Electromechanical actuating system with emergency locking function

Abstract

The invention relates to the technical field of electromechanical actuation systems, in particular to an electromechanical actuation system with an emergency locking function, which comprises an actuation mechanism used for driving cooling oil to move and comprising an outer cylinder, a power transmission assembly and an actuation cylinder; the oil cavity loop mechanism is used for providing a moving space for cooling oil and comprises a front oil chamber, a rear oil chamber and an external flow channel; a sealing mechanism; the self-locking mechanism comprises a self-locking shell connected with the external flow channel, a plug set, a coil set and a valve element used for controlling on-off of cooling oil in the self-locking shell. And the through hole is used for increasing the driving force of the valve core moving to the corresponding on-off execution position through the pressure difference formed by the driving force of the cooling oil under the condition that the external flow channel is communicated to form a cooling path of the cooling oil. According to the invention, the mechanical braking speed is increased, and the energy consumption of electromechanical actuation is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electromechanical actuation system, and particularly relates to an electromechanical actuation system with emergency locking function. BACKGROUND

[0002] In the prior art, an electromechanical actuator is a kind of actuator which converts the rotary motion of the driving motor into linear or rotary mechanical output through a transmission mechanism, and its overall performance is determined by the driving motor, the transmission mechanism, the sensor, the controller and the power supply system. When power is cut off or control signal is lost, an additional mechanical locking device such as a ratchet or a friction plate is usually needed to realize position keeping, which not only increases the complexity and weight of the system, but also may cause response delay or reliability problems, especially in application scenarios with strict requirements on space, weight and reliability, such as aerospace actuators and precision mechanical positioning.

[0003] Chinese Patent Publication No. CN110855072B discloses an electromechanical actuator and electromechanical servo system, which comprises a servo motor, a housing and devices arranged in the housing. The devices arranged in the housing include a ball screw nut, a rotor shaft of the servo motor is connected to the ball screw nut through a flat key to transmit the rotary motion of the rotor shaft to the ball screw nut; a ball screw is connected to the ball screw nut with steel balls as rolling elements, and the ball screw extends from the front end cover of the housing; a mechanical position adjustment component is arranged at the rear end of the rotor shaft away from the ball screw, and the mechanical position adjustment component is used to drive the rotor shaft to rotate by rotating the mechanical position adjustment component when the servo motor stops power supply control, and then drive the ball screw nut to rotate, and the ball screw nut drives the ball screw to extend or retract along the axis of the rotor shaft, thereby adjusting the length of the ball screw extending from the front end cover of the housing. As can be seen, the electromechanical actuator and electromechanical servo system have the problems of long response time due to the use of mechanical friction braking device, and brake pad wear problem, and the problem of motor winding temperature rise caused by the fact that the existing EMA system must be continuously powered by the motor to maintain the position. SUMMARY

[0004] Therefore, the present application provides an electromechanical actuation system with emergency locking function to overcome the problems of long response time due to the use of mechanical friction braking device, and brake pad wear problem, and the problem of motor winding temperature rise caused by the fact that the existing EMA system must be continuously powered by the motor to maintain the position.

[0005] To achieve the above-mentioned purpose, the present application provides an electromechanical actuation system with emergency locking function, which comprises: An actuating mechanism for driving the cooling oil to move, comprising an outer cylinder, a power transmission assembly connected to the outer cylinder for outputting a cooling oil pushing force, and an actuating cylinder connected to the power transmission assembly for receiving the cooling oil pushing force and driving the cooling oil to circulate along a cooling path; An oil circuit mechanism connected to the actuating mechanism for defining the cooling path of the cooling oil, comprising a front oil chamber connected to the outer cylinder, a rear oil chamber connected to the actuating cylinder, and an external flow channel connected to the rear oil chamber; A sealing mechanism connected to the actuating mechanism and the oil circuit mechanism respectively for separating the front oil chamber and the rear oil chamber; A self-locking mechanism connected to the oil circuit mechanism for controlling the operating state of the actuating mechanism by controlling the on-off of the cooling oil flow, comprising a self-locking housing connected to the external flow channel, a valve core arranged in the inner coil of a coil set for controlling the on-off of the cooling oil in the self-locking housing, a plug set arranged on the inner surface of the self-locking housing for defining the movement path of the valve core, a coil set connected to the plug set for generating an electromagnetic force under the condition of power-on to drive the valve core to move to a corresponding on-off execution position, and a through hole arranged on the valve core for increasing the driving force of the valve core to move to the corresponding on-off execution position under the condition of connecting the external flow channel to form the cooling path of the cooling oil by the pressure difference formed by the cooling oil pushing force.

