A miniature electro-hydraulic drive device

Abstract

This invention belongs to the field of hydraulic power technology and discloses a miniature electro-hydraulic drive device, including a valve control unit and a power unit integrated on a valve block body. The valve block body has a valve core mounting cavity, flow channels A, B, P, and T. The valve core of the valve control unit is disposed in the valve core mounting cavity. The first ends of flow channels A, B, T, and P are respectively connected to the valve core mounting cavity. The valve control unit is used to selectively connect flow channel T to flow channel A or B through the movement of the valve core. Correspondingly, flow channel P is selectively connected to flow channel B or A. The second ends of flow channels T and P are used to connect to the inlet and outlet of the power unit, which provides boosting power. This invention proposes to integrate the valve control unit and the power unit on the valve block body. By creating cavities and flow channels inside the valve block body, external pipe connections are eliminated, and an external power unit is not required, thereby improving the degree of integration.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic power technology, and more specifically, relates to a miniature electro-hydraulic drive device. Background Technology

[0002] Hydraulic transmission technology has a long history of development and features smooth transmission, high power density, stepless speed regulation, and easy overload protection. After years of development, its applications have expanded beyond traditional engineering machinery to include medical, robotics, marine equipment, petroleum equipment, and aerospace fields.

[0003] Miniature electro-hydraulic drive devices are currently a key area of ​​research in electro-hydraulic products, as micro-hydraulic systems offer advantages such as high power density and fast response speed. Hydraulic systems and components in marine equipment face the challenges of miniaturization and integration. These fields, while valuing the existing advantages of hydraulic transmission technology, have placed new demands on the lightweight, miniaturization, and integration of hydraulic systems. Based on the urgent needs of engineering applications, it is crucial to design and develop a miniature transmission device with higher power density and greater integration. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a miniature electro-hydraulic drive device to solve the problem of the need for miniature transmission devices with a higher degree of integration in existing engineering applications, improve the power density and integration of hydraulic systems, reduce system leakage, and reduce maintenance costs.

[0005] To achieve the above objectives, according to the present invention, a miniature electro-hydraulic drive device is provided, comprising a valve control unit and a power unit integrated on a valve block body; the valve block body has a valve core mounting cavity, flow channels A, B, P, and T; the valve core of the valve control unit is disposed in the valve core mounting cavity; the first ends of flow channels A, B, T, and P are respectively connected to the valve core mounting cavity; the valve control unit is a two-position four-way directional valve, used to selectively connect flow channel T to flow channel A and flow channel B through the movement of the valve core; correspondingly, flow channel P is selectively connected to flow channel B and flow channel A; the second ends of flow channels T and P are used to connect one-to-one to the inlet and outlet of the power unit, and the power unit is used to provide boosting power; the second ends of flow channels A and B are respectively used to connect to the power output structure.

[0006] The micro-miniature electro-hydraulic drive device provided by the present invention further includes an execution unit; the valve block body is an integrated cylinder-valve body, the integrated cylinder-valve body is L-shaped and has a piston mounting cavity at a higher position, the piston rod of the execution unit is movably disposed in the piston mounting cavity and its two ends extend out of the piston mounting cavity respectively, a sealing structure is provided between the piston rod and the cavity wall of the piston mounting cavity at the middle position, so that piston sealing cavities are formed on both sides of the sealing structure respectively, and the second ends of flow channel A and flow channel B are connected to the piston sealing cavities on both sides respectively.

[0007] According to the miniature electro-hydraulic drive device provided by the present invention, the piston mounting cavity penetrates the cylinder valve integrated body and is respectively sealed and connected to hydraulic cylinder end caps at both ends. The end of the piston rod protrudes from the hydraulic cylinder end cap and is provided with a sealing structure. The hydraulic cylinder end cap is inserted into the piston mounting cavity and its end face is used to limit the stroke of the piston rod. The cylinder valve integrated body has a hydraulic cylinder flow channel on the side of the piston mounting cavity, and a through hole is provided to connect the hydraulic cylinder flow channel and the piston sealing cavity away from the valve core. The hydraulic cylinder flow channel is connected to flow channel A or flow channel B, and correspondingly, flow channel B or flow channel A is connected to the piston sealing cavity near the valve core.

[0008] According to the miniature electro-hydraulic drive device provided by the present invention, a reversing valve flow channel is provided on the valve block body on the side of the valve core mounting cavity. The outer wall of the valve core is provided with a plurality of annular grooves at intervals along the moving direction to form a plurality of annular groove flow channel spaces. A sealing structure is provided on both sides of any annular groove flow channel space between the valve core and the cavity wall of the valve core mounting cavity. The reversing valve flow channel, flow channel A, flow channel B, flow channel T and flow channel P are selectively connected to the annular groove flow channel space to realize flow channel reversal.

