mechanism includes a control box and multiple sensors. The control box is connected to the middle of the base platform. The control box has a hollow interior forming an annular tubular closed cavity. The closed cavity is parallel to the base platform and horizontally aligned with its center line. The closed cavity is filled with mercury. The multiple sensors correspond one-to-one with multiple hydraulic cylinders and are all electrically connected to the power control module. Each sensor has a positive electrode and a negative electrode. The positive and negative electrodes of the multiple sensors are connected to the inner wall of the closed cavity. Multiple sets of positive and negative electrodes are arranged in a circular array with the central axis of the closed cavity as the center line, corresponding to the orientation of the multiple hydraulic cylinders relative to the closed cavity. The multiple sets of positive and negative electrodes are located on the same horizontal plane and above the mercury level. The power control module is used to adjust the height of the output end of the hydraulic cylinder when the sensor detects that the mercury is connected to the positive and negative electrodes.

[0008] Furthermore, the power-on control module includes an identification module, a data conversion module, and an execution module. The execution module controls the on / off state of the solenoid valve when the sensor is energized. The identification module identifies the sensor's energized current value. The data conversion module converts the sensor's energized current value into the lifting / lowering value of the hydraulic cylinder's output end. The sensing module includes a displacement sensor, a threshold comparison module, a state maintenance module, and a dynamic adjustment module. The displacement sensor is connected to the output end of the hydraulic cylinder in a one-to-one correspondence, and the displacement sensor is electrically connected to the threshold comparison module. Threshold comparison module: A switching backup valve threshold is provided. The threshold comparison module is used to receive and compare the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor, and compare the difference with the switching backup valve threshold. Status maintenance module: When the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor is within the threshold range of the switching backup valve, the status maintenance module maintains the adjustment state of the power-on control module. Dynamic adjustment module: When the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor exceeds the threshold range of the backup valve, the dynamic adjustment module sends an electrical signal to the backup control module to activate the backup lock-up valve to control the oil circuit.

[0009] Furthermore, the protection system also includes flexible movable cylinders and a movable module, with a sliding rail connecting multiple hydraulic cylinders, and flexible movable cylinders mounted on the sliding rail; The moving module is electrically connected to the backup lock-up valve. The moving module is used to control the flexible moving hydraulic cylinder to move to the position of the hydraulic cylinder corresponding to the backup lock-up valve for auxiliary support when the backup lock-up valve is running.

[0010] Furthermore, horizontal slide rails are connected to both sides of the hydraulic cylinder; the slide rail is a telescopic electromagnetic slide rail, which is located between any two adjacent hydraulic cylinders. The two ends of the telescopic electromagnetic slide rail are hinged to the horizontal slide rail between the two adjacent hydraulic cylinders. An electromagnetic slider is connected to the lower end of the flexible moving cylinder. The electromagnetic slider is slidably connected to the telescopic electromagnetic slide rail, and the electromagnetic slider is electrically connected to the moving module.

[0011] Furthermore, the solenoid valve includes a valve body, a valve core, and springs. The valve body has a sealed chamber and four oil ports for supplying oil flow. The valve core is slidably fitted into the sealed chamber and is used to block the oil ports. There are two springs, each located at one end of the sealed chamber. Each end of the two springs is connected to the inner wall of one end of the sealed chamber on its corresponding side and one end of the valve core. Coils are provided at both ends of the valve body, and the two coils are electrically connected to the controller. The valve core is made of magnetic material. Both ends of the valve core are connected to abutment rods, and both ends of the valve body are provided with sliding cavities. The two sliding cavities are symmetrically arranged about the valve body's axis of symmetry. Each of the two sliding cavities can be slidably fitted with a first slider. The first slider has a square cross-section. The ends of the two abutment rods away from the valve core pass through the sealed chamber and the sliding cavity, and are slidably connected to the valve body. The first sliders can abut against the abutment rods. The ends of the two first sliders away from the valve core are concave to form internal threaded grooves. The two internal threaded grooves are screwed with threaded rods. The ends of the two threaded rods away from the valve core pass through the inner wall of the sliding groove and the outer wall of one end of the valve body. The ends of the two threaded rods that protrude from the valve body are connected to motors. The two motors are electrically connected to the dynamic adjustment module.