[0006] Further, the actuating mechanism further comprises a front stopper arranged outside the outer cylinder for limiting the horizontal movement distance of the actuating cylinder.

[0007] Further, the power transmission assembly comprises: An electric motor arranged above the outer cylinder for outputting a rotary power; A planetary reducer connected to the electric motor for amplifying the rotary power; A gear box connected to the planetary reducer for transmitting the rotary power; A lead screw connected to the gear box for converting the rotary power into the cooling oil pushing force.

[0008] Further, the sealing mechanism comprises a first sealing ring and a second sealing ring arranged at the junctions of the electric motor and the gear box respectively, a third sealing ring arranged at the junction of the planetary reducer and the electric motor, a fourth sealing ring arranged at the junction of the gear box and the outer cylinder, a fifth sealing ring arranged at the junction of the outer cylinder and the actuating cylinder, a sixth sealing ring arranged at the junction of the front stopper and the actuating cylinder, a seventh sealing ring arranged at the junction of the self-locking mechanism and the electric motor, and an eighth sealing ring arranged at the junction of the external flow channel and the actuating cylinder.

[0009] Further, the coil set comprises a first coil and a second coil respectively sleeved on two ends of the inner surface of the self-locking shell.

[0010] Further, the plug set comprises a first plug arranged on one side of the inner surface of the self-locking shell close to the first coil and a second plug arranged on one side of the inner surface of the self-locking shell close to the second coil.

[0011] Further, the external flow channel comprises: a motor built-in flow channel arranged on the outer circumferential surface of the stator of the motor for absorbing heat of the motor; a planetary reducer flow channel connected with the planetary reducer for absorbing heat of the planetary reducer; a gear box flow channel connected with the gear box for absorbing heat of the gear box; wherein a plurality of motor sub-flow channels with equal intervals are arranged in parallel in the axial direction on the outer circumferential surface of the motor between the input end and the output end of the motor built-in flow channel.

[0012] Further, the self-locking mechanism is also used to move the valve core to the second coil to contact the second plug under the condition that the second coil is energized, the through hole is communicated with the external flow channel, and the actuator is in a moving state. under the condition that the first coil is energized, the valve core moves to the first coil to contact the first plug, the through hole is not communicated with the external flow channel, and the actuator is in a static state.

[0013] Further, the horizontal distance between the center of the cross section of the through hole and the end surface of the valve core close to the first plug is less than the horizontal distance between the center of the cross section of the through hole and the end surface of the valve core close to the second plug.

[0014] Further, it further comprises an earring mechanism connected with the actuating mechanism for connecting external load.

[0015] Compared with the prior art, the beneficial effects of the present application are that the system sets the actuating mechanism, the oil return loop mechanism, the sealing mechanism and the self-locking mechanism, and the traditional electromechanical actuating system has obvious technical defects in position keeping and emergency braking, such as the position keeping needs the motor to be continuously powered to generate an electromagnetic holding torque, which not only causes energy waste, but also causes the motor to overheat; in an emergency, the system cannot quickly lock the load position, and there is a safety hazard, the existing solutions mainly use electromagnetic brakes or mechanical brake devices, which have slow response speed and cannot meet the high dynamic demand, the mechanical friction type brake has wear problem, and its service life is usually not more than 100,000 times, the additional device increases the complexity and weight of the system, which is contrary to the trend of miniaturization of the electromechanical actuating system, the self-locking mechanism is integrated in the closed oil return loop formed by the actuating cylinder and the outer cylinder, the opening and closing state of the valve is accurately controlled to realize the quick on-off switching of the hydraulic circuit, and the purpose of locking the actuating cylinder is achieved; the electromagnetic valve is used to directly control the on-off of the hydraulic circuit, so that the braking response speed is improved compared with the traditional mechanical brake, and the safety of the system is significantly improved, the instantaneous force transmission is realized through the incompressible characteristics of the hydraulic oil; the sealing mechanism is set to seal the front oil chamber and the rear oil chamber respectively to generate a pressure difference between the front oil chamber and the rear oil chamber when the actuating cylinder moves, prevent oil leakage, effectively ensure the pressure stability of the hydraulic system, and ensure that the cooling oil can circulate efficiently in the preset path; the hydraulic self-locking is used to replace the continuous power keeping, the cooling oil circulation loop actively cools the actuating mechanism, the energy consumption of the system during position keeping is reduced, the energy efficiency is improved, the motor temperature rise is reduced, and the problem of winding overheating caused by the traditional electromagnetic keeping is avoided; the oil chamber and the external flow channel are set, the overall volume and weight are reduced, and the system is more suitable for space limited scenes such as aerospace.