[0009] According to the miniature electro-hydraulic drive device provided by the present invention, the valve control unit further includes a reversing valve chamber, a reversing valve connector, a drive assembly, and a transmission assembly. One end of the reversing valve connector is sealed to the reversing valve chamber, and the other end is sealed to the valve block body at the valve core mounting cavity. The drive assembly is fixedly disposed inside the reversing valve chamber and is used to provide linear reciprocating movement. The drive assembly is connected to the transmission assembly, and the transmission assembly passes through the reversing valve connector and is connected to the valve core.

[0010] According to the micro-miniature electro-hydraulic drive device provided by the present invention, the power unit includes a power compartment body, a pump motor, a positioning connector, and a plunger pump. The power compartment body is connected to the valve block body. The pump motor and the plunger pump are respectively disposed inside the power compartment body and connected to both ends of the positioning connector. The positioning connector is a hollow structure with openings at both ends. The output shafts of the pump motor and the plunger pump are respectively inserted into the positioning connector and connected by a coupling. A sealing structure is provided between the positioning connector and the power compartment body. The inlet and outlet of the plunger pump are connected to flow channel T and flow channel P respectively.

[0011] According to the micro-miniature electro-hydraulic drive device provided by the present invention, a power compartment end cover is also sealed and connected to one end of the power compartment body connected to the valve block body. A positioning cylinder and an adapter are sequentially provided at the end of the power compartment end cover away from the valve block body. The adapter is connected to the plunger pump, so that the internal components of the power compartment body are abutted and fixed.

[0012] According to the miniature electro-hydraulic drive device provided by the present invention, the power compartment end cover and the adapter are respectively provided with through flow channels to connect flow channel T and the inlet of the plunger pump; the outlet of the plunger pump is connected to an adapter pipe, the adapter pipe is sealed to the adapter, the adapter is also sealed to one end of a pump hydraulic pipe, the other end of the pump hydraulic pipe is sealed to the power compartment end cover, the adapter pipe is connected to the pump hydraulic pipe, and the power compartment end cover is provided with a flow channel connecting the pump hydraulic pipe and flow channel P.

[0013] According to the miniature electro-hydraulic drive device provided by the present invention, an anti-rotation pin is further provided between the power compartment end cover and the adapter, and the two ends of the anti-rotation pin are correspondingly inserted into the power compartment end cover and the adapter to limit the rotational movement of the adapter.

[0014] According to the miniature electro-hydraulic drive device provided by the present invention, the valve control unit and the power unit are respectively connected to watertight connectors.

[0015] In summary, compared with the prior art, the micro-miniature electro-hydraulic drive device provided by the present invention offers the following advantages: 1. It is proposed to integrate the valve control unit and the power unit on the valve block body. The power unit is used to pressurize the hydraulic oil in the flow channel to provide high-pressure oil, and the valve control unit is used to realize the reversal of the high-pressure oil flow channel. By opening the cavity and flow channel inside the valve block body, the external pipe connection can be eliminated. This device does not require an external power unit, thereby improving the degree of integration, which is conducive to improving the power density of the device and adapting to the needs of existing engineering applications for micro-transmission devices with a higher degree of integration. 2. Further, an integrated execution unit is proposed, featuring an L-shaped cylinder-valve integrated body with built-in staggered flow channels to coordinate with the valve control unit for controlling and switching the flow channels of the drive device. The power unit is fixed on the cylinder-valve integrated body and connected to the P and T ports of the cylinder-valve integrated body, realizing an integrated design of the execution unit, valve control unit, and power unit. The structure is simple and compact, improving the power density of the device. The device adopts a plate connection method, reducing the installation difficulty and extending the service life of the entire device. 3. The integrated drive unit has no external manifold system. The internal flow channel of the cylinder and valve integrated body replaces the traditional external pipeline connecting each unit, realizing the pipeless design of the system and reducing the leakage points of the device. At the same time, the entire device is sealed and isolated from the external environment by means of combined seals and watertight joints. The device is resistant to high pressure and can be used in deep-sea environments, improving the reliability of marine equipment. 4. The overall drive unit adopts a closed-loop hydraulic system design, which ensures strong system independence, reduces dependence on external systems, and improves its stability and reliability under complex operating conditions. At the same time, the unit achieves miniaturization and high integration, maintaining high power output even in extremely limited installation space. It comprehensively addresses the requirements of miniaturization, high integration, and high power output, making it suitable for high-power drive scenarios in confined spaces. Attached Figure Description

[0016] Figure 1 This is a left view of a miniature electro-hydraulic drive device provided by the present invention.

