Electromechanical actuation system with emergency locking function

Abstract

This invention relates to the field of electromechanical actuation systems, and more particularly to an electromechanical actuation system with an emergency locking function, comprising: an actuation mechanism for driving the movement of cooling oil, including an outer cylinder, a power transmission assembly, and an actuation cylinder; an oil chamber circuit mechanism for providing movement space for the cooling oil, including a front oil chamber, a rear oil chamber, and an external flow channel; a sealing mechanism; and a self-locking mechanism, including a self-locking housing connected to the external flow channel, a plug assembly, a coil assembly, a valve core for controlling the on / off state of the cooling oil within the self-locking housing, and a through hole for increasing the driving force of the valve core to move to the corresponding on / off execution position by means of the pressure difference formed by the driving force of the cooling oil under the condition of connecting the external flow channel to form a cooling path for the cooling oil. This invention improves the mechanical braking speed and reduces the energy consumption of electromechanical actuation.

Description

Technical Field

[0001] This invention relates to the field of electromechanical actuation system technology, and in particular to an electromechanical actuation system with an emergency locking function. Background Technology

[0002] In the prior art, an electromechanical actuator is an actuation device that uses electrical energy to drive a motor and converts rotary motion into linear or rotary mechanical output through a transmission mechanism. Its overall performance is determined by the collaborative efforts of the drive motor, transmission mechanism, sensor, controller, and power system. When power is lost or control signal is lost, additional mechanical locking devices, such as ratchet or friction plate, are usually required to maintain the position. This not only increases the complexity and weight of the system, but may also lead to response delay or reliability issues, especially in applications with stringent requirements for space, weight, and reliability, such as aerospace actuators and precision mechanical positioning.

[0003] Chinese Patent Publication No. CN110855072B discloses an electromechanical actuator and an electromechanical servo system, including a servo motor, a housing, and components disposed within the housing. The components within the housing include: a ball screw nut, wherein the rotor shaft of the servo motor is connected to the ball screw nut via a key to transmit the rotational motion of the rotor shaft to the ball screw nut; a ball screw, wherein the ball screw and the ball screw nut are connected by steel balls as rolling elements, and the ball screw extends from the front end cover of the housing; a mechanical position adjustment component is disposed at the rear end of the rotor shaft of the servo motor away from the ball screw, the mechanical position adjustment component being used to drive the rotor shaft to rotate when the servo motor is not powered on, thereby driving the ball screw nut to rotate accordingly. The rotation of the ball screw nut drives the ball screw to extend and retract axially along the rotor shaft, thereby adjusting the length of the ball screw extending from the front end cover of the housing. Therefore, it can be seen that the electromechanical actuator and electromechanical servo system have problems such as long response time due to the use of mechanical friction braking device, brake pad wear, and motor winding temperature rise due to the need for continuous motor power supply to maintain position in the existing EMA system. Summary of the Invention

[0004] Therefore, the present invention provides an electromechanical actuation system with an emergency locking function to overcome the problems of long response time and brake pad wear in the prior art due to the use of mechanical friction braking devices, and the temperature rise of motor windings caused by the need for continuous power supply to the motor to maintain position in the existing EMA system.

[0005] To achieve the above objectives, the present invention provides an electromechanical actuation system with an emergency locking function, comprising:

[0006] An actuating mechanism for driving the movement of cooling oil includes an outer cylinder, a power transmission assembly connected to the outer cylinder for outputting the driving force of the cooling oil, and an actuating cylinder connected to the power transmission assembly for receiving the driving force of the cooling oil and driving the cooling oil to circulate along the cooling path.

[0007] An oil chamber circuit mechanism, which is connected to the actuating mechanism, is used to define the cooling path of the cooling oil, including 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.