[0016] Further, the system of the present application sets up a power transmission assembly including a motor, a planetary reducer, a gear box and a lead screw, due to the bottleneck of the conventional electromechanical actuation system in power transmission efficiency and response speed, resulting in slow response and low efficiency of the system under the working condition of frequent load change, through the synergistic effect of the planetary reducer and the gear box, the efficient amplification and stable transmission of the motor output power are realized, the lead screw structure converts the rotary motion into linear thrust force, reducing the problem of locking not in time due to the circumferential rotation inertia in the rotary torque transmission process, improving the response accuracy and output stability of the actuation system under complex working conditions, thereby enhancing the adaptability of the system under high dynamic load, due to the incompressible property of hydraulic oil, instantaneous braking response can be realized in the emergency state of the system, which is superior to the second-level response of the traditional mechanical brake, effectively avoiding the problem of load displacement out-of-tolerance caused by brake delay, due to the rigid connection design of each component in the power transmission assembly, the transmission gap is further reduced, the output displacement accuracy of the actuator cylinder is improved, the intermediate transmission link is reduced, the power transmission efficiency is improved, the energy loss is reduced, and the cooling effect of the external flow channel is matched, so that the system can still maintain stable power output performance during long-time high-load operation, avoiding the efficiency decay caused by overheating of the transmission components.

[0017] Further, the system of the present application sets up a sealing mechanism composed of multiple sealing rings, due to the high requirement of the hydraulic system on sealing performance, the traditional sealing structure is easy to cause cooling oil leakage due to wear or aging of the sealing ring during long-term operation, affecting the system performance and safety, by setting the first to seventh sealing rings at the key connection parts, multiple sealing protection is formed, effectively preventing the leakage of hydraulic oil under high pressure, improving the long-term operation stability of the system, and the high sealing degree makes the oil pressure of the internal cooling oil at a constant value, realizing the improvement of self-locking efficiency.

[0018] Further, the system of the present application sets up a coil group including a first coil and a second coil, and a plug group matched with the first plug and the second plug, due to the problem of response lag and unstable switching of the traditional electromagnetic valve in the switching process, affecting the accuracy and real-time of the actuation system, through the double-coil bidirectional control mode, the movement direction of the valve core is accurately controlled, ensuring that the self-locking mechanism can quickly lock the hydraulic circuit in the power-off or emergency state, thereby realizing the instantaneous locking of the actuator cylinder, improving the response speed and safety of the system.

[0019] Further, the system of the present application cools the oil flowing through the mechanical structure and absorbs heat by setting the planetary reducer flow channel, the gear box flow channel and the motor built-in flow channel, the motor sub-flow channel, the motor shell is wrapped by the motor sub-flow channel to eliminate local hot spots and reduce the motor circumferential temperature gradient, avoid local overheating causing the permanent magnet in the motor demagnetization, the cooling oil in the motor sub-flow channel forms a damping layer to attenuate the high frequency electromagnetic vibration of the motor; the cooling oil in the planetary reducer flow channel and the gear box flow channel exists in the gear gap in the planetary reducer and the gear box, which can not only absorb the friction heat generated by gear meshing, but also reduce the transmission loss through oil film lubrication, realize the dual function of heat dissipation and lubrication, when the cooling oil flows through the external flow channel, the heat generated during the system operation is taken away in time through sufficient contact with each heat generating component, reducing the operating heat generation of key components such as motor and reducer, and avoiding performance degradation or equipment damage caused by overheating.

[0020] Further, the system of the present application sets a through hole on the valve core, and the horizontal distance between the cross section center of the through hole and the end face of the valve core is asymmetrically arranged on different sides, because the traditional electromagnetic valve core structure has pressure imbalance problem in the process of hydraulic on-off switching, which affects the stability and response speed of switching, through the asymmetric through hole design, the pressure difference is formed during the switching process of the valve core to guide the movement of the valve core, which improves the stability and reliability of the electromagnetic valve switching, reduces the mechanical vibration and noise caused by hydraulic impact, and improves the running stability of the system.

[0021] Further, the system of the present application sets an ear ring mechanism to connect external load, so that the actuator system can flexibly adapt to various installation modes and load types, improving the universality and adaptability of the system, especially suitable for high-precision application scenarios requiring multi-degree-of-freedom adjustment or complex spatial arrangement.