[0017] Figure 2 yes Figure 1 Sectional view along the AA direction.

[0018] Figure 3 yes Figure 2 A magnified view of a portion of the image.

[0019] Figure 4 yes Figure 1 A partially enlarged view of the cross-section along the BB direction.

[0020] Figure 5 yes Figure 1 Cross-sectional view along the CC direction.

[0021] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-Two-core watertight connector, 2-Power compartment body, 3-Pump motor, 4-Positioning connector, 5-Coupling, 6-Positioning connector bolt, 7-Positioning connector O-ring, 8-Miniature plunger pump, 9-Adapter fitting, 10-Adapter fitting O-ring, 11-Adapter, 12-Anti-rotation pin, 13-Positioning cylinder, 14-Pump hydraulic fitting, 15-Pump hydraulic fitting O-ring, 16-Power compartment end cover combination seal, 17-Power compartment end cover, 18-Oil port seal ring, 19-Cylinder-valve integrated body, 20-Piston rod, 21-Reversing valve plug bolt, 22-Reversing valve flow passage plug, 23-Reversing valve flow passage plug combination seal, 24-Reversing valve... 25-Directional control valve plug O-ring, 26-Valve core O-ring, 27-Valve core Glyd ring, 28-Cylinder-valve integrated plug O-ring, 29-Cylinder-valve integrated plug, 30-Valve core, 31-Directional control valve connecting rod, 32-Directional control valve connector combination seal, 33-Directional control valve connector, 34-Directional control valve connector head, 35-Directional control valve screw motor, 36-Set screw, 37-Directional control valve housing, 38-Hydraulic cylinder end cap, 39-Hydraulic cylinder end cap O-ring, 40-Piston rod O-ring, 41-Hydraulic cylinder flow channel plug, 42-Hydraulic cylinder flow channel plug combination seal, 43-Power compartment housing bolt, 44-Hydraulic cylinder end cap bolt. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Please see Figure 1 and Figure 2 This embodiment provides a miniature electro-hydraulic drive device, which includes a valve control unit and a power unit integrated on a valve block body. The valve block body has a valve core mounting cavity, flow channels A, B, P, and T. The valve core 30 of the valve control unit is disposed in the valve core mounting cavity. The first ends of flow channels A, B, T, and P are respectively connected to the valve core mounting cavity. The valve control unit is a two-position four-way directional valve, used to selectively connect flow channel T with flow channel A and flow channel B through the movement of the valve core 30. Correspondingly, flow channel P is selectively connected with flow channel B and flow channel A. The second ends of flow channels T and P are used to connect one-to-one with the inlet and outlet of the power unit, which provides boosting power. The second ends of flow channels A and B are respectively used to connect to the power output structure.

[0024] The miniature electro-hydraulic drive device provided in this embodiment integrates the valve control unit and the power unit on the valve block body. The power unit is used to pressurize the hydraulic oil in the flow channel to provide high-pressure oil, and the valve control unit is used to realize the switching of the high-pressure oil flow channel. By opening the cavity and flow channel inside the valve block body, the external pipe connection can be eliminated. This device does not require an external power unit, thereby improving the degree of integration, which is conducive to improving the power density of the device. In addition, fewer external connecting parts are also conducive to reducing leakage and lowering maintenance costs, which is conducive to meeting the needs of existing engineering applications for miniature transmission devices with a higher degree of integration.

[0025] refer to Figure 3 and Figure 4 The valve control unit of the two-position four-way directional valve has a first position and a second position. For example, in the first position, one end of the flow channel T is connected to the inlet of the power unit and the other end is connected to the flow channel A. One end of the flow channel P is connected to the outlet of the power unit and the other end is connected to the flow channel B. Thus, hydraulic oil flows into the power unit from the inlet, is pressurized, flows out from the P port and into the flow channel B to enter the power output structure to do work. The hydraulic oil at the low-pressure end of the power output structure flows into the flow channel A and enters the power unit through the flow channel T to form a cycle. In the second position, one end of the flow channel T is connected to the inlet of the power unit and the other end is connected to the flow channel B. One end of the flow channel P is connected to the outlet of the power unit and the other end is connected to the flow channel A. Thus, hydraulic oil flows into the power unit from the inlet, is pressurized, flows out from the P port and into the flow channel A to enter the power output structure to do work. The hydraulic oil at the low-pressure end of the power output structure flows into the flow channel B and enters the power unit through the flow channel T to form a cycle, thereby realizing the reversal of the power output end.