[0008] A sealing mechanism, which is connected to the actuating mechanism and the oil chamber circuit mechanism respectively, is used to separate the front oil chamber and the rear oil chamber;

[0009] The self-locking mechanism, connected to the oil chamber circuit mechanism, controls the operating state of the actuating mechanism by controlling the flow of cooling oil. It includes a self-locking housing connected to the external flow channel, a valve core disposed within the inner ring of the coil assembly to control the flow of cooling oil within the self-locking housing, a plug assembly disposed on the inner surface of the self-locking housing to define the movement path of the valve core, a coil assembly connected to the plug assembly that generates electromagnetic force under energized conditions to drive the valve core to the corresponding on / off execution position, and a through hole disposed on the valve core to increase the driving force of the valve core to the corresponding on / off execution position by the pressure difference formed by the driving force of the cooling oil under conditions where the external flow channel is connected to form a cooling path for the cooling oil.

[0010] Furthermore, the actuating mechanism also includes a front stop block disposed on the outside of the outer cylinder to constrain the horizontal movement distance of the actuating cylinder.

[0011] Furthermore, the power transmission assembly includes:

[0012] An electric motor is located above the outer cylinder to output rotational power;

[0013] A planetary reducer, which is connected to the motor, is used to amplify the rotational power;

[0014] A gearbox, which is connected to the planetary reducer, is used to transmit the rotational power;

[0015] A lead screw, which is connected to the gearbox, is used to convert the rotational power into the driving force of the cooling oil.

[0016] Furthermore, the sealing mechanism includes a first sealing ring and a second sealing ring respectively disposed at the joint between the motor and the gearbox, a third sealing ring disposed at the joint between the planetary reducer and the motor, a fourth sealing ring disposed at the joint between the gearbox and the outer cylinder, a fifth sealing ring disposed at the joint between the outer cylinder and the actuating cylinder, a sixth sealing ring disposed at the joint between the front stop block and the actuating cylinder, a seventh sealing ring disposed at the joint between the self-locking mechanism and the motor, and an eighth sealing ring disposed at the joint between the external flow channel and the actuating cylinder.

[0017] Furthermore, the coil assembly includes a first coil and a second coil respectively sleeved at both ends of the inner surface of the self-locking housing.

[0018] Furthermore, the plug assembly includes a first plug disposed on one side of the inner surface of the self-locking housing near the first coil and a second plug disposed on one side of the inner surface of the self-locking housing near the second coil.

[0019] Furthermore, the external flow channel includes:

[0020] The motor has an internal flow channel located on the outer circumferential surface of the stator to absorb heat from the motor.

[0021] The planetary reducer flow channel, which is connected to the planetary reducer, is used to absorb the heat of the planetary reducer;

[0022] A gearbox flow channel, which is connected to the gearbox, is used to absorb heat from the gearbox;

[0023] Among them, the motor internal flow channel has several motor flow channels that are axially parallel and equally spaced on the outer circumference of the motor between the input end and the output end.

[0024] Furthermore, the self-locking mechanism is also used to move the valve core toward the second coil to contact the second plug when the second coil is energized, the through hole communicates with the external flow channel, and the actuating cylinder is in motion.

[0025] When the first coil is energized, the valve core moves toward the first coil until it contacts the first plug, the through hole is not connected to the external flow channel, and the actuating cylinder is in a stationary state.

[0026] Furthermore, the horizontal distance between the center of the cross-section of the through hole and the end face of the valve core near the first plug is less than the horizontal distance between the center of the cross-section of the through hole and the end face of the valve core near the second plug.