[0022] Further, the system of the present application realizes instantaneous force transmission and position locking by using the incompressible characteristics of hydraulic oil, because the traditional motor continuously supplies power to maintain the position, which has problems such as low energy efficiency, high temperature rise and slow response, affecting the stability and safety of long-term operation of the system, through the hydraulic self-locking mechanism, the load position can be maintained without continuous power supply of the motor, which significantly reduces the system energy consumption and temperature rise, prolongs the service life of the motor and the system, and avoids the risk of brake failure caused by friction and wear in the traditional mechanical brake mode, improving the safety of system operation. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is the overall structure schematic diagram of the mechatronic actuator system with emergency locking function of the embodiment of the present application. Figure 2 It is the cross-sectional structure schematic diagram of the mechatronic actuator system with emergency locking function of the embodiment of the present application. Figure 3 The opening schematic view of the self-locking mechanism of the electromechanical actuating system with emergency locking function according to the embodiment of the present application; Figure 4 The locking schematic view of the self-locking mechanism of the electromechanical actuating system with emergency locking function according to the embodiment of the present application; Figure 5 The opening schematic view of the spring locking mechanism of the electromechanical actuating system with emergency locking function according to the embodiment of the present application; Figure 6 The locking schematic view of the spring locking mechanism of the electromechanical actuating system with emergency locking function according to the embodiment of the present application; BRIEF DESCRIPTION OF DRAWINGS 1- front ear ring, 2- ear ring locking nut, 3- front stop block, 4- eighth sealing ring, 5- external flow channel, 61- motor built-in flow channel, 62- planetary reducer flow channel, 63- gear box flow channel, 64- motor shunt, 7- self-locking mechanism, 8- seventh sealing ring, 9- first sealing ring, 10- motor, 11- second sealing ring, 12- third sealing ring, 13- planetary reducer, 14- gear box, 15- rear ear ring, 16- fourth sealing ring, 17- rear oil chamber, 18- outer cylinder, 19- screw nut, 20- fifth sealing ring, 21- front oil chamber, 22- actuating cylinder, 23- screw, 24- sixth sealing ring, 25- second plug, 26- self-locking housing, 27- second coil, 28- first coil, 29- first plug, 30- valve core, 31- through hole, 32- spring. DETAILED DESCRIPTION

[0024] In order to make the purpose and advantages of the present application more clear and obvious, the present application is further described below in combination with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0025] The preferred embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not used to limit the protection scope of the present application.

[0026] It should be noted that in the description of the present application, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicating the direction or positional relationship of the terms are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0027] Moreover, it needs to be explained that in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , which are respectively the overall structure schematic diagram, the cross-sectional structure schematic diagram, the self-locking mechanism opening schematic diagram and the self-locking mechanism locking schematic diagram of the electromechanical actuation system with emergency locking function according to the embodiments of the present application.

[0029] Embodiment 1: the electromechanical actuation system with emergency locking function according to the embodiments of the present application, comprising: an actuation mechanism for driving the cooling oil to move, comprising an outer cylinder, a power transmission assembly connected with the outer cylinder for outputting the cooling oil pushing force, and an actuation cylinder 22 connected with the power transmission assembly for receiving the cooling oil pushing force and driving the cooling oil to circulate along a cooling path; an oil circuit mechanism connected with the actuation mechanism for defining the cooling path of the cooling oil, comprising a front oil chamber 21 connected with the outer cylinder, a rear oil chamber 17 connected with the actuation cylinder 22, and an external flow channel 5 connected with the rear oil chamber 17; a sealing mechanism connected with the actuation mechanism and the oil circuit mechanism respectively for separating the front oil chamber and the rear oil chamber; a self-locking mechanism 7 connected with the oil circuit mechanism for controlling the operating state of the actuation mechanism by controlling the on-off of the cooling oil flow, comprising a self-locking housing 26 connected with the external flow channel 5, a valve core 30 arranged in the inner ring of the coil group for controlling the on-off of the cooling oil in the self-locking housing 26, a plug group arranged on the inner surface of the self-locking housing 26 for defining the movement path of the valve core 30, a coil group connected with the plug group for generating electromagnetic force under the condition of power on to drive the valve core 30 to move to the corresponding on-off execution position, and a through hole 31 arranged on the valve core 30 for increasing the driving force of the valve core 30 to move to the corresponding on-off execution position under the condition of connecting the external flow channel 5 to form the cooling path of the cooling oil by the pressure difference formed by the cooling oil pushing force.