[0026] In some embodiments, the micro-miniature electro-hydraulic drive device further includes an execution unit; the valve block body is a cylinder-valve integrated body 19, the cylinder-valve integrated body 19 is L-shaped and has a piston mounting cavity at a higher position, the piston rod 20 of the execution unit is movably disposed in the piston mounting cavity and its two ends extend out of the piston mounting cavity respectively, a sealing structure is provided between the piston rod 20 and the cavity wall of the piston mounting cavity at the middle position, so that piston sealing cavities are formed on both sides of the sealing structure respectively, and the second ends of flow channel A and flow channel B are connected to the piston sealing cavities on both sides.

[0027] In some embodiments, the piston mounting cavity extends through the cylinder-valve integrated body 19 and is respectively sealed with hydraulic cylinder end caps 38 at both ends of the opening. The end of the piston rod 20 extends through the hydraulic cylinder end cap 38 and is provided with a sealing structure. The hydraulic cylinder end cap 38 is inserted into the piston mounting cavity and its end face is used to limit the stroke of the piston rod 20. The cylinder valve integrated body 19 has a hydraulic cylinder flow channel on the side of the piston mounting cavity, and a through hole is provided to connect the hydraulic cylinder flow channel and the piston sealing cavity away from the valve core 30. The hydraulic cylinder flow channel is connected to flow channel A or flow channel B. Correspondingly, flow channel B or flow channel A is connected to the piston sealing cavity near the valve core 30.

[0028] The hydraulic cylinder end cover intersects the piston mounting cavity at one end and has a countersunk hole. The through hole connecting the hydraulic cylinder flow channel and the piston sealing cavity can pass through the hydraulic cylinder end cover 38 to the countersunk hole, which facilitates the connection between the flow channel and the piston sealing cavity.

[0029] Please see Figure 1 and Figure 5 As shown, the actuator consists of an integrated cylinder-valve body 19, a piston rod 20, an integrated cylinder-valve plug O-ring 28, an integrated cylinder-valve plug 29, a hydraulic cylinder end cap 38, a hydraulic cylinder end cap O-ring 39, a piston rod O-ring 40, a hydraulic cylinder flow channel plug 41, a hydraulic cylinder flow channel plug combination seal 42, and a hydraulic cylinder end cap bolt 44. The piston rod O-ring 40 forms two seals between the piston rod 20 and the integrated cylinder-valve body 19, isolating chambers F and G. The hydraulic cylinder end cap 38 is connected to the integrated cylinder-valve body 19 via the hydraulic cylinder end cap bolt 44. The hydraulic cylinder end cap O-ring 39 forms two seals between the hydraulic cylinder end cap 38 and the integrated cylinder-valve body 19, isolating the external environment. The hydraulic cylinder end cap 38 restricts the axial movement distance of the piston rod 20 within the integrated cylinder-valve body 19. The hydraulic cylinder end cap O-ring 39 forms two seals between the hydraulic cylinder end cap 38 and the piston rod 20. The cylinder valve integrated plug 29 is connected to the cylinder valve integrated body 19 by threads; the cylinder valve integrated plug O-ring 28 forms an end face seal between the cylinder valve integrated plug 29 and the cylinder valve integrated body 19, isolating the external environment; the hydraulic cylinder flow channel plug 41 is installed between the cylinder valve integrated body 19 and the hydraulic cylinder end cover 38, and achieves bidirectional sealing by means of the hydraulic cylinder flow channel plug combination seal 42, isolating the external environment and the internal flow channel of the hydraulic cylinder, wherein the retaining ring of the combination seal is made of polytetrafluoroethylene, and the O-ring is made of fluororubber.

[0030] The integrated cylinder-valve body 19 integrates the valve body of the directional valve, the cylinder body of the hydraulic cylinder, and the oil passage into an "L" shape. The long side of the "L" is the hydraulic cylinder body, and the piston rod assembly is installed inside the cylinder body as the actuation unit. One side of the short side of the "L" serves as the valve body of the directional valve, connecting to the valve control unit, while the other side of the short side of the "L" connects to the power unit. The hydraulic cylinder end cap bolt 44 can be a countersunk bolt. The hydraulic cylinder passage plug 41 is fixed between the hydraulic cylinder end cap 38 and the integrated cylinder-valve body 19, using a combined seal to isolate the external environment and the high-pressure oil in the hydraulic cylinder passage. The retaining ring of the combined seal is made of polytetrafluoroethylene.

[0031] In some embodiments, the valve block body is provided with a reversing valve flow channel on the side of the valve core mounting cavity, and the outer wall of the valve core 30 is provided with a plurality of annular grooves at intervals along the moving direction to form a plurality of annular groove flow channel spaces. A sealing structure is provided on both sides of any annular groove flow channel space between the valve core 30 and the cavity wall of the valve core mounting cavity. The reversing valve flow channel, flow channel A, flow channel B, flow channel T and flow channel P are selectively connected to the annular groove flow channel space to realize flow channel reversal.