[0012] Furthermore, the solenoid valve also includes a slide rod, a second slider, and a cleaning brush. The cleaning brush is connected to the surface of the valve core, and one end of the cleaning brush away from the surface of the valve core abuts against the inner wall of the sealed space. A through hole is formed inside the valve core. The slide rod is slidably fitted into the through hole. The surface of the slide rod is provided with a spiral groove and both ends are fixed to the valve body. The second slider is fixed to the inner wall of the through hole and is slidably connected to the spiral groove.

[0013] The beneficial effects of this invention are as follows: 1. The actuator of this fast-response and high-precision telescopic positioning system, by setting multiple hydraulic rods and cooperating with a level judgment mechanism and an energized control module, quickly judges and responds to adjust the tilt angle of the base platform, thereby keeping the base platform level and reducing the possibility of the offshore base tilting during construction to a certain extent, thus ensuring the safety of offshore construction to a certain extent.

[0014] 2. The actuator of this rapid response and high-precision telescopic positioning system, through the setting of multiple protection systems, prevents situations where the platform cannot be quickly leveled due to solenoid valve failure or other circumstances leading to hydraulic cylinder failure. This ensures the normal operation of the mechanism to a certain extent, thereby guaranteeing the safety of offshore construction to a certain degree. 3. The actuator of this fast-response and high-precision telescopic positioning system, through improvements to the solenoid valve, reduces the possibility of the protection system being activated due to blockage of the solenoid valve itself, thereby extending the maintenance frequency of the mechanism to a certain extent and reducing the workload of the staff.

[0015] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0016] Figure 1 This is a cross-sectional view of the structure of the present invention; Figure 2 This is a cross-sectional view of the control box structure of the present invention; Figure 3 This is a cross-sectional view of the solenoid valve of the present invention; Figure 4 This is a schematic diagram of the valve core structure of the present invention.

[0017] In the diagram: 1. Solenoid valve; 11. Sealed chamber; 12. Oil port; 13. Sliding chamber; 14. First slider; 141. Threaded rod; 142. Motor; 15. Valve body; 2. Valve core; 21. Support rod; 3. Spring; 4. Cleaning brush; 5. Coil; 61. Slide rod; 611. Helical groove; 62. Second slider; 7. Base platform; 71. Control box; 72. Enclosed inner cavity; 73. Mercury; 8. Hydraulic cylinder; 81. Horizontal slide rail; 9. Flexible moving cylinder; 91. Telescopic electromagnetic slide rail; 92. Electromagnetic slider; Detailed Implementation

[0018] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0019] Please see Figure 1-4 This invention provides a technical solution for the actuator of a fast-response and high-precision telescopic positioning system: An actuator for a fast-response and high-precision telescopic positioning system includes a base platform 7, hydraulic cylinders 8, and solenoid valves 1. The base platform 7 is horizontally arranged. Multiple hydraulic cylinders 8 are spaced apart around the base platform 7 and connected to its lower end face. Multiple solenoid valves 1 are connected one-to-one with each of the hydraulic cylinders 8 and are used to control the flow direction and on / off state of the oil circuits in the hydraulic cylinders 8. The control system includes a horizontal judgment mechanism and an energized control module. The horizontal judgment mechanism is connected to the base platform 7 and is used to judge whether the base platform 7 is tilted. The horizontal judgment mechanism and the solenoid valve 1 are both electrically connected to the energized control module. The energized control module is used to control the opening and closing of the solenoid valve 1 when the horizontal judgment mechanism judges that the base platform 7 is tilted. The protection system includes a sensing module, a backup control module, and a backup locking valve. The backup locking valve is connected to the hydraulic cylinder 8 and is used to control the flow direction and on / off state of the hydraulic cylinder 8's oil circuit. The sensing module is electrically connected to a level judgment mechanism. The sensing module is used to sense whether the output end of the hydraulic cylinder 8 is correctly raised or lowered when the base platform 7 tilts. Both the sensing module and the backup locking valve are electrically connected to the backup control module. The backup control module is used to control the oil circuit by controlling the backup locking valve when the sensing module detects that the output end of the hydraulic cylinder 8 is not correctly raised or lowered.

[0020] The actuator of the fast-response and high-precision telescopic positioning system of the present invention supports the base platform 7 by connecting multiple hydraulic cylinders 8 to the lower end face of the base platform 7. The flow direction and on / off of the hydraulic cylinder 8 are controlled by the solenoid valve 1, thereby raising and lowering the hydraulic cylinder 8. Since the multiple hydraulic cylinders 8 are arranged at intervals around the base platform 7, the tilt of the plane of the base platform 7 can be changed by changing the raising and lowering height of the multiple hydraulic cylinders 8. With this actuator, the telescopic positioning system can be quickly positioned.

