Integrated electro-hydrostatic actuator

Abstract

The integrated electro-hydrostatic actuator comprises a motor, a plunger pump, an integrated valve block and a shell assembly. The plunger pump comprises a first connecting port and a second connecting port, and the plunger pump is connected with the motor. The integrated valve block is provided with a first oil way and a second oil way which are connected with the plunger pump, the plunger pump is inserted into the integrated valve block, the first oil way is in butt joint with the first connector, and the second oil way is in butt joint with the second connector. The shell assembly comprises a cylinder body, the cylinder body is rotationally connected with an integrated valve block in a sleeved mode, a first cavity and a second cavity which are isolated from each other are formed by the cylinder body and the integrated valve block, the first cavity is communicated with the first oil way, and the second cavity is communicated with the second oil way. According to the integrated electro-hydrostatic actuator, the plunger pump is driven by the motor to output high-pressure oil and low-pressure oil to the first cavity and the second cavity between the integrated valve block and the cylinder body, the cylinder body is pushed to rotate relative to the integrated valve block, power is output in a rotating mode, a power conversion mechanism does not need to be additionally connected, and the equipment integration degree is higher.

Description

Technical Field

[0001] This disclosure pertains to the field of underwater operation equipment, and in particular to an integrated electro-hydrostatic actuator. Background Technology

[0002] In underwater operations, actuators, as the execution mechanisms, undertake critical tasks such as driving the joint movements of underwater equipment and the actions of working tools. Their performance directly determines the operational accuracy, reliability, and endurance of underwater equipment. Electro-Hydrostatic Actuators (EHAs), as integrated transmission devices combining a motor, hydraulic pump, control valve assembly, and actuator, offer advantages such as high power density, fast response speed, high control precision, and no risk of hydraulic pipeline leakage. They have gradually replaced traditional hydraulic actuators in underwater equipment applications.

[0003] Existing EHA actuators mostly use piston-type hydraulic cylinders, which output motion outward through a telescopic structure. An additional motion conversion mechanism is required to convert linear telescopic motion into rotation, resulting in low integration of underwater equipment, complex structure, and excessively large equipment size. Summary of the Invention

[0004] In view of the above, it is necessary to provide an integrated electro-hydraulic actuator designed to output power in a rotational manner in an integrated manner.

[0005] Integrated electro-hydraulic actuator, including: Electric motor; A plunger pump includes a first connection port and a second connection port. The plunger pump is connected to the motor and is used to output and recover oil through the first connection port and the second connection port under the drive of the motor. An integrated valve block has a first oil passage and a second oil passage connected to the plunger pump. The plunger pump is inserted into the integrated valve block. The first oil passage is connected to the first connection port, and the second oil passage is connected to the second connection port. The housing assembly includes a cylinder body rotatably fitted onto the integrated valve block, forming a first cavity and a second cavity isolated from each other with the integrated valve block. The first cavity is connected to the first oil passage, and the second cavity is connected to the second oil passage.

[0006] According to the integrated electro-hydraulic actuator, the housing assembly further includes a fixed partition and a rotating partition. The fixed partition is connected to the outer wall of the integrated valve block, and the rotating partition is connected to the inner wall of the cylinder. The fixed partition and the rotating partition divide the gap between the cylinder and the integrated valve block into a first cavity and a second cavity.

[0007] According to the integrated electro-hydraulic actuator, the first oil circuit includes a first main channel extending in the axial direction and a first working channel extending in the radial direction. One end of the first main channel is connected to the first connection port, and the other end is connected to the first working channel. The other end of the first working channel is connected to the first cavity. The second oil passage includes a second main flow channel extending in the axial direction and a second working flow channel extending in the radial direction. One end of the second main flow channel is connected to the second connection port, and the other end is connected to the second working flow channel. The other end of the second working flow channel is connected to the second cavity.

[0008] The integrated electro-hydraulic actuator further includes a valve switching assembly, the valve switching assembly comprising: A first overflow valve is inserted into the integrated valve block in the axial direction, and the first oil circuit overflows and connects to the second oil circuit through the first overflow valve; The second overflow valve is located within the integrated valve block in the axial direction, and the second oil passage overflows and connects to the first oil passage through the second overflow valve.