[0032] Specifically, the outer wall of the valve core 30 is provided with a first annular groove, a second annular groove, and a third annular groove in sequence along the moving direction. When the valve core 30 is in the first position of the two-position four-way reversing valve, flow channel A is connected to the first annular groove, flow channels P and B are respectively connected to the second annular groove, and flow channel T is connected to the third annular groove. The reversing valve flow channel is connected to the first annular groove and the third annular groove respectively. When the valve core 30 is in the second position of the two-position four-way reversing valve, flow channels A and P are respectively connected to the first annular groove, and flow channels B and T are respectively connected to the second annular groove. The first annular groove and the second annular groove are in a separated state.

[0033] Furthermore, the outer wall of the valve core 30 is provided with a buffer annular groove on the side of the first annular groove away from the second annular groove. When the valve core 30 is in the second position, the reversing valve flow channel is connected to the buffer annular groove and the second annular groove respectively, and sealing structures are provided on both sides of the buffer annular groove respectively.

[0034] In some embodiments, the valve control unit further includes a reversing valve housing 37, a reversing valve connector 33, a drive assembly, and a transmission assembly. One end of the reversing valve connector 33 is sealed to the reversing valve housing 37, and the other end is sealed to the valve block body at the valve core mounting cavity. The drive assembly is fixedly disposed inside the reversing valve housing 37 and is used to provide linear reciprocating movement. The drive assembly is connected to the transmission assembly, and the transmission assembly passes through the reversing valve connector 33 and is connected to the valve core.

[0035] Please see Figure 2 , Figure 3 , Figure 4As shown, the valve control unit consists of a reversing valve plug bolt 21, a reversing valve flow passage plug 22, a reversing valve flow passage plug combination seal 23, a reversing valve plug O-ring 24, a reversing valve plug 25, a valve core O-ring 26, a valve core Glyd ring 27, a valve core 30, a reversing valve connecting rod 31, a reversing valve connector combination seal 32, a reversing valve connector 33, a reversing valve connector head 34, a reversing valve screw motor 35, a set screw 36, and a reversing valve housing 37. The valve control unit is a two-position four-way valve. The directional valve has two working states. One end of the directional valve connector 34 is threaded to the directional valve screw motor 35, and the other end is threaded to the directional valve connecting rod 31. The directional valve screw motor 35 converts the circular motion of the motor into linear motion and transmits it to the directional valve connector 34, and then to the directional valve connecting rod 31. The directional valve connecting rod 31 is connected to the directional valve core 30 through a slot, so that the directional valve screw motor 35 can control the movement of the directional valve core 30 and change the flow pattern of the directional valve core 30. One end of the reversing valve connector 33 is threaded to the cylinder valve integrated body 19 and isolated from the external environment by the reversing valve connector combination seal 32. The other end is threaded to the reversing valve housing 37 and isolated from the external environment by the reversing valve connector combination seal 32. The retaining ring of the combination seal is made of polytetrafluoroethylene and the O-ring is made of fluororubber. The reversing valve connector 33 and the reversing valve screw motor 35 are connected by a set screw 36 to restrict the free movement of the reversing valve screw motor 35. The reversing valve connector 33 is connected to the reversing valve housing 37 and the cylinder valve integrated body 19 by a double-ended bolt, and at the same time, the end is connected to the reversing valve screw motor 35 by a set screw 36, so that the valve control unit is integrated into the cylinder valve integrated body 19 and isolated from the external environment by the combination seal. Multiple annular groove flow channels are separated between the directional valve core 30 and the cylinder valve integrated body 19 by the valve core Glyd ring 27 and the directional valve O-ring. The central hole of the valve core 30 leads to the directional valve housing 37 to balance the gas pressure between the directional valve core 30 and the directional valve plug 25. The directional valve plug 25 is connected to the cylinder valve integrated body 19 by the directional valve plug bolt 21. The directional valve plug O-ring 24 forms a seal between the cylinder valve integrated body 19 and the directional valve plug 25 to isolate the external environment. The directional valve flow channel plug 22 is installed between the cylinder valve integrated body 19 and the directional valve plug 25. The directional valve flow channel plug combination seal 23 achieves bidirectional sealing, isolating the external environment and the internal flow channel of the directional valve. The retaining ring of the combination seal is made of polytetrafluoroethylene, and the O-ring is made of fluororubber. The two-core watertight connector 1 is connected to the directional valve housing 37 by threads and isolates the external environment through internal seals.

