A multi-mode electro-hydraulic actuator

Abstract

This invention relates to electro-hydraulic actuators, and more particularly to a multi-mode electro-hydraulic actuator, comprising a servo motor, a pump-valve composite unit, a main control integrated block, a multi-mode execution component, a pressure energy storage device, and other components. The fourth actuation chamber of the multi-mode execution component houses a flexible pressure stabilizer for energy recovery and release. The output shaft of the servo motor is connected to the input shaft of a built-in hydraulic pump via a transmission connector. The electro-hydraulic actuator of this invention can achieve variable transmission ratio drive through loop switching, widening the speed range of the electro-hydraulic actuator. Furthermore, the multi-mode execution component's structural design achieves flow balance between the two chambers and variable transmission ratio drive, significantly reducing the size of the accumulator in a closed-loop oil replenishment system. The energy recovery and conversion via the flexible pressure stabilizer in the fourth actuation chamber of the multi-mode execution component achieves a balance between dynamic characteristics and energy efficiency.

Description

Technical Field

[0001] This invention relates to the field of electro-hydraulic actuators, and more particularly to a multi-mode electro-hydraulic actuator. Background Technology

[0002] In traditional hydraulic transmission systems, discrete components such as motors, hydraulic pumps, control valve assemblies, and actuators are typically arranged independently, requiring extensive and complex external piping for connection, as seen in discrete four-chamber hydraulic cylinder systems controlled by multiple solenoid valves (CN116221207A). This discrete architecture not only results in low overall system space utilization, making it unsuitable for installation in space-constrained locations, but also makes the complex piping joints highly susceptible to potential leaks. Under heavy loads or high vibration conditions, the risk of pipe fatigue fracture and joint leakage is high, severely restricting the system's operational reliability and causing significant inconvenience for rapid on-site installation and subsequent maintenance of construction machinery.

[0003] To address this issue, integrated electro-hydraulic actuators have been proposed, such as an electro-hydraulic actuator and its control method capable of overcoming overload (CN113494490A). However, existing electro-hydraulic actuator systems often employ traditional asymmetrical cylinders, resulting in asymmetrical effective working areas of the two chambers and significant differences in inlet and outlet flow rates. This necessitates the introduction of large low-pressure accumulators for compensation, increasing the overall system size and weight and reducing integration. While electro-hydraulic actuators using symmetrical cylinders, such as a unidirectional throttling load-sensitive electro-hydraulic actuator (CN114893456A), have symmetrical effective working areas, they significantly reduce output force. Furthermore, constant displacement variable speed electro-hydraulic actuators, limited by the constant effective working area of ​​the actuator components, rely entirely on motor speed regulation for output thrust and flow rate. This makes it difficult to simultaneously meet the high thrust requirements under heavy load conditions and the high speed requirements under light load conditions, leading to frequent overload operation of the motor during periods of severe load fluctuations and poor system adaptability under complex and variable operating conditions.

[0004] Furthermore, when the system is subjected to overload or piston retraction conditions, the traditional oil replenishment circuit mainly regulates pressure through the overflow valve, resulting in significant overflow energy loss and exacerbating the system's thermal load. Due to the lack of an effective energy recovery and internal circulation path, the main drive servo motor must continuously bear all drive power during the working cycle, limiting the overall energy efficiency. Simultaneously, existing technologies lack an integrated safety protection layout; the response chain of externally configured protective valve groups is long, and the dispersed component layout leads to excessively long fault diagnosis, disassembly, and replacement cycles in field operations, making it difficult to meet the stringent requirements of industrial scenarios for efficient integration, safety protection, and easy maintenance. Summary of the Invention

[0005] The present invention aims to at least improve one of the technical problems existing in the prior art. To this end, the present invention proposes a multi-mode electro-hydraulic actuator.

[0006] The objective of this invention is achieved through the following technical solution: An electro-hydraulic actuator includes a multi-mode execution component (1) and a main control integrated block (6) fixedly mounted on a base support (7); a pump-valve composite unit (3) is mounted on the upper end face of the main control integrated block (6); a servo motor (5) serving as a power source is connected to one side of the pump-valve composite unit (3) via a transmission connector (4), and an end cap (8) and a pressure storage device (2) are mounted on the other side; the built-in hydraulic pump (345) is installed inside the pump-valve composite unit (3); The outer surfaces of the pump-valve composite unit (3), the main control integrated block (6), and the end cap (8) are equipped with valve groups and sensing elements for fluid control and status feedback; wherein, the valve groups installed on the outer surface of the pump-valve composite unit (3) include: a first check valve (11), a first overflow valve (14), a first on / off control valve (16), a second check valve (23), a second on / off control valve (26), and a second overflow valve (27); the valve groups installed on the outer surface of the main control integrated block (6) include: a first reversing logic valve (22) and a second reversing logic valve (30); the sensing elements installed on the outer surface of the pump-valve composite unit (3) include: a second temperature sensor (15), a second pressure sensor (19), a third temperature sensor (20), a third pressure sensor (24), and a fourth temperature sensor (25); the sensing elements installed on the outer surface of the end cap (8) include: a first temperature sensor (12), a first pressure sensor (13), a fourth pressure sensor (28), and a fifth temperature sensor (29); The pump-valve composite unit (3) and the main control integrated block (6) have interconnected parallel flow channel networks, longitudinal flow channel networks and transverse flow channel networks processed in their internal solids.

[0007] Furthermore, the output shaft of the servo motor (5) is connected to the input shaft of the pump-valve composite unit (3) via a transmission connector (4); the outer side of the servo motor (5) has a servo motor power line interface (17) and a servo motor encoder interface (18) for power and signal transmission.

[0008] Furthermore, the tail end of the multi-mode execution component (1) and the extended end of the piston rod (112) of the multi-mode execution component are respectively connected to a fixed end hinge (101) and an output end hinge (106); the interior of the multi-mode execution component (1) is independently divided into a first actuation chamber (108), a second actuation chamber (103), a third actuation chamber (104) and a fourth actuation chamber (109) by mechanical structure; the area of ​​the first actuation chamber (108) of the multi-mode execution component (1) is equal to the sum of the area of ​​the second actuation chamber (103) and the third actuation chamber (104); In addition, the fourth actuation chamber (109) inside the multi-mode execution component (1) is also integrated with a built-in flexible voltage stabilizer (102); the cylinder outer wall of the multi-mode execution component (1) is respectively provided with a first fluid interface (107), a second fluid interface (105), a third fluid interface (110) and a fourth fluid interface (111) that connect the internal independent chambers.

[0009] Furthermore, the parallel flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is mainly arranged along the reference plane, specifically including: the first parallel flow channel (301), the second parallel flow channel (302), the third parallel flow channel (305), the fourth parallel flow channel (306), the fifth parallel flow channel (311), the sixth parallel flow channel (313), the seventh parallel flow channel (322), the eighth parallel flow channel (331), the ninth parallel flow channel (334), the tenth parallel flow channel (335), the eleventh parallel flow channel (341), the twelfth parallel flow channel (343), the thirteenth parallel flow channel (352), the fourteenth parallel flow channel (353), and the fifteenth parallel flow channel (354). 355), the sixteenth parallel flow channel (601), the seventeenth parallel flow channel (602), the eighteenth parallel flow channel (603), the nineteenth parallel flow channel (604), the twentieth parallel flow channel (605), the twenty-first parallel flow channel (606), the twenty-second parallel flow channel (662), the twenty-third parallel flow channel (609), the twenty-fourth parallel flow channel (664), the twenty-fifth parallel flow channel (653), and the twenty-sixth parallel flow channel (654); except for the connecting pipes of the seventeenth parallel flow channel (602), the twenty-third parallel flow channel (609), and the twenty-fourth parallel flow channel (664), the process openings extending to the edge of the block are all equipped with sealing plugs.

