Ultrahigh pressure transmission system based on solid sphere medium and control method

Abstract

The invention discloses an ultrahigh-pressure transmission system based on a solid sphere medium, which realizes zero-leakage transmission under the pressure of 500MPa through multi-stage plunger pressure amplification, a dual-mode anti-arch bridge mechanism and gradient sealing design. According to the system, a mixed medium of tungsten carbide spheres and perfluorinated lubricating grease is adopted, a synergistic blockage removal strategy of gear ring shearing and piezoelectric vibration is combined, and the blockage problem of traditional particle transmission is broken through. The method is especially suitable for high-power density demand scenes in the fields of robots, aerospace and the like.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission, and in particular to a drive system that achieves ultra-high pressure transmission through a high-hardness solid spherical medium. It is suitable for applications such as robot joints, aerospace actuators, and precision machine tools where power density, response speed, and sealing reliability are critical. Background Technology

[0002] Existing technological shortcomings:

[0003] 1. Gear / Electromagnetic transmission:

[0004] Low power density (typical value <50Nm / kg) requires multi-stage reduction gears, leading to volume expansion.

[0005] Electromagnetic clutches have high heat loss (efficiency <85%) and are prone to demagnetization under high loads.

[0006] 2. Hydraulic / Pneumatic System:

[0007] High sealing leakage rate (>0.1 ml / min under ISO 10763 standard), limiting the increase of working pressure (typically <40 MPa).

[0008] Fluid compressibility causes a response delay (step response time > 50 ms).

[0009] 3. Particulate media transmission (e.g., CN20181012345.7):

[0010] The arch bridge effect causes congestion and requires frequent maintenance.

[0011] Traditional unblocking methods (pneumatic hammer / screw conveyor) are noisy and have complex structures. Summary of the Invention

[0012] Purpose of the invention

[0013] This invention provides a solid medium transmission system that maintains zero leakage and millisecond-level response under ultra-high pressure of 500MPa, breaking through the bottleneck of traditional transmission through innovative anti-arch bridge mechanism and gradient sealing design.

[0014] Technical solution

[0015] I. This system comprises four core modules:

[0016] 1. Multi-stage pressure amplification module

[0017] The three-stage plunger assembly has a diameter ratio of 10:3:1, a final-stage plunger diameter of 0.8mm, and a theoretical pressure amplification ratio of 113:1.

[0018] The plunger surface is coated with diamond-like carbon (DLC) coating, with a friction coefficient ≤0.02.

[0019] ① Core mechanism of pressure amplification

[0020] In solid particulate media, stress transmission is dominated by force chain networks, where pressure is transmitted through force chain networks formed by interparticle contact (rather than the uniform pressure transmission of fluids).

[0021] Force chain fractal characteristics: Under 500MPa pressure, the contact points of the high-hardness sphere (HV≥1800) form a fractal force chain network, and the effective bearing direction is consistent with the piston movement direction.

[0022] Stress amplification factor:

[0023] Kstress=∑FchainApiston=n·FballApistonKstress=Apiston∑Fchain=Apistonn·Fball where nn is the number of effective contact balls, FballFball is the contact force of a single ball, which is amplified step by step through the three-stage plunger diameter ratio.

[0024] Geometric constraint strengthening effect

[0025] The geometry of the housing cavity and plunger enhances pressure transmission efficiency in the following ways:

[0026] Conical transition cavity (half-angle α = 15°):

[0027] The axial thrust is converted into radial constraint force, which increases the particle packing density (the measured density increases from 60% to 82%).

[0028] Micro-convex structure on the plunger end face (protrusion height 50μm):

[0029] By disrupting symmetrical force chains and creating multi-directional stress fields, force chain breakage caused by stress concentration at a single point can be avoided.

[0030] Shear thinning effect of lubricating medium

[0031] Perfluoropolyether grease (viscosity index > 300) exhibits shear-thinning properties under high-pressure shear:

[0032] η=η0 / [1+(γ˙ / γ˙c)2] η=η0 / [1+(γ˙ / γ˙c)2]

[0033] When the shear rate γ˙>104s⁻¹, the viscosity decreases to 5% of the initial value, causing the particulate medium to exhibit fluid-like behavior, approximately satisfying the continuity condition.

[0034] ② The impact of key structural design on pressure amplification

[0035] Multistage plunger diameter ratio design

[0036] The physical essence of a three-stage plunger diameter ratio of 10:3:1 is a force chain density gradient design.

[0037] Primary plunger (Φ8mm):

[0038] The large contact area ensures a sufficient number of initial force chains (n1≈50).

[0039] Final stage plunger (Φ0.8mm):

[0040] The tiny diameter forces the stress chains to be highly oriented, increasing the stress of a single chain to σchain = 1.2 GPa (close to the compressive strength limit of tungsten carbide).

[0041] Surface texture and friction control

[0042] DLC coating on plunger (friction coefficient ≤ 0.02):

[0043] This reduces the probability of force chain breakage caused by boundary slip, increasing the force chain transmission efficiency from 65% to 92%.

[0044] Sphere laser-engraved micro-dimples (50 μm in diameter):

[0045] As a grease reservoir, it continuously releases lubricant under high pressure to maintain a shear-thinned state.

[0046] Dynamic control of anti-arch bridge mechanism

[0047] The force chain network topology is adjusted in real time through gear-piezoelectric composite perturbation (Table 1 mode):

[0048] Low-speed mode (ΔP<2MPa):

[0049] The gear ring agitator generates a vortex flow field, causing the force chain to exhibit a ring-shaped distribution, thus reducing lateral stress dissipation.

[0050] Reverse rotation mode (ΔP>5MPa):

[0051] Forced reconstruction of the force chain network results in a newly generated force chain with an angle of ≤8° with the principal stress direction, improving axial force transmission efficiency.

[0052] ③The essential difference from traditional hydraulic amplification

[0053]

[0054]

[0055] ④ Experimental verification data

[0056] Pressure transmission efficiency

[0057] The measured three-stage amplification ratio was 107:1 (vs. theoretical value 113:1), with losses mainly coming from inter-particle friction (accounting for 6.3%).

[0058] Single-stage energy loss decomposition:

[0059] ηloss = 2.1% (geometric constraint) + 3.8% (particle friction) + 0.4% (lubrication viscosity)

[0060] Dynamic response characteristics

[0061] Pressure build-up time (0→500MPa): 8ms (traditional hydraulic systems require 50ms).

[0062] Step response overshoot: ≤3% (thanks to the rapid reconfiguration capability of the force chain network).

[0063] ⑤ Key points for project implementation

[0064] Tolerance matching design

[0065] The plunger-cylinder clearance must meet the following requirements:

[0066] δ <Dball / 20=50μmδ<Dball / 20=50μm

[0067] To prevent particles from intruding into the friction pair, a thermal expansion compensation structure is adopted (the gap change is ≤2μm when ΔT=100K).

[0068] Fatigue life optimization

[0069] Based on the Archard wear model:

[0070] V = k·F·sHV = Hk·F·s

[0071] Through DLC coating (hardness H = 2800HV) and low-friction design, the life of key components is greater than 2000 hours (@500MPa operating conditions).

[0072] 2. Sphere-fluid mixing medium channel

[0073] Medium composition: Tungsten carbide balls (D50=1mm, HV≥1800) + perfluoropolyether grease (viscosity index>300).

[0074] The sphere accounts for 70% of the volume, and the surface is laser-processed with micro-dimples (50μm in diameter and 10μm in depth) to improve lubricant adhesion.

[0075] 3. Dual-mode anti-arch bridge mechanism

[0076] Mechanical disturbance unit: Hollow motor drives involute gear ring (tooth height 0.8mm, tooth pitch 1.2D), speed is steplessly adjustable from 0-5000rpm.

[0077] Piezoelectric vibration unit: PMN-PT piezoelectric element (20kHz, amplitude dynamically adjustable from 0-5μm), energy density ≥120J / m² 3 .

[0078] Control strategy: A fuzzy PID algorithm based on pressure difference ΔP is used to dynamically switch the disturbance mode (Table 1).

[0079] 4. Gradient sealing structure

[0080] Three-layer composite sealing ring: inner layer fluororubber (Shore hardness 70A) + middle layer polyetheretherketone (90D) + outer layer metal bellows.

[0081] Sealing pressure threshold: 0 for single layer → up to 600MPa for multiple layers.

[0082] Table 1: Anti-arch bridge mode switching logic

[0083] Pressure difference ΔP (MPa) Dominant mode Ring gear speed (rpm) Piezoelectric amplitude (μm) <2 Low-speed geared agitator 200-500 0 2-5 High-speed gear ring + intermittent vibration 1500-3000 2 >5 Full power vibration + gear ring reverse Reverse 500 5

[0084] II. Adaptive Innovation

[0085] 1. Breaking the arch:

[0086] 1. The enhancement mechanism of the arch bridge effect under high pressure

[0087] In ultra-high pressure environments (such as 500 MPa), the contact force Fn between the spheres increases sharply. According to Coulomb's law of friction, the shear resistance Ff = μFn increases accordingly (μ is the coefficient of friction).

[0088] Example calculation:

[0089] The sphere has a diameter D = 1 mm and a contact point pressure P = 500 MPa.

[0090] The contact area of ​​a single sphere is A≈π(D / 2)²=7.85×10⁻⁷m²

[0091] Contact force Fn = PA = 500 × 10⁶ × 7.85 × 10⁻⁷ = 392.5 N

[0092] If the coefficient of friction between the steel balls is μ = 0.15, then Ff = 58.9N and Ff = 58.9N.

[0093] At this point, breaking the arch bridge requires a shear force of >58.9N, and traditional mechanical methods for breaking the arch (such as spiral pushing) consume a great deal of power.

[0094] 2. The low-power arch-breaking principle of this patent

[0095] *Directional failure of the force chain of the rotating gear ring

[0096] Involute tooth profile optimization: Tooth tip approach angle θ = 45°, converting the axial thrust Fmotor into a shear force component Fshear = Fmotor·sinθ.

[0097] Local stress concentration: Tooth tip curvature radius r = 0.1 mm, actual pressure at the contact point.

[0098] Plocal = Fmotor / (πr²) = 1.6 × 10⁴ MPa (Sufficient to crush the surface oxide layer and reduce the effective μ value)

[0099] Power consumption calculation (extreme operating conditions):

[0100] The gear ring speed is n = 5000 rpm, and the torque is T = 0.05 N·m.

[0101] Power P = 2πnT / 60 ≈ 26W

[0102] *Modulation of the friction coefficient of piezoelectric vibration

[0103] High-frequency micro-slip: 20kHz vibration causes nanoscale reciprocating displacement (Δx≈10nm) on the contact surface, disrupting the static friction equilibrium and reducing the equivalent friction coefficient: experimentally measured, μ decreases from 0.15 to 0.03 under vibration.

[0104] Energy efficiency advantage: power consumption per piezoelectric element

[0105] P=0.5CV2f=0.5×10nF×(200V)2×20kHz=4WP=0.5CV2f=0.5×10nF×(200V)2×20kHz=4W

[0106] *Energy-saving effect of dual-mode synergy

[0107]

[0108] 2. Structural Innovation

[0109] 1. Gradient hardness gear ring material

[0110] Tooth tip: Tungsten carbide (HV2200) coated with diamond-like carbon (coefficient of friction ≤0.02)

[0111] Tooth root: Martensitic aging steel (yield strength 2.5 GPa) resistant to bending fracture

[0112] 2. Vibration-stress coupling simulation

[0113] Optimize the piezoelectric element position using COMSOL multiphysics simulation:

[0114] Under a pressure of 500 MPa, the piezoelectric element is placed in the stress concentration area on the side wall of the channel (principal stress σ1 > 800 MPa), utilizing the stress amplification effect to improve the vibration energy utilization rate by 30%.

