Static pressure supporting servo actuator

Abstract

The invention discloses a static pressure supporting servo actuator, and relates to the technical field of servo actuators, the static pressure supporting servo actuator comprises a piston cylinder barrel, a control valve is fixedly connected to the outer side of the piston cylinder barrel, a piston rod is arranged in the piston cylinder barrel, oil injection ports are formed in the two ends of the interior of the piston cylinder barrel, the static pressure supporting servo actuator further comprises a piston, and the piston is fixedly connected to the outer side of the piston rod; the piston is slidably connected with the inner wall of the piston cylinder barrel, fixing columns are fixedly connected to the two sides of the piston, when high-pressure oil flows in the piston cylinder barrel, scrap iron powder in the piston cylinder barrel can be adsorbed into the groove through a magnet ring, and after the high-pressure oil on one side of the piston is discharged, the scrap iron powder extends into the groove through a cleaning mechanism in a rotating ring; and after adsorption is completed, the scrap iron is contracted into the fixing ring frame and collected through the discharging mechanism, the scrap iron is taken out from the interior of the piston cylinder barrel, and the situation that the device needs to be paused and disassembled during cleaning is avoided.

Description

Technical Field

[0001] This invention relates to the field of servo actuator technology, and in particular to a hydrostatic support servo actuator. Background Technology

[0002] The function of an actuator is to apply control force to the controlled object according to a defined control law. With the development of active vibration control technology, the requirements for actuators are becoming increasingly stringent. In recent years, based on traditional fluid actuators, gas actuators, and electrical actuators, various intelligent actuators have been researched and developed, such as piezoelectric ceramic actuators, piezoelectric thin film actuators, electrostrictive actuators, magnetostrictive actuators, shape memory alloy actuators, servo actuators, and electrorheological fluid actuators. The emergence of these actuators provides the necessary conditions for achieving high-precision active vibration control.

[0003] Referring to the hydrostatic support servo actuator disclosed in patent application CN213628270U, ​​which includes a piston cylinder, piston rod, front ball joint seat, and rear ball joint seat, this utility model, by setting a hydrostatic bearing between the piston rod and the helical locking washer, allows the piston rod to move at a microspeed without crawling or sticking, reduces friction, improves sensitivity, and increases vibration frequency. The helical locking washer 7 can eliminate axial clearance and lock the piston, making operation convenient and ensuring stable and reliable operation. By setting an installation sleeve inside the piston cylinder, with several evenly distributed equalizing oil grooves on the inner surface of the installation sleeve, the piston can be prevented from jamming, and oil can be stored for lubrication. Moreover, the piston can move without a piston seal ring, thus enabling frictionless movement. The piston rod has a hollow interior and is covered with a protective layer made of chromium, which reduces the inertia of the piston rod and increases its service life.

[0004] In the field of precision hydraulic equipment, hydrostatic support servo actuators achieve frictionless motion through high-pressure oil film. However, the iron filings generated during long-term operation have the following limitations of traditional technology: external filters can only intercept iron filings in flowing oil and cannot effectively remove solid particles (especially 5-50μm micron-sized iron filings) deposited on the inner wall of piston cylinder (1), resulting in oil film thickness fluctuations of more than ±15μm, causing excessive vibration and wear of seals; existing solutions require shutdown and disassembly of cylinder body, with an average maintenance time of 4 to 8 hours, and repeated disassembly and assembly will aggravate the loss of precision of mating surfaces, shortening the equipment life; during manual cleaning, iron filings are easily spread to other areas of the hydraulic system, causing chain failures such as servo valve jamming.

[0005] Therefore, it is necessary to provide a hydrostatic support servo actuator to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to provide a hydrostatic support servo actuator to solve the problems of the prior art mentioned in the background section.