[0010] Furthermore, the longitudinal flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is used to achieve three-dimensional flow convergence across planes of different depths. Specifically, it includes: a first longitudinal flow channel (303), a second longitudinal flow channel (304), a third longitudinal flow channel (321), a fourth longitudinal flow channel (314), a fifth longitudinal flow channel (339), a sixth longitudinal flow channel (611), a seventh longitudinal flow channel (612), an eighth longitudinal flow channel (332), a ninth longitudinal flow channel (337), a tenth longitudinal flow channel (351), an eleventh longitudinal flow channel (357), a twelfth longitudinal flow channel (651), a thirteenth longitudinal flow channel (652), a fourteenth longitudinal flow channel (608), and a fifteenth longitudinal flow channel (663). Furthermore, the transverse flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is used to connect the bottom interface of the external components with the core oil circuit inside, specifically including: the first transverse flow channel (661), the second transverse flow channel (344), the third transverse flow channel (342), the fourth transverse flow channel (338), the fifth transverse flow channel (354), the sixth transverse flow channel (356), the seventh transverse flow channel (333), the eighth transverse flow channel (336), the ninth transverse flow channel (323), the tenth transverse flow channel (312), the eleventh transverse flow channel (607), the twelfth transverse flow channel (665), and the thirteenth transverse flow channel (610); Among them, the tenth transverse flow channel (312), the fifth parallel flow channel (311), the thirteenth parallel flow channel (352) and the fifteenth parallel flow channel (355) are interconnected; the seventh transverse flow channel (333) and the eighth longitudinal flow channel (332) are interconnected with the second transverse flow channel (344); the tenth longitudinal flow channel (351), the fourteenth parallel flow channel (353), the fifth transverse flow channel (354), the eighteenth parallel flow channel (603), the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the twelfth longitudinal flow channel (651), the twenty-fifth parallel flow channel (653) and the first transverse flow channel (661) are interconnected; the third transverse flow channel (342) and the twelfth parallel flow channel (343) are connected; the thirteenth longitudinal flow channel (652), the sixth transverse flow channel (356), the eleventh longitudinal flow channel (357), the twentieth parallel flow channel (604) and the twentieth parallel flow channel (605) are interconnected with each other. 5) The 21st parallel flow channel (606), the 11th transverse flow channel (607), the 7th longitudinal flow channel (612), the 26th parallel flow channel (654), and the 12th transverse flow channel (665) are interconnected; the 2nd longitudinal flow channel (304), the 3rd parallel flow channel (305), the 6th parallel flow channel (313), and the 4th longitudinal flow channel (314) are interconnected; the 3rd longitudinal flow channel (321), the 7th parallel flow channel (322), and the 9th transverse flow channel (323) are interconnected; the 5th longitudinal flow channel (339), the 8th parallel flow channel (331), and the 4th transverse flow channel (338) are interconnected; the 1st longitudinal flow channel (303) and the 2nd parallel flow channel (302) are connected; the 14th longitudinal flow channel (608) and the 23rd parallel flow channel (609) are connected; the 15th longitudinal flow channel (663) and the 24th parallel flow channel (664) are connected.

[0011] Furthermore, the main control integrated block (6) is provided with an external fluid interface, and the main control integrated block (6) and the multi-mode execution component (1) are connected by multiple external pipelines; wherein, one end of the first flexible connecting pipe (9) is connected to the seventeenth parallel flow channel (602) of the main control integrated block (6), and the other end is connected to the first fluid interface (107); the second connecting pipe (10) connects the twenty-third parallel flow channel (609) of the main control integrated block (6) to the second fluid interface (105); the third connecting pipe (21) connects the twenty-fourth parallel flow channel (664) of the main control integrated block (6) to the third fluid interface (110); the fourth actuation chamber (109) is filled with oil before operation through the fourth fluid interface (111) as an independent energy storage chamber; the fourth fluid interface (111) is sealed during operation.

[0012] Furthermore, when the piston rod (112) of the multi-mode execution component (1) extends, there are three working modes: force priority mode, standard mode 1 and standard mode 2. The first reversing logic valve (22) and the second reversing logic valve (30) constitute a joint logic valve group. Different transmission ratio drives are achieved by constructing three working mode circuits through different on and off combinations, so that the working mode can be selected according to the actual working conditions. In all three modes, the second on and off control valve (26) is opened to connect the ninth parallel flow channel (334) with the tenth longitudinal flow channel (351), and the first on and off control valve (16) is opened to connect the tenth parallel flow channel (335) with the eleventh longitudinal flow channel (357). In the force-priority mode: the servo motor (5) rotates forward and connects to the built-in hydraulic pump (345) via the transmission connector (4). The built-in hydraulic pump (345) pumps high-pressure oil forward to the second parallel flow channel (302), then through the ninth parallel flow channel (334), the second on / off control valve (26), and the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651). It further passes through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), and the first flexible connecting pipe (9). The first fluid interface (107) enters the first actuation chamber (108); by receiving a control signal, the second reversing logic valve (30) selects the fourteenth longitudinal flow channel (608) to connect with the eleventh transverse flow channel (607), and the first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect with the twelfth transverse flow channel (665); in this mode, the first actuation chamber (108) contains high-pressure oil, and the second actuation chamber (103) and the third actuation chamber (104) contain low-pressure oil. This mode has the lowest transmission ratio and the highest output force. In standard mode 1, the servo motor (5) rotates forward and connects to the built-in hydraulic pump (345) via the transmission connector (4). The built-in hydraulic pump (345) pumps high-pressure oil forward to the second parallel flow channel (302), then through the ninth parallel flow channel (334), the second on / off control valve (26), and the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651). The oil then further passes through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), the first flexible connecting pipe (9), and the first fluid interface (107) into the first actuation chamber (108). The second reversing logic valve (30) is activated by receiving a control signal. The fourteenth longitudinal flow channel (608) is connected to the thirteenth transverse flow channel (610). High-pressure oil enters the second actuation chamber (103) through the sixth longitudinal flow channel (611), the eighteenth parallel flow channel (603), the thirteenth transverse flow channel (610), the fourteenth longitudinal flow channel (608), the twenty-third parallel flow channel (609), the second connecting pipe (10), and the second fluid interface (105). The first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect to the twelfth transverse flow channel (665). In this mode, the first actuation chamber (108) and the second actuation chamber (103) contain high-pressure oil, and the third actuation chamber (104) contains low-pressure oil. In standard mode 2, the servo motor (5) rotates forward and is input to the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), through the ninth parallel flow channel (334), the second on / off control valve (26), the tenth longitudinal flow channel (351) and into the twelfth longitudinal flow channel (651). It then enters the first actuation chamber (108) through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), the first flexible connecting pipe (9), and the first fluid interface (107). The second reversing logic is activated by receiving the control signal. Valve (30) selects the fourteenth longitudinal flow channel (608) to connect with the eleventh transverse flow channel (607), so that the first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect with the first transverse flow channel (661). High-pressure oil enters the third actuation chamber (104) through the twelfth longitudinal flow channel (651), the twenty-fifth parallel flow channel (653), the first transverse flow channel (661), the fifteenth longitudinal flow channel (663), the twenty-fourth parallel flow channel (664), and the third fluid interface (110). In this mode, the first actuation chamber (108) and the third actuation chamber (104) contain high-pressure oil, and the second actuation chamber (103) contains low-pressure oil.

[0013] Furthermore, the structural principle of the multi-mode execution component (1) of the present invention is as follows: by replacing the solid large piston rod with a hollow structure and nesting a smaller diameter hollow piston rod inside it, two independent cavities are formed inside the large hollow rod. At the same time, these two internal cavities work together with the two original main cavities of the cylinder to jointly constitute the structure of the multi-mode execution component (1). Since the multi-mode execution component (1) is designed as a symmetrical cylinder, the fourth actuation chamber (109) has a built-in flexible pressure stabilizer (102) for energy recovery and reuse. In order to meet the requirements of hydraulic circuit flow balance, the area of ​​the first actuation chamber (108) is defined as S1, the area of ​​the second actuation chamber (103) is defined as S2, the area of ​​the third actuation chamber (104) is defined as S3, and the area of ​​the fourth actuation chamber (109) is defined as S4. The chamber area of ​​the multi-mode execution component (1) is designed as S1=S2+S3; the calculation formula of each chamber area is as follows:

[0014] In the formula, d1 represents the inner diameter of the external hollow piston rod (114), d2 represents the outer diameter of the external hollow piston rod (114), d3 represents the outer diameter of the internal hollow fixed rod (113) of the third actuation chamber (104), and d4 represents the inner diameter of the cylinder (115) of the multi-mode actuator. Since the connection of the internally fixed flexible pressure stabilizer (102) of the fourth actuation chamber (109) is independent of the closed system, its area parameter is not included in the calculation of the effective working area of ​​the closed system. Through this structural design, the effective working areas of the rodless chamber and the rod chamber in the closed system are completely equal, achieving the technical goal of structural symmetry of the multi-mode actuator (1) and solving the flow imbalance caused by area difference. The built-in flexible pressure stabilizer (102) includes an elastic bladder, an elastic diaphragm, or an airbag-type energy storage device, which has a compressible cavity inside. When the oil pressure in the fourth actuation chamber (109) increases, the built-in flexible pressure stabilizer undergoes elastic deformation to absorb volume changes and pressure shocks, and releases stored energy when the pressure decreases.