[0115] 3. Self-powered arch-breaking design

[0116] Piezoelectric energy recovery: The kinetic energy of a sphere colliding with a gear ring is converted into electricity by a piezoelectric element; the experimental recovery efficiency is 12%.

[0117] Regenerative braking: When the gear ring decelerates, the motor reverses to generate electricity, recovering 15% of the kinetic energy.

[0118] 4. Verification using measured data

[0119] Arch-breaking performance under 500MPa pressure

[0120]

[0121] 3. Electromagnetic directional valve design

[0122] 1. Core Requirements

[0123] Working pressure: 500MPa

[0124] Response time: <5ms

[0125] Solid media compatibility: Tungsten carbide spheres (D=1mm)

[0126] 2. Structural Design

[0127] Valve core type:

[0128] Conical valve core + elastic sealing sleeve

[0129] The valve core has a 60° cone angle and is coated with a diamond-like carbon (DLC) coating (coefficient of friction ≤0.02).

[0130] The sealing sleeve is made of gradient polyurethane (hardness gradually changes from 70A to 90A) with a compression ratio of 30%.

[0131] Rotary slide valve

[0132] The valve core features a slotted design (slot width 1.2D) to allow the ball to roll as it passes through.

[0133] The groove is embedded with magnetic material (NdFeB), which adsorbs iron powder in the lubricant to form a protective film.

[0134] Drive mechanism:

[0135] Piezoelectric ceramic stack drive:

[0136] Displacement amplification ratio 10:1, thrust ≥500N

[0137] Response time 0.2ms, withstand pressure 600MPa

[0138] Redundant sealing:

[0139] Main seal: Metal bellows (Inconel 718)

[0140] Secondary seal: Magnetohydrodynamic seal (pressure resistant 200MPa)

[0141] 3. Performance parameters

[0142] Parameter values

[0143] Leakage rate <0.01 ml / min

[0144] Commutation life > 1×10 6 Second-rate

[0145] Power consumption: 15W (peak).

[0146] 4. Throttling valve design

[0147] 1. Core Innovation

[0148] Elastic deformation flow channel:

[0149] The valve body is lined with a superelastic nickel-titanium alloy (strain recovery rate >95%).

[0150] During flow regulation, the flow channel cross-section adapts to the spherical size through elastic deformation, creating an anti-clogging structure.

[0151] Rotary gear ring + piezoelectric vibrator integration:

[0152] The gear ring speed is infinitely adjustable from 0 to 5000 rpm, and the tooth height is 0.5 mm.

[0153] The piezoelectric element has a resonant frequency of 50 kHz and an amplitude of 0-3 μm.

[0154] 2. Control Strategy

[0155] Flow-pressure decoupling control:

[0156] Feedforward compensation: Real-time correction of flow coefficient based on sphere concentration

[0157] Closed-loop feedback: Laser Doppler velocimeter (accuracy ±0.1mm / s)

[0158] 3. Performance parameters

[0159] Parameter values

[0160] Adjustment accuracy ±1%FS

[0161] Pressure drop loss < 5 MPa (fully open)

[0162] Response time: 10ms (90% of travel)

[0163] 5. Overflow valve design

[0164] 1. High-voltage adaptability design

[0165] Two-stage pressure relief structure:

[0166] First-stage pressure relief: The solenoid cone valve responds quickly (opens within 2ms).

[0167] Two-stage pressure relief: Mechanical safety valve (threshold 550MPa)

[0168] Preventing particle jamming:

[0169] A rotating screen (0.8D aperture, 3000rpm) is installed at the inlet of the pressure relief channel.

[0170] Ultrasonic cleaning of screen surface (40kHz, 50W)

[0171] 2. Control Logic

[0172] Predictive pressure relief:

[0173] Pre-triggered based on the pressure change rate (dP / dt) to prevent pressure overshoot.

[0174] The pressure sensor has a sampling rate of 1MHz and a resolution of 0.1MPa.

[0175] 3. Performance parameters

[0176] Parameter values

[0177] Pressure relief capacity 5L / min@500MPa

[0178] Reset accuracy ±0.3MPa

[0179] Working life > 5×10 4 Second loop

[0180] 6. Main pump (plunger pump) design

[0181] 1. Ultra-high pressure solid medium pumping solution

[0182] Plunger-cylinder assembly:

[0183] Material: Tungsten carbide cemented carbide (HV≥2200)

[0184] Gap compensation: Thermal expansion matching design (CTE 4.5×10) -6 / ℃)

[0185] Surface treatment: Laser microtexturing (dimples 20μm in diameter, 5μm deep) to reduce friction. Inlet / outlet valves:

[0186] Ball pilot valve:

[0187] The valve seat is tilted at 45°, guiding the ball to enter tangentially.

[0188] The valve core has a built-in piezoelectric vibrating element (2μm amplitude) to prevent buildup.

[0189] 2. Variable control technology

[0190] Electronic swashplate adjustment:

[0191] Voice coil motor drive (force density 30N / W)

[0192] Displacement resolution 0.1 μm, response time 10 ms

[0193] Power recovery system:

[0194] Braking energy → Supercapacitor energy storage (efficiency 85%)

[0195] 3. Performance parameters

[0196] Parameter values

[0197] Maximum pressure 600MPa

[0198] Flow rate range: 0.1-5 L / min

[0199] Volumetric efficiency ≥ 98%

[0200] Power density 8kW / kg

[0201] 7. Servo-controlled oscillating motion cylinder design

[0202] First structural design:

[0203] Swing conversion mechanism

[0204] A three-stage planetary roller screw is used to convert the linear motion of the plunger into rotary oscillation.

[0205] Lead 0.5mm, lead screw diameter 8mm, theoretical transmission efficiency 92%.

[0206] Swing angle range ±120°, repeatability ±0.01° (built-in magnetic encoder)

[0207] Integrated piezoelectric ceramic fine-tuning mechanism (5nm displacement resolution) to compensate for backlash

[0208] Anti-arch bridge flow channel optimization

[0209] Spiral involute flow channel: The radius of curvature gradually changes from 5mm at the inlet to 2mm at the outlet, reducing local pressure drop.

[0210] The vibrating gear ring is coaxially mounted with the oscillating shaft, and the gear ring speed is linked to the oscillation angular velocity for control (proportional coefficient K = 0.8 rpm / deg / s).

[0211] Gradient sealing system

[0212] Rotary sealing assembly:

[0213] Inner layer: PTFE-impregnated graphite rings (friction coefficient 0.05)

[0214] Outer layer: Silicon carbide ceramic ring (thermal expansion coefficient 4.5×10⁻⁶) -6 / ℃)

[0215] Sealing pressure threshold: 600MPa static / 450MPa dynamic

[0216] 4. Performance parameters

[0217]

[0218] The second structural design:

[0219] Cylinder block design:

[0220] Material: Tungsten carbide cemented carbide (HV≥2200), with diamond-like carbon (DLC) coating on the surface, and a coefficient of friction ≤0.02.

[0221] Internal flow channels: Optimized flow channel design reduces pressure drop and ensures smooth flow of the medium in the sphere.

[0222] Sealing structure: A three-layer composite sealing ring is used (inner layer fluororubber + middle layer polyetheretherketone + outer layer metal bellows). The sealing pressure threshold is 0 for a single layer and up to 600MPa for multiple layers.

[0223] Rotary blade design:

[0224] Material: Martensitic aging steel (yield strength 2.5 GPa), surface coated with diamond-like carbon (DLC), coefficient of friction ≤ 0.02.

[0225] Blade shape: Involute tooth profile optimization, tooth tip ingress angle θ = 45°, converting axial thrust into shear force component, local stress concentration, actual pressure at contact point Plocal = 1.6 × 10⁴ MPa.

[0226] Number of blades: Designed according to the swing angle and torque requirements, usually 2-4 blades.

[0227] Drive mechanism:

[0228] Piezoelectric ceramic stack drive: displacement amplification ratio 10:1, thrust ≥500N, response time 0.2ms, withstand pressure 600MPa.

[0229] Redundant sealing: The main seal is a metal bellows (Inconel 718), and the secondary seal is a magnetohydrodynamic seal (pressure resistant 200MPa).

[0230] 3.2 Anti-arch bridge mechanism

[0231] Mechanical disturbance unit:

[0232] A hollow motor drives an involute gear ring with a tooth height of 0.8mm, a tooth pitch of 1.2D, and a stepless speed adjustment from 0 to 5000rpm.

[0233] Power consumption calculation: Gear ring speed n = 5000 rpm, torque T = 0.05 N·m, power P = 2πnT / 60 ≈ 26 W.

[0234] Piezoelectric vibration unit:

[0235] PMN-PT piezoelectric element, 20kHz, amplitude dynamically adjustable from 0-5μm, energy density ≥120J / m³ 3 .

[0236] Energy efficiency advantage: Power consumption of a single piezoelectric element P = 0.5CV2f = 0.5 × 10nF × (200V)2 × 20kHz = 4W.

[0237] Control strategy:

[0238] A fuzzy PID algorithm based on pressure difference ΔP is used to dynamically switch the disturbance mode (Table 1).

[0239] Table 1: Anti-arch bridge mode switching logic

[0240]

[0241] 3.3 Gradient sealing structure

[0242] Three-layer composite sealing ring:

[0243] Inner layer: Fluororubber (Shore hardness 70A), providing initial seal.

[0244] Middle layer: Polyetheretherketone (90D), to enhance sealing strength.

[0245] Outer layer: Metal bellows, providing a final seal, pressure resistant to 600MPa.

[0246] Sealing pressure threshold:

[0247] Single-layer seal: 0MPa.

[0248] Multilayer stacking: up to 600MPa.

[0249] 8. Proportional actuator design

[0250] 1. Core structural innovation

[0251] Pressure-displacement composite control

[0252] Dual closed-loop control architecture:

[0253] Inner ring: Piezoelectric pressure sensor (10kHz bandwidth) monitors chamber pressure in real time.

[0254] Outer ring: Laser interferometric displacement sensor (accuracy ±0.1μm) to feedback piston position.

[0255] Control algorithm: Adaptive PID based on particle swarm optimization (PSO) to dynamically adjust the pressure-displacement gain of the variable stiffness actuator.

[0256] Flexible energy storage device:

[0257] Nickel-titanium alloy corrugated pipe (stiffness adjustable range 50-500 N / μm)

[0258] Online stiffness adjustment is achieved by using PWM control of magnetorheological fluid damping.

[0259] Stiffness switching time: <5ms

[0260] Intelligent throttling module

[0261] Asymmetric flow channel design:

[0262] Extended side: Flow channel width 1.5D, with rotating screen (3000 rpm)

[0263] Retracted side: Flow channel width 1.0D, integrated piezoelectric vibrator (amplitude 3μm)

[0264] Flow regulation ratio 1:100, step response time 8ms

[0265] 2. Performance parameters

[0266] Parameter values

[0267] Thrust range 50-1200kN (continuously adjustable)

[0268] Positioning accuracy ±2μm (full range)

[0269] Maximum speed: 0.8 m / s

[0270] Energy recovery efficiency 42% (regenerative braking mode)

[0271] Pressure resistance: 600 MPa (burst pressure)

[0272] 9. Diverter Valve Design

[0273] First structural design:

[0274] Flow channel optimization:

[0275] It adopts a Y-type or T-type flow splitting structure, and the inner wall of the flow channel is coated with diamond-like carbon (DLC) to reduce the coefficient of friction.

[0276] The flow channel cross-section is designed with a gradual change to avoid particle accumulation caused by sudden contraction or expansion.

[0277] Anti-congestion mechanism:

[0278] Built-in rotating gear ring (speed 0-5000rpm) to agitate solid media in real time.

[0279] The piezoelectric vibrator (frequency 20kHz, amplitude 0-5μm) is integrated at the shunt point to prevent bridging.

[0280] Control strategy:

[0281] Based on closed-loop control with feedback from flow sensors, the diversion ratio is adjusted in real time.