[0009] According to the integrated electro-hydraulic actuator, the valve switching assembly further includes: The first check valve has an inlet for connecting to the pressure compensator and an outlet for connecting to the first oil circuit. The second check valve has an inlet for connecting to the pressure compensator and an outlet for connecting to the second oil circuit.

[0010] According to the integrated electro-hydraulic actuator, the valve switching assembly and the plunger pump are respectively inserted into both ends of the integrated valve block in the axial direction.

[0011] According to the integrated electro-hydraulic actuator, the motor further includes a first sensor and a second sensor, the first sensor being used to detect the rotational speed of the motor, and the second sensor being used to detect the rotational speed of the cylinder.

[0012] The integrated electro-hydraulic actuator further includes a support, an integrated valve block fixedly mounted on the support, and a housing assembly rotatably connected to the integrated valve block.

[0013] According to the integrated electro-hydraulic actuator, the housing assembly further includes a connector and a speed measuring shaft. One end of the connector is connected to the cylinder body, and the other end is connected to the speed measuring shaft. The speed measuring shaft is rotatably connected to the support. The second sensor corresponds to the speed measuring shaft and is used to detect the rotational speed of the cylinder body through the speed measuring shaft.

[0014] According to the integrated electro-hydraulic actuator, the motor, the first sensor, the second sensor, and the speed measuring shaft are located at the end of the plunger pump relative to the integrated valve block in the axial direction.

[0015] Compared to existing technologies, the aforementioned integrated electro-hydraulic actuator uses a motor to drive a plunger pump to output high-pressure and low-pressure oil to the first and second chambers between the integrated valve block and the cylinder, thereby driving the cylinder to rotate relative to the integrated valve block and outputting power in a rotational manner. This eliminates the need for a separate power conversion mechanism, resulting in a higher degree of equipment integration.

[0016] Moreover, the aforementioned integrated electro-hydraulic actuator achieves oil transfer through built-in flow channels, avoiding the need for external flow channels to achieve pipeline-free connection of various components, simplifying the equipment layout, reducing hydraulic losses, and making it more suitable for underwater operation scenarios. Attached Figure Description

[0017] To more clearly illustrate the specific implementation methods, the accompanying drawings used in the description of the implementation methods will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of an integrated electro-hydraulic actuator.

[0019] Figure 2 This is a schematic diagram of the rotating cross-sectional structure of an integrated electro-hydraulic actuator.

[0020] Figure 3 This is a schematic diagram of the integrated electro-hydraulic actuator in its disassembled state.

[0021] Figure 4 yes Figure 1 A schematic diagram of the cross-sectional structure at point AA.

[0022] Figure 5 This is a structural diagram of the integrated valve block and the relief valve.

[0023] Figure 6 yes Figure 5 A schematic diagram of the cross-sectional structure at point BB.

[0024] Explanation of key component symbols: 10-Support; 20-Cylinder block; 21-Connector; 211-Speed ​​measuring shaft; 22-Bearing; 23-First cavity; 24-Second cavity; 30-Integrated valve block; 311-First relief valve; 312-Second relief valve; 32-Fixed partition; 33-Rotating partition; 341-First check valve; 342-Second check valve; 351-First working flow channel; 252-Second working flow channel; 361-First main flow channel; 362-Second main flow channel; 40-Plunger pump; 50-Motor; 51-Motor shaft.

[0025] The following detailed description, in conjunction with the accompanying drawings, further illustrates this disclosure. Detailed Implementation

[0026] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Many specific details are set forth in the following description to provide a thorough understanding of this disclosure; the described embodiments are merely a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure.