[0030] Specifically, the cooling oil comprises phosphate ester hydraulic oil, Skydrol 500B-4 aviation hydraulic oil.

[0031] Specifically, the self-locking mechanism 7 is an electromagnetic on-off valve.

[0032] In the implementation, the system described in the present application sets an actuator mechanism, an oil circuit mechanism, a sealing mechanism, and a self-locking mechanism. The traditional electromechanical actuation system has obvious technical defects in position keeping and emergency braking. For example, the position keeping requires the motor to be continuously powered to generate an electromagnetic holding torque, which not only causes energy waste but also leads to motor overheating. In an emergency, the system cannot quickly lock the load position, which poses a safety hazard. The existing solutions mainly use electromagnetic brakes or mechanical brake devices, which have slow response speed and cannot meet high dynamic requirements. The mechanical friction brake has a service life of usually less than 100,000 times, and the additional devices increase the complexity and weight of the system, which contradicts the trend of miniaturization of electromechanical actuation systems. The self-locking mechanism is integrated in the sealed oil circuit formed by the actuator cylinder and the outer cylinder. By precisely controlling the opening and closing state of the valve, the hydraulic circuit is quickly switched on and off to lock the actuator cylinder. By using an electromagnetic valve to directly control the on-off of the hydraulic circuit, the braking response speed is improved compared with the traditional mechanical brake, and the safety of the system is significantly improved. The incompressible nature of hydraulic oil enables instantaneous force transmission. The sealing mechanism is set to seal the front and rear oil chambers to generate a pressure difference between the front and rear oil chambers when the actuator cylinder moves, preventing oil leakage and effectively ensuring the stability of the hydraulic system pressure, ensuring that the cooling oil can circulate efficiently in the preset path. By using hydraulic self-locking instead of continuous power keeping, the cooling oil circulation circuit actively cools the actuator mechanism, reducing energy consumption when the system is in position keeping, improving energy efficiency, and reducing motor temperature rise, thereby avoiding the winding overheating problem caused by traditional electromagnetic keeping. By setting the oil chamber and external flow channel, the overall volume and weight are reduced, making it more suitable for space-limited scenarios such as aerospace.

[0033] Specifically, the power transmission assembly comprises: a motor 10 arranged above the outer cylinder 4 to output a rotary power; a planetary reducer 13 connected to the motor 10 to amplify the rotary power; a gear box 14 connected to the planetary reducer 13 to transmit the rotary power; a lead screw 23 connected to the gear box 14 to convert the rotary power into a cooling oil pushing force.

[0034] Specifically, the power transmission sequence of the power transmission assembly is motor 10, planetary reducer 13, gear box 14, lead screw 23, and actuator cylinder 22, wherein the lead screw 23 and the actuator cylinder 22 are connected through a lead screw nut 19.

[0035] In the implementation, the system described in the application sets a power transmission assembly including a motor, a planetary reducer, a gear box and a screw rod. Since the traditional electromechanical actuation system has bottlenecks in power transmission efficiency and response speed, the system is slow in response and low in efficiency under the working condition of frequent load changes. Through the synergistic effect of the planetary reducer and the gear box, efficient amplification and stable transmission of the motor output power are realized. The screw rod structure converts rotary motion into linear pushing force, reduces the problem of delayed locking due to circumferential rotation inertia in the rotary torque transmission process, improves the response accuracy and output stability of the actuation system under complex working conditions, thereby enhancing the adaptability of the system under high dynamic load. Since the hydraulic oil is incompressible, instantaneous braking response can be realized in the emergency state of the system, which is superior to the second-level response of the traditional mechanical brake device, effectively avoiding the problem of load displacement out of tolerance caused by brake delay. Due to the rigid connection design of each component in the power transmission assembly, the transmission gap is further reduced, the output displacement accuracy of the actuator cylinder is improved, the intermediate transmission link is reduced, the power transmission efficiency is improved, the energy loss is reduced, and the cooling effect of the external flow channel is matched, so that the system can still maintain stable power output performance during long-time high-load operation, avoiding the efficiency decay caused by overheating of the transmission components.

[0036] Specifically, the sealing mechanism includes a first sealing ring 9 and a second sealing ring 11 respectively arranged at the junctions of the motor and the gear box, a third sealing ring 12 arranged at the junction of the planetary reducer and the motor, a fourth sealing ring 16 arranged at the junction of the gear box and the outer cylinder, a fifth sealing ring 20 arranged at the junction of the outer cylinder and the actuator cylinder, a sixth sealing ring 24 arranged at the junction of the front stopper and the actuator cylinder, a seventh sealing ring 8 arranged at the junction of the self-locking mechanism and the motor, and an eighth sealing ring 4 arranged at the junction of the external flow channel and the actuator cylinder.