[0282] The feedforward compensation algorithm dynamically adjusts the diversion parameters based on the sphere concentration.

[0283] Performance parameters:

[0284] Parameter values

[0285]

[0286] The second structural design:

[0287] Structural design

[0288] Double Helix Guide Cavity

[0289] The inner wall is machined with reverse spiral grooves (pitch = 3D, groove depth 0.2mm) to achieve uniform particle distribution through centrifugal force.

[0290] The spiral groove surface is coated with titanium nitride (friction coefficient <0.05) to reduce flow resistance.

[0291] Self-balancing valve core

[0292] The valve core features a hollow design and incorporates an adjustable weight (tungsten alloy, density 19.3 g / cm³). 3 )

[0293] The position of the counterweight is automatically adjusted based on pressure feedback to counteract lateral forces.

[0294] Anti-congestion mechanism

[0295] Rotary splitter

[0296] Driven by a micro turbine (conversion of kinetic energy from fluid flow, speed 200-800 rpm).

[0297] ο Dynamic adjustment of plate opening ratio (pore diameter shrinks as pressure increases from 1.2D to 0.8D)

[0298] Performance parameters

[0299] Indicator parameter values

[0300] Shunt accuracy ±2.5% @ 500MPa

[0301] Pressure drop loss < 8 MPa (fully open state)

[0302] Response time: 15ms (90% of travel)

[0303] 10. Multi-way directional valve design

[0304] First structural design:

[0305] Valve core type:

[0306] ο Rotary slide valve: The valve core has a slotted design (slot width 1.2D) to allow the ball to roll through.

[0307] ο Conical valve core: 60° cone angle, DLC coating on the surface to reduce friction.

[0308] Drive mechanism:

[0309] piezoelectric ceramic stack drive: displacement amplification ratio 10:1, thrust ≥500N, response time <0.2ms.

[0310] Redundant sealing: The main seal uses a metal bellows (Inconel 718), and the secondary seal uses a magnetohydrodynamic seal.

[0311] Anti-clogging design:

[0312] The valve core has a built-in piezoelectric vibrating plate (frequency 20kHz, amplitude 2μm) to prevent particle accumulation.

[0313] The reversing channel inlet is equipped with a rotating screen (0.8D aperture, 3000rpm) to filter large particles.

[0314] Performance parameters:

[0315] Parameter values

[0316] Commutation time < 5ms

[0317] Leakage rate <0.01 ml / min

[0318] Commutation life > 1×10 6 Second-rate

[0319] Working pressure 500MPa

[0320] The second structural design:

[0321] Intelligent pressure compensator

[0322] The compensation valve core incorporates a MEMS pressure sensor array (sampling rate 10kHz).

[0323] The flow channel cross-section is dynamically adjusted using shape memory alloy (NiTiNOL) (deformation ±0.3mm).

[0324] Particle flow state monitoring

[0325] An integrated microwave resonant cavity (24 GHz) is used to invert particle concentration in real time through changes in dielectric constant.

[0326] Control strategy

[0327] Decoupling Adaptive Algorithm

[0328] Establish the particle concentration-pressure-flow transfer function: [Q=k\cdot\sqrt{\frac{2(P_s-P_L)}{\rho(1+

[0329] Dynamic stress compensation mechanism

[0330] Nonlinear spring assembly:

[0331] A dual-stiffness spring (5kN / m stiffness in the low-load section and 25kN / m stiffness in the high-load section) is used, which is automatically switched by a cam mechanism to compensate for the nonlinear changes in the flow resistance of the solid medium.

[0332] Compensation force calculation:

[0333] Fcomp={5×103·xx≤0.2mm25×103·(x-0.2)+1000x>0.2mmFcomp={5×103·x25×103·(x-0.2)+1000x≤0.2mmx>0.2mm

[0334] Where xx represents the valve core displacement, achieving high-precision pressure-flow matching.

[0335] Anti-interference design

[0336] Flow channel decoupling structure:

[0337] Each branch flow channel uses an independent spiral guide vane (tilt angle 30°) to separate the particle flow through centrifugal force, reducing multi-path coupling interference.

[0338] Experimental data: Cross-interference decreased from 12% in the traditional design to 2.3%.

[0339] Performance parameters

[0340] Indicator parameter values

[0341] Pressure compensation accuracy ±1.5%FS@500MPa

[0342] Multi-path coordination error <3%

[0343] Maximum operating frequency 50Hz

[0344] 11. Load-sensitive multi-way valve design

[0345] First structural design:

[0346] Flow regulation mechanism:

[0347] ο Elastic Deformation Flow Channel: The inner wall of the valve body is lined with a super-elastic nickel-titanium alloy, which adapts to the size of the sphere through elastic deformation.

[0348] ο Rotary gear ring + piezoelectric vibrator integration: Gear ring speed is infinitely adjustable from 0-5000rpm, piezoelectric resonant frequency is 50kHz.

[0349] Load-sensitive control:

[0350] Based on feedback control from pressure sensors, the flow rate is adjusted in real time to meet load requirements.

[0351] The feedforward compensation algorithm dynamically adjusts the flow rate based on the sphere concentration and pressure change rate.

[0352] Anti-clogging design:

[0353] Laser microtexturing on the inner wall of the flow channel (dimples 20μm in diameter and 5μm in depth) reduces friction.

[0354] Built-in piezoelectric vibrating plate (frequency 20kHz, amplitude 0-3μm) to prevent particle accumulation.

[0355] Performance parameters:

[0356] Parameter values

[0357] Adjustment accuracy ±1%FS

[0358] Response time <10ms

[0359] Pressure drop loss < 5 MPa (fully open)

[0360] Working pressure 500MPa

[0361] The second structural design:

[0362] Intelligent pressure compensator

[0363] The compensation valve core incorporates a MEMS pressure sensor array (sampling rate 10kHz).

[0364] The flow channel cross-section is dynamically adjusted using shape memory alloy (NiTiNOL) (deformation ±0.3mm).

[0365] Particle flow state monitoring

[0366] An integrated microwave resonant cavity (24 GHz) is used to invert particle concentration in real time through changes in dielectric constant.

[0367] Control strategy

[0368] Decoupling Adaptive Algorithm

[0369] Establish the particle concentration-pressure-flow transfer function: [Q=k\cdot\sqrt{\frac{2(P_s-P_L)}{\rho(1+

[0370] Dynamic stress compensation mechanism

[0371] Nonlinear spring assembly:

[0372] A dual-stiffness spring (5kN / m stiffness in the low-load section and 25kN / m stiffness in the high-load section) is used, which is automatically switched by a cam mechanism to compensate for the nonlinear changes in the flow resistance of the solid medium.

[0373] Compensation force calculation:

[0374] Fcomp={5×103·xx≤0.2mm25×103·(x-0.2)+1000x>0.2mmFcomp={5×103·x25×103·(x-0.2)+1000x≤0.2mmx>0.2mm

[0375] Where xx represents the valve core displacement, achieving high-precision pressure-flow matching.

[0376] Anti-interference design

[0377] Flow channel decoupling structure:

[0378] Each branch flow channel uses an independent spiral guide vane (tilt angle 30°) to separate the particle flow through centrifugal force, reducing multi-path coupling interference.

[0379] Experimental data: Cross-interference decreased from 12% in the traditional design to 2.3%.

[0380] Performance parameters

[0381] Indicator parameter values

[0382] Pressure compensation accuracy ±1.5%FS@500MPa

[0383] Multi-path coordination error <3%

[0384] Maximum operating frequency 50Hz

[0385] 12. Proportional control valve design

[0386] First structural design:

[0387] Valve core type:

[0388] ο Conical valve core: 45° cone angle, DLC coating on the surface to reduce friction.

[0389] Rotary spool valve: The valve core has a slotted design (slot width 1.2D) to allow the ball to roll as it passes through.

[0390] Structural design:

[0391] Drive mechanism:

[0392] Voice coil motor drive: force density 30 N / W, displacement resolution 0.1 μm, response time <10 ms.

[0393] piezoelectric ceramic stacked drive: thrust ≥500N, response time <0.2ms, withstand pressure 600MPa.

[0394] Flow regulation mechanism:

[0395] ο Elastic Deformation Flow Channel: The inner wall of the valve body is lined with a super-elastic nickel-titanium alloy (strain recovery rate >95%), which adapts to the sphere size through elastic deformation.

[0396] ο Rotary gear ring + piezoelectric vibrator integration: Gear ring speed is infinitely adjustable from 0-5000rpm, piezoelectric resonant frequency is 50kHz.

[0397] Control strategy:

[0398] Based on closed-loop control using flow and pressure sensors, the valve core position is adjusted in real time.

[0399] The feedforward compensation algorithm dynamically adjusts the flow rate based on the sphere concentration and pressure change rate.

[0400] Performance parameters:

[0401] Parameter values

[0402] Adjustment accuracy ±0.5%FS

[0403] Response time <5ms

[0404] Leakage rate <0.01 ml / min

[0405] Working pressure 500MPa

[0406] The second structural design:

[0407] Composite drive valve core

[0408] piezoelectric coarse adjustment + magnetorheological fine adjustment:

[0409] The piezoelectric stack provides high thrust (500N@200V) and completes 90% of the stroke for coarse positioning (response time 0.5ms).

[0410] The magnetorheological fluid damper achieves nanometer-level fine-tuning (resolution 10 nm) and viscosity (0.1-1.2 Pa·s) is controlled by current.

[0411] ο Valve core surface microtexture: Laser-processed diamond-shaped grooves (20μm side length, 5μm depth) form a particle rolling channel, reducing frictional resistance by 62%.

[0412] Anti-clogging design

[0413] Self-cleaning flow channel:

[0414] The flow channel is embedded with a piezoelectric thin film (vibrating at 40 kHz) with an amplitude of 2 μm to prevent particle deposition.

[0415] The flow channel cross-section adopts a biomimetic shark skin structure (groove width 50μm), which reduces pressure drop by 18%.

[0416] Control strategy

[0417] Multimodal control algorithm:

[0418] ο Coarse adjustment stage: Based on position feedforward Bang-Bang control, quickly approach the target position.

[0419] ο Fine-tuning stage: H∞ robust control is adopted to suppress particle impact disturbances.

[0420] ο Mathematical Model:

[0421] X(s)U(s)=5.6×104s2+220s+1.2×105U(s)X(s)=s2+220s+1.2×1055.6×104 achieves bandwidth>200Hz.

[0422] Performance parameters

[0423]

[0424] 13. Linear cylinder

[0425] Cylinder block design:

[0426] Material: Tungsten carbide cemented carbide (HV≥2200), with diamond-like carbon (DLC) coating on the surface, and a coefficient of friction ≤0.02.

[0427] Internal flow channels: Optimized flow channel design reduces pressure drop and ensures smooth flow of the medium in the sphere.

[0428] Sealing structure: A three-layer composite sealing ring is adopted (inner layer fluororubber + middle layer polyetheretherketone + outer layer metal bellows), and the sealing pressure threshold is 0 for a single layer and up to 600MPa for multiple layers.

[0429] Plunger design:

[0430] Material: Martensitic aging steel (yield strength 2.5 GPa), surface coated with diamond-like carbon (DLC), coefficient of friction ≤ 0.02.

[0431] Plunger diameter: Designed according to pressure requirements, typically ranging from 0.8mm to 10mm.

[0432] Plunger surface treatment: Laser microtexturing (dimples 20μm in diameter and 5μm in depth) reduces friction.

[0433] Drive mechanism:

[0434] Piezoelectric ceramic stack drive: displacement amplification ratio 10:1, thrust ≥500N, response time 0.2ms, withstand pressure 600MPa.

[0435] Redundant sealing: The main seal is a metal bellows (Inconel 718), and the secondary seal is a magnetohydrodynamic seal (pressure resistant 200MPa).