[0027] Furthermore, it also includes an earring mechanism connected to the actuating mechanism for connecting an external load.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: The system of the present invention, by setting up an actuation mechanism, an oil chamber circuit mechanism, a sealing mechanism, and a self-locking mechanism, addresses the significant technical defects of traditional electromechanical actuation systems in terms of position holding and emergency braking. For example, position holding requires continuous energization of the motor to generate electromagnetic holding torque, which not only wastes energy but also causes the motor to overheat. In emergencies, the system cannot quickly lock the load position, posing a safety hazard. Existing solutions mainly use electromagnetic brakes or mechanical brake devices, which have slow response speeds and cannot meet high dynamic requirements. Mechanical friction brakes suffer from wear problems, and their lifespan is usually no more than 100,000 cycles. Additional devices increase the complexity and weight of the system, contradicting the trend of miniaturization of electromechanical actuation systems. The self-locking mechanism is integrated into the sealed oil chamber circuit formed by the actuating cylinder and the outer cylinder, and the hydraulic circuit is quickly and accurately controlled by precisely controlling the opening and closing state of the valve. The system employs rapid on / off switching to lock the actuator cylinder. By directly controlling the hydraulic circuit with a solenoid valve, the braking response speed is significantly improved compared to traditional mechanical braking, enhancing system safety. Instantaneous force transmission is achieved through the incompressible nature of hydraulic oil. A sealing mechanism seals the front and rear oil chambers separately, creating a pressure difference during actuator cylinder movement. This prevents oil leakage and effectively ensures the pressure stability of the hydraulic system, guaranteeing efficient circulation of cooling oil within a preset path. Hydraulic self-locking replaces continuous energization, and the cooling oil circulation loop actively dissipates heat from the actuator, reducing energy consumption during position holding, improving energy efficiency, and minimizing motor temperature rise. This avoids the overheating problem of windings caused by traditional electromagnetic holding. The inclusion of an oil chamber and external flow channel reduces overall size and weight, making it more suitable for space-constrained applications such as aerospace.

[0029] Furthermore, the system described in this invention, by setting up a power transmission assembly including a motor, a planetary reducer, a gearbox, and a lead screw, addresses the bottlenecks in power transmission efficiency and response speed of traditional electromechanical actuation systems. These bottlenecks lead to slow response and low efficiency under conditions of frequent load changes. Through the synergistic effect of the planetary reducer and gearbox, the motor's output power is efficiently amplified and stably transmitted. The lead screw structure converts rotational motion into linear driving force, reducing the problem of delayed locking due to circumferential rotational inertia during torque transmission. This improves the response accuracy and output stability of the actuation system under complex operating conditions, thereby enhancing the system's overall performance. The system's adaptability under high dynamic loads is enhanced by the incompressible properties of hydraulic oil, enabling instantaneous braking response in emergency situations. This surpasses the second-level response of traditional mechanical braking devices, effectively preventing load displacement deviations caused by braking delays. Furthermore, the rigid connection design of components in the power transmission assembly further reduces transmission clearance, improving the output displacement accuracy of the actuator, reducing intermediate transmission links, increasing power transmission efficiency, and lowering energy loss. Combined with the cooling effect of the external flow channel, the system maintains stable power output performance even during prolonged high-load operation, preventing efficiency degradation due to overheating of transmission components.

[0030] Furthermore, the system described in this invention utilizes a sealing mechanism composed of multiple sealing rings. Since hydraulic systems have extremely high requirements for sealing performance, traditional sealing structures are prone to cooling oil leakage due to wear or aging of the sealing rings during long-term operation, affecting system performance and safety. By setting the first to seventh sealing rings at key connection points, multiple sealing protections are formed, effectively preventing hydraulic oil leakage under high pressure and improving the long-term operational stability of the system. Simultaneously, the high sealing degree keeps the internal cooling oil pressure constant, achieving improved self-locking efficiency.

[0031] Furthermore, the system of the present invention, by setting up a coil group including a first coil and a second coil, and a plug group of a first plug and a second plug that cooperate with it, addresses the problem that traditional solenoid valves have response lag and unstable switching during the switching process, affecting the accuracy and real-time performance of the actuation system. Through the dual-coil bidirectional control method, precise control of the valve core movement direction is achieved, ensuring that the self-locking mechanism can quickly lock the hydraulic circuit in the event of a power failure or emergency, thereby achieving instant locking of the actuating cylinder and improving the system's response speed and safety.