[0015] Furthermore, the effective piston area of ​​the extension chamber and retraction chamber connected to the pump port of the built-in hydraulic pump (345) is defined as follows: A A and A B Because the cavity area of ​​the two-chamber cylinder is fixed, the multi-mode actuator (1) can change the effective area by connecting different cavities to both sides of the pump. When the total effective area of ​​the extension cavity and the retraction cavity is equal, the multi-mode actuator (1) is a symmetrical cylinder, which can achieve the purpose of flow balance. The transmission ratio of the closed-loop pump control system is defined as:

[0016] In the formula, VA For the displacement of the built-in hydraulic pump (345). When the force-priority mode multi-mode actuator (1) extends: A A =S1 When the standard mode 1 multimode execution component (1) extends: A A =S3 When the standard mode 2 multimode execution component (1) extends: A A =S2 In force priority mode, the multi-mode actuator (1) has the largest effective piston area and the lowest transmission ratio, which can provide the highest load force.

[0017] Furthermore, the pressure storage device (2) is connected to the first parallel flow channel (301) of the pump-valve composite unit (3), and cooperates with the first check valve (11) installed in the ninth transverse flow channel (323) and the second check valve (23) installed in the third transverse flow channel (342) to achieve oil replenishment and pressure stabilization on the low-pressure side of the closed hydraulic circuit; during the reciprocating motion of the piston rod, the pressure storage device (2) absorbs and compensates for the unbalanced volume flow generated by the internal leakage of the multi-mode actuator (1); the first relief valve (14) is installed in the second longitudinal flow channel (304), and the second relief valve (27) is installed in the first longitudinal flow channel (303) to set the safety pressure boundary of the actuator to achieve overload protection.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. Reduce flow imbalance in closed loop: This invention connects a multi-mode actuator to the closed pump control loop of the electro-hydraulic actuator. By matching the areas of the first, second, and third actuation chambers, the difference in inlet and outlet flow caused by the different areas of the two chambers in a traditional single-rod hydraulic cylinder is reduced, making the closed loop operation more stable.

[0020] 2. Reduce the capacity requirements of pressure storage devices: Since the actuator can reduce the unbalanced volume flow in the closed loop, the pressure storage device is mainly used for low-pressure side oil replenishment, pressure stabilization and leakage compensation. It does not need to compensate for large chamber volume differences for a long time, thus reducing the dependence on large-scale accumulators.

[0021] 3. Expanding the speed range of the electro-hydraulic actuator: This invention switches the high and low pressure connection states of different actuation chambers through a first and a second reversing logic valve, enabling the system to achieve different transmission ratios. Even with essentially unchanged specifications for the servo motor and built-in hydraulic pump, different speed outputs can be obtained, thereby expanding the usable speed range of the electro-hydraulic actuator.

[0022] 4. Improved matching capability between output force and speed: Traditional electro-hydraulic actuators typically rely on motor speed and pump flow rate to regulate output, making it difficult to simultaneously achieve high thrust and high speed. This invention can switch to a force-priority mode under heavy loads and to a standard mode under light loads or rapid actions, thereby better matching the force and speed requirements under different working conditions.

[0023] 5. Reduce peak load of servo motor: This invention uses variable transmission ratio switching so that under heavy load conditions, it does not rely entirely on the servo motor to increase torque to overcome the load; at the same time, the built-in flexible voltage stabilizer in the fourth actuation chamber can absorb part of the pressure impact, reducing the transmission of impact load to the built-in hydraulic pump and servo motor, thereby reducing the peak torque and peak power requirements of the motor.

[0024] 6. Reduce pressure shock: The fourth actuation chamber, together with the built-in flexible pressure stabilizer, forms a buffer structure that can absorb some hydraulic shock when there is a sudden change in load, reversal, or mode switching; the energy is released when the pressure drops, which helps to reduce pressure fluctuations in the closed loop.

[0025] 7. Reduce the risk of insufficient oil replenishment and cavitation: The pressure storage device works in conjunction with the first check valve and the second check valve to replenish and stabilize the low-pressure side of the closed circuit, so that the hydraulic pump can obtain more stable low-pressure side oil supply conditions when it operates rapidly, reverses or changes load, thereby reducing the risk of insufficient oil replenishment and cavitation on the low-pressure side.

[0026] 8. Reduce pressure loss and response lag caused by external pipelines: The present invention connects pumps, valves, pressure storage components and actuators through parallel flow channels, longitudinal flow channels and transverse flow channels inside the pump-valve composite unit and the main control integrated block, thereby reducing long-distance external pipeline connections, thereby reducing oil pressure loss and response lag caused by pipeline volume compression.

[0027] 9. Improve system protection response speed: The first relief valve, the second relief valve, and the pressure sensor are located close to the core oil circuit. When the system experiences pressure abnormalities or load shocks, they can detect pressure changes more quickly and limit system pressure, thereby improving the overload protection response speed.

[0028] 10. This invention is particularly suitable for hydraulic actuation scenarios such as engineering machinery, aerial work platforms, drilling rigs, excavation actuators, and heavy-duty robotic arms, where the load variation range is large, the installation space is limited, and the requirements for force / speed matching are high.

[0029] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is an overall assembly schematic diagram of an embodiment of a multi-mode electro-hydraulic actuator of the present invention; Figure 2 This is a right view of the electro-hydraulic actuator described in this invention; Figure 3 This is a left view of the electro-hydraulic actuator described in this invention; Figure 4 This is a right view of the multi-mode execution component described in this invention and a cross-sectional view along the HH section line; Figure 5 This is a right view and its cross-sectional line of the electro-hydraulic actuator described in this invention; Figure 6 This is the present invention. Figure 5 A sectional view along section line AA; Figure 7 This is the present invention. Figure 5 A sectional view along section line BB; Figure 8 This is the present invention. Figure 5 A sectional view along the CC section line; Figure 9 This is the present invention. Figure 5 A sectional view along the DD section line; Figure 10 This is the present invention. Figure 5 Cross-sectional view along the EE section line; Figure 11 This is the present invention. Figure 5 A sectional view along the FF section line; Figure 12 This is the present invention. Figure 5 A cross-sectional view along the GG section line; Figure 13 This is a schematic diagram of the hydraulic circuit of the electro-hydraulic actuator of the present invention in force priority mode; Figure 14 This is a schematic diagram of the hydraulic circuit of the electro-hydraulic actuator described in this invention under standard mode 1; Figure 15This is a schematic diagram of the hydraulic circuit of the electro-hydraulic actuator described in this invention under standard mode 2; Figure 16 This is a schematic diagram comparing the simulated energy consumption of the electro-hydraulic actuator described in this invention and a conventional electro-hydraulic actuator under the same trajectory; Figure 17 This is a schematic diagram comparing the simulated flow velocity of the electro-hydraulic actuator described in this invention with that of a conventional electro-hydraulic actuator under the same trajectory; Figure 18 This is a schematic diagram of mode switching in one embodiment of the electro-hydraulic actuator described in this invention.