[0436] Anti-arch bridge mechanism

[0437] Mechanical disturbance unit:

[0438] A hollow motor drives an involute gear ring with a tooth height of 0.8mm, a tooth pitch of 1.2D, and a stepless speed adjustment from 0 to 5000rpm.

[0439] Power consumption calculation: Gear ring speed n = 5000 rpm, torque T = 0.05 N·m, power P = 2πnT / 60 ≈ 26 W.

[0440] Piezoelectric vibration unit:

[0441] PMN-PT piezoelectric element, 20kHz, amplitude dynamically adjustable from 0-5μm, energy density ≥120J / m³ 3 .

[0442] Energy efficiency advantage: Power consumption of a single piezoelectric element P = 0.5CV2f = 0.5 × 10nF × (200V)2 × 20kHz = 4W.

[0443] Control strategy:

[0444] A fuzzy PID algorithm based on pressure difference ΔP is used to dynamically switch the disturbance mode (Table 1).

[0445] Table 1: Anti-arch bridge mode switching logic

[0446]

[0447] Gradient sealing structure

[0448] Three-layer composite sealing ring:

[0449] Inner layer: Fluororubber (Shore hardness 70A), providing initial seal.

[0450] Middle layer: Polyetheretherketone (90D), to enhance sealing strength.

[0451] Outer layer: Metal bellows, providing a final seal, pressure resistant to 600MPa.

[0452] Sealing pressure threshold:

[0453] Single-layer seal: 0MPa.

[0454] Multilayer stacking: up to 600MPa.

[0455] 14. Motor

[0456] First structural design:

[0457] Housing design:

[0458] Material: Tungsten carbide cemented carbide (HV≥2200), with diamond-like carbon (DLC) coating on the surface, and a coefficient of friction ≤0.02.

[0459] Internal flow channels: Optimized flow channel design reduces pressure drop and ensures smooth flow of the medium in the sphere.

[0460] Sealing structure: A three-layer composite sealing ring is adopted (inner layer fluororubber + middle layer polyetheretherketone + outer layer metal bellows), and the sealing pressure threshold is 0 for a single layer and up to 600MPa for multiple layers.

[0461] Rotor design:

[0462] Material: Martensitic aging steel (yield strength 2.5 GPa), surface coated with diamond-like carbon (DLC), coefficient of friction ≤ 0.02.

[0463] Blade shape: Involute tooth profile optimization, tooth tip ingress angle θ = 45°, converting axial thrust into shear force component, local stress concentration, actual pressure at contact point Plocal = 1.6 × 10⁴ MPa.

[0464] Number of blades: Designed according to torque requirements, usually 2-4 blades.

[0465] Drive mechanism:

[0466] Piezoelectric ceramic stack drive: displacement amplification ratio 10:1, thrust ≥500N, response time 0.2ms, withstand pressure 600MPa.

[0467] Redundant sealing: The main seal is a metal bellows (Inconel 718), and the secondary seal is a magnetohydrodynamic seal (pressure resistant 200MPa).

[0468] Anti-arch bridge mechanism

[0469] Mechanical disturbance unit:

[0470] A hollow motor drives an involute gear ring with a tooth height of 0.8mm, a tooth pitch of 1.2D, and a stepless speed adjustment from 0 to 5000rpm.

[0471] Power consumption calculation: Gear ring speed n = 5000 rpm, torque T = 0.05 N·m, power P = 2πnT / 60 ≈ 26 W.

[0472] Piezoelectric vibration unit:

[0473] PMN-PT piezoelectric element, 20kHz, amplitude dynamically adjustable from 0-5μm, energy density ≥120J / m³ 3 .

[0474] Energy efficiency advantage: Power consumption of a single piezoelectric element P = 0.5CV2f = 0.5 × 10nF × (200V)2 × 20kHz = 4W.

[0475] Control strategy:

[0476] A fuzzy PID algorithm based on pressure difference ΔP is used to dynamically switch the disturbance mode (Table 1).

[0477] Table 1: Anti-arch bridge mode switching logic

[0478]

[0479] Gradient sealing structure

[0480] Three-layer composite sealing ring:

[0481] Inner layer: Fluororubber (Shore hardness 70A), providing initial seal.

[0482] Middle layer: Polyetheretherketone (90D), to enhance sealing strength.

[0483] Outer layer: Metal bellows, providing a final seal, pressure resistant to 600MPa.

[0484] The second structural design:

[0485] 1. Innovation in driving principles

[0486] Double-acting cycloidal rotor mechanism

[0487] Stator: Elliptical inner cavity (length-to-diameter ratio 1:1.5) coated with DLC coating (friction coefficient ≤0.02)

[0488] Rotor: 7-tooth cycloidal wheel, eccentricity e = 0.8 mm, surface laser-textured microgrooves (20 μm wide, 5 μm deep)

[0489] Working principle: The solid sphere drives the rotor to rotate eccentrically, and the pressure chamber volume changes 7 times per revolution.

[0490] Torque density reaches 230 N·m / kg (rotor weight 2.5 kg)

[0491] 2. Anti-clogging flow channel design

[0492] Three-dimensional spiral disturbance flow channel

[0493] The helix angle θ = 30°, and the lead L = 5D (D = 1 mm diameter of the sphere).

[0494] Integrated piezoelectric vibration array in the flow channel wall (frequency 50kHz, amplitude 2μm)

[0495] Flow resistance is reduced by 47% (compared to a straight channel).

[0496] Dynamic lubrication system

[0497] Grease injection: A micro-metering pump (accuracy ±0.1μL / min) injects grease into the rotor-stator contact area.

[0498] Lubrication path: Bionic tree-like fractal flow channel (pressure drop reduced by 62%)

[0499] 3. Ultra-high strength sealing system

[0500]

[0501] 15. Proportional actuator

[0502] 1. System Composition

[0503] driver module

[0504] Multi-stage pressure amplification module: Employs a three-stage plunger assembly (diameter ratio 10:3:1), with the final stage plunger diameter at 0.8mm and a theoretical pressure amplification ratio of 113:1. The plunger surface is coated with diamond-like carbon (DLC), resulting in a friction coefficient ≤0.02.

[0505] Main pump (plunger pump): maximum pressure 600MPa, flow range 0.1-5L / min, volumetric efficiency ≥98%, power density 8kW / kg.

[0506] Execution module

[0507] Proportional control mechanism: It adopts an integrated design of rotating gear ring and piezoelectric vibrator. The gear ring speed is infinitely adjustable from 0 to 5000 rpm, the tooth height is 0.5 mm, the piezoelectric resonant frequency is 50 kHz, and the amplitude is 0 to 3 μm.

[0508] Anti-arch bridge mechanism: Combining mechanical disturbance unit and piezoelectric vibration unit, the disturbance mode is dynamically switched based on the fuzzy PID algorithm of pressure difference ΔP.

[0509] Control module

[0510] Solenoid directional valve: working pressure 500MPa, response time <5ms, leakage rate <0.01ml / min, directional valve life >1×106 cycles.

[0511] Throttling valve: elastic deformation flow channel design, adjustment accuracy ±1%FS, pressure drop loss <5MPa (fully open), response time 10ms (90% stroke).

[0512] Overflow valve: Two-stage pressure relief structure, pressure relief capacity 5L / min@500MPa, reset accuracy ±0.3MPa, working life >5×104 cycles.

[0513] 2. Design Details

[0514] Proportional control mechanism design

[0515] Rotary gear ring: Tungsten carbide (HV2200) with diamond-like coating at the tooth tip, and martensitic aging steel (yield strength 2.5GPa) at the tooth root, resistant to bending fracture.

[0516] Piezoelectric vibrator: Placed in the stress concentration area on the side wall of the channel, it utilizes the stress amplification effect to improve the vibration energy utilization rate by 30%.

[0517] Control strategy

[0518] Flow-pressure decoupled control: Feedforward compensation is based on real-time correction of the flow coefficient according to the sphere concentration, and closed-loop feedback uses a laser Doppler velocimeter (accuracy ±0.1mm / s).

[0519] Predictive pressure relief: Based on the pressure change rate (dP / dt), it is triggered in advance to prevent pressure overshoot. The pressure sensor has a sampling rate of 1MHz and a resolution of 0.1MPa.

[0520] Sealing and Leakage Control

[0521] Gradient sealing structure: three-layer composite sealing ring, inner layer fluororubber (Shore hardness 70A), middle layer polyetheretherketone (90D), outer layer metal bellows, sealing pressure threshold 0 for single layer → up to 600MPa for multiple layers.

[0522] Redundant sealing: The main seal uses a metal bellows (Inconel 718), and the secondary seal uses a magnetohydrodynamic seal (pressure resistant 200MPa). 16. Solid media circulates to the buffer tank and then to the main pump. The buffer tank is designed as follows:

[0523] Cache repository structure innovation

[0524] 1. Bionic conical flow channel design

[0525] Structural parameters:

[0526] The bottom of the buffer compartment adopts a hyperbolic conical flow channel (half angle α = 15°), the inner wall is laser polished to Ra ≤ 0.1 μm, and coated with diamond-like carbon (DLC) coating (friction coefficient μ = 0.02).

[0527] Anti-arch bridge mechanism:

[0528] The integrated piezoelectric vibrating ring (frequency 20kHz, amplitude 5μm) and rotating gear ring (speed 0-5000rpm) break the static friction between particles and ensure free flow.

[0529] 2. Intelligent grease management system

[0530] Viscosity dynamic control:

[0531] A miniature shear valve (50 μm gap) is installed at the outlet of the buffer bin to allow passage through high shear rates (γ > 10). 4 s -1 This triggers shear thinning of the grease, reducing its viscosity from 10. 5 mPa·s decreased to 10 2 mPa·s.

[0532] Temperature compensation module:

[0533] Embedded thin-film heater (power density 1W / cm²) 2 Raising the local temperature to 80°C further reduces the viscosity to 10. 3 mPa·s.

[0534] Medium injection mechanism

[0535] 1. Magnetic-mechanical coupled screw conveyor

[0536] Structural design:

[0537] A pressure-resistant stainless steel spiral shaft (Φ6mm, pitch 3mm) is nested in a Halbach permanent magnet array to magnetize Fe3O4-coated tungsten carbide particles (magnetization intensity Ms=50emu / g).

[0538] Driving principle:

[0539] A rotating magnetic field (0-100Hz) drives the spiral shaft to rotate without contact. The conveying speed v = 0.1-1m / s is continuously adjustable, and the power consumption is ≤20W.

[0540] Performance parameters:

[0541] Conveying capacity Q = π(D / 2) 2 •v• Fill rate φ=3.14×(3mm) 2 ×0.5m / s×0.7≈9.9mL / s (594mL / min).

[0542] 2. Piezoelectric shock wave injector

[0543] Pulse generator:

[0544] PMN-PT piezoelectric stack (100 layers, d 33 =2000pm / V) generates a 10kHz high-pressure shock wave (peak pressure 200MPa). Medium acceleration:

[0545] The shock wave is focused in a conical waveguide, increasing the particle velocity to 5 m / s, achieving instantaneous injection.

[0546] Δx = 12at2 = 0.5·5e6m / s2·(1e-4s)2 = 25μm Δx = 21 at2 = 0.5·5e6m / s2·(1e-4s)2 = 25μm Single pulse injection volume ≈ 0.1mL, flow rate 6mL / min at a frequency of 10Hz.

[0547] 17. Solid media can also be driven in the following ways:

[0548] 1. Bidirectional flow channel topology

[0549] Bionic fractal flow channel:

[0550] Employing a vascular fractal structure (main trunk Φ8mm → branch Φ3mm), a pressure gradient is created between the high-pressure output and low-pressure return paths:

[0551] High-pressure side: Particles move in a directional manner under the thrust of the plunger (velocity 0.5-1m / s).

[0552] Low-pressure side: The fractal flow channel reduces the flow velocity to 0.1-0.2 m / s by enlarging the cross-section (area ratio 5:1), thereby reducing backflow resistance.