[0037] Specifically, the motor 10 and the gear box 14, the gear box 14 and the outer cylinder 4, the planetary reducer and the motor, the outer cylinder 18 and the actuator cylinder 22, the front stopper and the actuator cylinder, the external flow channel and the actuator cylinder, and the self-locking mechanism 7 and the motor 10 are fixedly connected through flanges.

[0038] In the implementation, the system described in the application sets a sealing mechanism composed of multiple sealing rings. Since the sealing performance of the hydraulic system is extremely high, the traditional sealing structure is prone to cause cooling oil leakage due to wear or aging of the sealing ring during long-term operation, which affects the system performance and safety. By arranging the first to seventh sealing rings 8 at the key connection parts, multiple sealing protection is formed, effectively preventing the leakage of hydraulic oil under high pressure, improving the long-term operation stability of the system, and at the same time, the high sealing degree makes the oil pressure of the internal cooling oil at a constant value, realizing the improvement of the self-locking efficiency.

[0039] Specifically, the coil set includes a first coil 28 and a second coil 27 respectively sleeved on both ends of the inner surface of the self-locking shell 26.

[0040] Specifically, the plug set includes a first plug 29 arranged on one side of the inner surface of the self-locking shell 26 close to the first coil 28 and a second plug 25 arranged on one side of the inner surface of the self-locking shell 26 close to the second coil 27.

[0041] Specifically, the material of the plug is martensitic precipitation hardening stainless steel, which forms a metal hard seal with the self-locking shell 26.

[0042] Specifically, the external flow channel 5 includes: a motor built-in flow channel 61 arranged on the outer circumferential surface of the stator of the motor, for absorbing the heat of the motor 10; a planetary reducer flow channel 62 arranged on the outer circumferential surface of the planetary reducer 13, for absorbing the heat of the planetary reducer 13; a gear box flow channel 63 arranged on the outer surface of the gear box 14, for absorbing the heat of the gear box 14; wherein a plurality of motor sub-flow channels 64 are arranged at equal intervals in the axial direction and in parallel on the outer circumferential surface of the motor 10 between the input end and the output end of the motor built-in flow channel 61.

[0043] In implementation, the system of the present application cools the oil flowing through the mechanical structure and absorbs heat by arranging the planetary reducer flow channel, the gear box flow channel and the motor built-in flow channel with a plurality of motor sub-flow channels, the motor sub-flow channels wrap the motor housing to eliminate local hot spots and reduce the motor circumferential temperature gradient, avoid local overheating causing the permanent magnet in the motor to demagnetize, the cooling oil in the motor sub-flow channels forms a damping layer to attenuate high-frequency electromagnetic vibration of the motor; the cooling oil in the planetary reducer flow channel and the gear box flow channel exists in the gear gap in the planetary reducer and the gear box, which can not only absorb the friction heat generated by gear meshing, but also reduce transmission loss through oil film lubrication, realizing the dual functions of heat dissipation and lubrication, when the cooling oil flows through the external flow channel, it exchanges heat with each heat generating component through sufficient contact, timely taking away the heat generated during system operation, reducing the operating heat generation of key components such as the motor and the reducer, and avoiding performance degradation or equipment damage due to overheating.

[0044] Specifically, the self-locking mechanism 7 is also used to move the spool 30 to contact the second plug 25 under the condition that the second coil 27 is energized, the through hole 31 is in communication with the external flow channel 5, and the actuator cylinder 22 is in a moving state. Under the condition that the first coil 28 is energized, the spool 30 moves to the first coil 28 to contact the first plug 29, the through hole 31 does not communicate with the external flow channel 5, and the actuator cylinder 22 is in a static state.

[0045] Specifically, the energization of the second coil 27 opens the self-locking mechanism 7, and the energization of the first coil 28 locks the self-locking mechanism 7.

[0046] Specifically, the electromagnetic spool is made of a soft magnetic material with high magnetic permeability, the spool 30 moves to the second coil 27 to contact the second plug 25 when the second coil is energized and the first coil is de-energized, and the spool 30 moves to the first coil 28 to contact the first plug 29 when the first coil is energized and the second coil is de-energized.