[0007] Based on the above ideas, the present invention provides the following technical solution: a hydrostatic support servo actuator, comprising a piston cylinder, a control valve fixedly connected to the outside of the piston cylinder, a piston rod disposed inside the piston cylinder, and oil injection ports disposed at both ends inside the piston cylinder, and further comprising: The piston is fixedly connected to the outside of the piston rod and slidably connected to the inner wall of the piston cylinder. Fixed columns are fixedly connected to both sides of the piston. An annular groove is opened on the outside of the fixed column, and a magnetic ring is fixedly connected inside the annular groove to attract iron filings in the hydraulic oil. Two fixed ring frames are fixedly connected to the two ends inside the piston cylinder. A rotating sleeve is rotatably connected to the inside of each fixed ring frame. The rotating sleeve and the fixed ring frame form a sealed space. A rotating ring is rotatably connected inside the fixed ring frame. Multiple cleaning mechanisms are provided inside the rotating ring. Discharge mechanisms are provided on both sides of each cleaning mechanism. When the cleaning mechanism attracts iron filings from the outside of the magnet ring, they are collected by the discharge mechanism.

[0008] As a further aspect of the present invention: the cleaning mechanism includes an electric push rod, which is fixedly connected to the inner wall of the rotating ring. A sliding plate is fixedly connected to the telescopic end of the electric push rod. The sliding plate passes through the rotating sleeve and is slidably connected to the rotating sleeve. A sealing plate is fixedly connected to the bottom of the sliding plate for fitting against the inner side of the rotating sleeve. Collection grooves are provided on both sides of the sliding plate. An electromagnet plate and an inflatable airbag are fixedly connected in sequence inside the collection groove. The electromagnet plate attracts iron filings when energized. An energizing component is provided between both sides of the sliding plate and the rotating sleeve. An inflation component is provided inside the fixed ring frame. When the sliding plate contracts to between the fixed ring frame and the rotating sleeve, the inflation component inflates the inflatable airbag.

[0009] As a further aspect of the present invention: the energizing component includes a fixing plate, which is fixedly connected to the outside of the sliding plate. A tactile switch is fixedly connected to the bottom of the rotating sleeve. A pressing rod is provided at the bottom of the fixing plate. A first telescopic rod and a second spring are fixedly connected between the pressing rod and the fixing plate. When the pressing rod contacts the tactile switch, the electromagnet plate is energized. When the sliding plate retracts into the fixed ring frame, the pressing rod separates from the tactile switch.

[0010] As a further aspect of the present invention: the inflatable component includes a fixed frame, which is fixedly connected to the inner side of the rotating ring. A compression plate is provided inside the fixed frame, and a push rod is fixedly connected to the bottom of the compression plate. The push rod passes through the fixed frame and is slidably connected to the fixed frame. A first spring is sleeved on the outside of the push rod. A collecting airbag is fixedly connected between the compression plate and the top of the inside of the fixed frame. The collecting airbag is filled with gas. Two connecting pipes are fixedly connected to the outside of the collecting airbag, and the two connecting pipes are respectively fixedly connected to the inflatable airbag.

[0011] As a further aspect of the present invention: the discharge mechanism includes a collection ring frame, which is fixedly connected to the outside of the rotating sleeve, and a connecting frame is fixedly connected to the outside of the collection ring frame. The connecting frame is disposed on one side of the inflatable airbag and is in contact with the sliding plate. The connecting frame is connected to the collection ring frame, and an external toothed ring is rotatably connected to one side of the collection ring frame.

[0012] As a further aspect of the present invention: the discharge mechanism further includes multiple magnetic balls, multiple actuating rods are disposed between the collection ring frame and the outer toothed ring, and multiple actuating rods are fixedly connected to one side of the outer toothed ring for dividing the multiple actuating rods. The magnetic balls are all magnetic, and when iron filings fall into the interior of the connecting frame, the iron filings are attracted by the magnetic balls.

[0013] As a further embodiment of the present invention: an external gear ring is fixedly connected to the outer side of the rotating ring, a through groove is opened on the outer side of the fixed ring frame, a first gear is arranged inside the through groove, the first gear meshes with the external gear ring, and a protective cover is fixedly connected to the outer side of the rotating ring, the first gear is arranged inside the protective cover, a drive motor is arranged inside the protective cover, and the output shaft of the drive motor is fixedly connected to the first gear.

[0014] As a further embodiment of the present invention: an internal gear ring is fixedly connected to the inner side of the rotating ring, a second gear is meshed with the inner side of the internal gear ring, a transmission rod is fixedly connected to one side of the second gear, the transmission rod is rotatably connected to the inner side of the fixed ring frame, and a third gear is fixedly connected to the outer side of the transmission rod, the third gear meshing with the outer gear ring.