[0032] Figure label: 1. Multi-mode execution component; 2. Pressure storage component; 3. Pump-valve composite unit; 4. Transmission connector; 5. Servo motor; 6. Main control integrated block; 7. Basic support component; 8. End cap; 9. First flexible connecting pipe; 10. Second connecting pipe; 11. First check valve; 12. First temperature sensor; 13. First pressure sensor; 14. First relief valve; 15. Second temperature sensor; 16. First on / off control valve; 17. Servo motor power line interface; 18. Servo motor encoder interface; 19. Second pressure sensor; 20. Third temperature sensor; 21. Third connecting pipe; 22. First reversing logic valve; 23. Second check valve; 24. Third pressure sensor; 25. Fourth temperature sensor; 26. Second... 27. On / off control valve; 28. Second relief valve; 29. ​​Fourth pressure sensor; 20. Fifth temperature sensor; 31. Second reversing logic valve; 101. Fixed end hinge; 102. Built-in flexible pressure regulator; 103. Second actuation chamber; 104. Third actuation chamber; 105. Second fluid interface; 106. Output end hinge; 107. First fluid interface; 108. First actuation chamber; 109. Fourth actuation chamber; 110. Third fluid interface; 111. Fourth fluid interface; 112. Multi-mode actuator piston rod; 113. Internal hollow fixed rod; 114. External hollow piston rod; 115. Multi-mode actuator cylinder; 301. First parallel flow channel; 302. Second parallel flow channel; 303. First longitudinal flow channel; 304, Second longitudinal flow channel; 305, Third parallel flow channel; 306, Fourth parallel flow channel; 311, Fifth parallel flow channel; 312, Tenth transverse flow channel; 313, Sixth parallel flow channel; 314, Fourth longitudinal flow channel; 321, Third longitudinal flow channel; 322, Seventh parallel flow channel; 323, Ninth transverse flow channel; 331, Eighth parallel flow channel; 332, Eighth longitudinal flow channel; 333, Seventh transverse flow channel; 334, Ninth parallel flow channel; 335, Tenth parallel flow channel; 336, Eighth transverse flow channel; 337, Ninth longitudinal flow channel; 338, Fourth transverse flow channel; 339, Fifth longitudinal flow channel; 341, Eleventh parallel flow channel; 342, Third transverse flow channel; 343, Twelfth parallel flow channel Flow channels; 344, Second transverse flow channel; 345, Built-in hydraulic pump; 351, Tenth longitudinal flow channel; 352, Thirteenth parallel flow channel; 353, Fourteenth parallel flow channel; 354, Fifth transverse flow channel; 355, Fifteenth parallel flow channel; 356, Sixth transverse flow channel; 357, Eleventh longitudinal flow channel; 601, Sixteenth parallel flow channel; 602, Seventeenth parallel flow channel; 603, Eighteenth parallel flow channel; 604, Nineteenth parallel flow channel; 605, Twentieth parallel flow channel; 606, Twenty-first parallel flow channel; 607, Eleventh transverse flow channel; 608, Fourteenth longitudinal flow channel; 609, Twenty-third parallel flow channel; 610, Thirteenth transverse flow channel; 611, Sixth longitudinal flow channel; 612, Seventh longitudinal flow channel;651. Twelfth longitudinal flow channel; 652. Thirteenth longitudinal flow channel; 653. Twenty-fifth parallel flow channel; 654. Twenty-sixth parallel flow channel; 661. First transverse flow channel; 662. Twenty-second parallel flow channel; 663. Fifteenth longitudinal flow channel; 664. Twenty-fourth parallel flow channel; 665. Twelfth transverse flow channel. Detailed Implementation

[0033] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0034] It should be noted that when a component is said to be "mounted" on another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected" to another component, it can be directly connected to the other component or there may be an intervening component.

[0035] 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 invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0036] In the specification, claims, and accompanying drawings of this application, the terms "first," "second," "third," etc., are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. Only the portions relevant to this application are shown in the accompanying drawings, not the entirety.

[0037] Reference Figures 1 to 12 As shown: An electro-hydraulic actuator includes a multi-mode execution component (1) and a main control integrated block (6) fixedly mounted on a base support (7); a pump-valve composite unit (3) is mounted on the upper end face of the main control integrated block (6); a servo motor (5) serving as a power source is connected to one side of the pump-valve composite unit (3) via a transmission connector (4), and an end cap (8) and a pressure storage device (2) are mounted on the other side; the built-in hydraulic pump (345) is installed inside the pump-valve composite unit (3); The outer surfaces of the pump-valve composite unit (3), the main control integrated block (6), and the end cap (8) are equipped with valve groups and sensing elements for fluid control and status feedback; wherein, the valve groups installed on the outer surface of the pump-valve composite unit (3) include: a first check valve (11), a first overflow valve (14), a first on / off control valve (16), a second check valve (23), a second on / off control valve (26), and a second overflow valve (27); the valve groups installed on the outer surface of the main control integrated block (6) include: a first reversing logic valve (22) and a second reversing logic valve (30); the sensing elements installed on the outer surface of the pump-valve composite unit (3) include: a second temperature sensor (15), a second pressure sensor (19), a third temperature sensor (20), a third pressure sensor (24), and a fourth temperature sensor (25); the sensing elements installed on the outer surface of the end cap (8) include: a first temperature sensor (12), a first pressure sensor (13), a fourth pressure sensor (28), and a fifth temperature sensor (29); The pump-valve composite unit (3) and the main control integrated block (6) have interconnected parallel flow channel networks, longitudinal flow channel networks and transverse flow channel networks processed in their internal solids.

[0038] Furthermore, the output shaft of the servo motor (5) is connected to the input shaft of the pump-valve composite unit (3) via a transmission connector (4); the outer side of the servo motor (5) has a servo motor power line interface (17) and a servo motor encoder interface (18) for power and signal transmission.

[0039] Furthermore, the tail end of the multi-mode execution component (1) and the extended end of the piston rod (112) of the multi-mode execution component are respectively connected to a fixed end hinge (101) and an output end hinge (106); the interior of the multi-mode execution component (1) is independently divided into a first actuation chamber (108), a second actuation chamber (103), a third actuation chamber (104) and a fourth actuation chamber (109) by mechanical structure; the area of ​​the first actuation chamber (108) of the multi-mode execution component (1) is equal to the sum of the area of ​​the second actuation chamber (103) and the third actuation chamber (104); In addition, the fourth actuation chamber (109) inside the multi-mode execution component (1) is also integrated with a built-in flexible voltage stabilizer (102); the cylinder outer wall of the multi-mode execution component (1) is respectively provided with a first fluid interface (107), a second fluid interface (105), a third fluid interface (110) and a fourth fluid interface (111) that connect the internal independent chambers.

[0040] Furthermore, the parallel flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is mainly arranged along the reference plane, specifically including: the first parallel flow channel (301), the second parallel flow channel (302), the third parallel flow channel (305), the fourth parallel flow channel (306), the fifth parallel flow channel (311), the sixth parallel flow channel (313), the seventh parallel flow channel (322), the eighth parallel flow channel (331), the ninth parallel flow channel (334), the tenth parallel flow channel (335), the eleventh parallel flow channel (341), the twelfth parallel flow channel (343), the thirteenth parallel flow channel (352), the fourteenth parallel flow channel (353), and the fifteenth parallel flow channel (354). 355), the sixteenth parallel flow channel (601), the seventeenth parallel flow channel (602), the eighteenth parallel flow channel (603), the nineteenth parallel flow channel (604), the twentieth parallel flow channel (605), the twenty-first parallel flow channel (606), the twenty-second parallel flow channel (662), the twenty-third parallel flow channel (609), the twenty-fourth parallel flow channel (664), the twenty-fifth parallel flow channel (653), and the twenty-sixth parallel flow channel (654); except for the connecting pipes of the seventeenth parallel flow channel (602), the twenty-third parallel flow channel (609), and the twenty-fourth parallel flow channel (664), the process openings extending to the edge of the block are all equipped with sealing plugs.

[0041] Furthermore, the longitudinal flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is used to achieve three-dimensional flow convergence across planes of different depths. Specifically, it includes: a first longitudinal flow channel (303), a second longitudinal flow channel (304), a third longitudinal flow channel (321), a fourth longitudinal flow channel (314), a fifth longitudinal flow channel (339), a sixth longitudinal flow channel (611), a seventh longitudinal flow channel (612), an eighth longitudinal flow channel (332), a ninth longitudinal flow channel (337), a tenth longitudinal flow channel (351), an eleventh longitudinal flow channel (357), a twelfth longitudinal flow channel (651), a thirteenth longitudinal flow channel (652), a fourteenth longitudinal flow channel (608), and a fifteenth longitudinal flow channel (663). Among them, the thirteenth longitudinal flow channel (652), the sixth transverse flow channel (356), the eleventh longitudinal flow channel (357), the twentieth parallel flow channel (605), the twenty-first parallel flow channel (606), the eleventh transverse flow channel (607), the seventh longitudinal flow channel (612), the twenty-sixth parallel flow channel (654), and the twelfth transverse flow channel (665) are interconnected; the second longitudinal flow channel (304), the third parallel flow channel (305), the sixth parallel flow channel (313), and the fourth longitudinal flow channel (314) are interconnected. The three longitudinal channels (321), the seventh parallel channel (322), and the ninth transverse channel (323) are interconnected; the fifth longitudinal channel (339), the eighth parallel channel (331), and the fourth transverse channel (338) are interconnected; the first longitudinal channel (303) and the second parallel channel (302) are connected; the fourteenth longitudinal channel (608) and the twenty-third parallel channel (609) are connected; and the fifteenth longitudinal channel (663) and the twenty-fourth parallel channel (664) are connected.