[0047] Specifically, the flow process of the cooling oil is that the electromagnetic valve is opened, the actuator cylinder 22 moves to extrude the cooling oil in the front oil chamber 21, the cooling oil flows through the motor 10, the planetary reducer 13 and the gear box 14 in sequence through the external flow channel 5 to absorb the heat of the motor 10, the planetary reducer 13 and the gear box 14, and then enters the rear oil chamber 17, and is extruded into the front oil chamber 21 again along with the movement of the actuator cylinder 22.

[0048] In the implementation, the system of the present application sets the coil group including the first coil 28 and the second coil 27 and the plug group cooperating with the first plug 29 and the second plug 25, due to the problems of response lag and unstable switching of the traditional electromagnetic valve in the switching process, which affects the accuracy and real-time performance of the actuation system, through the double-coil bidirectional control mode, the movement direction of the spool 30 is accurately controlled, the self-locking mechanism 7 can be quickly locked in the hydraulic circuit under the condition of de-energization or emergency, so as to realize the instant locking of the actuator cylinder 22, and the response speed and safety of the system are improved.

[0049] Specifically, the horizontal distance between the center of the cross section of the through hole 31 and the end surface of the spool 30 close to the first plug 29 is less than the horizontal distance between the center of the cross section of the through hole 31 and the end surface of the spool 30 close to the second plug 25.

[0050] In the implementation, the system of the present application sets the through hole 31 on the spool 30, and the horizontal distance between the center of the cross section of the through hole 31 and the end surface of the spool 30 is asymmetrically arranged on different sides, due to the problem of pressure imbalance of the traditional electromagnetic spool 30 structure in the hydraulic on-off switching process, which affects the stability and response speed of the switching, through the asymmetric through hole 31 design, a pressure difference is formed to guide the movement of the spool 30 in the switching process of the spool 30, the stability and reliability of the electromagnetic valve switching are improved, and the mechanical vibration and noise caused by hydraulic impact are reduced, and the running stability of the system is improved.

[0051] Specifically, it also includes an earring mechanism connected to the actuating mechanism for connecting an external load.

[0052] Specifically, the actuation mechanism also includes a front stop block 3 disposed on the outside of the outer cylinder to constrain the horizontal movement distance of the actuation cylinder.

[0053] Specifically, the earring mechanism includes a front earring 1 disposed on the side of the first protective sleeve near the front stop block 3 and a rear earring 15 disposed on the outer surface of the gearbox 14, wherein the front earring 1 is fixed to the first protective sleeve by an earring locking nut 2.

[0054] In practice, the system described in this invention uses an earring mechanism to connect to an external load, enabling the actuation system to flexibly adapt to various installation methods and load types, thereby improving the system's versatility and adaptability. It is particularly suitable for high-precision application scenarios that require multi-degree-of-freedom adjustment or complex spatial arrangements.

[0055] In practice, the system described in this invention achieves instantaneous force transmission and position locking by utilizing the incompressible properties of hydraulic oil. Traditional methods of maintaining position by continuously powering on the motor 10 suffer from low energy efficiency, high temperature rise, and slow response, affecting the long-term stability and safety of the system. Through the hydraulic self-locking mechanism, the load position can be maintained without continuous power supply from the motor 10, significantly reducing system energy consumption and temperature rise, extending the service life of the motor 10 and the system, and avoiding the risk of braking failure due to friction and wear in traditional mechanical braking methods, thus improving the safety of system operation.

[0056] Example 2: Refer to Figure 5 and Figure 6 The diagram shows the opening and locking schematics of the spring locking mechanism in an electromechanical actuation system with emergency locking function. In this embodiment, based on Embodiment 1, the self-locking mechanism can be replaced with a spring locking mechanism. The spring locking mechanism includes a first coil 28, a first plug 29, a second plug 25, a self-locking housing 26, a valve core 30, and a through hole 31; It also includes a spring 32 connected to the first plug for applying a horizontal tightening force to the valve core.

[0057] Specifically, the working process of the spring locking mechanism is as follows: when the first coil is de-energized, the valve core is subjected to a horizontal clamping force applied by the spring 32, keeping the through hole connected to the external flow channel, and the actuator is in motion. At this time, the cooling oil moves with the movement of the actuator. When the spring locking mechanism needs to be locked in an emergency or stopped in place, the first coil is energized, the valve core is subjected to an electromagnetic force greater than the horizontal clamping force, the valve core moves towards the first plug, the through hole is not connected to the external flow channel, and the actuator is in a stationary state.