[0015] As a further aspect of the present invention: two connecting pipes are fixedly connected to the outside of the collecting ring frame, and both connecting pipes are connected to the collecting ring frame and penetrate through the fixed ring frame. A stop bar is threaded inside the connecting pipe. When it is necessary to replace the magnetic ball, the connecting pipe is opened by rotating the stop bar.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. When high-pressure oil flows inside the piston cylinder, iron filings inside the piston cylinder will be attracted to the groove by the magnetic ring. After the high-pressure oil on one side of the piston is discharged, it extends into the groove through the cleaning mechanism inside the rotating ring to attract the iron filings. After the attraction is completed, it retracts into the fixed ring frame and is collected by the discharge mechanism to remove the iron filings from the inside of the piston cylinder, avoiding the need to stop and disassemble the device during cleaning.

[0017] 2. After the cleaning is completed, during the sliding plate process, due to the action of the second spring, the squeezing rod and the tactile switch are always in contact. When the sliding plate is completely reset, the squeezing rod and the tactile switch are separated, and the iron filings adsorbed on one side of the electromagnet plate will fall off and then be fixed inside the ring frame, thereby collecting the iron filings from inside the piston cylinder into the fixed ring frame.

[0018] 3. The first spring drives the extrusion plate to rise, which in turn squeezes the collecting airbag. The gas inside the collecting airbag rushes into the inflatable airbag. Then, after the electromagnet plate is de-energized, the inflatable airbag expands and pushes the iron filings inside the collecting tank into the discharge mechanism, making it easier to collect the iron filings and thus achieve reuse.

[0019] 4. By rotating the stop lever, the connecting pipe is connected to the collecting ring frame. The magnetic ball carrying iron filings is discharged through one of the connecting pipes, and can be replenished by gravity through the other connecting pipe, thereby achieving the effect of cleaning iron filings inside the piston cylinder, avoiding the need for disassembly of the equipment for cleaning, and extending the overall service life. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic cross-sectional view of the piston cylinder structure of the present invention; Figure 3 This is a schematic diagram of the fixed ring frame structure of the present invention; Figure 4 This is a schematic diagram of the external gear ring structure of the present invention; Figure 5 This is the present invention. Figure 4 A magnified structural diagram of part A; Figure 6 This is the present invention. Figure 4 A schematic diagram of the enlarged structure of part B; Figure 7 This is a schematic diagram of the rotating ring structure of the present invention; Figure 8 This is a schematic diagram of the cleaning mechanism structure of the present invention; Figure 9This is the present invention. Figure 8 A magnified structural diagram of section C; Figure 10 This is a schematic diagram of the separation structure of the collecting ring frame and the outer toothed ring of the present invention; Figure 11 This is a schematic diagram of the separation structure of the connecting pipe and the stop bar of the present invention.

[0022] In the diagram: 1. Piston cylinder; 101. Control valve; 2. Piston rod; 3. Piston; 301. Fixed column; 302. Magnet ring; 4. Fixed ring frame; 401. Rotating sleeve; 5. Rotating ring; 501. External gear ring; 502. First gear; 503. Protective cover; 6. Sliding plate; 600. Electric push rod; 601. Collection tank; 602. Electromagnetic plate; 603. Inflatable airbag; 604. Sealing plate; 701. Fixed frame; 702. Extrusion plate; 703. 704. Push rod; 705. First spring; 706. Collection airbag; 807. Connecting tube; 808. Fixing plate; 809. Squeezing rod; 800. First telescopic rod; 801. Second spring; 802. Tactile switch; 903. Collection ring frame; 900. Connecting frame; 901. External gear ring; 902. Magnetic ball; 903. Actuating rod; 904. Connecting tube; 905. Stop bar; 10. Second gear; 111. Transmission rod; 112. Third gear; 113. Internal gear ring. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0024] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0025] like Figures 1 to 11 As shown, a hydrostatic support servo actuator includes the following embodiments: Example 1: Includes a piston cylinder 1, with a control valve 101 fixedly connected to the outside of the piston cylinder 1. A piston rod 2 is installed inside the piston cylinder 1. Fuel injection ports are provided at both ends inside the piston cylinder 1. It also includes a load sensor, a displacement sensor, etc., which will not be further elaborated here. It also includes: Piston 3 is fixedly connected to the outside of piston rod 2 and is slidably connected to the inner wall of piston cylinder 1. Fixed posts 301 are fixedly connected to both sides of piston 3. An annular groove is opened on the outside of the fixed post 301. A magnet ring 302 is fixedly connected inside the annular groove for adsorbing iron filings in hydraulic oil. Two fixed ring frames 4 are fixedly connected to the two ends inside the piston cylinder 1. A rotating sleeve 401 is rotatably connected to the inside of the fixed ring frame 4. The rotating sleeve 401 and the fixed ring frame 4 form a sealed space. A rotating ring 5 is rotatably connected inside the fixed ring frame 4. Multiple cleaning mechanisms are provided inside the rotating ring 5. Discharge mechanisms are provided on both sides of the cleaning mechanisms. When the cleaning mechanisms adsorb the iron filings on the outside of the magnet ring 302, they are collected by the discharge mechanisms.