[0036] In some embodiments, the power unit includes a power compartment 2, a pump motor 3, a positioning connector 4, and a plunger pump. The power compartment 2 is connected to the valve block body. The pump motor 3 and the plunger pump are respectively located inside the power compartment 2 and are connected to both ends of the positioning connector 4. The positioning connector 4 is a hollow structure with openings at both ends. The output shafts of the pump motor 2 and the plunger pump are respectively inserted into the positioning connector 4 and are connected by a coupling 5. A sealing structure is provided between the positioning connector 4 and the power compartment 2. The inlet and outlet of the plunger pump are connected to the flow channel T and the flow channel P, respectively.

[0037] In some embodiments, a power compartment end cap 17 is also sealed and connected to one end of the power compartment body 2 that connects to the valve block body. A positioning cylinder 13 and an adapter 11 are sequentially provided at the end of the power compartment end cap 17 away from the valve block body. The adapter 11 is connected to the plunger pump, thereby fixing the internal components of the power compartment body 2 together. In some embodiments, the engine compartment end cover 17 and the adapter 11 are respectively provided with through channels to connect the flow channel T and the inlet of the plunger pump; the outlet of the plunger pump is connected to an adapter pipe 9, the adapter pipe 9 is sealed to the adapter 11, the adapter 11 is also sealed to one end of a pump hydraulic pipe 14, the other end of the pump hydraulic pipe 14 is sealed to the engine compartment end cover 17, the adapter pipe 9 is connected to the pump hydraulic pipe 14, and the engine compartment end cover 17 is provided with a flow channel connecting the pump hydraulic pipe 14 and the flow channel P.

[0038] In some embodiments, an anti-rotation pin 12 is provided between the power compartment end cover 17 and the adapter 11. The two ends of the anti-rotation pin 12 are inserted into the power compartment end cover 17 and the adapter 11 respectively to limit the rotational movement of the adapter 11.

[0039] In some embodiments, the valve control unit and the power unit are also respectively connected to a watertight connector.

[0040] Please see Figure 1 and Figure 2As shown, the power unit consists of a two-core watertight connector 1, a power compartment body 2, a pump motor 3, a positioning connector 4, a coupling 5, a positioning connector bolt 6, a positioning connector O-ring 7, a miniature plunger pump 8, a transfer pipe fitting 9, a transfer pipe fitting O-ring 10, a transfer fitting 11, an anti-rotation pin 12, a positioning cylinder 13, a pump hydraulic pipe fitting 14, a pump hydraulic pipe fitting O-ring 15, a power compartment end cover combination seal 16, and a power compartment end cover 17. The miniature plunger pump 8 is a valve-distribution plunger pump with fixed inlet and outlet ports. One end of the adapter pipe 9 is connected to the outlet of the miniature plunger pump 8, and the other end is connected to the adapter 11. A closed flow channel is formed between the adapter pipe 9 and the adapter 11 through the O-ring 10 of the adapter pipe. One end of the pump hydraulic pipe 14 is connected to the adapter 11 by a thread. A closed flow channel is formed between the adapter 11 and the pump hydraulic pipe 14 through the O-ring 15 of the pump hydraulic pipe. The other end of the pump hydraulic pipe 14 is connected to the power compartment end cover 17 through the pump hydraulic pipe O-ring to form a closed flow channel. One end of the anti-rotation pin 12 is inserted into the adapter 11, and the other end is inserted into the engine compartment end cover 17 to restrict the rotation of the miniature plunger pump 8 in the engine compartment 2; the positioning cylinder 13 is installed between the adapter 11 and the engine compartment end cover 17 to restrict the axial movement of the adapter 11, while raising the adapter 11 to create a gap between the adapter 11 and the engine compartment end cover 17, so that the through flow channel on the adapter 11 and the engine compartment end cover 17 can be connected to the flow channel T and the plunger pump inlet; The engine compartment end cover 17 is connected to the engine compartment body 2 by threads. The engine compartment end cover combined seal 16 isolates the external environment. The retaining ring of the combined seal is made of polytetrafluoroethylene, and the O-ring is made of fluororubber. The engine compartment end cover 17 is connected to the cylinder valve integrated body 19 by the engine compartment body bolts 43. The outer wall of the engine compartment body 2 can be provided with a stepped surface to facilitate the connection with the cylinder valve integrated body 19 by bolts. The oil port sealing ring 18 forms a closed flow channel P port and a flow channel T port between the engine compartment end cover 17 and the valve block body, i.e., the cylinder valve integrated body 19; the miniature plunger pump 8 is connected to one end of the positioning connector 4 through the positioning connector bolt 6, and the pump motor 3 is connected to the other end of the positioning connector 4 through the bolt; the coupling 5 is placed inside the positioning connector 4, and the two ends are connected to the miniature plunger pump 8 and the pump motor 3 respectively; the positioning connector 4 and the engine compartment body 2 form two separate spaces C and D through the positioning connector O-ring 7, wherein the C cavity is connected to the cylinder valve integrated body T port through the engine compartment end cover assembly, and the D cavity is closed; the two-core watertight connector 1 is connected to the engine compartment body 2 through threads, and is isolated from the external environment through the internal seal.