[0032] Furthermore, the system of the present invention incorporates several motor distribution channels, including planetary reducer flow channels, gearbox flow channels, and motor internal flow channels. Cooling oil flows through the mechanical structure and absorbs heat. The motor distribution channels enclose the motor housing to eliminate local hot spots and reduce the circumferential temperature gradient of the motor, preventing localized overheating that could lead to demagnetization of the permanent magnets in the motor. The cooling oil in the motor distribution channels forms a damping layer to attenuate high-frequency electromagnetic vibrations of the motor. The cooling oil in the planetary reducer and gearbox flow channels exists in the gear gaps within the planetary reducer and gearbox, absorbing the frictional heat generated by gear meshing and reducing transmission losses through oil film lubrication, thus achieving both heat dissipation and lubrication functions. When the cooling oil flows through the external flow channels, it exchanges heat with each heat-generating component through full contact, promptly carrying away the heat generated during system operation. This reduces the operating heat generation of key components such as the motor and reducer, preventing performance degradation or equipment damage due to overheating.

[0033] Furthermore, the system described in this invention provides a through hole on the valve core, with the horizontal distance between the center of the through hole's cross-section and the valve core's end face asymmetrically set on different sides. This addresses the pressure imbalance problem inherent in traditional solenoid valve core structures during hydraulic on / off switching, which affects the smoothness and response speed of the switching. The asymmetrical through hole design creates a pressure difference during valve core switching to guide the valve core's movement, improving the stability and reliability of the solenoid valve switching. Simultaneously, it reduces mechanical vibration and noise caused by hydraulic shock, enhancing the system's operational stability.

[0034] Furthermore, 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.

[0035] Furthermore, 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 a motor 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, significantly reducing system energy consumption and temperature rise, extending the service life of the motor and 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. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the electromechanical actuation system with emergency locking function according to an embodiment of the present invention;

[0037] Figure 2 This is a cross-sectional structural diagram of an electromechanical actuation system with emergency locking function according to an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram showing the opening of the self-locking mechanism of an electromechanical actuation system with emergency locking function according to an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the self-locking mechanism of an electromechanical actuation system with emergency locking function according to an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram showing the opening of the spring locking mechanism of the electromechanical actuation system with emergency locking function according to an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the spring locking mechanism of an electromechanical actuation system with emergency locking function according to an embodiment of the present invention;

[0042] Explanation of reference numerals: 1-Front earring, 2-Earring locking nut, 3-Front stop block, 4-Eighth sealing ring, 5-External flow channel, 61-Motor internal flow channel, 62-Planetary reducer flow channel, 63-Gearbox flow channel, 64-Motor branch flow channel, 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-Gearbox, 15-Rear earring, 16-Fourth sealing ring, 17-Rear oil chamber, 18-Outer cylinder, 19-Lead screw nut, 20-Fifth sealing ring, 21-Front oil chamber, 22-Actuating cylinder, 23-Lead 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 Implementation

[0043] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0044] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0045] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0046] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Please see Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, these are respectively an overall structural schematic diagram, a cross-sectional structural schematic diagram, a self-locking mechanism opening schematic diagram, and a self-locking mechanism locking schematic diagram of the electromechanical actuation system with emergency locking function according to an embodiment of the present invention.

[0048] Example 1: An electromechanical actuation system with an emergency locking function according to an embodiment of the present invention includes:

[0049] An actuation mechanism for driving the movement of cooling oil includes an outer cylinder, a power transmission assembly connected to the outer cylinder for outputting the driving force of the cooling oil, and an actuation cylinder 22 connected to the power transmission assembly for receiving the driving force of the cooling oil and driving the cooling oil to circulate along the cooling path.

[0050] An oil chamber circuit mechanism, which is connected to the actuation mechanism, is used to define the cooling path of the cooling oil, including a front oil chamber 21 connected to the outer cylinder, a rear oil chamber 17 connected to the actuation cylinder 22, and an external flow channel 5 connected to the rear oil chamber 17.