[0042] Furthermore, the transverse flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is used to connect the bottom interface of the external components with the core oil circuit inside, specifically including: the first transverse flow channel (661), the second transverse flow channel (344), the third transverse flow channel (342), the fourth transverse flow channel (338), the fifth transverse flow channel (354), the sixth transverse flow channel (356), the seventh transverse flow channel (333), the eighth transverse flow channel (336), the ninth transverse flow channel (323), the tenth transverse flow channel (312), the eleventh transverse flow channel (607), the twelfth transverse flow channel (665), and the thirteenth transverse flow channel (610); Among them, the tenth transverse flow channel (312), the fifth parallel flow channel (311), the thirteenth parallel flow channel (352) and the fifteenth parallel flow channel (355) are interconnected; the seventh transverse flow channel (333), the eighth longitudinal flow channel (332) and the second transverse flow channel (344) are interconnected; the tenth longitudinal flow channel (351), the fourteenth parallel flow channel (353), the fifth transverse flow channel (354), the eighteenth parallel flow channel (603), the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the twelfth longitudinal flow channel (651), the twenty-fifth parallel flow channel (653) and the first transverse flow channel (661) are interconnected; the third transverse flow channel (342) and the twelfth parallel flow channel (343) are connected.

[0043] Furthermore, the main control integrated block (6) is provided with an external fluid interface, and the main control integrated block (6) and the multi-mode execution component (1) are connected by multiple external pipelines; wherein, one end of the first flexible connecting pipe (9) is connected to the seventeenth parallel flow channel (602) of the main control integrated block (6), and the other end is connected to the first fluid interface (107); the second connecting pipe (10) connects the twenty-third parallel flow channel (609) of the main control integrated block (6) to the second fluid interface (105); the third connecting pipe (21) connects the twenty-fourth parallel flow channel (664) of the main control integrated block (6) to the third fluid interface (110); the fourth actuation chamber (109) is filled with oil before operation through the fourth fluid interface (111) as an independent energy storage chamber; the fourth fluid interface (111) is sealed during operation.

[0044] Furthermore, when the piston rod (112) of the multi-mode execution component (1) extends, there are three working modes: force priority mode, standard mode 1 and standard mode 2. The first reversing logic valve (22) and the second reversing logic valve (30) constitute a joint logic valve group. Different transmission ratio drives are achieved by constructing three working mode circuits through different on and off combinations, so that the working mode can be selected according to the actual working conditions. In all three modes, the second on and off control valve (26) is opened to connect the ninth parallel flow channel (334) with the tenth longitudinal flow channel (351), and the first on and off control valve (16) is opened to connect the tenth parallel flow channel (335) with the eleventh longitudinal flow channel (357). In the force-priority mode: the servo motor (5) rotates forward, and inputs the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), and through the ninth parallel flow channel (334), the second on / off control valve (26), and the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651). It then passes through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), and the first flexible connecting pipe (9), and the first flow... The body interface (107) enters the first actuation chamber (108); by receiving the control signal, the second reversing logic valve (30) selects the fourteenth longitudinal flow channel (608) and the eleventh transverse flow channel (607) to connect; the first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) and the twelfth transverse flow channel (665) to connect; in this mode, the first actuation chamber (108) contains high-pressure oil, and the second actuation chamber (103) and the third actuation chamber (104) contain low-pressure oil. In this mode, the transmission ratio is the lowest and the output force is the highest. In standard mode 1, the servo motor (5) rotates forward and is input to the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), through the ninth parallel flow channel (334), the second on / off control valve (26), the tenth longitudinal flow channel (351) and into the twelfth longitudinal flow channel (651). It then enters the first actuation chamber (108) through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), the first flexible connecting pipe (9), and the first fluid interface (107). The second reversing logic valve (30) selects the first actuation chamber (108) by receiving the control signal. The fourteenth longitudinal flow channel (608) is connected to the thirteenth transverse flow channel (610). High-pressure oil enters the second actuation chamber (103) through the sixth longitudinal flow channel (611), the eighteenth parallel flow channel (603), the thirteenth transverse flow channel (610), the fourteenth longitudinal flow channel (608), the twenty-third parallel flow channel (609), the second connecting pipe (10), and the second fluid interface (105). This causes the first reversing logic valve (22) to select the fifteenth longitudinal flow channel (663) and the twelfth transverse flow channel (665) to be connected. In this mode, the first actuation chamber (108) and the second actuation chamber (103) contain high-pressure oil, and the third actuation chamber (104) contains low-pressure oil. In standard mode 2: the servo motor (5) rotates forward and is input to the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), through the ninth parallel flow channel (334), the second on / off control valve (26), the tenth longitudinal flow channel (351) and into the twelfth longitudinal flow channel (651). It then enters the first actuation chamber (108) through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), the first flexible connecting pipe (9), and the first fluid interface (107). The second reversing logic valve (3) is activated by receiving the control signal. 0) Select the fourteenth longitudinal flow channel (608) and the eleventh transverse flow channel (607) to connect; make the first reversing logic valve (22) select the fifteenth longitudinal flow channel (663) and the first transverse flow channel (661) to connect, and the high pressure oil enters the third actuation chamber (104) through the twelfth longitudinal flow channel (651), the twenty-fifth parallel flow channel (653), the first transverse flow channel (661), the fifteenth longitudinal flow channel (663), the twenty-fourth parallel flow channel (664), and the third fluid interface (110); in this mode, the first actuation chamber (108) and the third actuation chamber (104) contain high pressure oil, and the second actuation chamber (103) contains low pressure oil.

[0045] Furthermore, the structural principle of the multi-mode execution component (1) of the present invention is as follows: by replacing the solid large piston rod with a hollow structure and nesting a smaller diameter hollow piston rod inside it, two independent cavities are formed inside the large hollow rod. At the same time, these two internal cavities work together with the two original main cavities of the cylinder to jointly constitute the structure of the multi-mode execution component (1). Since the multi-mode execution component (1) is designed as a symmetrical cylinder, the fourth actuation chamber (109) has a built-in flexible pressure stabilizer (102) for energy recovery and reuse. In order to meet the requirements of hydraulic circuit flow balance, the area of ​​the first actuation chamber (108) is defined as S1, the area of ​​the second actuation chamber (103) is defined as S2, the area of ​​the third actuation chamber (104) is defined as S3, and the area of ​​the fourth actuation chamber (109) is defined as S4. The chamber area of ​​the multi-mode execution component (1) is designed as S1=S2+S3; the calculation formula of each chamber area is as follows:

[0046] In the formula, d1 represents the inner diameter of the external hollow piston rod (114), d2 represents the outer diameter of the external hollow piston rod (114), d3 represents the outer diameter of the internal hollow fixed rod (113) of the third actuation chamber (104), and d4 represents the inner diameter of the cylinder (115) of the multi-mode actuator. Since the connection of the internally fixed flexible pressure stabilizer (102) of the fourth actuation chamber (109) is independent of the closed system, its area parameter is not included in the calculation of the effective working area of ​​the closed system. Through this structural design, the effective working areas of the rodless chamber and the rod chamber in the closed system are completely equal, achieving the technical goal of structural symmetry of the multi-mode actuator (1) and solving the flow imbalance caused by area difference.

[0047] Furthermore, the effective piston area of ​​the extension chamber and retraction chamber connected to the pump port of the built-in hydraulic pump (345) is defined as follows: A A and A B Because the cavity area of ​​the two-chamber cylinder is fixed, the multi-mode actuator (1) can change the effective area by connecting different cavities to both sides of the pump. When the total effective area of ​​the extension cavity and the retraction cavity is equal, the multi-mode actuator (1) is a symmetrical cylinder, which can achieve the purpose of flow balance. The transmission ratio of the closed-loop pump control system is defined as:

[0048] In the formula, V A For the displacement of the built-in hydraulic pump (345). When the force-priority mode multi-mode actuator (1) extends: A A =S1 When the standard mode 1 multimode execution component (1) extends: A A =S3 When the standard mode 2 multimode execution component (1) extends: A A =S2 In force priority mode, the multi-mode actuator (1) has the largest effective piston area and the lowest transmission ratio, which can provide the highest load force.

[0049] Furthermore, the pressure storage device (2) is connected to the first parallel flow channel (301) of the pump-valve composite unit (3), and cooperates with the first check valve (11) installed in the ninth transverse flow channel (323) and the second check valve (23) installed in the third transverse flow channel (342) to achieve oil replenishment and pressure stabilization on the low-pressure side of the closed hydraulic circuit; during the reciprocating motion of the piston rod, the pressure storage device (2) absorbs and compensates for the unbalanced volume flow generated by the internal leakage of the multi-mode actuator (1); the first relief valve (14) is installed in the second longitudinal flow channel (304), and the second relief valve (27) is installed in the first longitudinal flow channel (303) to set the safety pressure boundary of the actuator to achieve overload protection.