[0028] In various embodiments, for ease of description and not limitation of this disclosure, the term "connection" used in the patent application specification and claims is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0029] Figure 1 This is a schematic diagram of the structure of an integrated electro-hydraulic actuator. Figure 2 This is a schematic diagram of the rotating cross-sectional structure of an integrated electro-hydraulic actuator. Figure 3 This is a schematic diagram of the integrated electro-hydraulic actuator in its disassembled state. Figure 4 yes Figure 1 A schematic diagram of the cross-sectional structure at point AA. (See diagram below.) Figure 1-4As shown, the integrated electro-hydraulic actuator includes a support 10, a motor 50, a plunger pump 40, an integrated valve block 30, and a housing assembly. The integrated valve block 30 is fixedly mounted on the support 10, and the housing assembly is rotatably connected to the integrated valve block 30. The support 10 supports the motor 50, the plunger pump 40, and other components. The motor 50 drives the plunger pump 40 to output high-pressure oil and recover low-pressure oil. The high-pressure oil enters the cavity formed by the integrated valve block 30 and the housing assembly, driving the housing assembly to rotate and output power in a rotational manner.

[0030] In this embodiment, brackets are disposed at both ends of the motor 50, the plunger pump 40, and the housing assembly, for supporting and mounting other components. The motor 50 is mounted on the bracket and includes a motor shaft 51. The rotation of the motor shaft 51 drives the piston of the plunger pump 40 to rotate, outputting high-pressure oil and recovering low-pressure oil.

[0031] The plunger pump 40 is an existing mechanism, including a first connection port and a second connection port for outputting and recovering oil. The plunger pump 40 is connected to the motor 50, and is used to output oil through the first connection port and recover oil through the second connection port under the drive of the motor 50. The oil direction at the first and second connection ports differs depending on the piston rotation direction of the plunger pump 40: in forward rotation, the first connection port outputs high-pressure oil, and the second connection port recovers low-pressure oil; in reverse rotation, the first connection port recovers low-pressure oil, and the second connection port outputs high-pressure oil.

[0032] Figure 5 This is a structural schematic diagram of the integrated valve block 30, the first relief valve 311, and the second relief valve 312. Figure 6 yes Figure 5 A schematic diagram of the cross-sectional structure at point BB. (See diagram below.) Figure 5 and Figure 6 As shown, the integrated valve block 30 is generally cylindrical and coaxially arranged with the plunger pump 40, with the plunger pump 40 inserted into one end of the integrated valve block 30. In this embodiment, the integrated valve block 30 also has a first oil passage and a second oil passage connected to the plunger pump 40. The first oil passage is connected to the first connection port, and the second oil passage is connected to the second connection port. Thus, the first oil passage is connected to the first connection port, and the second oil passage is connected to the second connection port.

[0033] To facilitate control of the flow direction and pressure of the oil, in this embodiment, the integrated electro-hydraulic actuator also includes a valve switching assembly, which and the plunger pump 40 are respectively inserted into the two ends of the integrated valve block 30 in the axial direction.

[0034] The valve switching assembly includes a first relief valve 311 and a second relief valve 312, a first check valve 341 and a second check valve 342. Both the first relief valve 311 and the second relief valve 312 are axially connected to one end of the integrated valve block 30 opposite the plunger pump 40. The first oil passage overflows through the first relief valve 311 to connect to the second oil passage, and the second oil passage overflows through the second relief valve 312 to connect to the first oil passage. When the oil in the first oil passage exceeds the overflow pressure (plunger pump 40 rotates forward), the high-pressure oil in the first oil passage enters the second oil passage through the first relief valve 311; correspondingly, when the oil in the second oil passage exceeds the overflow pressure (plunger pump 40 rotates in reverse), the high-pressure oil in the second oil passage enters the first oil passage through the second relief valve 312.

[0035] The inlet of the first check valve 341 is connected to the pressure compensator, and the outlet is connected to the first oil circuit. The inlet of the second check valve 342 is connected to the pressure compensator, and the outlet is connected to the second oil circuit. In this embodiment, the first check valve 341 is located in the first oil circuit within the integrated valve block 30, and the second check valve 342 is located in the second oil circuit within the integrated valve block 30. When the oil pressure in the first and second oil circuits is too low, the pressure can be supplemented to the first oil circuit via the pressure compensator through the first check valve 341, and to the second oil circuit via the second check valve 342.