[0051] A sealing mechanism, which is connected to the actuating mechanism and the oil chamber circuit mechanism respectively, is used to separate the front oil chamber and the rear oil chamber;

[0052] The self-locking mechanism 7, connected to the oil chamber circuit mechanism, is used to control the operating state of the actuating mechanism by controlling the flow of cooling oil. It includes a self-locking housing 26 connected to the external flow channel 5, a valve core 30 disposed in the inner ring of the coil group to control the flow of cooling oil in the self-locking housing 26, a plug group disposed on the inner surface of the self-locking housing 26 to limit the movement path of the valve core 30, a coil group connected to the plug group to generate electromagnetic force under energized conditions to drive the valve core 30 to move to the corresponding on / off execution position, and a through hole 31 disposed on the valve core 30 to increase the driving force of the valve core 30 to move to the corresponding on / off execution position by the pressure difference formed by the driving force of the cooling oil under the condition of connecting the external flow channel 5 to form a cooling path for the cooling oil.

[0053] Specifically, the cooling oils include phosphate ester hydraulic oil and Skydrol 500B-4 aviation hydraulic oil.

[0054] Specifically, the self-locking mechanism 7 is an electromagnetic switch valve.

[0055] In implementation, the system of this invention incorporates an actuation mechanism, an oil chamber circuit mechanism, a sealing mechanism, and a self-locking mechanism. Traditional electromechanical actuation systems suffer from significant technical deficiencies in position holding and emergency braking. For example, position holding requires continuous motor power to generate electromagnetic holding torque, which not only wastes energy but also leads to motor overheating. In emergencies, the system cannot quickly lock the load position, posing a safety hazard. Existing solutions mainly employ electromagnetic brakes or mechanical brake devices, which suffer from slow response speeds and cannot meet high dynamic demands. Mechanical friction brakes suffer from wear issues, with a lifespan typically not exceeding 100,000 cycles. Additional devices increase system complexity and weight, contradicting the trend towards miniaturization in electromechanical actuation systems. This invention integrates a self-locking mechanism within the sealed oil chamber circuit formed by the actuating cylinder and the outer cylinder. By precisely controlling the opening and closing states of the valves, rapid switching of the hydraulic circuit is achieved. The system achieves the purpose of locking the actuator cylinder; by using a solenoid valve to directly control the on / off of the hydraulic circuit, the braking response speed is improved compared to traditional mechanical braking, significantly enhancing system safety; instantaneous force transmission is achieved through the incompressible nature of hydraulic oil; a sealing mechanism is used to seal the front and rear oil chambers separately, creating a pressure difference between the front and rear chambers during actuator cylinder movement, preventing oil leakage while effectively ensuring the pressure stability of the hydraulic system and ensuring efficient circulation of cooling oil within a preset path; by using hydraulic self-locking instead of continuous energization, the cooling oil circulation circuit actively dissipates heat from the actuator, reducing energy consumption during position holding, improving energy efficiency, and reducing motor temperature rise, thus avoiding the winding overheating problem caused by traditional electromagnetic holding; by setting up oil chambers and external flow channels, the overall size and weight are reduced, making it more suitable for space-constrained scenarios such as aerospace.

[0056] Specifically, the power transmission assembly includes:

[0057] The motor 10 is located above the outer cylinder 4 and is used to output rotational power;

[0058] Planetary reducer 13, which is connected to the motor 10, is used to amplify the rotational power;

[0059] Gearbox 14, which is connected to the planetary reducer 13, is used to transmit the rotational power;

[0060] The lead screw 23, which is connected to the gearbox 14, is used to convert the rotational power into the driving force of the cooling oil.

[0061] Specifically, the power transmission sequence of the power transmission assembly is motor 10, planetary reducer 13, gearbox 14, lead screw 23, and actuator 22, wherein the lead screw 23 and actuator 22 are connected by lead screw nut 19.