[0026] In practical implementation, the hydrostatic support servo actuator injects high-pressure oil into the tiny gap between the piston rod and the cylinder through an external pressure source such as an oil pump, forming a uniform oil film. This oil film causes the piston rod to "suspend" in the center of the cylinder, achieving contactless movement and eliminating mechanical friction and wear. During the use of the device, because a lubricating oil film needs to be formed through high-pressure oil, some iron filings or dust may be present due to wear or external working processes. When this dust is inside the piston cylinder 1, it will inevitably cause direct contact and friction between the piston rod 2 and the piston cylinder 1 during the movement of the piston rod 2, resulting in increased vibration or movement stagnation. While external filtration devices are often used to treat the dust in the high-pressure oil, the dust is present in the piston cylinder. Inside the piston cylinder 1, there is powder that cannot flow with the high-pressure oil. When maintenance is needed, the equipment often needs to be stopped and the entire device disassembled, affecting overall work efficiency. Therefore, this solution creates a groove on the outside of the fixed column 301, and a magnetic ring 302 is installed inside the groove. When the high-pressure oil flows inside the piston cylinder 1, the iron filings inside the piston cylinder 1 are attracted to the groove by the magnetic ring 302. After the high-pressure oil on one side of the piston 3 is discharged, it extends into the groove through the cleaning mechanism inside the rotating ring 5 to attract the iron filings. After attraction is complete, it retracts into the fixed ring frame 4 and is collected by the discharge mechanism, removing the iron filings from inside the piston cylinder 1. This avoids the need to stop and disassemble the device for cleaning. Example 2: The cleaning mechanism includes an electric push rod 600, which is fixedly connected to the inner wall of the rotating ring 5. A sliding plate 6 is fixedly connected to the telescopic end of the electric push rod 600. The sliding plate 6 passes through the rotating sleeve 401 and is slidably connected to the rotating sleeve 401. A sealing plate 604 is fixedly connected to the bottom of the sliding plate 6 for fitting against the inner side of the rotating sleeve 401. Collection grooves 601 are provided on both sides of the sliding plate 6. An electromagnet plate 602 and an inflatable airbag 603 are fixedly connected in sequence inside the collection groove 601. When the electromagnet plate 602 is energized, it attracts iron filings. There are energizing components between the sliding plate 6 and the rotating sleeve 401 on both sides. An inflation component is provided inside the fixed ring frame 4. When the sliding plate 6 retracts to between the fixed ring frame 4 and the rotating sleeve 401, the inflation component inflates the inflatable airbag 603.

[0027] An external gear ring 501 is fixedly connected to the outer side of the rotating ring 5. A through groove is opened on the outer side of the fixed ring frame 4. A first gear 502 is arranged inside the through groove. The first gear 502 meshes with the external gear ring 501. A protective cover 503 is fixedly connected to the outer side of the rotating ring 5. The first gear 502 is arranged inside the protective cover 503. A drive motor is arranged inside the protective cover 503. The output shaft of the drive motor is fixedly connected to the first gear 502.