[0021] Since the horizontal judgment mechanism is connected to the base platform 7, the horizontal judgment mechanism is used to determine whether the base platform 7 is tilted. When the horizontal judgment mechanism determines that the base platform 7 is tilted, the horizontal judgment mechanism sends an electrical signal to the power control module. After receiving the electrical signal, the power control module controls the opening and closing of the solenoid valve 1 to adjust the lifting and lowering of the output end of the hydraulic cylinder 8 at the corresponding tilt position. By lifting and lowering the output end of the hydraulic cylinder 8, the plane of the base platform 7 is raised to a certain level. In this way, the actuator of the fast response and high precision telescopic positioning system of the present invention can maintain the base platform 7 horizontal to a certain extent by adjusting the height of the output end of the hydraulic cylinder 8.

[0022] When the horizontal judgment mechanism determines that the base platform 7 is tilted and the output end of the hydraulic cylinder 8 needs to be raised or lowered, the horizontal judgment mechanism sends an electrical signal to the sensing module to make the sensing module operate, so that the sensing module senses the raising or lowering of the output end of the hydraulic cylinder 8. When the solenoid valve 1 malfunctions, the solenoid valve 1 cannot adjust the raising or lowering of the output end of the hydraulic cylinder 8, so that the energized control module cannot control the raising or lowering of the output end of the hydraulic cylinder 8. At this time, the backup control module receives the electrical signal from the sensing module and determines that the output end of the hydraulic cylinder 8 has not been raised or lowered. Then, it controls the backup locking valve to adjust the raising or lowering of the output end of the hydraulic cylinder 8.

[0023] In this way, during the monitoring and adjustment of the base platform 7 by the actuator of the fast response and high precision telescopic positioning system of the present invention, the situation where the output end of the hydraulic cylinder 8 cannot respond in time to level the tilted base platform 7 due to the failure of the solenoid valve 1 is reduced. The dual protection of the solenoid valve 1 and the backup locking valve ensures the safety of the construction of the base platform 7 to a certain extent.

[0024] In this embodiment: the horizontal judgment mechanism includes a control box 71 and multiple sensors. The control box 71 is connected to the middle of the base platform 7. The control box 71 has a hollow interior forming an annular tubular closed cavity 72. The closed cavity 72 is parallel to the base platform 7 and is horizontally arranged with the same center line as the base platform 7. The closed cavity 72 is filled with mercury 73. The multiple sensors correspond one-to-one with multiple hydraulic cylinders 8 and are all electrically connected to the power control module. The sensors are provided with positive and negative electrodes. The positive and negative electrodes of the multiple sensors are all connected to the inner wall of the closed cavity 72. Multiple sets of positive and negative electrodes are arranged in a circular array with the central axis of the closed cavity 72 as the center line, corresponding one-to-one with the orientation of the multiple hydraulic cylinders 8 relative to the closed cavity 72. The multiple sets of positive and negative electrodes are located on the same horizontal plane and are located above the horizontal plane of the mercury 73. The power control module is used to adjust the height of the output end of the hydraulic cylinder 8 when the sensor senses that the mercury 73 is connected to the positive and negative electrodes.

[0025] When the base platform 7 is in a horizontal position, the enclosed cavity is also in a horizontal position, and the horizontal plane of the mercury 73 is parallel to the plane of the base platform 7. Since the multiple sets of positive and negative electrode plates are arranged in a circular array with the central axis of the enclosed inner cavity 72 as the center line, corresponding to the orientation of the multiple hydraulic cylinders 8 relative to the enclosed inner wall, the multiple sets of positive and negative electrode plates are also in a horizontal position. Since the multiple sets of positive and negative electrode plates are located above the horizontal plane of the mercury 73, the mercury 73 is not connected to the positive and negative electrode plates, so that the sensor cannot connect to the circuit, and the power-on control module will not adjust the height of the output end of the hydraulic cylinder 8.