[0050] Specific implementation process: Force priority mode, such as Figure 13As shown: When the piston rod (112) of the multi-mode execution component extends, the servo motor (5) rotates forward and is input to the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), through the ninth parallel flow channel (334), the second on / off control valve (26), the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651), and further through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), and the first flexible connection. Pipe (9), the first fluid interface (107) enters the first actuation chamber (108); by receiving a control signal, the second reversing logic valve (30) selects the fourteenth longitudinal flow channel (608) to connect with the eleventh transverse flow channel (607); the first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect with the twelfth transverse flow channel (665); in this mode, the first actuation chamber (108) contains high-pressure oil, and the second actuation chamber (103) and the third actuation chamber (104) contain low-pressure oil; the low-pressure oil in the second actuation chamber (103) Oil returns to the built-in hydraulic pump (345) via the second actuation chamber (103), the second fluid interface (105), the twenty-third parallel flow channel (609), the fourteenth longitudinal flow channel (608), the eleventh transverse flow channel (607), the twenty-first parallel flow channel (606), the seventh longitudinal flow channel (612), the twentieth parallel flow channel (605), the thirteenth longitudinal flow channel (652), the eleventh longitudinal flow channel (357), the tenth parallel flow channel (335), the second longitudinal flow channel (304), and the third parallel flow channel (305); the third actuation chamber (104) The low-pressure oil is returned to the built-in hydraulic pump (345) via the third fluid interface (110), the third connecting pipe (21), the twenty-fourth parallel flow channel (664), the fifteenth longitudinal flow channel (663), the twelfth transverse flow channel (665), the twenty-sixth parallel flow channel (654), the thirteenth longitudinal flow channel (652), the eleventh longitudinal flow channel (357), the tenth parallel flow channel (335), the second longitudinal flow channel (304), and the third parallel flow channel (305); similarly, when the servo motor (5) reverses, the piston rod (112) of the multi-mode actuator can retract.

[0051] Standard Mode 1, such as Figure 14As shown: When the piston rod (112) of the multi-mode execution component extends, the servo motor (5) rotates forward and is input to the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), through the ninth parallel flow channel (334), the second on / off control valve (26), and the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651), and further through the nineteenth parallel flow channel (604) and the sixth longitudinal flow channel (61). 1) The seventeenth parallel flow channel (602), the first flexible connecting pipe (9), and the first fluid interface (107) enter the first actuation chamber (108); by receiving a control signal, the second reversing logic valve (30) selects the fourteenth longitudinal flow channel (608) and the thirteenth transverse flow channel (610) for connection; high-pressure oil passes through the sixth longitudinal flow channel (611), the eighteenth parallel flow channel (603), the thirteenth transverse flow channel (610), the fourteenth longitudinal flow channel (608), and the twenty-third parallel flow channel (610). 09) The second connecting pipe (10) and the second fluid interface (105) enter the second actuation chamber (103); causing the first reversing logic valve (22) to select the connection between the fifteenth longitudinal flow channel (663) and the twelfth transverse flow channel (665); in this mode, the first actuation chamber (108) and the second actuation chamber (103) contain high-pressure oil, and the third actuation chamber (104) contains low-pressure oil; the low-pressure oil in the third actuation chamber (104) enters the second actuation chamber (103) via the third fluid interface (110) and the third connecting pipe (105). The connecting pipe (21), the twenty-fourth parallel flow channel (664), the fifteenth longitudinal flow channel (663), the twelfth transverse flow channel (665), the twenty-sixth parallel flow channel (654), the thirteenth longitudinal flow channel (652), the eleventh longitudinal flow channel (357), the tenth parallel flow channel (335), the second longitudinal flow channel (304), and the third parallel flow channel (305) return to the built-in hydraulic pump (345); similarly, when the servo motor (5) reverses, the piston rod (112) of the multi-mode execution component can retract.

[0052] Standard Mode 2, such as Figure 15As shown: When the piston rod (112) of the multi-mode execution component extends, the servo motor (5) rotates forward and is input to the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), through the ninth parallel flow channel (334), the second on / off control valve (26), and the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651), and further through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), and the... Seventeen parallel flow channels (602), a first flexible connecting pipe (9), and a first fluid interface (107) enter the first actuation chamber (108); by receiving a control signal, the second reversing logic valve (30) selects the fourteenth longitudinal flow channel (608) to connect with the eleventh transverse flow channel (607); the first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect with the first transverse flow channel (661), and high-pressure oil flows through the twelfth longitudinal flow channel (651), the twenty-fifth parallel flow channel (653), and the first actuation chamber (108). A transverse flow channel (661), a fifteenth longitudinal flow channel (663), a twenty-fourth parallel flow channel (664), and a third fluid interface (110) enter the third actuation chamber (104); in this mode, the first actuation chamber (108) and the third actuation chamber (104) contain high-pressure oil, and the second actuation chamber (103) contains low-pressure oil; the low-pressure oil in the second actuation chamber (103) passes through the second actuation chamber (103), the second fluid interface (105), and the twenty-third parallel flow channel (609). The fourteenth longitudinal flow channel (608), the eleventh transverse flow channel (607), the twenty-first parallel flow channel (606), the seventh longitudinal flow channel (612), the twentieth parallel flow channel (605), the thirteenth longitudinal flow channel (652), the eleventh longitudinal flow channel (357), the tenth parallel flow channel (335), the second longitudinal flow channel (304), and the third parallel flow channel (305) return to the built-in hydraulic pump (345); similarly, when the servo motor (5) reverses, the piston rod (112) of the multi-mode execution component can retract.

[0053] In one embodiment, the electro-hydraulic actuator further includes a controller, which is electrically connected to the servo motor (5), the first on / off control valve (16), the second on / off control valve (26), the first reversing logic valve (22), the second reversing logic valve (30), and corresponding pressure sensors and displacement detection elements. The controller is used to perform mode switching control based on the actuator's operating parameters. A schematic diagram of the mode switching is shown below. Figure 18As shown. The operating parameters include target output force, target speed, load pressure and actuator displacement. The target output force refers to the expected output thrust determined by the host computer control command; the target speed refers to the expected extension or retraction speed of the piston rod (112) of the multi-mode actuator; the load pressure refers to the hydraulic pressure parameter reflecting the current external load size, which can be obtained from the pressure of the corresponding branch of the first actuator chamber (108), the second actuator chamber (103) and the third actuator chamber (104); the actuator displacement refers to the current position of the piston rod (112) of the multi-mode actuator relative to the cylinder.

[0054] The preset output force threshold refers to the output force limit value used to determine whether the actuator has entered the heavy-load output state. It can be pre-calibrated and stored in the controller based on the rated output capacity of the multi-mode execution component (1), the maximum workload of the actual application object, and the safety factor. When the target output force is greater than the preset output force threshold, it indicates that the current working condition requires a higher output thrust, and the controller prioritizes controlling the actuator to enter the force priority mode.

[0055] The preset pressure threshold refers to the pressure limit value used to determine whether the closed hydraulic circuit is in a high load or high pressure working state. It can be determined according to the allowable working pressure of the built-in hydraulic pump (345), pipeline, valve group and multi-mode execution component (1). When the load pressure is detected to be greater than the preset pressure threshold, it indicates that the current external load is large or the hydraulic circuit pressure is high. The controller controls the second reversing logic valve (30) to select the fourteenth longitudinal flow channel (608) to connect with the eleventh transverse flow channel (607), and controls the first reversing logic valve (22) to select the fifteenth longitudinal flow channel (663) to connect with the twelfth transverse flow channel (665), so that the first actuating chamber (108) is connected to the high pressure side, and the second actuating chamber (103) and the third actuating chamber (104) are connected to the low pressure side, thereby entering the force priority mode to improve the output force and reduce the risk of stall under heavy load conditions.

[0056] The preset speed threshold refers to the speed limit value used to determine whether the actuator has a need for rapid action. It can be preset according to the working cycle time, piston rod stroke, allowable speed of servo motor (5), and displacement of built-in hydraulic pump (345). When the target speed is greater than the preset speed threshold, and the target output force is not greater than the preset output force threshold and the load pressure is not greater than the preset pressure threshold, it indicates that the current working condition focuses more on speed response. The controller controls the first reversing logic valve (22) and the second reversing logic valve (30) to switch to standard mode 1 or standard mode 2 to change the equivalent working area of ​​the multi-mode execution component (1) and the system transmission ratio.

[0057] The pressure states of the second and third actuation chamber branches refer to the pressure magnitude, pressure change rate, and pressure difference with the high-pressure or low-pressure side of the oil circuit branches connected to the second actuation chamber (103) and the third actuation chamber (104), respectively. The controller can directly detect these pressures using the corresponding pressure sensors. When the target speed is greater than the preset speed threshold and there is no heavy load requirement, the controller compares the pressure states of the second actuation chamber (103) branch and the third actuation chamber (104) branch. If the pressure of the branch corresponding to the second actuation chamber (103) meets the preset pressure balance condition, the controller will preferentially switch to standard mode 1, connecting the first actuation chamber (108) to the high-pressure side of the second actuation chamber (103). If the pressure of the branch corresponding to the third actuation chamber (104) meets the preset pressure balance condition, the controller will preferentially switch to standard mode 2, connecting the first actuation chamber (108) to the high-pressure side of the third actuation chamber (104). The preset pressure balance condition can be that the pressure of the corresponding branch is lower than the preset upper limit of the branch pressure.