[0028] In practice, when it is necessary to remove iron filings from the magnet ring 302, the electric push rod 600 inside the rotating ring 5 is activated. The electric push rod 600 pushes the sliding plate 6 through the rotating sleeve 401, causing the sliding plate 6 to extend into the groove. Electromagnetic plates 602 are provided on both sides of the sliding plate 6. When the sliding plate 6 is inserted into the groove, the electromagnetic plates 602 are energized through the energizing component. At this time, the electromagnetic plates 602 are magnetic. Since the magnetic attraction of the electromagnetic plates 602 is greater than that of the magnet ring 302, a large amount of iron filings will be attracted into the collection tank 601 and placed on one side of the inflatable airbag 603. At the same time, the drive motor is driven. The output shaft of the drive motor drives the first gear 502 to rotate. The first gear 502 drives the outer gear ring 501 to rotate. The outer gear ring 501 drives the rotating ring 5 to rotate, thereby causing multiple sliding plates 6 to perform arc-shaped cleaning around the groove, fully attracting the iron filings inside the groove.

[0029] In this embodiment, the energized component includes a fixed plate 801, which is fixedly connected to the outside of the sliding plate 6. A tactile switch 805 is fixedly connected to the bottom of the rotating sleeve 401. A pressing rod 802 is provided at the bottom of the fixed plate 801. A first telescopic rod 803 and a second spring 804 are fixedly connected between the pressing rod 802 and the fixed plate 801. When the pressing rod 802 contacts the tactile switch 805, the electromagnet plate 602 is energized. When the sliding plate 6 retracts into the fixed ring frame 4, the pressing rod 802 separates from the tactile switch 805.

[0030] In specific implementation, when the sliding plate 6 is inside the fixed ring frame 4, the initial state of the pressing rod 802 and the tactile switch 805 is in a separated state. When the sliding plate 6 begins to descend, the pressing rod 802 contacts the tactile switch 805. At this time, the electromagnet plate 602 is energized, and as the sliding plate 6 descends, the second spring 804 and the first telescopic rod 803 are compressed. The pressing rod 802 and the tactile switch 805 are always in contact. After the cleaning is completed, during the sliding plate 6 process, due to the action of the second spring 804, the pressing rod 802 and the tactile switch 805 are always in contact. When the sliding plate 6 is completely reset, the pressing rod 802 and the tactile switch 805 are separated, and the iron filings adsorbed on one side of the electromagnet plate 602 will also fall off and then into the fixed ring frame 4, thereby collecting the iron filings from inside the piston cylinder 1 into the fixed ring frame 4. Dynamic response of power-on control system Initial state: When the sliding plate 6 is located at the top of the fixed ring frame 4, the pressing rod 802 is separated from the tactile switch 805, and the electromagnet plate 602 is in a de-energized state with a magnetic field strength of 0T.

[0031] Descent phase: The electric push rod 600 pushes the sliding plate 6 down, the pressing rod 802 contacts the tactile switch 805 under the action of the second spring 804, the electromagnet plate 602 is energized to generate a 1.2T magnetic field, and at the same time the first telescopic rod 803 is compressed to buffer the impact force; Throughout the process: During the cleaning process, the preload of the second spring 804 (5N) ensures that the squeezing rod 802 remains in continuous contact with the tactile switch 805, preventing power outages due to vibration.

[0032] Iron filings removal and resetting work in tandem Reset Trigger: After cleaning is completed, the electric push rod 600 retracts and the sliding plate 6 rises to the fully reset position. Under the action of the rebound force of the second spring 804, the squeeze rod 802 disengages from the tactile switch 805. Iron filings release: After the electromagnet plate 602 is de-energized, the magnetic force disappears, and the iron filings fall into the collection groove at the bottom of the fixed ring frame 4 due to gravity, and are discharged to the external dust collection box through the connecting pipe 904.