[0553] Flow channel switching: The flow direction is controlled by a rotary valve (pressure resistant 500MPa), with a response time of <5ms.

[0554] 2. Mechanical-Vibration Coordinated Drive

[0555] Helical gear conveyor:

[0556] The return channel integrates a miniature helical gear ring (module 0.5, speed 5000 rpm):

[0557] The distance the propulsion particles travel per revolution

[0558] Theoretical delivery capacity Q = n·L·A = 5000 / 60·5mm·7mm² ≈ 29ml / min

[0559] piezoelectric high-frequency vibration:

[0560] A PZT piezoelectric element (20kHz, 5μm amplitude) is integrated into the flow channel wall to generate a traveling wave vibration field.

[0561] Vibration energy density E = 1 / 2ρv² = 0.5·7800 kg / m³·(2π·2e⁴·5e⁻⁶)² ≈ 1.5 J / m³ E = 2 / 1ρv² = 0.5·7800 kg / m³·(2π·2e⁴·5e⁻⁶)² ≈ 1.5 J / m³

[0562] Effectively reduces the static friction coefficient between particles (from 0.15 to 0.03).

[0563] 3. Intelligent regulation of shear-thinning grease

[0564] Utilization of rheological properties:

[0565] Perfluoropolyether grease's viscosity decreases from 10 under high pressure shear. 5 mPa·s decreased to 10 2 mPa·s (shear rate γ>10) 4 s -1 hour):

[0566] High-pressure output stage: Low viscosity promotes high-speed particle flow.

[0567] Low-pressure reflux stage: viscosity recovers, particles are coated to prevent sedimentation.

[0568] Temperature-viscosity compensation:

[0569] Built-in micro heater (power ≤10W) locally heats the water to 80℃, actively reducing the viscosity to 10 during the reflux stage. 3 mPa·s, reducing transmission power consumption

[0570] 4. Self-organized backflow in gradient pressure fields

[0571] Pressure-density coupling:

[0572] A pressure gradient is created through the geometric design of the pre-piston (Φ8mm) and the return channel:

[0573]

[0574] The driving particles migrate from the high-pressure actuator end (500MPa) to the low-pressure main pump end (≈5MPa).

[0575] 5. Electromagnetic-mechanical coupled suspension conveyor

[0576] Magnetic medium design:

[0577] The medium is given magnetic responsiveness by coating tungsten carbide core-shell particles with Fe3O4 (Fe3O4 layer thickness 50nm, accounting for 5wt%).

[0578] Electromagnetic track layout:

[0579] Halbach permanent magnet arrays are arranged on both sides of the transmission path to generate a gradient magnetic field with a peak value of 1.5T, which causes the particles to form a suspended chain.

[0580] Traveling wave magnetic field drive:

[0581] A variable frequency current (0-1kHz) is passed through the three-phase winding to generate a moving magnetic field wave, which drives the magnetized particles to move without contact at a speed of 0.1-2m / s.

[0582] 6. Acoustic levitation directional transmission

[0583] Sound field design:

[0584] A piezoelectric transducer (20kHz, 120dB) forms a standing wave field in a sealed cavity with a node spacing of λ / 2 = 8.5mm.

[0585] Particle manipulation:

[0586] Solid particles (D=1mm) are captured at the sound pressure node, and directional transport is achieved by moving the node position through frequency modulation.

[0587] 7. Electrostatic adsorption thin film driven

[0588] Media Innovation:

[0589] A graphene / PDMS composite film (50 μm thick, conductivity 10) was used.3 S / m) is used as the transmission medium.

[0590] Electrostatic actuation:

[0591] When a voltage of 0-5kV is applied, the thin film undergoes Maxwell stress deformation:

[0592] σ=ε0εrE2=8.85e-12·3·(5e6)2≈0.66MPa σ=ε0εrE2=8.85e-12·3·(5e6)2≈0.66MPa Multi-layer stacking (100 layers) achieves 500MPa output.

[0593] 8. Bionic peristaltic wave drive

[0594] Principles and Structure

[0595] Bionic inspiration: mimicking the worm's wriggling waves to transmit pressure waves through segmented contractions.

[0596] Actuator Design:

[0597] It consists of multiple EAP (electroactive polymer) ring units, each with an inner diameter of Φ10mm and a wall thickness of 1mm.

[0598] Control strategy:

[0599] Phase difference excitation (adjacent units delayed by 20% of the period) forms a traveling contraction wave.

[0600] Workflow

[0601] Contraction section: Applying a 1.5kV voltage, the EAP unit radially contracts by 20%, pushing the dielectric forward. Expansion section: Voltage returns to zero, the unit returns to its original state, and the rear dielectric fills 18. It can be integrated with other technologies to achieve a leapfrog improvement:

[0602] 1. Piezoelectric-assisted boosting

[0603] Integrating a piezoelectric ceramic ring (d) at the plunger end 33 =650pm / V):

[0604] Inputting a 200V pulse → Transient pressure increase of 30%

[0605] Especially suitable for impact conditions (such as biomimetic jumping).

[0606] 2. Acoustic force chain guidance

[0607] Apply a 20kHz ultrasonic standing wave:

[0608] This allows the particles to self-organize into oriented force chains, increasing the force transmission efficiency from 92% to 97%.

[0609] Power consumption increased by only 5W

[0610] 3. AI Dynamic Optimization

[0611] Real-time parameter adjustment in deep learning:

[0612] {Plunger speed, gear speed} → Minimize energy consumption and wear rate

[0613] Experiments show that the system lifespan can be extended by another 40%.

[0614] III. Core Advantages

[0615] 1. Ultra-high voltage capability and power density

[0616] 2. Pressure rating:

[0617] Traditional hydraulic systems: 35-70MPa (limited by sealing)

[0618] Solid media system: 500-600MPa (gradient sealing design)

[0619] Torque density:

[0620] Robot joint: 210-250 Nm / kg (surpassing current motor drive solutions)

[0621] Aerospace actuators: 300+ Nm / kg (tantalum carbide spheres + magnetorheological fluid assistance)

[0622] 3. Sealing and Leakage Control

[0623] Leakage rate:

[0624] Traditional hydraulic pressure: 0.1-0.3 ml / min (ISO 10763 standard)

[0625] Solid media system: Zero leakage (solid particles are non-permeable)

[0626] Adaptability to extreme environments:

[0627] Vacuum / High / Low Temperatures: No need to consider liquid vaporization or freezing (e.g., Mars rover joints).

[0628] 4. Dynamic Response and Energy Efficiency

[0629] Response time:

[0630] Traditional hydraulics: 50-100ms (fluid compressibility delay)

[0631] Solid media system: 12-20 ms (solid particles are approximately incompressible)

[0632] Energy efficiency:

[0633] System efficiency > 90% (no gear transmission loss, compared to motor + reducer ≈ 80%).

[0634] 5. Lifespan and Maintenance

[0635] Wear control:

[0636] DLC coating on spherical surface: wear rate <0.1μm / thousand hours

[0637] Gearless contact: Lifespan > 10,000 hours (exceeding the 5,000-hour standard for harmonic reducers)

[0638] IV. Quantitative Comparison with Traditional Technologies

[0639]

[0640] V. Conclusion

[0641] Solid-state drive systems offer significant advantages in the following scenarios:

[0642] Ultra-high pressure requirements (>200MPa): such as heavy stamping and aerospace actuators.

[0643] Enclosed / Extreme Environments: Deep-sea equipment, vacuum robotic arms.

[0644] High torque density + fast response: humanoid robots, exoskeleton joints.

[0645] Attached image description: Figure 1 This is merely an illustrative explanation of the working principle of an ultra-high pressure transmission system using a solid spherical medium, and does not constitute a limitation of this patent. Specific Implementation

[0646] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0647] Example 1: Example of an ultra-high pressure transmission system based on solid spherical medium

[0648] 1. System Overview

[0649] This embodiment demonstrates an ultra-high pressure transmission system based on a solid spherical medium, showcasing the complete process from pump to actuator. The system achieves ultra-high pressure transmission down to 500 MPa using a high-hardness solid spherical medium, featuring zero leakage and millisecond-level response. The core of the system includes a multi-stage pressure amplification module, a spherical-fluid mixing medium channel, a dual-mode anti-arching mechanism, and a gradient sealing structure.

[0650] 2. System Composition and Workflow

[0651] Main pump (plunger pump)

[0652] 1. Function: Converts input low-pressure mechanical energy into high-pressure solid medium flow.

[0653] 2. Workflow:

[0654] 1. Input mechanical energy drives the plunger to reciprocate, pushing the solid spherical medium from the low-pressure area to the high-pressure area.

[0655] 2. Piezoelectric vibrating pads prevent the ball from accumulating at the valve core, ensuring smooth flow of the medium.

[0656] Multi-stage pressure amplification module

[0657] 1. Function: Amplifies the pressure to 500MPa through a three-stage plunger assembly.

[0658] 2. Workflow:

[0659] 1. The primary plunger pushes the low-pressure medium to the intermediate plunger, which in turn pushes it to the final plunger, thus amplifying the pressure step by step.

[0660] Sphere-fluid mixing medium channel

[0661] 1. Function: Transmits high-pressure solid spherical media.

[0662] 2. Workflow:

[0663] 1. High-pressure solid spheres carry the medium through channels. The grease reduces friction, and the micro-dimples enhance lubricant adhesion, ensuring smooth medium transport.

[0664] Dual-mode anti-arch bridge mechanism

[0665] 1. Function: To prevent solid spherical media from forming arch bridges and causing blockages under high pressure.

[0666] 2. Workflow:

[0667] 1. The system automatically switches the disturbance mode based on the pressure difference ΔP:

[0668] 1. ΔP < 2MPa: Low-speed geared agitator (200-500rpm).

[0669] 2. 2MPa≤ΔP≤5MPa: High-speed gear ring + intermittent vibration (1500-3000rpm, amplitude 2μm).

[0670] 3. ΔP>5MPa: Full power vibration + gear ring reverse (500rpm reverse, amplitude 5μm).

[0671] Gradient sealing structure

[0672] 1. Function: Ensures zero leakage of the system under ultra-high pressure of 500MPa.

[0673] 2. Workflow:

[0674] 1. When high-pressure media passes through the sealing ring, the three-layer composite structure bears the pressure step by step to ensure zero leakage.

[0675] Solenoid directional valve

[0676] 1. Function: To control the flow direction of the solid sphere medium.

[0677] 2. Workflow:

[0678] 1. Based on the control signal, the piezoelectric ceramic drives the valve core to move rapidly, switching the direction of media flow.

[0679] 2. Built-in piezoelectric vibrating plate prevents the ball from accumulating at the valve core, ensuring smooth reversing.

[0680] Throttling valve

[0681] 1. Function: To regulate the flow rate of the solid sphere medium.

[0682] 2. Workflow:

[0683] 1. The system dynamically adjusts the cross-sectional size of the flow channel according to the flow demand to ensure precise control of the medium flow rate.

[0684] 2. The rotating gear ring and the piezoelectric vibrator work together to prevent the ball from accumulating at the throttle valve.

[0685] Overflow valve

[0686] 1. Function: Releases pressure when the system pressure exceeds the set value to protect system safety.

[0687] 2. Workflow:

[0688] 1. When the system pressure exceeds the set value, the solenoid cone valve opens quickly to release pressure.

[0689] 2. If the pressure continues to rise, the mechanical safety valve will activate to ensure that the system pressure does not exceed 550 MPa.

[0690] 3. Rotating screen and ultrasonic cleaning prevent the balls from clogging the pressure relief channel.

[0691] proportional control valve

[0692] Function: Precise flow / pressure regulation, accurately controlling the flow and pressure of solid spherical media under ultra-high pressure of 500MPa, achieving nanometer-level positioning accuracy (±0.05%FS) and millisecond-level response (8ms step response) for actuators (such as proportional cylinders and motors).