[0058] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An electromechanical actuation system having an emergency locking function, characterized by The application relates to a cooling oil circulation device, comprising: an actuating mechanism for driving cooling oil movement, comprising an outer cylinder, a power transmission assembly connected to the outer cylinder for outputting a cooling oil pushing force, and an actuating cylinder connected to the power transmission assembly for receiving the cooling oil pushing force and driving the cooling oil to circulate along a cooling path; an oil circuit mechanism connected to the actuating mechanism for defining the cooling path of the cooling oil, comprising a front oil chamber connected to the outer cylinder, a rear oil chamber connected to the actuating cylinder, and an external flow channel connected to the rear oil chamber; a sealing mechanism connected to the actuating mechanism and the oil circuit mechanism respectively for separating the front oil chamber and the rear oil chamber; a self-locking mechanism connected to the oil circuit mechanism for controlling the operating state of the actuating mechanism by controlling the on-off of the cooling oil flow, comprising a self-locking shell connected to the external flow channel, a valve core arranged in the inner ring of a coil set for controlling the on-off of the cooling oil in the self-locking shell, a plug set arranged on the inner surface of the self-locking shell for defining the movement path of the valve core, a coil set connected to the plug set for generating electromagnetic force under the condition of power-on to drive the valve core to move to a corresponding on-off execution position, and a through hole arranged on the valve core for increasing the driving force of the valve core to move to the corresponding on-off execution position under the condition of connecting the external flow channel to form the cooling path of the cooling oil by the pressure difference formed by the cooling oil pushing force.

2. The electromechanical actuation system having an emergency locking function according to claim 1, characterized by, The actuating mechanism further comprises a front stopper arranged outside the outer cylinder for limiting the horizontal movement distance of the actuating cylinder.

3. The electromechanical actuation system having an emergency locking function according to claim 2, characterized by, The power transmission assembly comprises: a motor arranged above the outer cylinder for outputting rotary power; a planetary reducer connected to the motor for amplifying the rotary power; a gear box connected to the planetary reducer for transmitting the rotary power; a lead screw connected to the gear box for converting the rotary power into the cooling oil pushing force.

4. The electromechanical actuation system having an emergency locking function according to claim 3, characterized by, The sealing mechanism comprises a first sealing ring and a second sealing ring arranged at the joint of the motor and the gear box respectively, a third sealing ring arranged at the joint of the planetary reducer and the motor, a fourth sealing ring arranged at the joint of the gear box and the outer cylinder, a fifth sealing ring arranged at the joint of the outer cylinder and the actuating cylinder, a sixth sealing ring arranged at the joint of the front stopper and the actuating cylinder, a seventh sealing ring arranged at the joint of the self-locking mechanism and the motor, and an eighth sealing ring arranged at the joint of the external flow channel and the actuating cylinder.

5. The electromechanical actuation system having an emergency locking function according to claim 4, characterized by, The coil set comprises a first coil and a second coil sleeved on both ends of the inner surface of the self-locking shell respectively.

6. The electromechanical actuation system having an emergency locking function according to claim 5, characterized by, The plug set comprises a first plug arranged on one side of the inner surface of the self-locking shell close to the first coil, and a second plug arranged on one side of the inner surface of the self-locking shell close to the second coil.

7. The electromechanical actuation system having an emergency locking function according to claim 6, characterized by, The external flow channel comprises: a motor built-in flow channel arranged on the outer circumferential surface of the stator of the motor for absorbing the heat of the motor; a planetary reducer flow channel connected to the planetary reducer for absorbing the heat of the planetary reducer; A gear box flow channel connected with the gear box to absorb the heat of the gear box; Wherein, the input end and the output end of the motor built-in flow channel are provided with several motor sub-flow channels which are equidistantly distributed in parallel on the outer circumferential surface of the motor.

8. The electromechanical actuation system having an emergency locking function according to claim 7, characterized by, The self-locking mechanism is also used to move the spool to contact the second plug under the condition that the second coil is energized, the through hole is communicated with the external flow channel, and the actuator is in a moving state. Under the condition that the first coil is energized, the spool moves to contact the first plug, the through hole is not communicated with the external flow channel, and the actuator is in a stationary state.

9. The electromechanical actuation system having an emergency locking function according to claim 8, characterized by, The horizontal distance between the center of the cross section of the through hole and the end surface of the spool near the first plug is less than the horizontal distance between the center of the cross section of the through hole and the end surface of the spool near the second plug.

10. The electromechanical actuation system having an emergency locking function according to claim 9, characterized by, It also includes an ear mechanism connected with the actuating mechanism to connect external loads.

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