[0033] In this embodiment, the inflatable component includes a fixed frame 701, which is fixedly connected to the inner side of the rotating ring 5. A compression plate 702 is provided inside the fixed frame 701. A push rod 703 is fixedly connected to the bottom of the compression plate 702. The push rod 703 passes through the fixed frame 701 and is slidably connected to the fixed frame 701. A first spring 704 is sleeved on the outside of the push rod 703. A collecting airbag 705 is fixedly connected between the compression plate 702 and the top of the inside of the fixed frame 701. The collecting airbag 705 is filled with gas. Two connecting pipes 706 are fixedly connected to the outside of the collecting airbag 705. The two connecting pipes 706 are respectively fixedly connected to the inflatable airbag 603.

[0034] In practice, to ensure that the iron filings can fall out of the collection trough 601, when the sliding plate 6 descends, the first spring 704 in the inflatable component pushes the push rod 703 down, causing the push rod 703 to drive the fixedly connected extrusion plate 702 down inside the fixed frame 701. The extrusion plate 702 pulls the collecting air bladder 705 to expand. At this time, the collecting air bladder 705 draws the gas inside the inflatable air bladder 603 into the collecting air bladder 705 through the connecting pipe 706. Then, the inflatable air bladder 603 contracts, allowing the iron filings to fall out of the collection trough 601. The space inside the collection tank 601 is such that when the sliding plate 6 rises, the top of the sliding plate 6 contacts the first spring 704. At this time, the first spring 704 drives the squeezing plate 702 to rise, so that the squeezing plate 702 squeezes the collection air bag 705. The gas inside the collection air bag 705 rushes into the inflatable air bag 603. Then, after the electromagnet plate 602 is de-energized, the inflatable air bag 603 expands and pushes the iron filings inside the collection tank 601 into the discharge mechanism, which facilitates the collection of iron filings and achieves reuse. The following is a summary: High-efficiency circulation: The pneumatic system achieves efficient gas recycling and reduces energy loss through the synergistic effect of the collecting airbag 705 and the inflatable airbag 603. Precise control: The mechanical linkage between the first spring 704 and the push rod 703 ensures precise control of gas flow and avoids iron filings residue; Durability: The collection airbag 705 and the inflatable airbag 603, made of polyurethane, have excellent pressure resistance.

[0035] Example 3: The discharge mechanism includes a collection ring frame 9, which is fixedly connected to the outside of the rotating sleeve 401. A connecting frame 900 is fixedly connected to the outside of the collection ring frame 9. The connecting frame 900 is located on one side of the inflatable airbag 603 and is in contact with the sliding plate 6. The connecting frame 900 is connected to the collection ring frame 9. An external toothed ring 901 is rotatably connected to one side of the collection ring frame 9.

[0036] The discharge mechanism also includes multiple magnetic balls 902 and multiple actuating rods 903 disposed between the collection ring frame 9 and the outer toothed ring 901. Multiple actuating rods 903 are fixedly connected to one side of the outer toothed ring 901 to divide the multiple actuating rods 903. The magnetic balls 902 are all magnetic. When iron filings fall into the connecting frame 900, they are attracted by the magnetic balls 902.

[0037] In practice, when the sliding plate 6 rises, one side of the sliding plate 6 comes into contact with the connecting frame 900. After losing the magnetic attraction of the electromagnet plate 602, the iron filings are squeezed into the interior of the connecting frame 900 by the inflatable airbag 603. The connecting frame 900 is connected to the collecting ring frame 9, and multiple magnetic balls 902 are provided between the outer toothed ring 901 and the collecting ring frame 9. The multiple magnetic balls 902 attract the iron filings, preventing the iron filings from shaking inside the fixed ring frame 4 and causing pollution.

[0038] In this embodiment, an internal gear ring 113 is fixedly connected to the inner side of the rotating ring 5, and a second gear 10 is meshed with the inner side of the internal gear ring 113. A transmission rod 111 is fixedly connected to one side of the second gear 10. The transmission rod 111 is rotatably connected to the inner side of the fixed ring frame 4. A third gear 112 is fixedly connected to the outer side of the transmission rod 111. The third gear 112 is meshed with the outer gear ring 901.

[0039] Two connecting pipes 904 are fixedly connected to the outside of the collecting ring frame 9, and both connecting pipes 904 are connected to the collecting ring frame 9. The connecting pipes 904 penetrate the fixed ring frame 4. A stop bar 905 is threaded inside the connecting pipe 904. When the magnetic ball 902 needs to be replaced, the connecting pipe 904 is opened by rotating the stop bar 905.