[0026] When the base platform 7 tilts, the enclosed inner cavity 72 tilts along with it. The mercury 73 inside the enclosed inner cavity 72 flows along its tilt direction due to its own gravity. Since the multiple sets of positive and negative electrodes are connected to the sidewalls of the enclosed inner cavity 72 and are located on the same horizontal plane, the positive and negative electrodes tilt along with the tilt of the enclosed inner cavity 72. This causes the mercury 73 to come into contact with the positive and negative electrodes of the sensors corresponding to its tilt direction as it flows towards the enclosed inner cavity 72, thus energizing the corresponding sensors. Since multiple sensors correspond one-to-one with multiple hydraulic cylinders 8 and are all electrically connected to the power control module, the energized sensors send electrical signals to the power control module. The power control module adjusts the corresponding solenoid valve 1 to adjust the corresponding hydraulic cylinder 8, causing the output end of the hydraulic cylinder 8 to move upward until the mercury 73 is completely separated from the multiple sets of positive and negative electrodes. At this time, the base platform 7 returns to a horizontal state, the circuit of the sensors is disconnected, and the output end of the hydraulic cylinder 8 stops rising and falling.

[0027] With this structure, the horizontal judgment mechanism can be used to determine whether the base platform 7 is tilted and to make the power-on control module adjust the tilt of the base platform 7. To a certain extent, the automatic dynamic adjustment of the base platform 7 is realized. When the mercury 73 is connected to the positive and negative electrode plates, it immediately sends an electrical signal to the power-on control module for adjustment, which to a certain extent ensures the fast response function of this actuator.

[0028] In this embodiment: the power-on control module includes an identification module, a data conversion module, and an execution module. The execution module is used to control the opening and closing of the solenoid valve 1 when the sensor is energized. The identification module is used to identify the sensor's energized current value. The data conversion module is used to convert the sensor's energized current value into the lifting value of the hydraulic cylinder 8's output end. The sensing module includes a displacement sensor, a threshold comparison module, a state maintenance module, and a dynamic adjustment module. The displacement sensor is connected to the output end of the hydraulic cylinder 8 in a one-to-one correspondence. The displacement sensor is electrically connected to the threshold comparison module. Threshold comparison module: A switching backup valve threshold is provided. The threshold comparison module is used to receive and compare the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor, and compare the difference with the switching backup valve threshold. Status maintenance module: When the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor is within the threshold range of the switching backup valve, the status maintenance module maintains the adjustment state of the power-on control module. Dynamic adjustment module: When the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor exceeds the threshold range of the backup valve, the dynamic adjustment module sends an electrical signal to the backup control module to activate the backup lock-up valve to control the oil circuit.

[0029] When the base platform 7 tilts, the sensor connection circuit sends an electrical signal to the power-on control module and simultaneously sends an electrical signal to the threshold comparison module. The threshold comparison module receives and compares the value obtained by the data conversion module with the data transmitted by the displacement sensor, converts it into a difference, and compares it with the threshold of the switching backup valve. If the difference is within the switching backup threshold range, the state maintenance module continues to use the power-on control module to adjust the hydraulic cylinder 8. If the corresponding hydraulic cylinder 8 fails and its output end does not rise or fall accordingly, the difference between the data transmitted by the power-on control module and the displacement sensor exceeds the switching backup valve threshold range. In this case, the dynamic adjustment module sends an electrical signal to the controller to activate the backup lock-up valve to control the oil circuit. With this structure, the backup control module can be used by the sensing module to control the backup lock-up valve to control the oil circuit when the output end of the sensing hydraulic cylinder 8 does not rise or fall correctly.

[0030] Specifically, the dynamic adjustment module also includes a safety warning module. When the difference between the data transmitted by the power-on control module and the displacement sensor indicates a threshold range for switching the backup valve, the safety warning module issues a safety warning to remind the staff to conduct a safety inspection of the corresponding hydraulic cylinder 8 and solenoid valve 1.

[0031] In this embodiment, the protection system further includes a flexible movable cylinder 9 and a moving module. A sliding rail is provided between the multiple hydraulic cylinders 8, and the flexible movable cylinder 9 is mounted on the sliding rail. The moving module is electrically connected to the backup lock-up valve. The moving module is used to control the flexible moving hydraulic cylinder 8 to move to the position of the hydraulic cylinder 8 corresponding to the backup lock-up valve during operation to provide auxiliary support.