[0058] The preset mode priority refers to the pre-set rules used by the controller to determine the final working mode when multiple working modes meet the switching conditions. The preset mode priority can be set as follows: when the output force or load pressure exceeds the corresponding threshold, the force priority mode has the highest priority; when there is no heavy load requirement and the target speed exceeds the preset speed threshold, standard mode 1 and standard mode 2 are selected according to the pressure state of the corresponding branches of the second actuation chamber (103) and the third actuation chamber (104); when the pressure state of the corresponding branches of the second actuation chamber (103) and the third actuation chamber (104) both meet the switching conditions, standard mode 1 is selected according to the preset mode priority.

[0059] To avoid frequent switching of operating modes, the controller sets a minimum mode hold time. Specifically, after completing a mode switch, the controller maintains the current mode for a preset hold time unless the load pressure exceeds the safe pressure boundary or a fault protection signal is detected. Through the above control logic, the electro-hydraulic actuator can prioritize output force under heavy load conditions, prioritize improving response speed under light load and rapid operation conditions, and select a more stable standard mode according to the pressure state of the corresponding branch of the second actuation chamber (103) and the third actuation chamber (104), thereby achieving comprehensive optimization of force / speed matching, pressure shock suppression, and operational stability.

[0060] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0061] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0062] Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0063] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A multi-mode electro-hydraulic actuator, characterized in that, It includes a base support (7), a multi-mode execution component (1) and a main control integration block (6) fixed on the base support (7), a pump-valve composite unit (3) installed on the main control integration block (6), a servo motor (5) connected to the hydraulic pump (345) built into the pump-valve composite unit (3), a pressure energy storage component (2) connected to the pump-valve composite unit (3), and a flow channel network set in the pump-valve composite unit (3) and the main control integration block (6); The flow channel network connects the built-in hydraulic pump (345), pressure storage device (2) and multi-mode execution component (1), and connects the first on / off control valve (16), the second on / off control valve (26), the first reversing logic valve (22) and the second reversing logic valve (30); The multi-mode execution component (1) includes a first actuation chamber (108), a second actuation chamber (103), a third actuation chamber (104) and a fourth actuation chamber (109). The effective working area of ​​the first actuation chamber (108) is equal to the sum of the effective working areas of the second actuation chamber (103) and the third actuation chamber (104). The fourth actuation chamber (109) is provided with a built-in flexible voltage stabilizer (102). The first reversing logic valve (22) and the second reversing logic valve (30) constitute a combined logic valve group, which is used to switch the connection combination of the first actuation chamber (108), the second actuation chamber (103) and the third actuation chamber (104) with the high-pressure side and the low-pressure side, so as to change the equivalent working area and system transmission ratio of the multi-mode execution component (1).

2. The multi-mode electro-hydraulic actuator according to claim 1, characterized in that, One side of the pump-valve composite unit (3) is connected to the servo motor (5) via a transmission connector (4), and the other side is equipped with an end cap (8) and a pressure storage device (2); the output shaft of the servo motor (5) is connected to the input shaft of the pump-valve composite unit (3) via the transmission connector (4); the outer side of the servo motor (5) has a servo motor power line interface (17) and a servo motor encoder interface (18) for power and signal transmission; the end cap (8) is sealed and fixed to one end face of the pump-valve composite unit (3) by fasteners.

3. The multi-mode electro-hydraulic actuator according to claim 1, characterized in that, The tail of the multi-mode execution component (1) is connected to a fixed end hinge (101), and the extended end of the piston rod (112) of the multi-mode execution component is connected to an output end hinge (106). The cylinder outer wall of the multi-mode execution component (1) is provided with a first fluid interface (107), a second fluid interface (105), a third fluid interface (110) and a fourth fluid interface (111), wherein the first fluid interface (107) is connected to the first actuation chamber (108), the second fluid interface (105) is connected to the second actuation chamber (103), the third fluid interface (110) is connected to the third actuation chamber (104), and the fourth fluid interface (111) is connected to the fourth actuation chamber (109).

4. The multi-mode electro-hydraulic actuator according to claim 1, characterized in that, The flow channel network includes a parallel flow channel network, a longitudinal flow channel network, and a transverse flow channel network disposed inside the pump-valve composite unit (3) and the main control integrated block (6); The parallel flow channel network is mainly arranged along the reference plane, and specifically includes: a first parallel flow channel (301), a second parallel flow channel (302), a third parallel flow channel (305), a fourth parallel flow channel (306), a fifth parallel flow channel (311), a sixth parallel flow channel (313), a seventh parallel flow channel (322), an eighth parallel flow channel (331), a ninth parallel flow channel (334), a tenth parallel flow channel (335), an eleventh parallel flow channel (341), a twelfth parallel flow channel (343), a thirteenth parallel flow channel (352), a fourteenth parallel flow channel (353), a fifteenth parallel flow channel (355), and a sixteenth parallel flow channel (355). 601), the seventeenth parallel flow channel (602), the eighteenth parallel flow channel (603), the nineteenth parallel flow channel (604), the twentieth parallel flow channel (605), the twenty-first parallel flow channel (606), the twenty-second parallel flow channel (662), the twenty-third parallel flow channel (609), the twenty-fourth parallel flow channel (664), the twenty-fifth parallel flow channel (653), and the twenty-sixth parallel flow channel (654); except for the connecting pipes of the seventeenth parallel flow channel (602), the twenty-third parallel flow channel (609), and the twenty-fourth parallel flow channel (664), the process openings extending to the edge of the block are all equipped with sealing plugs.

5. The multi-mode electro-hydraulic actuator with extended speed range according to claim 4, characterized in that, The longitudinal flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is used to achieve three-dimensional flow convergence across planes of different depths. Specifically, it includes: a first longitudinal flow channel (303), a second longitudinal flow channel (304), a third longitudinal flow channel (321), a fourth longitudinal flow channel (314), a fifth longitudinal flow channel (339), a sixth longitudinal flow channel (611), a seventh longitudinal flow channel (612), an eighth longitudinal flow channel (332), a ninth longitudinal flow channel (337), a tenth longitudinal flow channel (351), an eleventh longitudinal flow channel (357), a twelfth longitudinal flow channel (651), a thirteenth longitudinal flow channel (652), a fourteenth longitudinal flow channel (608), and a fifteenth longitudinal flow channel (663).

6. The multi-mode electro-hydraulic actuator according to claim 5, characterized in that, The transverse flow channel network inside the pump-valve composite unit (3) and the main control integrated block (6) is used to connect the bottom interface of external components with the core oil circuit inside. Specifically, it includes: the first transverse flow channel (661), the second transverse flow channel (344), the third transverse flow channel (342), the fourth transverse flow channel (338), the fifth transverse flow channel (354), the sixth transverse flow channel (356), the seventh transverse flow channel (333), the eighth transverse flow channel (336), the ninth transverse flow channel (323), the tenth transverse flow channel (312), the eleventh transverse flow channel (607), the twelfth transverse flow channel (665), and the thirteenth transverse flow channel (610). Among them, the tenth transverse flow channel (312), the fifth parallel flow channel (311), the thirteenth parallel flow channel (352) and the fifteenth parallel flow channel (355) are interconnected; the seventh transverse flow channel (333) and the eighth longitudinal flow channel (332) are interconnected with the second transverse flow channel (344); the tenth longitudinal flow channel (351), the fourteenth parallel flow channel (353), the fifth transverse flow channel (354), the eighteenth parallel flow channel (603), the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the twelfth longitudinal flow channel (651), the twenty-fifth parallel flow channel (653) and the first transverse flow channel (661) are interconnected; the third transverse flow channel (342) and the twelfth parallel flow channel (343) are connected; the thirteenth longitudinal flow channel (652), the sixth transverse flow channel (356), the eleventh longitudinal flow channel (357), the twentieth parallel flow channel (604) and the twentieth parallel flow channel (605) are interconnected with each other. 5) The 21st parallel flow channel (606), the 11th transverse flow channel (607), the 7th longitudinal flow channel (612), the 26th parallel flow channel (654), and the 12th transverse flow channel (665) are interconnected; the 2nd longitudinal flow channel (304), the 3rd parallel flow channel (305), the 6th parallel flow channel (313), and the 4th longitudinal flow channel (314) are interconnected; the 3rd longitudinal flow channel (321), the 7th parallel flow channel (322), and the 9th transverse flow channel (323) are interconnected; the 5th longitudinal flow channel (339), the 8th parallel flow channel (331), and the 4th transverse flow channel (338) are interconnected; the 1st longitudinal flow channel (303) and the 2nd parallel flow channel (302) are connected; the 14th longitudinal flow channel (608) and the 23rd parallel flow channel (609) are connected; the 15th longitudinal flow channel (663) and the 24th parallel flow channel (664) are connected.