[0062] In implementation, the system described in this invention, by setting up a power transmission assembly including a motor, planetary reducer, gearbox, and lead screw, addresses the bottlenecks in power transmission efficiency and response speed of traditional electromechanical actuation systems. These bottlenecks lead to slow response and low efficiency under conditions of frequent load changes. Through the synergistic effect of the planetary reducer and gearbox, the motor's output power is efficiently amplified and stably transmitted. The lead screw structure converts rotational motion into linear driving force, reducing the problem of delayed locking due to circumferential rotational inertia during torque transmission. This improves the response accuracy and output stability of the actuation system under complex conditions, thereby enhancing the system's overall performance. The system's adaptability under high dynamic loads is enhanced by the incompressible properties of hydraulic oil, enabling instantaneous braking response in emergency situations. This surpasses the second-level response of traditional mechanical braking devices, effectively preventing load displacement deviations caused by braking delays. Furthermore, the rigid connection design of components in the power transmission assembly further reduces transmission clearance, improving the output displacement accuracy of the actuator, reducing intermediate transmission links, increasing power transmission efficiency, and lowering energy loss. Combined with the cooling effect of the external flow channel, the system maintains stable power output performance even during prolonged high-load operation, preventing efficiency degradation due to overheating of transmission components.

[0063] Specifically, the sealing mechanism includes a first sealing ring 9 and a second sealing ring 11 respectively disposed at the joint between the motor and the gearbox, a third sealing ring 12 disposed at the joint between the planetary reducer and the motor, a fourth sealing ring 16 disposed at the joint between the gearbox and the outer cylinder, a fifth sealing ring 20 disposed at the joint between the outer cylinder and the actuating cylinder, a sixth sealing ring 24 disposed at the joint between the front stop block and the actuating cylinder, a seventh sealing ring 8 disposed at the joint between the self-locking mechanism and the motor, and an eighth sealing ring 4 disposed at the joint between the external flow channel and the actuating cylinder.

[0064] Specifically, the motor 10 and the gearbox 14, the gearbox 14 and the outer cylinder 4, the planetary reducer and the motor, the outer cylinder 18 and the actuator 22, the front stop block and the actuator, the external flow channel and the actuator, and the self-locking mechanism 7 and the motor 10 are all fixedly connected by flanges.

[0065] In practice, the system described in this invention uses a sealing mechanism composed of multiple sealing rings. Since hydraulic systems have extremely high requirements for sealing performance, traditional sealing structures are prone to cooling oil leakage due to wear or aging of sealing rings during long-term operation, affecting system performance and safety. By setting the first to seventh sealing rings 8 at key connection points, multiple sealing protections are formed, effectively preventing hydraulic oil leakage under high pressure and improving the long-term operational stability of the system. At the same time, the high sealing degree keeps the internal cooling oil pressure constant, thereby improving the self-locking efficiency.

[0066] Specifically, the coil assembly includes a first coil 28 and a second coil 27 respectively sleeved on both ends of the inner surface of the self-locking housing 26.

[0067] Specifically, the plug assembly includes a first plug 29 disposed on one side of the inner surface of the self-locking housing 26 near the first coil 28 and a second plug 25 disposed on one side of the inner surface of the self-locking housing 26 near the second coil 27.

[0068] Specifically, the plug is made of martensitic precipitation hardening stainless steel, which forms a metal hard seal with the self-locking housing 26.

[0069] Specifically, the external flow channel 5 includes:

[0070] The motor has an internal flow channel 61, which is located on the outer circumferential surface of the stator of the motor to absorb the heat of the motor 10.

[0071] Planetary reducer flow channel 62 is disposed on the outer circumferential surface of the planetary reducer 13 to absorb the heat of the planetary reducer 13.

[0072] Gearbox flow channel 63 is disposed on the outer surface of the gearbox 14 to absorb heat from the gearbox 14;

[0073] Among them, a plurality of motor flow channels 64 are provided between the input end and the output end of the motor built-in flow channel 61, which are axially parallel and equally spaced on the outer circumference of the motor 10.