[0032] When the dynamic adjustment module sends an electrical signal to the backup control module, the backup control module controls the backup locking valve to operate. The moving module receives the operation signal of the backup locking valve and controls the flexible moving hydraulic cylinder 8 to move to the position of the hydraulic cylinder 8 corresponding to the backup locking valve to provide auxiliary support. This reduces the possibility of the base platform 7 continuing to tilt due to the failure of the hydraulic cylinder 8, and at the same time provides multiple protections for the base platform 7 to ensure the safety of construction.

[0033] In this embodiment: horizontal slide rails 81 are connected to both sides of the hydraulic cylinder 8; the sliding rail is a telescopic electromagnetic slide rail 91, which is located between any two adjacent hydraulic cylinders 8. The two ends of the telescopic electromagnetic slide rail 91 are hinged to the horizontal slide rails 81 between the two adjacent hydraulic cylinders 8. An electromagnetic slider 92 is connected to the lower end of the flexible moving cylinder 9. The electromagnetic slider 92 is slidably connected to the telescopic electromagnetic slide rail 91. The electromagnetic slider 92 is electrically connected to the moving module.

[0034] Since the hydraulic cylinder 8 is connected to horizontal slide rails 81 on both sides, when the moving module controls the electromagnetic slider 92 to move along the telescopic electromagnetic slide rail 91, the flexible moving cylinder 9 moves from the telescopic electromagnetic slide rail 91 to the horizontal slide rail 81 corresponding to the hydraulic cylinder 8. The flexible moving slide rail can provide auxiliary support to the base platform 7 parallel to the hydraulic cylinder 8. Since the two ends of the telescopic electromagnetic slide rail 91 are hinged to the horizontal slide rail 81 between the two adjacent hydraulic cylinders 8, when the two hydraulic cylinders 8 are at different heights due to terrain issues, the telescopic electromagnetic slide rail 91 can be adjusted accordingly. With this structure, the moving module can control the electromagnetic slider 92 to move freely to the position of each hydraulic cylinder 8 to provide auxiliary support to the hydraulic cylinder 8, which to a certain extent ensures the safety of the construction of the base platform 7.

[0035] In this embodiment: the solenoid valve 1 includes a valve body 15, a valve core 2, and a spring 3. The valve body 15 is provided with a sealed chamber 11 and four oil ports 12 for supplying oil flow. The valve core 2 is slidably fitted into the sealed chamber 11 and is used to block the oil ports 12. There are two springs 3, which are respectively located at both ends of the sealed chamber 11. The two ends of the two springs 3 are respectively connected to the inner wall of one end of the sealed chamber 11 on the corresponding side and one end of the valve core 2. The two ends of the valve body 15 are provided with coils 5, and the two coils 5 are electrically connected to the controller. The valve core 2 is made of magnetic material. Both ends of the valve core 2 are connected to abutment rods 21, and both ends of the valve body 15 are provided with sliding cavities 13. The two sliding cavities 13 are symmetrically arranged about the axis of symmetry of the valve body 15. Each of the two sliding cavities 13 can be slidably fitted with a first slider 14. The first slider 14 has a square cross-section. The ends of the two abutment rods 21 away from the valve core 2 pass through the sealed chamber 11 and the sliding cavity 13 and are slidably connected to the valve body 15. The first slider 14 can abut against the abutment rods 21. The ends of the two first sliders 14 away from the valve core 2 are concave to form internal threaded grooves. The two internal threaded grooves are screwed with threaded rods 141. The ends of the two threaded rods 141 away from the valve core 2 pass through the inner wall of the sliding groove and the outer wall of one end of the valve body 15. The ends of the two threaded rods 141 that pass out of the valve body 15 are connected to motors 142. The two motors 142 are electrically connected to the dynamic adjustment module.

[0036] When coil 5 malfunctions or spring 3 fails, preventing valve core 2 from moving normally, solenoid valve 1 cannot control the lifting and lowering of the output end of hydraulic cylinder 8. At this time, the difference between the value obtained by the threshold comparison module's sensing data conversion module and the data transmitted by the displacement sensor is outside the threshold range of the backup valve, and an electrical signal is sent to the dynamic adjustment module. After receiving the electrical signal, the dynamic adjustment module controls motor 142 to run. When motor 142 at one end of valve body 15 runs, it drives the first slide rod 61 to rotate. Since both internal thread grooves are screwed with threaded rods 141, the cross-section of the first slider 14 is square. The rotation of the threaded rod 141 will not drive the first slider 14 to rotate and thus push the first slider 14 to move towards valve core 2. At this time, motor 142 at the other end of valve body 15 runs, driving the first slider 14 at the other end to move away from valve core 2. When the first slider 14 moves to the end that abuts the abutting rod 21 away from valve core 2, the threaded rod 141 continues to rotate, which will cause the first slider 14 to push the abutting rod 21 to abut against valve core 2. With this structure, the backup locking valve can be used to control the oil circuit of solenoid valve 1.