[0041] The miniature electro-hydraulic drive device provided in this embodiment includes an execution unit, a valve control unit, and a power unit, all integrated on a cylinder-valve integrated body 19. The cylinder-valve integrated body has an "L"-shaped design, with built-in staggered flow channels that work with the valve control unit to control and switch the flow channels of the drive device. The cylinder-valve integrated assembly has four axial bolt holes and inlet / outlet flow channels. The power unit is fixed to the cylinder-valve integrated assembly with four bolts, connecting to the P and T ports of the cylinder-valve integrated assembly; the P port discharges oil, and the T port draws it in. The power unit's power compartment end cover 17 and adapter 11 form independent high and low pressure inlet / outlet flow channels, achieving a completely pipe-free system. The overall drive device adopts a miniaturized design, with optimized and strictly controlled structural dimensions for each unit. The overall device is characterized by its small size and high integration, meeting the application requirements for high power output and load stability under conditions of extremely limited installation space. It can be directly used as a drive device for miniature marine equipment and can be used in underwater robots and miniature power systems. The working process and hydraulic working principle of the miniature electro-hydraulic drive device are as follows: The miniature plunger pump 8 is a valve-controlled plunger pump with fixed inlet and outlet ports. The inlet port is connected to port T, and the outlet port is connected to port P. The miniature electro-hydraulic drive device changes the flow pattern through a valve control unit, thus... Figure 3 and Figure 4 There are two flow patterns. The first flow pattern is as follows: Figure 3 As shown, port A is connected to port T through the annular groove flow channel space of valve core 30 and the reversing valve flow channel; ports B and P are connected through the annular groove flow channel space of valve core 30; the second flow pattern is as follows... Figure 4 As shown, ports A and P are connected through the annular groove flow channel space of valve core 30, and ports B and T are connected through the annular groove flow channel space of valve core 30; Figure 5 As shown, the F chamber of the hydraulic cylinder is connected to port A through the hydraulic cylinder flow channel, and the G chamber of the hydraulic cylinder is connected to port B.

[0042] Valve core 30 is in Figure 3 When in position, driven by the pump motor 3, low-pressure oil enters the micro plunger pump 8 from port T, and high-pressure oil is discharged from the outlet of the micro plunger pump 8 and enters port P. Port P connects to port B, and port B connects to the hydraulic cylinder G chamber. The hydraulic cylinder G chamber forms a high-pressure oil chamber, and the hydraulic cylinder F chamber is a low-pressure oil chamber. Under the action of high-pressure oil, the piston rod 20 moves towards the low-pressure oil chamber F. The hydraulic oil in the low-pressure oil chamber F enters port A from port F through the hydraulic cylinder flow channel, and then flows to port T, connecting to the oil inlet of the micro plunger pump 8, thus completing the connection of the entire oil circuit.

[0043] Similarly, valve core 30 is in Figure 4When in position, driven by the pump motor 3, low-pressure oil enters the micro plunger pump 8 from port T, and high-pressure oil is discharged from the outlet of the micro plunger pump 8 and enters port P. Port P connects to port A, and port A connects to the hydraulic cylinder F chamber. The hydraulic cylinder F chamber forms a high-pressure oil chamber, and the hydraulic cylinder G chamber is a low-pressure oil chamber. Under the action of high-pressure oil, the piston rod 20 moves towards the low-pressure oil chamber G. The hydraulic oil in the low-pressure oil chamber G enters port A from the G chamber through the hydraulic cylinder flow channel, and flows to port T, connecting to the oil inlet of the micro plunger pump 8, completing the connection of the entire oil circuit, and realizing the bidirectional reciprocating motion of the hydraulic cylinder.

[0044] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A miniature electro-hydraulic drive device, characterized in that, The system includes a valve control unit and a power unit integrated on the valve block body. The valve block body has a valve core mounting cavity, flow channels A, B, P, and T. The valve core of the valve control unit is located in the valve core mounting cavity. The first ends of flow channels A, B, T, and P are respectively connected to the valve core mounting cavity. The valve control unit is a two-position four-way directional valve, used to selectively connect flow channel T to flow channel A or B through the movement of the valve core. Correspondingly, flow channel P is selectively connected to flow channel B or A. The second ends of flow channels T and P are connected one-to-one to the inlet and outlet of the power unit, which provides boosting power. The second ends of flow channels A and B are respectively connected to the power output structure.