[0074] In implementation, the system of this invention features several motor distribution channels, including planetary reducer channels, gearbox channels, and internal motor channels. Cooling oil flows through the mechanical structure and absorbs heat. The motor distribution channels enclose the motor housing to eliminate local hot spots and reduce the circumferential temperature gradient of the motor, preventing local overheating that could lead to demagnetization of the permanent magnets in the motor. The cooling oil in the motor distribution channels forms a damping layer to attenuate high-frequency electromagnetic vibrations of the motor. The cooling oil in the planetary reducer and gearbox channels exists in the gear gaps within the planetary reducer and gearbox, absorbing the frictional heat generated by gear meshing and reducing transmission losses through oil film lubrication, thus achieving the dual functions of heat dissipation and lubrication. When the cooling oil flows through the external channels, it exchanges heat with the heat-generating components through full contact, promptly carrying away the heat generated during system operation, reducing the operating heat of key components such as the motor and reducer, and preventing performance degradation or equipment damage due to overheating.

[0075] Specifically, the self-locking mechanism 7 is also used to move the valve core 30 to the second coil 27 to contact the second plug 25 when the second coil 27 is energized, the through hole 31 is connected to the external flow channel 5, and the actuating cylinder 22 is in motion.

[0076] When the first coil 28 is energized, the valve core 30 moves toward the first coil 28 until it contacts the first plug 29, the through hole 31 is not connected to the external flow channel 5, and the actuating cylinder 22 is in a stationary state.

[0077] Specifically, energizing the second coil 27 opens the self-locking mechanism 7, and energizing the first coil 28 locks the self-locking mechanism 7.

[0078] Specifically, the solenoid valve core is made of a soft magnetic material with high magnetic permeability. When the second coil is energized and the first coil is de-energized, the valve core 30 moves toward the second coil 27 until it contacts the second plug 25; when the first coil is energized and the second coil is de-energized, the valve core 30 moves toward the first coil 28 until it contacts the first plug 29.

[0079] Specifically, the flow process of the cooling oil is as follows: the solenoid valve is opened, the actuator cylinder 22 moves to squeeze the cooling oil in the front oil chamber 21, the cooling oil flows through the external flow channel 5 in sequence through the motor 10, the planetary reducer 13 and the gearbox 14 to absorb the heat of the motor 10, the planetary reducer 13 and the gearbox 14, and then enters the rear oil chamber 17. With the movement of the actuator cylinder 22, it is squeezed back into the front oil chamber 21.

[0080] In implementation, the system of the present invention is configured with a coil group including a first coil 28 and a second coil 27, and a plug group including a first plug 29 and a second plug 25 that cooperate with it. Since traditional solenoid valves have problems with response lag and unstable switching during the switching process, which affect the accuracy and real-time performance of the actuation system, the dual-coil bidirectional control method is used to achieve precise control of the movement direction of the valve core 30, ensuring that the self-locking mechanism 7 can quickly lock the hydraulic circuit in the event of power failure or emergency, thereby achieving instant locking of the actuating cylinder 22 and improving the system's response speed and safety.

[0081] Specifically, the horizontal distance between the center of the cross-section of the through hole 31 and the end face of the valve core 30 near 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 face of the valve core 30 near the second plug 25.

[0082] In implementation, the system of the present invention provides a through hole 31 on the valve core 30, and the horizontal distance between the center of the cross-section of the through hole 31 and the end face of the valve core 30 is asymmetrically set on different sides. Since the traditional solenoid valve core 30 structure has a pressure imbalance problem during hydraulic on / off switching, which affects the smoothness and response speed of switching, the asymmetrical through hole 31 design creates a pressure difference to guide the movement of the valve core 30 during the switching process, thereby improving the stability and reliability of the solenoid valve switching. At the same time, it reduces the mechanical vibration and noise caused by hydraulic shock, and improves the smoothness of system operation.

[0083] Specifically, it also includes an earring mechanism connected to the actuating mechanism for connecting an external load.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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;

[0090] It also includes a spring 32 connected to the first plug for applying a horizontal tightening force to the valve core.

[0091] 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.