[0037] In this embodiment: the solenoid valve 1 further includes a slide rod 61, a second slider 62, and a cleaning brush 4. The cleaning brush 4 is connected to the surface of the valve core 2. One end of the cleaning brush 4 away from the surface of the valve core 2 abuts against the inner wall of the sealed space. A through hole is formed inside the valve core 2. The slide rod 61 is slidably fitted into the through hole. The surface of the slide rod 61 is provided with a spiral groove 611 and both ends are fixed to the valve body 15. The second slider 62 is fixed to the inner wall of the through hole and is slidably connected to the spiral groove 611.

[0038] Because the valve core 2 has a through hole, the second slider 62 is fixed to the inner wall of the through hole. The second slider 62 is slidably connected to the spiral groove 611. When the valve core 2 moves in the sealed chamber 11, it drives the second slider 62 to move along the spiral groove 611, thereby driving the valve core 2 to rotate. The rotation of the valve core 2 drives the cleaning brush 4 to rotate. With this structure, the cleaning mechanism can be used to clean the sealed chamber 11 when the valve core 2 moves in the sealed chamber 11. The cleaned oil can reach the filter screen with the oil flow, and then be cleaned by the cleaning part. This reduces the possibility of scale buildup in the sealed chamber 11 affecting the translation of the valve core 2 to a certain extent, and enhances the fluidity of the oil in the valve core 2 to a certain extent, making the oil flow efficiency at the oil port 12 faster.

[0039] With this structure, the possibility of the protection system being activated due to blockage of the solenoid valve 1 in the actuator of the fast response and high precision telescopic positioning system of the present invention is reduced, thereby extending the maintenance frequency of the mechanism to a certain extent and reducing the workload of the staff.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An actuator for a fast-response and high-precision telescopic positioning system, comprising a base platform, hydraulic cylinders, and solenoid valves, wherein the base platform is horizontally arranged, multiple hydraulic cylinders are spaced apart around the base platform and connected to the lower end face of the base platform, and multiple solenoid valves are connected one-to-one with the multiple hydraulic cylinders and used to control the flow direction and on / off state of the oil circuits of the multiple hydraulic cylinders, characterized in that: include The control system includes a horizontal judgment mechanism and an energized control module. The horizontal judgment mechanism is connected to the base platform and is used to judge whether the base platform is tilted. The horizontal judgment mechanism and the solenoid valve are both electrically connected to the energized control module. The energized control module is used to control the opening and closing of the solenoid valve when the horizontal judgment mechanism judges that the base platform is tilted. The protection system includes a sensing module, a backup control module, and a backup locking valve. The backup locking valve is connected to the hydraulic cylinder and is used to control the flow direction and on / off state of the hydraulic cylinder's oil circuit. The sensing module is electrically connected to a level judgment mechanism. The sensing module is used to sense whether the output end of the hydraulic cylinder is correctly raised or lowered when the base platform tilts. Both the sensing module and the backup locking valve are electrically connected to the backup control module. The backup control module is used to control the oil circuit by controlling the backup locking valve when the sensing module detects that the output end of the hydraulic cylinder is not correctly raised or lowered.

2. The actuator of the fast-response and high-precision telescopic positioning system according to claim 1, characterized in that: The level judgment mechanism includes a control box and multiple sensors. The control box is connected to the middle of the base platform. The control box has a hollow, annular tubular closed inner cavity. The closed inner cavity is parallel to the base platform and horizontally arranged with the same center line as the base platform. The closed inner cavity is filled with mercury. The multiple sensors correspond one-to-one with multiple hydraulic cylinders and are all electrically connected to the power control module. Each sensor has a positive electrode and a negative electrode. The positive and negative electrodes of the multiple sensors are all connected to the inner wall of the closed inner cavity. Multiple sets of positive and negative electrodes are arranged in a circular array with the central axis of the closed inner cavity as the center line, corresponding to the orientation of the multiple hydraulic cylinders relative to the closed inner cavity. The multiple sets of positive and negative electrodes are located on the same horizontal plane and above the mercury level. The power control module is used to adjust the height of the output end of the hydraulic cylinder when the sensor detects that the mercury is connected to the positive and negative electrodes.