7. The multi-mode electro-hydraulic actuator according to claim 4, characterized in that, The main control integrated block (6) is provided with an external fluid interface, and the main control integrated block (6) and the multi-mode execution component (1) are connected through multiple external pipelines; One end of the first flexible connecting tube (9) is connected to the seventeenth parallel flow channel (602) of the main control integrated block (6), and the other end is connected to the first fluid interface (107); The second connecting pipe (10) is connected between the twenty-third parallel flow channel (609) and the second fluid interface (105) of the main control integrated block (6); The third connecting pipe (21) is connected between the twenty-fourth parallel flow channel (664) and the third fluid interface (110) of the main control integrated block (6); The fourth actuation chamber (109) is filled with oil before operation as an independent energy storage chamber through the fourth fluid interface (111), and the fourth fluid interface (111) is sealed during operation.

8. The multi-mode electro-hydraulic actuator according to claim 6, characterized in that, When the piston rod (112) of the multi-mode execution component (1) extends, there are three working modes: force priority mode, standard mode 1 and standard mode 2. The first reversing logic valve (22) and the second reversing logic valve (30) constitute a combined logic valve group. By constructing three working mode circuits through different on and off combinations, different transmission ratio drives can be achieved, so that the working mode can be selected according to the actual working conditions. In all three modes, the second on / off control valve (26) is opened to connect the ninth parallel flow channel (334) with the tenth longitudinal flow channel (351), and the first on / off control valve (16) is opened to connect the tenth parallel flow channel (335) with the eleventh longitudinal flow channel (357). In the force-priority mode: the servo motor (5) rotates forward and connects to the built-in hydraulic pump (345) via the transmission connector (4). The built-in hydraulic pump (345) pumps high-pressure oil forward to the second parallel flow channel (302), then through the ninth parallel flow channel (334), the second on / off control valve (26), and the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651). It further passes through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), and the first flexible connecting pipe (9). The first fluid interface (107) enters the first actuation chamber (108); by receiving a control signal, the second reversing logic valve (30) selects the fourteenth longitudinal flow channel (608) to connect with the eleventh transverse flow channel (607), and the first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect with the twelfth transverse flow channel (665); in this mode, the first actuation chamber (108) contains high-pressure oil, and the second actuation chamber (103) and the third actuation chamber (104) contain low-pressure oil. This mode has the lowest transmission ratio and the highest output force. In standard mode 1, the servo motor (5) rotates forward and connects to the built-in hydraulic pump (345) via the transmission connector (4). The built-in hydraulic pump (345) pumps high-pressure oil forward to the second parallel flow channel (302), then through the ninth parallel flow channel (334), the second on / off control valve (26), and the tenth longitudinal flow channel (351) into the twelfth longitudinal flow channel (651). The oil then further passes through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), the first flexible connecting pipe (9), and the first fluid interface (107) into the first actuation chamber (108). The second reversing logic valve (30) is activated by receiving a control signal. The fourteenth longitudinal flow channel (608) is connected to the thirteenth transverse flow channel (610). High-pressure oil enters the second actuation chamber (103) through the sixth longitudinal flow channel (611), the eighteenth parallel flow channel (603), the thirteenth transverse flow channel (610), the fourteenth longitudinal flow channel (608), the twenty-third parallel flow channel (609), the second connecting pipe (10), and the second fluid interface (105). The first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect to the twelfth transverse flow channel (665). In this mode, the first actuation chamber (108) and the second actuation chamber (103) contain high-pressure oil, and the third actuation chamber (104) contains low-pressure oil. In standard mode 2, the servo motor (5) rotates forward and is input to the built-in hydraulic pump (345) through the transmission connector (4). The built-in hydraulic pump (345) pumps the high-pressure oil forward to the second parallel flow channel (302), through the ninth parallel flow channel (334), the second on / off control valve (26), the tenth longitudinal flow channel (351) and into the twelfth longitudinal flow channel (651). It then enters the first actuation chamber (108) through the nineteenth parallel flow channel (604), the sixth longitudinal flow channel (611), the seventeenth parallel flow channel (602), the first flexible connecting pipe (9), and the first fluid interface (107). The second reversing logic is activated by receiving the control signal. Valve (30) selects the fourteenth longitudinal flow channel (608) to connect with the eleventh transverse flow channel (607), so that the first reversing logic valve (22) selects the fifteenth longitudinal flow channel (663) to connect with the first transverse flow channel (661). High-pressure oil enters the third actuation chamber (104) through the twelfth longitudinal flow channel (651), the twenty-fifth parallel flow channel (653), the first transverse flow channel (661), the fifteenth longitudinal flow channel (663), the twenty-fourth parallel flow channel (664), and the third fluid interface (110). In this mode, the first actuation chamber (108) and the third actuation chamber (104) contain high-pressure oil, and the second actuation chamber (103) contains low-pressure oil.

9. The multi-mode electro-hydraulic actuator according to claim 6, characterized in that, The pressure storage device (2) is connected to the first parallel flow channel (301) of the pump-valve composite unit (3), and cooperates with the first check valve (11) installed in the ninth transverse flow channel (323) and the second check valve (23) installed in the third transverse flow channel (342) to achieve oil replenishment and pressure stabilization on the low-pressure side of the closed hydraulic circuit; during the reciprocating motion of the piston rod, the pressure storage device (2) is used to absorb and compensate for the unbalanced volume flow generated by the internal leakage of the multi-mode actuator (1); the first relief valve (14) is installed in the second longitudinal flow channel (304), and the second relief valve (27) is installed in the first longitudinal flow channel (303) to set the safety pressure boundary of the actuator to achieve overload protection.

10. A control method for a multi-mode electro-hydraulic actuator as described in claim 8 or 9, characterized in that, Performed by the controller, the process includes the following steps: Obtain the operating parameters of the electro-hydraulic actuator, including the target output force, target speed, load pressure, and actuator displacement; The current load demand is determined based on the operating parameters, and the electro-hydraulic actuator is switched between force priority mode, standard mode 1 and standard mode 2 by controlling the on / off combination of the first switching logic valve (22) and the second switching logic valve (30). In force priority mode, standard mode 1 and standard mode 2, the first on / off control valve (16) and the second on / off control valve (26) are both kept open. When the target output force is greater than the preset output force threshold or the load pressure is greater than the preset pressure threshold, the second reversing logic valve (30) is controlled to select the fourteenth longitudinal flow channel (608) and the eleventh transverse flow channel (607) to connect, and the first reversing logic valve (22) is controlled to select the fifteenth longitudinal flow channel (663) and the twelfth transverse flow channel (665) to connect, so that high pressure oil is introduced into the first actuation chamber (108), and the second actuation chamber (103) and the third actuation chamber (104) are connected to low pressure, and the force priority mode is entered. When the target speed is greater than the preset speed threshold, and the target output force is not greater than the preset output force threshold and the load pressure is not greater than the preset pressure threshold, the second reversing logic valve (30) and the first reversing logic valve (22) are controlled to switch to standard mode 1 or standard mode 2 according to the preset mode priority. When switching to standard mode 1, the second reversing logic valve (30) is controlled to select the connection between the fourteenth longitudinal flow channel (608) and the thirteenth transverse flow channel (610), so that high-pressure oil enters the second actuation chamber (103), and the first reversing logic valve (22) is controlled to select the connection between the fifteenth longitudinal flow channel (663) and the twelfth transverse flow channel (665), so that the first actuation chamber (108) and the second actuation chamber (103) contain high-pressure oil, and the third actuation chamber (104) contains low-pressure oil; When switching to standard mode 2, the second reversing logic valve (30) is controlled to select the fourteenth longitudinal flow channel (608) and the eleventh transverse flow channel (607) for connection, and the first reversing logic valve (22) is controlled to select the fifteenth longitudinal flow channel (663) and the first transverse flow channel (661) for connection, so that high-pressure oil enters the third actuation chamber (104), so that the first actuation chamber (108) and the third actuation chamber (104) contain high-pressure oil, and the second actuation chamber (103) contains low-pressure oil.

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