[0036] Please refer to the previous document. Figure 1-4 The housing assembly includes a cylinder body 20, a connector 21, and a speed measuring shaft 211. The cylinder body 20 has a cylindrical structure, with the integrated valve block 30 rotatably connected to both ends via bearings 22, and is coaxially arranged with the integrated valve block 30. In this embodiment, the housing assembly also includes a fixed partition 32 and a rotating partition 33. The rotating partition 33 can rotate with the cylinder body 20 and is connected to the inner wall of the cylinder body 20. The fixed partition 32 remains fixed and is connected to the outer wall of the integrated valve block 30. The fixed partition 32 and the rotating partition 33 divide the gap between the cylinder body 20 and the integrated valve block 30 into a first cavity 23 and a second cavity 24. The first cavity 23 and the second cavity 24 are isolated from each other, and oil cannot flow between the first cavity 23 and the second cavity 24. Furthermore, since the fixed partition 32 and the rotating partition 33 are respectively connected to the integrated valve block 30 and the cylinder 20, the rotation angle of the cylinder 20 can be limited to not exceed 360° by the position of the rotating partition 33 relative to the fixed partition 32 during the rotation of the cylinder 20.

[0037] In this embodiment, the first cavity 23 is connected to the first oil circuit, and the second cavity 24 is connected to the second oil circuit. During operation, one of the first oil circuit and the other of the second oil circuit outputs high-pressure oil, while the other recovers low-pressure oil, thereby driving the cylinder 20 to rotate relative to the integrated valve block 30 (rotation angle not exceeding 360°) through the fixed partition 32 or the rotating partition 33.

[0038] Please see Figure 6 The first and second oil passages are integrated inside the integrated valve block 30. The first oil passage includes a first main flow channel 361 extending in the axial direction and a first working flow channel 351 extending in the radial direction. One end of the first main flow channel 361 is connected to the first connection port, and the other end is connected to the first working flow channel 351. The other end of the first working flow channel 351 is connected to the first cavity 23. The second oil passage includes a second main flow channel 362 extending in the axial direction and a second working flow channel 352 extending in the radial direction. One end of the second main flow channel 362 is connected to the second connection port, and the other end is connected to the second working flow channel 352. The other end of the second working flow channel 352 is connected to the second cavity 24.

[0039] To detect the rotation angle of the cylinder 20, the housing assembly further includes a connector 21 and a speed measuring shaft 211. One end of the connector 21 is connected to the cylinder 20, and the other end is connected to the speed measuring shaft 211. The speed measuring shaft 211 is rotatably connected to the support 10. The cylinder 20 drives the speed measuring shaft 211 to rotate synchronously through the connector 21, facilitating the detection of the rotational speed and angular position of the cylinder 20 through the speed measuring shaft 211.

[0040] The end where the motor 50 is located also includes a first sensor and a second sensor. The motor 50, the first sensor, the second sensor, and the speed measuring shaft 211 are located at the end of the plunger pump 40 in the axial direction relative to the integrated valve block 30. The first sensor is used to detect the rotational speed of the motor 50. The second sensor is used to detect the rotational speed of the cylinder block 20. Specifically, the second sensor corresponds to the speed measuring shaft 211 and is used to detect the rotational speed of the cylinder block 20 through the speed measuring shaft 211.

[0041] The following describes in detail the working process of this integrated electro-hydraulic actuator: According to the output mode requirements of cylinder 20, control the rotation direction and speed of motor 50 to drive plunger pump 40 to output high-pressure oil and recover low-pressure oil. High-pressure oil output from the first or second oil circuit enters the first chamber 23 or the second chamber 24 to drive the cylinder 20 to rotate, thereby outputting power in a rotating manner.

[0042] The aforementioned integrated electro-hydraulic actuator uses a motor 50 to drive a plunger pump 40 to output high-pressure and low-pressure oil to the first chamber 23 and the second chamber 24 between the integrated valve block 30 and the cylinder 20, thereby driving the cylinder 20 to rotate relative to the integrated valve block 30 and outputting power in a rotational manner. This eliminates the need for a separate power conversion mechanism, resulting in a higher degree of equipment integration.