3. The actuator of the fast-response and high-precision telescopic positioning system according to claim 2, characterized in that: The power-on control module includes an identification module, a data conversion module, and an execution module. The execution module controls the opening and closing of the solenoid valve when the sensor is energized. The identification module identifies the sensor's energized current value. The data conversion module converts the sensor's energized current value into the lifting / lowering value of the hydraulic cylinder's output end. The sensing module includes a displacement sensor, a threshold comparison module, a state maintenance module, and a dynamic adjustment module. Each displacement sensor is connected to the output end of the hydraulic cylinder, and the displacement sensor is electrically connected to the threshold comparison module. Threshold comparison module: A switching backup valve threshold is provided. The threshold comparison module is used to receive and compare the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor, and compare the difference with the switching backup valve threshold. Status maintenance module: When the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor is within the threshold range of the switching backup valve, the status maintenance module maintains the adjustment state of the power-on control module. Dynamic adjustment module: When the difference between the value obtained by the data conversion module and the data transmitted by the displacement sensor exceeds the threshold range of the backup valve, the dynamic adjustment module sends an electrical signal to the backup control module to activate the backup lock-up valve to control the oil circuit.

4. The actuator of the fast-response and high-precision telescopic positioning system according to claim 3, characterized in that: The protection system also includes flexible movable cylinders and a movable module, with a sliding rail between multiple hydraulic cylinders and flexible movable cylinders mounted on the sliding rail; The moving module is electrically connected to the backup lock-up valve. The moving module is used to control the flexible moving hydraulic cylinder to move to the position of the hydraulic cylinder corresponding to the backup lock-up valve for auxiliary support when the backup lock-up valve is running.

5. The actuator of a fast-response and high-precision telescopic positioning system according to claim 4, characterized in that: The hydraulic cylinder is connected to horizontal slide rails on both sides; the slide rail is a telescopic electromagnetic slide rail, which is located between any two adjacent hydraulic cylinders. The two ends of the telescopic electromagnetic slide rail are hinged to the horizontal slide rail between the two adjacent hydraulic cylinders. The lower end of the flexible moving cylinder is connected to an electromagnetic slider, which is slidably connected to the telescopic electromagnetic slide rail. The electromagnetic slider is electrically connected to the moving module.

6. The actuator of a fast-response and high-precision telescopic positioning system according to claim 5, characterized in that: The solenoid valve includes a valve body, a valve core, and springs. The valve body has a sealed chamber and four oil ports for supplying oil flow. The valve core is slidably fitted into the sealed chamber and is used to block the oil ports. There are two springs, each located at one end of the sealed chamber. Each end of the two springs is connected to the inner wall of one end of the sealed chamber on its corresponding side and one end of the valve core. Coils are provided at both ends of the valve body, and the two coils are electrically connected to the controller. The valve core is made of magnetic material. Both ends of the valve core are connected to abutment rods, and both ends of the valve body are provided with sliding cavities. The two sliding cavities are symmetrically arranged about the valve body's axis of symmetry. Each of the two sliding cavities can be slidably fitted with a first slider. The first slider has a square cross-section. The ends of the two abutment rods away from the valve core pass through the sealed chamber and the sliding cavity, and are slidably connected to the valve body. The first sliders can abut against the abutment rods. The ends of the two first sliders away from the valve core are concave to form internal threaded grooves. The two internal threaded grooves are screwed with threaded rods. The ends of the two threaded rods away from the valve core pass through the inner wall of the sliding groove and the outer wall of one end of the valve body. The ends of the two threaded rods that protrude from the valve body are connected to motors. The two motors are electrically connected to the dynamic adjustment module.

7. The actuator of a fast-response and high-precision telescopic positioning system according to claim 6, characterized in that: The solenoid valve further includes a slide rod, a second slider, and a cleaning brush. The cleaning brush is connected to the surface of the valve core, and one end of the cleaning brush away from the surface of the valve core abuts against the inner wall of the sealed space. A through hole is formed inside the valve core. The slide rod is slidably fitted into the through hole. The surface of the slide rod is provided with a spiral groove and both ends are fixed to the valve body. The second slider is fixed to the inner wall of the through hole and is slidably connected to the spiral groove.

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