2. The miniature electro-hydraulic drive device as described in claim 1, characterized in that, It also includes an execution unit; the valve block body is an integrated cylinder and valve body, the integrated cylinder and valve body is L-shaped and has a piston mounting cavity at a higher position, the piston rod of the execution unit is movably disposed in the piston mounting cavity and its two ends extend out of the piston mounting cavity respectively, a sealing structure is provided between the piston rod and the cavity wall of the piston mounting cavity at the middle part, so that piston sealing cavities are formed on both sides of the sealing structure respectively, and the second ends of flow channel A and flow channel B are connected to the piston sealing cavities on both sides.

3. The micro-miniature electro-hydraulic drive device as described in claim 2, characterized in that, The piston mounting cavity penetrates the cylinder valve integrated body and is sealed with hydraulic cylinder end caps at both ends. The end of the piston rod protrudes from the hydraulic cylinder end cap and is provided with a sealing structure. The hydraulic cylinder end cap is inserted into the piston mounting cavity and its end face is used to limit the stroke of the piston rod. The cylinder valve integrated body has a hydraulic cylinder flow channel on the side of the piston mounting cavity, and a through hole is provided to connect the hydraulic cylinder flow channel and the piston sealing cavity away from the valve core. The hydraulic cylinder flow channel is connected to flow channel A or flow channel B, and correspondingly, flow channel B or flow channel A is connected to the piston sealing cavity near the valve core.

4. The miniature electro-hydraulic drive device as described in claim 1, characterized in that, The valve block body has a reversing valve flow channel on the side of the valve core mounting cavity. The outer wall of the valve core has multiple annular grooves spaced along the moving direction to form multiple annular groove flow channel spaces. A sealing structure is provided on both sides of any annular groove flow channel space between the valve core and the cavity wall of the valve core mounting cavity. The reversing valve flow channel, flow channel A, flow channel B, flow channel T and flow channel P are selectively connected to the annular groove flow channel space to realize flow channel reversal.

5. The miniature electro-hydraulic drive device as described in claim 1, characterized in that, The valve control unit further includes a reversing valve housing, a reversing valve connector, a drive assembly, and a transmission assembly. One end of the reversing valve connector is sealed to the reversing valve housing, and the other end is sealed to the valve block body at the valve core mounting cavity. The drive assembly is fixedly disposed inside the reversing valve housing and is used to provide linear reciprocating movement. The drive assembly is connected to the transmission assembly, and the transmission assembly passes through the reversing valve connector and is connected to the valve core.

6. The miniature electro-hydraulic drive device as described in claim 1, characterized in that, The power unit includes a power compartment body, a pump motor, a positioning connector, and a plunger pump. The power compartment body is connected to the valve block body. The pump motor and the plunger pump are respectively located inside the power compartment body and are connected to both ends of the positioning connector. The positioning connector is a hollow structure with openings at both ends. The output shafts of the pump motor and the plunger pump are respectively inserted into the positioning connector and are connected by a coupling. A sealing structure is provided between the positioning connector and the power compartment body. The inlet and outlet of the plunger pump are connected to flow channel T and flow channel P respectively.

7. The miniature electro-hydraulic drive device as described in claim 6, characterized in that, The end of the power compartment body connected to the valve block body is also sealed with a power compartment end cover. The end of the power compartment end cover away from the valve block body is provided with a positioning cylinder and an adapter in sequence. The adapter is connected to the plunger pump, so that the internal components of the power compartment body are fixed together.

8. The miniature electro-hydraulic drive device as described in claim 7, characterized in that, The engine compartment end cover and the adapter are respectively provided with through flow channels to connect flow channel T and the inlet of the plunger pump; the outlet of the plunger pump is connected to an adapter pipe, the adapter pipe is sealed to the adapter, the adapter is also sealed to one end of a pump hydraulic pipe, the other end of the pump hydraulic pipe is sealed to the engine compartment end cover, the adapter pipe is connected to the pump hydraulic pipe, and the engine compartment end cover is provided with a flow channel connecting the pump hydraulic pipe and flow channel P.

9. The miniature electro-hydraulic drive device as described in claim 7, characterized in that, An anti-rotation pin is also provided between the engine compartment end cover and the adapter. The two ends of the anti-rotation pin are inserted into the engine compartment end cover and the adapter to limit the rotational movement of the adapter.

10. The miniature electro-hydraulic drive device as described in claim 1, characterized in that, The valve control unit and the power unit are also respectively connected to watertight connectors.

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