[0043] Moreover, the aforementioned integrated electro-hydraulic actuator achieves oil transmission through a built-in flow channel, and the valve assembly is placed in the integrated valve body, avoiding the need to set up flow channels on the outside to achieve pipeline-free connection of each component. Furthermore, the motor 50 and other components are placed at the end of the integrated valve body, which simplifies the layout of the equipment, reduces hydraulic loss, and is more suitable for underwater operation scenarios.

[0044] In the several specific embodiments provided in this disclosure, it will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this disclosure. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Terms such as "first," "second," etc., are used to denote names and do not indicate any particular order.

[0045] The above embodiments are only used to illustrate the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this disclosure should not depart from the spirit and scope of the technical solutions of this disclosure.

Claims

1. An integrated electro-hydraulic actuator, characterized in that, include: Electric motor; A plunger pump includes a first connection port and a second connection port. The plunger pump is connected to the motor and is used to output and recover oil through the first connection port and the second connection port under the drive of the motor. An integrated valve block has a first oil passage and a second oil passage connected to the plunger pump. The plunger pump is inserted into the integrated valve block. The first oil passage is connected to the first connection port, and the second oil passage is connected to the second connection port. The housing assembly includes a cylinder body rotatably fitted onto the integrated valve block, forming a first cavity and a second cavity isolated from each other with the integrated valve block. The first cavity is connected to the first oil passage, and the second cavity is connected to the second oil passage.

2. The integrated electro-hydraulic actuator as described in claim 1, characterized in that, The housing assembly further includes a fixed partition and a rotating partition. The fixed partition is connected to the outer wall of the integrated valve block, and the rotating partition is connected to the inner wall of the cylinder. The fixed partition and the rotating partition divide the gap between the cylinder and the integrated valve block into the first cavity and the second cavity.

3. The integrated electro-hydraulic actuator as described in claim 2, characterized in that, The first oil passage includes a first main flow channel extending in the axial direction and a first working flow channel extending in the radial direction. One end of the first main flow channel is connected to the first connection port, and the other end is connected to the first working flow channel. The other end of the first working flow channel is connected to the first cavity. The second oil passage includes a second main flow channel extending in the axial direction and a second working flow channel extending in the radial direction. One end of the second main flow channel is connected to the second connection port, and the other end is connected to the second working flow channel. The other end of the second working flow channel is connected to the second cavity.

4. The integrated electro-hydraulic actuator as described in claim 3, characterized in that, It also includes a valve switching assembly, the valve switching assembly comprising: A first overflow valve is inserted into the integrated valve block in the axial direction, and the first oil circuit overflows and connects to the second oil circuit through the first overflow valve; The second overflow valve is located within the integrated valve block in the axial direction, and the second oil passage overflows and connects to the first oil passage through the second overflow valve.

5. The integrated electro-hydraulic actuator as described in claim 4, characterized in that, The valve switching assembly also includes: The first check valve has an inlet for connecting to the pressure compensator and an outlet for connecting to the first oil circuit. The second check valve has an inlet for connecting to the pressure compensator and an outlet for connecting to the second oil circuit.

6. The integrated electro-hydraulic actuator as described in claim 5, characterized in that, The valve switching assembly and the plunger pump are respectively inserted into both ends of the integrated valve block in the axial direction.

7. The integrated electro-hydraulic actuator as described in claim 6, characterized in that, The motor also includes a first sensor and a second sensor, the first sensor being used to detect the rotational speed of the motor, and the second sensor being used to detect the rotational speed of the cylinder.

8. The integrated electro-hydraulic actuator as described in claim 7, characterized in that, It also includes a support, on which the integrated valve block is fixedly mounted, and the housing assembly is rotatably connected to the integrated valve block.

9. The integrated electro-hydraulic actuator as described in claim 8, characterized in that, The housing assembly further includes a connector and a speed measuring shaft. One end of the connector is connected to the cylinder block, and the other end is connected to the speed measuring shaft. The speed measuring shaft is rotatably connected to the support. The second sensor corresponds to the speed measuring shaft and is used to detect the rotational speed of the cylinder block through the speed measuring shaft.

10. The integrated electro-hydraulic actuator as described in claim 9, characterized in that, The motor, the first sensor, the second sensor, and the speed measuring shaft are located at the end of the plunger pump relative to the integrated valve block in the axial direction.

Images