[0040] In specific implementation, when the rotating ring 5 rotates, the inner gear ring 113 fixedly connected to the inner side of the rotating ring 5 drives the second gear 10 to rotate, the second gear 10 drives the fixedly connected transmission rod 111 to rotate, and the transmission rod 111 drives the fixedly connected third gear 112 to rotate. The third gear 112 drives the outer gear ring 901 to rotate, and then the outer gear ring 901 drives multiple magnetic balls 902 to rotate through the actuating rod 903, so that the magnetic balls 902 and the collecting ring frame 9 are in relative rotation, so that the iron filings can be evenly attracted to the magnetic balls 902. When it is necessary to clean the iron filings later, by rotating the stop rod 905, the connecting pipe 904 is connected to the collecting ring frame 9. The magnetic balls 902 carrying iron filings are discharged through one of the connecting pipes 904, and can be replenished by gravity through the other connecting pipe 904, thereby achieving the effect of cleaning the iron filings inside the piston cylinder 1, avoiding the need for disassembly of the equipment for cleaning, and extending the overall service life.

[0041] The principles and supplements to the above scheme are as follows: Iron filings transfer mechanism Magnetic release phase: When the sliding plate 6 rises to the reset position, the electromagnetic field strength of the electromagnet plate 602 drops to zero, and the iron filings detach from the collection tank 601 due to gravity; Pneumatic pushing: The inflatable airbag 603 expands under the pressure of the collecting airbag 705, pushing the iron filings into the connecting frame 900, and the airflow assists in ensuring that the iron filings are completely transferred.

[0042] Magnetic stabilization design Dynamic adsorption: The rotation of the outer toothed ring 901 drives the magnetic ball 902 to move, forming a dynamic magnetic screen to adsorb iron filings a second time, preventing them from shaking in the fixed ring frame 4 due to inertia. Guiding structure: The connecting tube between the connecting frame 900 and the collecting ring frame 9 adopts a tapered design with an inlet diameter of 10mm and an outlet diameter of 5mm. It utilizes the Venturi effect to accelerate the flow of iron filings, while the magnetic balls 902 are arranged at a density of 3 per centimeter to ensure adsorption coverage.

[0043] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0044] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A hydrostatic support servo actuator, comprising a piston cylinder (1), a control valve (101) fixedly connected to the outside of the piston cylinder (1), a piston rod (2) disposed inside the piston cylinder (1), and oil injection ports disposed at both ends inside the piston cylinder (1), characterized in that, Also includes: Piston (3) is fixedly connected to the outside of piston rod (2), and piston (3) is slidably connected to the inner wall of piston cylinder (1). Fixed columns (301) are fixedly connected to both sides of piston (3). An annular groove is opened on the outside of the fixed column (301), and a magnet ring (302) is fixedly connected inside the annular groove for adsorbing iron filings in hydraulic oil. Two fixed ring frames (4) are fixedly connected to the two ends inside the piston cylinder (1). A rotating sleeve (401) is rotatably connected to the inside of the fixed ring frame (4). The rotating sleeve (401) and the fixed ring frame (4) form a sealed space. A rotating ring (5) is rotatably connected inside the fixed ring frame (4). Multiple cleaning mechanisms are provided inside the rotating ring (5). Discharge mechanisms are provided on both sides of the cleaning mechanism. When the cleaning mechanism adsorbs the iron filings on the outside of the magnet ring (302), they are collected by the discharge mechanism.

2. The hydrostatic support servo actuator according to claim 1, characterized in that: The cleaning mechanism includes an electric push rod (600), which is fixedly connected to the inner wall of the rotating ring (5). A sliding plate (6) is fixedly connected to the telescopic end of the electric push rod (600). The sliding plate (6) passes through the rotating sleeve (401) and is slidably connected to the rotating sleeve (401). A sealing plate (604) is fixedly connected to the bottom of the sliding plate (6) for fitting against the inner side of the rotating sleeve (401). Collection grooves (601) are provided on both sides of the sliding plate (6). An electromagnet plate (602) and an inflatable airbag (603) are fixedly connected inside the collection tank (601). When the electromagnet plate (602) is energized, it attracts iron filings. There are energizing components between the sliding plate (6) and the rotating sleeve (401) on both sides. An inflation component is provided inside the fixed ring frame (4). When the sliding plate (6) contracts to between the fixed ring frame (4) and the rotating sleeve (401), the inflation component inflates the inflatable airbag (603).