[0092] 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 with an emergency locking function, characterized in that, include: An actuating mechanism for driving the movement of cooling oil includes an outer cylinder, a power transmission assembly connected to the outer cylinder for outputting the driving force of the cooling oil, and an actuating cylinder connected to the power transmission assembly for receiving the driving force of the cooling oil and driving the cooling oil to circulate along the cooling path. An oil chamber circuit mechanism, which is connected to the actuating mechanism, is used to define the cooling path of the cooling oil, including 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, which is connected to the actuating mechanism and the oil chamber circuit mechanism respectively, is used to separate the front oil chamber and the rear oil chamber; The self-locking mechanism, connected to the oil chamber circuit mechanism, is used to control the operating state of the actuating mechanism by controlling the flow of cooling oil. It includes a self-locking housing connected to the external flow channel, a valve core disposed in the inner ring of the coil group to control the flow of cooling oil in the self-locking housing, a plug group disposed on the inner surface of the self-locking housing to limit the movement path of the valve core, a coil group connected to the plug group to generate electromagnetic force to drive the valve core to move to the corresponding on / off execution position when energized, and a through hole disposed on the valve core to increase the driving force of the valve core to move to the corresponding on / off execution position by the pressure difference formed by the driving force of the cooling oil under the condition of connecting the external flow channel to form a cooling path for the cooling oil. The coil assembly includes a first coil and a second coil respectively sleeved on both ends of the inner surface of the self-locking housing; the plug assembly includes a first plug disposed on the inner surface of the self-locking housing near the first coil and a second plug disposed on the inner surface of the self-locking housing near the second coil.

2. The electromechanical actuation system with emergency locking function according to claim 1, characterized in that, The actuating mechanism also includes a front stop block disposed on the outside of the outer cylinder to constrain the horizontal movement distance of the actuating cylinder.

3. The electromechanical actuation system with emergency locking function according to claim 2, characterized in that, The power transmission component includes: An electric motor is located above the outer cylinder to output rotational power; A planetary reducer, which is connected to the motor, is used to amplify the rotational power; A gearbox, which is connected to the planetary reducer, is used to transmit the rotational power; A lead screw, which is connected to the gearbox, is used to convert the rotational power into the driving force of the cooling oil.

4. The electromechanical actuation system with emergency locking function according to claim 3, characterized in that, The sealing mechanism includes a first sealing ring and a second sealing ring respectively disposed at the joint between the motor and the gearbox, a third sealing ring disposed at the joint between the planetary reducer and the motor, a fourth sealing ring disposed at the joint between the gearbox and the outer cylinder, a fifth sealing ring disposed at the joint between the outer cylinder and the actuating cylinder, a sixth sealing ring disposed at the joint between the front stop block and the actuating cylinder, a seventh sealing ring disposed at the joint between the self-locking mechanism and the motor, and an eighth sealing ring disposed at the joint between the external flow channel and the actuating cylinder.

5. The electromechanical actuation system with emergency locking function according to claim 4, characterized in that, The external flow channel includes: The motor has an internal flow channel located on the outer circumferential surface of the stator to absorb heat from the motor. The planetary reducer flow channel, which is connected to the planetary reducer, is used to absorb the heat of the planetary reducer; A gearbox flow channel, which is connected to the gearbox, is used to absorb heat from the gearbox; Among them, the motor internal flow channel has several motor flow channels that are axially parallel and equally spaced on the outer circumference of the motor between the input end and the output end.

6. The electromechanical actuation system with emergency locking function according to claim 5, characterized in that, The self-locking mechanism is also used so that, when the second coil is energized, the valve core moves toward the second coil to contact the second plug, the through hole communicates with the external flow channel, and the actuating cylinder is in motion. When the first coil is energized, the valve core moves toward the first coil until it contacts the first plug, the through hole is not connected to the external flow channel, and the actuating cylinder is in a stationary state.

7. The electromechanical actuation system with emergency locking function according to claim 6, characterized in that, The horizontal distance between the center of the cross-section of the through hole and the end face of the valve core near the first plug is less than the horizontal distance between the center of the cross-section of the through hole and the end face of the valve core near the second plug.

8. The electromechanical actuation system with emergency locking function according to claim 7, characterized in that, It also includes an earring mechanism connected to the actuating mechanism for connecting to an external load.

Images