[0693] Workflow:

[0694] Step 1: Signal Input and Drive Response

[0695] Input command: Receive external control signals (such as 4-20mA or PWM) and analyze the target flow rate value (e.g., set the flow rate Q = 5L / min @ 500MPa).

[0696] Piezoelectric coarse adjustment: The piezoelectric stack (500N thrust) pushes the valve core to complete 90% stroke coarse positioning within 0.5ms, eliminating transmission backlash.

[0697] Step 2: Dynamic flow adjustment

[0698] Elastic flow channel deformation: The inner wall of the nickel-titanium alloy flow channel elastically contracts according to the pressure (P=500MPa), and the cross-sectional area adaptively decreases to 82% of the design value to match the target flow rate.

[0699] Magnetorheological fine-tuning: Applying a 0-2A current to the magnetorheological fluid damper increases the viscosity from 0.1 Pa·s to 1.2 Pa·s, achieving 10 nm-level micro-displacement correction of the valve core and eliminating flow deviation.

[0700] motor

[0701] 1. Function: Converts the energy of high-pressure solid media into rotational motion.

[0702] 2. Workflow:

[0703] 1. High-pressure solid medium drives the rotor to rotate, achieving high torque output.

[0704] 2. The anti-arch bridge mechanism prevents the medium from accumulating inside the motor, ensuring smooth rotation.

[0705] Summarize

[0706] This embodiment demonstrates the complete process from pump to actuator in an ultra-high pressure transmission system based on a solid spherical medium. The system achieves ultra-high pressure transmission down to 500 MPa through multi-stage pressure amplification, a dual-mode anti-bridging mechanism, and a gradient sealing structure, featuring zero leakage and millisecond-level response. The coordinated operation of all components ensures smooth flow of the solid medium within the system, avoiding bridging effects and meeting the application requirements of high power density and rapid response.

[0707] Application Scenario Example 1: Humanoid Robot Joint Drive System

[0708] System Overview

[0709] This embodiment demonstrates the application of an ultra-high pressure transmission system based on a solid spherical medium in the knee joint of a humanoid robot. The system achieves high torque density and rapid response through a high-hardness solid spherical medium, meeting the robot joint's requirements for compact size, high power density, and precise control.

[0710] System composition and workflow

[0711] Main pump (plunger pump)

[0712] 1. Workflow:

[0713] 1. Input mechanical energy drives the plunger to reciprocate, pushing the solid spherical medium from the low-pressure area to the high-pressure area.

[0714] 2. Piezoelectric vibrating pads prevent the ball from accumulating at the valve core, ensuring smooth flow of the medium.

[0715] Multi-stage pressure amplification module

[0716] 1. Workflow:

[0717] 1. The primary plunger pushes the low-pressure medium to the intermediate plunger, which in turn pushes it to the final plunger, thus amplifying the pressure step by step.

[0718] Sphere-fluid mixing medium channel

[0719] 1. Workflow:

[0720] 1. High-pressure solid spheres carry the medium through channels. The grease reduces friction, and the micro-dimples enhance lubricant adhesion, ensuring smooth medium transport.

[0721] Dual-mode anti-arch bridge mechanism

[0722] 1. Workflow:

[0723] 1. The system automatically switches the disturbance mode based on the pressure difference ΔP:

[0724] 1. ΔP < 2MPa: Low-speed geared agitator (200-500rpm).

[0725] 2. 2MPa≤ΔP≤5MPa: High-speed gear ring + intermittent vibration (1500-3000rpm, amplitude 2μm).

[0726] 3. ΔP>5MPa: Full power vibration + gear ring reverse (500rpm reverse, amplitude 5μm).

[0727] Gradient sealing structure

[0728] 1. Workflow:

[0729] 1. When high-pressure media passes through the sealing ring, the three-layer composite structure bears the pressure step by step to ensure zero leakage.

[0730] Solenoid directional valve

[0731] 1. Workflow:

[0732] 1. Based on the control signal, the piezoelectric ceramic drives the valve core to move rapidly, switching the direction of media flow.

[0733] 2. Built-in piezoelectric vibrating plate prevents the ball from accumulating at the valve core, ensuring smooth reversing.

[0734] Throttling valve

[0735] 1. Workflow:

[0736] 1. The system dynamically adjusts the cross-sectional size of the flow channel according to the flow demand to ensure precise control of the medium flow rate.

[0737] 2. The rotating gear ring and the piezoelectric vibrator work together to prevent the ball from accumulating at the throttle valve.

[0738] Proportional actuator

[0739] 1. Workflow:

[0740] 1. High-pressure solid medium drives the plunger to move linearly, achieving precise position control.

[0741] 2. Piezoelectric ceramic drive ensures precise control of plunger position, and anti-arching bridge mechanism prevents media from accumulating in the cylinder.

[0742] Summarize

[0743] This embodiment demonstrates the application of an ultra-high pressure transmission system based on a solid spherical medium in the knee joint of a humanoid robot. Through multi-stage pressure amplification, a dual-mode anti-arching mechanism, and a gradient sealing structure, the system achieves high torque density and rapid response, meeting the robot joint's requirements for compact size, high power density, and precise control.

[0744] Application Scenario Example 2: A hybrid solution of "core main pump + joint auxiliary pump" for humanoid robots:

[0745] Core main pump:

[0746] Located in the middle of the torso, it provides basic pressure (100-200MPa) and uses a three-stage plunger assembly to achieve high-pressure conversion.

[0747] Joint pump:

[0748] Each joint has a built-in miniature piezoelectric pump (Φ10×15mm) to provide secondary pressure boosting to the pipeline (200→500MPa). Synergistic advantages:

[0749] Reduce the pressure level of the main pipeline to decrease the risk of leakage.

[0750] Precise joint-level pressure control with a response time of <5ms

[0751] II. Bionic Pipeline Topology Design (Solving the Problem of Bending Deformation)

[0752] 1. Vascular fractal flow channel structure

[0753] Fractal parameters:

[0754] Main flow channel Φ6mm → First-level branch Φ3mm (fractal dimension D=1.26)

[0755] Curvature radius adapts to joint movement (root R = 10mm → distal R = 3mm)

[0756] Flexural strength enhancement:

[0757] Shape memory alloy wires (NiTi, Φ0.1mm) are embedded in the flow channel wall, generating prestress to resist collapse when bent.

[0758] 2. Dynamic flow channel self-cleaning mechanism

[0759] Piezoelectric traveling wave excitation:

[0760] A PZT-5H piezoelectric element (20×5×0.2mm) is mounted on the surface of the flow channel to excite a 10kHz traveling wave.

[0761] Amplitude 2μm → generates local shear rate Triggering lubricant shear thinning

[0762] Energy consumption: <15W per meter of flow channel

[0763] Magnetically controlled nanoballs:

[0764] Fe3O4-coated nanospheres (D=100nm) were added to the lubricating grease, and an external magnetic field was used to guide them to remove deposits from the pipe wall.

[0765] 3. Measured data of mechanical properties

[0766] Test conditions performance indicators

[0767] Bending radius 3mm, 10 cycles 6 Secondary channel cross-sectional area loss <0.5%

[0768] The increase in pressure drop when bending 90° under 500MPa pressure is approximately 1.2MPa (compared to approximately 8MPa for conventional pipes).

[0769] Pressure stabilization time for sudden load change (0→500MPa): 8ms

[0770] III. Joint Actuator Integration Solution

[0771] 1. Compact solid-state actuator design

[0772] Structural parameters:

[0773] A Φ25×40mm cylinder containing:

[0774] Three-stage plunger assembly (Φ8 / 2.4 / 0.8mm)

[0775] piezoelectric ceramic actuator (d 33 =650pm / V)

[0776] Distributed anti-arch bridge gear ring (0.3mm thickness)

[0777] Output performance:

[0778] Stroke ±15mm, resolution 0.1μm

[0779] Peak thrust: 12 kN (@500 MPa)

[0780] Weight 180g, power density 66.7kN / kg

[0781] 2. Thermal-mechanical coupling management

[0782] Microchannel heat dissipation:

[0783] Laser-machined microgrooves (50μm wide, 30μm deep) on the plunger surface can maintain ΔT < 5℃ with a coolant flow rate of 0.1L / min.

[0784] Phase change material buffer:

[0785] The actuator housing is filled with paraffin / graphene composite material (latent heat 200 J / g) to absorb pressure impact energy.

[0786] 3. Dynamic sealing solution

[0787] Main seal:

[0788] Gradient silicon carbide sealing rings (hardness gradually changes from 90 Shore A to 75 HRC)

[0789] Secondary seal:

[0790] Magnetohydrodynamic seal (pressure resistant 200MPa, zero friction loss)

[0791] Leakage rate:

[0792] <1×10-6 mL / min (helium mass spectrometry leak detection)

[0793] IV. Typical Application: Layout of Humanoid Robot Power System

[0794] 1. System Architecture

[0795] Core main pump:

[0796] Placed in the middle of the chest cavity, it outputs 200MPa pressure, has a power of 3kW, and weighs 0.8kg.

[0797] Main pipeline:

[0798] The fractal flow channels connect to 6 major joints (2 in the waist, 2 in the shoulder, and 2 in the hip).

[0799] Joint module:

[0800] Each joint has built-in:

[0801] Miniature booster pump (200→500MPa)

[0802] Solid-state actuator (Φ25×40mm)

[0803] Local control unit (FPGA + piezoelectric sensor)

[0804] 2. Performance Indicators

[0805] Parameter values

[0806] The overall power density is 4.2 kW / kg (including structural components).

[0807] Peak torque per joint: 540 Nm (knee joint, weight 2.1 kg)

[0808] Dynamic response delay from torso to fingertips ≈ 12ms

[0809] Continuous working time: 2 hours (equipped with a 1kWh solid-state battery)

[0810] 3. Advantages compared to traditional solutions

[0811] Weight reduction: 58% lighter than a motor + reducer system of equivalent torque.

[0812] Energy recovery: 35% energy regeneration is achieved through pressure energy recovery during braking.

[0813] Environmental adaptability: Can work directly underwater at a depth of 1000m or in a vacuum environment.

[0814] V. Extreme Scenario Verification

[0815] 1. Extreme bending test

[0816] Condition: The robotic arm swings at a frequency of 5Hz with a bending radius of R=3mm.

[0817] result:

[0818] 10 6 Flow rate decreases by less than 3% after each cycle.

[0819] No particulate deposits or seal failure

[0820] 2. Ultra-high pressure impact test

[0821] Input: Pressure increases from 0 to 600 MPa within 0.1 ms (simulating a collision condition)

[0822] result:

[0823] The pressure sensor recorded a peak pressure of 603 MPa, with an overshoot of 0.5%.

[0824] The sealing system showed no leakage, and the structural components showed no plastic deformation.

[0825] 3. Multi-degree-of-freedom coordination test

[0826] Task: A seven-DOF robotic arm completes a high-speed grasping operation (Δt = 0.5s).

[0827] performance:

[0828] Synchronization error of pressure at each joint < ±0.8MPa

[0829] End-point trajectory tracking error ±0.15mm

[0830] in conclusion

[0831] This patented system, through a hybrid architecture of "core boosting + joint fine-tuning," perfectly adapts to the dynamic bending requirements of robot joints while maintaining high power density.

[0832] Fractal flow channels + traveling wave cleaning fundamentally solve the problem of blockage in long pipelines.

[0833] Miniature joint pumps achieve precise local pressure control, reducing latency to 1 / 5 of that of electromechanical systems.

[0834] The compact design of solid-state actuators frees multi-degree-of-freedom robots from the constraints of traditional transmission layouts. This design philosophy, much like the "heart blood supply + capillary fine-tuning" mechanism of a living organism, achieves a fusion of the advantages of centralized and distributed systems in engineering, setting a new technological benchmark for the next generation of high-performance robots.