3. The hydrostatic support servo actuator according to claim 2, characterized in that: The energized component includes a fixed plate (801), which is fixedly connected to the outside of the sliding plate (6). A tactile switch (805) is fixedly connected to the bottom of the rotating sleeve (401). A pressing rod (802) is provided at the bottom of the fixed plate (801). A first telescopic rod (803) and a second spring (804) are fixedly connected between the pressing rod (802) and the fixed plate (801). When the pressing rod (802) contacts the tactile switch (805), the electromagnet plate (602) is energized. When the sliding plate (6) retracts into the fixed ring frame (4), the pressing rod (802) separates from the tactile switch (805).

4. The hydrostatic support servo actuator according to claim 3, characterized in that: The inflatable component includes a fixed frame (701), which is fixedly connected to the inner side of the rotating ring (5). A compression plate (702) is provided inside the fixed frame (701). A push rod (703) is fixedly connected to the bottom of the compression plate (702). The push rod (703) passes through the fixed frame (701) and is slidably connected to the fixed frame (701). A first spring (704) is sleeved on the outside of the push rod (703). A collecting airbag (705) is fixedly connected between the compression plate (702) and the top of the inside of the fixed frame (701). The collecting airbag (705) is filled with gas. Two connecting pipes (706) are fixedly connected to the outside of the collecting airbag (705). The two connecting pipes (706) are fixedly connected to the inflatable airbag (603) respectively.

5. A hydrostatic support servo actuator according to claim 2, characterized in that: The discharge mechanism includes a collection ring frame (9), which is fixedly connected to the outside of the rotating sleeve (401). A connecting frame (900) is fixedly connected to the outside of the collection ring frame (9). The connecting frame (900) is located on one side of the inflatable airbag (603) and is in contact with the sliding plate (6). The connecting frame (900) is connected to the collection ring frame (9). An external toothed ring (901) is rotatably connected to one side of the collection ring frame (9).

6. A hydrostatic support servo actuator according to claim 5, characterized in that: The discharge mechanism also includes multiple magnetic balls (902) and multiple actuating rods (903) disposed between the collection ring frame (9) and the outer toothed ring (901). Multiple actuating rods (903) are fixedly connected to one side of the outer toothed ring (901) for dividing the multiple actuating rods (903). The magnetic balls (902) are all magnetic. When iron filings fall into the connecting frame (900), the iron filings are attracted by the magnetic balls (902).

7. A hydrostatic support servo actuator according to claim 6, characterized in that: An external gear ring (501) is fixedly connected to the outside of the rotating ring (5). A through groove is provided on the outside of the fixed ring frame (4). A first gear (502) is provided inside the through groove. The first gear (502) meshes with the external gear ring (501). A protective cover (503) is fixedly connected to the outside of the rotating ring (5). The first gear (502) is located inside the protective cover (503). A drive motor is provided inside the protective cover (503). The output shaft of the drive motor is fixedly connected to the first gear (502).

8. A hydrostatic support servo actuator according to claim 7, characterized in that: An internal gear ring (113) is fixedly connected to the inner side of the rotating ring (5). A second gear (10) is meshed with the inner side of the internal gear ring (113). A transmission rod (111) is fixedly connected to one side of the second gear (10). The transmission rod (111) is rotatably connected to the inner side of the fixed ring frame (4). A third gear (112) is fixedly connected to the outer side of the transmission rod (111). The third gear (112) is meshed with the outer gear ring (901).

9. A hydrostatic support servo actuator according to claim 5, characterized in that: Two connecting pipes (904) are fixedly connected to the outside of the collecting ring frame (9), and both connecting pipes (904) are connected to the collecting ring frame (9). The connecting pipes (904) pass through the fixed ring frame (4). A stop bar (905) is threaded inside the connecting pipe (904). When the magnetic ball (902) needs to be replaced, the connecting pipe (904) is opened by rotating the stop bar (905).

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