[0835] This patent employs three strategies—mechanical design optimization (tooth profile / vibration coupling), material innovation (gradient hardness), and energy recycling (piezoelectric recovery)—to achieve an arch-breaking power consumption of <60W under ultra-high pressure of 500MPa, resulting in 79% energy savings compared to traditional solutions. Its core lies in precisely disrupting the force chain rather than brute force, providing a feasible low-power solution for ultra-high pressure solid-medium transmission. Solid-medium drive systems represent a revolutionary direction in transmission technology; their ultra-high pressure capability and zero-leakage characteristics will usher in the next generation of high-power-density drives.

Claims

1. A high-pressure transmission system based on a solid spherical medium, characterized in that, The structure includes pumps and / or valves and / or actuators and / or other devices; the transmission system includes the following core modules or any combination thereof:

1. A multi-stage pressure amplification module, preferably, the multi-stage pressure amplification module refers to amplifying pressure through plungers; preferably, the pressure amplification through plungers structurally includes a three-stage plunger group; preferably, the diameter ratio of the three-stage plunger group is 10:3:1, the diameter of the last stage plunger is 0.8mm, the theoretical pressure amplification ratio is 113:1, and the plunger surface is coated with diamond-like carbon (DLC) coating with a friction coefficient ≤0.02; 2. A sphere-fluid mixing medium channel, preferably comprising hard spheres and a lubricant; preferably, the hard spheres and lubricant refer to tungsten carbide spheres and perfluoropolyether grease; preferably, the sphere volume accounts for 70%; preferably, the sphere surface is laser-processed with micro-dimples; 3. A dual-mode anti-arch bridge mechanism, comprising a mechanical disturbance unit and / or a piezoelectric vibration unit, wherein preferably the mechanical disturbance unit is driven by a hollow motor with an involute gear ring and stepless speed adjustment; preferably the piezoelectric vibration unit uses a piezoelectric sheet and the control strategy is based on a fuzzy PID algorithm of pressure difference ΔP.

4. Gradient sealing structure, preferably the inner layer of the gradient sealing structure is fluororubber, the middle layer is polyetheretherketone, and the outer layer is a metal bellows, with the sealing pressure threshold increasing layer by layer.

2. The ultra-high pressure transmission system according to claim 1, characterized in that, The plunger assembly of the multi-stage pressure amplification module adopts a thermal expansion matching design and / or laser microtexturing on the plunger surface.

3. The ultra-high pressure transmission system according to claim 1, characterized in that, The dual-mode anti-arch bridge mechanism employs different control strategies based on different pressure differentials; preferably, it includes the following mode switching logic:

1. When the pressure difference ΔP < 2MPa, a low-speed gear ring stirring mode is adopted, with the preferred gear ring speed being 200-500rpm and the piezoelectric amplitude being 0μm; 2. When the pressure difference ΔP is 2-5MPa, a high-speed gear ring + intermittent vibration mode is adopted, with the preferred gear ring speed being 1500-3000rpm and the piezoelectric amplitude being 2μm; 3. When the pressure difference ΔP>5MPa, the full-power vibration + gear ring reverse mode is adopted, with the preferred gear ring speed being 500rpm in reverse and the piezoelectric amplitude being 5μm.

4. The ultra-high pressure transmission system according to claim 1, characterized in that the valve includes an electromagnetic directional valve and / or a throttle valve and / or a relief valve and / or a flow divider valve and / or a multi-way directional valve and / or a proportional control valve and / or a load-sensitive multi-way valve; the actuator includes a servo swing cylinder and / or a proportional actuator cylinder and / or a linear cylinder and / or a motor and / or a proportional actuator; the other devices include an intelligent pressure compensator and / or a composite drive valve core. The electromagnetic directional valve is characterized by comprising the following features or any combination of the following features:

1. Valve core type: Conical valve core + elastic sealing sleeve; preferably, the valve core cone angle is 60°, the surface is coated with diamond-like carbon (DLC), the coefficient of friction is ≤0.02, and the sealing sleeve is made of gradient polyurethane (hardness 70A→90A gradient) with a compression ratio of 30%.

2. Drive mechanism: piezoelectric ceramic stack drive; preferred displacement amplification ratio 10:1, thrust ≥500N, response time 0.2ms, withstand pressure 600MPa; 3. Redundant sealing: The preferred main seal is a metal bellows (Inconel 718), and the secondary seal is a magnetohydrodynamic seal (pressure resistant 200MPa); And / or the throttle valve, characterized in that it includes the following features or any combination of the following features:

1. Elastic deformation flow channel: The inner wall lining of the valve body is preferably made of super-elastic nickel-titanium alloy, which adapts to the size of the ball through elastic deformation; 2. Anti-clogging structure: integrated rotating gear ring and / or piezoelectric vibrating plate, preferably with stepless speed adjustment of the gear ring, and / or tooth height of 0.5mm and / or piezoelectric plate resonant frequency of 50kHz and / or amplitude of 0-3μm; 3. Control strategy: Closed-loop control based on flow sensor feedback is preferred, the valve core position is adjusted in real time, and the feedforward compensation algorithm dynamically adjusts the flow rate according to the ball concentration. And / or the overflow valve, characterized in that it includes the following features or any combination of the following features:

1. Two-stage pressure relief structure: The preferred first-stage pressure relief uses a solenoid cone valve for rapid response, while the second-stage pressure relief uses a mechanical safety valve; 2. Anti-particle jamming design: The pressure relief channel inlet is preferably equipped with a rotating screen and / or the screen surface is ultrasonically cleaned; 3. Control logic: Preferred triggering is based on the rate of pressure change; And / or the flow divider valve, characterized in that it includes the following features or any combination of the following features:

1. Flow channel optimization: Y-type and / or T-type flow splitting structure and / or diamond coating on the inner wall of the flow channel and / or gradient flow channel cross-section design are preferred; 2. Anti-clogging mechanism: preferably with built-in rotating gear ring and / or piezoelectric vibrating plate; Control strategy: Closed-loop control based on flow sensor feedback, with a preferred feedforward compensation algorithm to dynamically adjust the diversion parameters according to the sphere concentration; And / or the multi-way directional valve, characterized in that it includes the following features or any combination of the following features:

1. Valve core type: rotary spool valve and / or conical valve core, preferably with a slotted valve core design and / or DLC coating on the surface and / or a coefficient of friction ≤0.02; 2. Drive mechanism: piezoelectric ceramic stack drive, preferably with a displacement amplification ratio of 10:1, thrust ≥500N, and response time <0.2ms; Anti-clogging design: The valve core has a built-in piezoelectric vibrating plate and / or a rotating screen is installed at the inlet of the reversing channel; And / or the proportional control valve, characterized in that it includes the following features or any combination of the following features:

1. Valve core type: conical valve core and / or rotary spool valve, preferably with DLC coating on the valve core surface and / or a coefficient of friction ≤0.02; 2. Drive mechanism: Voice coil motor drive; Flow regulation mechanism: elastic deformable flow channel and / or valve body inner wall lining preferably ultra-elastic nickel-titanium alloy and / or integrated rotary gear ring and piezoelectric vibrating plate; And / or the load-sensitive multi-way valve, characterized in that it includes the following features or any combination of the following features:

1. Flow regulation mechanism: The elastically deformable flow channel and / or the inner wall lining of the valve body are preferably made of ultra-elastic nickel-titanium alloy, which adapts to the size of the ball through elastic deformation; 2. Load-sensitive control: Feedback control based on pressure sensors, with a feedforward compensation algorithm that dynamically adjusts the flow rate according to the concentration of the spheres and the rate of pressure change; Anti-clogging design: Laser micro-textured flow channel inner wall and / or built-in piezoelectric vibrating sheet to prevent particle accumulation; And / or the servo swing motion cylinder, characterized in that it includes the following features or any combination of the following features:

1. Oscillating conversion mechanism: preferably a three-stage planetary roller screw with a lead of 0.5mm, a screw diameter of 8mm, and a theoretical transmission efficiency of 92%; 2. Anti-arch bridge flow channel optimization: Helical involute flow channel, with the curvature radius gradually changing from 5mm at the inlet to 2mm at the outlet to reduce local pressure drop; Gradient sealing system: The rotary seal assembly consists of an inner PTFE-impregnated graphite ring and an outer silicon carbide ceramic ring; And / or the proportional actuator, characterized in that, Includes the following features or any combination of features:

1. Pressure-displacement composite control: Dual closed-loop control architecture, preferably using a piezoelectric pressure sensor in the inner loop and a laser interferometric displacement sensor in the outer loop; 2. Variable stiffness actuator: The preferred elastic accumulator uses a nickel-titanium alloy bellows and / or achieves online stiffness adjustment through PWM-controlled magnetorheological fluid damping; Intelligent throttling module: Preferred asymmetric flow channel design, with a preferred width of 1.5D for the extended side flow channel and 1.0D for the retracted side flow channel, and integrated piezoelectric vibrating plate; And / or the linear cylinder, characterized in that it includes the following features or any combination of the following features:

1. Cylinder block design: The material is tungsten carbide cemented carbide and / or the surface is coated with diamond-like carbon (DLC) and / or the coefficient of friction is ≤0.02; 2. Plunger design: The material is maraging steel and / or surface coated with diamond-like carbon (DLC), preferably with a plunger diameter of 0.8 mm to 10 mm, and the surface is laser-textured to reduce friction; 3. Drive mechanism: piezoelectric ceramic stack drive, preferably with a displacement amplification ratio of 10:1, thrust ≥500N, response time 0.2ms, and withstand pressure of 600MPa; 4. Anti-arch bridge mechanism: including a mechanical disturbance unit and / or a piezoelectric vibration unit, preferably the mechanical disturbance unit is driven by a hollow motor to drive an involute gear ring, and the piezoelectric vibration unit uses a piezoelectric sheet; 5. Gradient sealing structure: preferably a three-layer composite sealing ring; preferably an inner layer of fluororubber, a middle layer of polyetheretherketone, and an outer layer of metal bellows. And / or the motor, characterized in that it includes any combination of the following features:

1. Housing design: The material is tungsten carbide cemented carbide, preferably with a diamond-like carbon (DLC) coating on the surface; 2. Rotor design: The material is maraging steel and / or the surface is coated with diamond-like carbon (DLC) and / or the blade shape is an involute tooth profile optimized, with the preferred tooth tip ingress angle θ = 45°; 3. Drive mechanism: piezoelectric ceramic stack drive, preferably with a displacement amplification ratio of 10:1, thrust ≥500N, response time 0.2ms, and withstand pressure of 600MPa; 4. Anti-arch bridge mechanism: including a mechanical disturbance unit and / or a piezoelectric vibration unit, preferably the mechanical disturbance unit is driven by a hollow motor to drive an involute gear ring, and the piezoelectric vibration unit uses a piezoelectric sheet; 5. Gradient sealing structure: preferably a three-layer composite sealing ring, preferably an inner layer of fluororubber, a middle layer of polyetheretherketone, and an outer layer of metal bellows. And / or the proportional actuator, characterized in that it includes the following features or any combination of features:

1. Drive module: Multi-stage pressure amplification module, preferably a three-stage plunger assembly; 2. Execution module: Proportional control mechanism, using an integrated design of rotary gear ring and / or piezoelectric vibrator; 3. Control Modules: Solenoid directional valve; Throttle valve; Relief valve; And / or the intelligent pressure compensator, characterized in that it includes the following features or any combination of the following features:

1. Nonlinear spring assembly: Employs dual-stiffness springs, automatically switched via a cam mechanism, to compensate for nonlinear changes in the flow resistance of solid media; 2. Decoupling structure of flow channels: Each branch flow channel adopts an independent spiral guide vane, which separates the particle flow through centrifugal force and reduces multi-path coupling interference; 3. Control strategy: A decoupled adaptive algorithm based on particle concentration-pressure-flow transfer function is used to achieve high-precision pressure-flow matching. And / or the composite drive valve core, characterized in that it includes the following features or any combination of the following features:

1. Piezoelectric coarse adjustment + magnetorheological fine adjustment: The preferred piezoelectric stack provides high thrust (500N@200V) to complete 90% stroke coarse positioning (response time 0.5ms), and the magnetorheological fluid damper achieves nanometer-level fine adjustment (resolution 10nm), and the viscosity is controlled by current (0.1-1.2Pa·s); 2. Valve core surface microtexture: laser-processed diamond-shaped grooves; Self-cleaning flow channel: piezoelectric film embedded in the flow channel; And / or the pump is preferably a plunger pump and / or a piezoelectric ceramic pump, the plunger pump being characterized by comprising any combination of the following features:

1. Plunger-cylinder assembly: The material is tungsten carbide cemented carbide and / or surface laser microtexturing; 2. Inlet / outlet valve: A ball-guided valve is adopted, preferably with a valve seat inclination angle of 45°, to guide the ball in the tangential direction and / or the valve core has a built-in piezoelectric vibrating plate to prevent accumulation; Variable control technology: electronic swashplate adjustment, voice coil motor drive; The piezoelectric ceramic pump is characterized by comprising the following features or any combination of the following features:

1. Piezoelectric materials: Relaxor ferroelectric single crystals; 2. Layered structure: Ultra-multilayer silver / graphene composite electrode; 3. Displacement amplification mechanism: flexible beryllium bronze diaphragm + diamond-like carbon (DLC) coating, with an area amplification ratio preferably of 5:1; 4. High-pressure cavity: Tungsten carbide cemented carbide, preferably laser polished; 5. Sealing system: gradient seal and / or magnetohydrodynamic assisted seal; the gradient seal is preferably an outer layer of fluororubber and / or a middle layer of polyimide and / or an inner layer of silicon carbide.

5. According to claim 4 The electromagnetic directional valve is characterized in that, The grooved design of the valve core allows the ball to roll as it passes through, and the groove is embedded with magnetic material to adsorb iron powder in the lubricant and form a protective film. And / or the linear cylinder, characterized in that the control strategy of the anti-arch bridge mechanism is based on the fuzzy PID algorithm of pressure difference ΔP, and dynamically switches the disturbance mode, including low-speed gear ring stirring, high-speed gear ring + intermittent vibration and full-power vibration + gear ring reverse mode. And / or the motor described above, characterized in that the number of rotor blades is 2-4, designed according to torque requirements, and the tooth tips are coated with tungsten carbide DLC coating and / or the tooth roots are made of martensitic aging steel to resist bending fracture. And / or the proportional actuator, characterized in that the rotating gear of the proportional control mechanism has a tungsten carbide tip coated with DLC coating and / or a martensitic aging steel root resistant to bending fracture, and the piezoelectric vibrating plate is placed in the stress concentration area of ​​the channel sidewall.

6. The control method for an ultra-high pressure transmission system according to claims 1-5 or any one of them and / or any combination thereof, is characterized in that, Includes the following steps or any combination thereof:

1. Pressure amplification control: Pressure amplification is preferably achieved through a three-stage plunger assembly; 2. Anti-arch bridge control: Based on the fuzzy PID algorithm of pressure difference ΔP, dynamically switching between mechanical disturbance and piezoelectric vibration modes; 3. Sealing control: A three-layer composite sealing ring is preferred, consisting of an inner layer of fluororubber, a middle layer of polyetheretherketone, and an outer layer of metal bellows; 4. Flow control: Closed-loop control based on flow sensor feedback, with a preferred feedforward compensation algorithm to dynamically adjust the flow rate according to the sphere concentration; The preferred control method is characterized in that the anti-arch bridge control mode includes low-speed gear ring stirring, high-speed gear ring + intermittent vibration and full-power vibration + gear ring reverse mode, which are dynamically switched according to the pressure difference ΔP; And / or a method for manufacturing an ultra-high pressure transmission system, characterized in that it includes the following steps or any combination thereof:

1. Plunger assembly manufacturing: using tungsten carbide cemented carbide and / or surface laser microtexturing; 2. Sealing ring manufacturing: Preferably, a three-layer composite structure is adopted, with an inner layer of fluororubber, a middle layer of polyetheretherketone, and an outer layer of metal bellows; 3. Anti-arch bridge mechanism manufacturing: hollow motor driven involute gear ring and / or integrated piezoelectric sheet; The preferred manufacturing method is characterized in that the sealing ring is manufactured using 3D printing technology, with the inner fluororubber layer, the middle polyether ether ketone layer and the outer metal bellows layer stacked layer by layer to ensure that the sealing pressure threshold reaches 600MPa; And / or an energy-saving method for an ultra-high pressure transmission system, characterized in that it includes the following steps or any combination thereof:

1. Energy recovery: Through piezoelectric energy recovery and regenerative braking technology, the kinetic energy of the ball colliding with the gear ring and the kinetic energy of the gear ring during deceleration are converted into electrical energy; 2. Low-power arch breaking: Arch breaking is achieved through the directional destruction of the force chain of the rotating gear ring and the modulation of the friction coefficient of piezoelectric vibration; 3. Intelligent control: Based on the adaptive PID algorithm of particle swarm optimization (PSO), the pressure-displacement gain is dynamically adjusted to reduce system energy consumption. Preferably, the energy-saving method is characterized in that the energy recovery system uses supercapacitor energy storage; And / or a material optimization method for an ultra-high pressure transmission system, characterized by comprising the following steps or any combination thereof:

1. Optimization of sphere material: Use tungsten carbide or silicon nitride ceramic spheres; 2. Optimized sealing materials: Adopting a gradient hardness design, the inner layer is selected as fluororubber + carbon nanotube, the middle layer is polyimide + molybdenum disulfide, and the outer layer is silicon carbide fiber reinforced PEEK, which improves sealing performance and wear resistance.

3. Optimization of flow channel materials: Adopting super-elastic nickel-titanium alloy and / or biomimetic shark skin structure; Preferably, the material optimization method is characterized in that the spherical material is produced by batch sintering technology; And / or a modular design method for an ultra-high pressure transmission system, characterized by comprising the following steps or any combination thereof:

1. Pump-valve-actuator integrated unit: Preferably, a multi-stage pressure amplification module and / or a solenoid directional valve and / or a proportional actuator are integrated into the same unit to reduce connecting parts and leakage points; 2. 3D Printing Flow Channel Optimization: By using 3D printing technology to create complex flow channel structures, the internal geometry is optimized, and pressure drop is reduced; 3. Standardized interface design: Adopting a unified interface standard facilitates system expansion and maintenance; Preferably, the modular design method is characterized in that the pump-valve-actuator integrated unit adopts a tungsten carbide hard alloy housing; And / or a method for adapting an ultra-high pressure transmission system to extreme environments, characterized by comprising the following steps or any combination thereof:

1. Vacuum adaptability: It uses solid medium transmission, eliminating the need to consider liquid vaporization issues, making it suitable for space robotic arms and Mars rover joints; 2. Deep-sea adaptability: Utilizing tantalum carbide spheres and Inconel seals, it withstands pressure up to 60MPa and is suitable for deep-sea robotic arms; 3. High temperature adaptability: It adopts tantalum carbide spheres with a temperature resistance of 2,000℃ and shape memory alloy seals, making it suitable for high-temperature industrial scenarios; Preferably, the extreme environment adaptability method is characterized in that the vacuum adaptability system achieves stable operation in a zero-gravity environment through magnetorheological fluid-assisted lubrication; And / or an intelligent control method for an ultra-high pressure transmission system, characterized by comprising the following steps or any combination thereof:

1. Multimodal control algorithm: The coarse adjustment stage adopts position-feedforward-based Bang-Bang control, and the fine adjustment stage adopts H∞ robust control to suppress particle impact disturbances; 2. Predictive pressure relief: Preferably, the pressure relief valve is triggered in advance based on the pressure change rate (dP / dt) to prevent pressure overshoot; 3. Adaptive flow regulation: The flow parameters are adjusted in real time based on the particle concentration-pressure-flow transfer function to ensure stable system operation; The preferred intelligent control method is characterized in that the mathematical model of the multimodal control algorithm is preferably: X(s)U(s)=5.6×10⁴s²+220s+1.2×10⁵U(s)X(s)=s²+220s+1.2×10⁵5.6×10⁴ Achieve a bandwidth greater than 200Hz to ensure fast system response; And / or a safety protection method for an ultra-high pressure transmission system, characterized by comprising the following steps or any combination thereof:

1. Two-stage pressure relief structure: The preferred first-stage pressure relief uses a solenoid cone valve for rapid response, while the second-stage pressure relief uses a mechanical safety valve; 2. Overload protection: Preferably, the system pressure is monitored in real time by a pressure sensor, and the machine automatically shuts down when the pressure exceeds the set threshold; The preferred safety protection method is characterized in that the pressure relief capacity of the dual-stage pressure relief structure is 5L / min@500MPa, and the reset accuracy is ±0.3MPa, ensuring the safe operation of the system; And / or a performance optimization method for an ultra-high pressure transmission system, characterized by comprising the following steps or any combination thereof:

1. Vibration-stress coupling simulation: COMSOL multiphysics simulation is preferred to optimize the piezoelectric element position and improve vibration energy utilization by 30%; 2. Flow channel geometry optimization: The spiral involute flow channel is preferred, with the radius of curvature gradually changing from 5mm at the inlet to 2mm at the outlet to reduce local pressure drop; 3. Material surface treatment: preferably through laser microtexturing and diamond-like carbon (DLC) coating; Preferably, the performance optimization method is characterized in that the flow channel geometry optimization is verified through CFD simulation; And / or a cost control method for an ultra-high pressure transmission system, characterized by comprising the following steps or any combination thereof:

1. Large-scale production: Tungsten carbide spheres are produced through batch sintering technology; 2. Alternative material application: Silicon nitride ceramic spheres are used; 3. Modular design: Reduces connecting parts and leakage points, lowering manufacturing and maintenance costs; The preferred cost control method is characterized in that the large-scale production technology adopts an automated production line to improve production efficiency and reduce labor costs.

7. The multi-stage pressure amplification module according to claim 1, characterized in that, Its pressure amplification mechanism is achieved through the following effects: directional transmission of force chain network and / or geometric constraint enhancement. Preferably, the geometric constraint enhancement refers to the presence of a micro-convex structure on the plunger end face and / or the use of a conical transition design and / or shear thinning for pressure transmission in the cavity.

8. The ultra-high pressure transmission system according to claim 1, characterized in that... The plunger end integrates a piezoelectric ceramic ring and / or an ultra-high pressure transmission system using acoustic force chain guidance.

9. The ultra-high pressure transmission system according to claim 1, characterized in that... The other components include a media buffer chamber; the buffer chamber on the side near the main pump adopts a hyperbolic conical flow channel, preferably with laser-polished inner walls and coated with diamond-like carbon (DLC); and / or adopts an anti-arching mechanism, the anti-arching mechanism preferably integrating a piezoelectric vibrating ring and / or a rotating gear ring; and / or The buffer chamber employs an intelligent grease management system, which refers to a viscosity dynamic control and / or temperature compensation module; and / or the buffer chamber includes a media injection mechanism, which refers to a magneto-mechanical coupled spiral conveyor and / or a piezoelectric shock wave injector, preferably the magneto-mechanical coupled spiral conveyor is used to magnetize and drive the medium, and preferably the piezoelectric shock wave injector is used to drive the medium via piezoelectricity.

10. The ultra-high pressure transmission system according to claim 1, characterized in that... The solid medium refers to tungsten carbide particles coated with Fe3O4; and / or the solid medium is driven by mechanical-vibration synergy and / or by piezoelectric high-frequency vibration and / or by electromagnetic-mechanical coupling suspension transport and / or acoustic suspension directional transmission and / or biomimetic peristaltic wave drive.

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