High-load rotary drive, drive control method

Abstract

The present application relates to the technical field of rotary drive, and more particularly to a high-load rotary driver, which comprises a box, a rack, a gear shaft, a cylinder, a power piston, a second piston, a piston rod and a rotary power source, the power piston and the second piston are arranged on both sides of the rack, and the three components together form a power tooth condition; the box is provided with an inner cavity for accommodating the gear shaft and connecting the cylinder; the two cylinders are connected to both sides of the box; the meshing surface of the rack is engaged with the gear shaft in the box to drive the gear shaft to rotate through the movement of the power piston and the second piston in the respective cylinders to drive the gear shaft to rotate; the power piston or the power piston and the second piston are provided with the piston rod; the power tooth condition is provided with a pressure input and output power device; the piston rod is provided with the rotary power source for driving the pressure input and output power device; one end of the pressure input and output power device is connected to the closed cavity outside the power piston, and the other end is connected to the closed cavity outside the second piston.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic rotary drive technology, specifically a high-load rotary drive and drive control method. Background Technology

[0002] Traditional gear and rack rotary cylinder control generally requires a separate hydraulic system to provide power, which inevitably involves complex piping and various logic control valve groups. The overall structure is large and expensive, and the piping is prone to leakage. Moreover, it is difficult to accurately control the rotation angle during angle-driven rotation, which inevitably requires the addition of various additional detection units. If the drive load is large, the cost and control of the power part are even higher, and the temperature rise is prone to damage, making it difficult to meet market demands. Especially in the current stage of the electric energy revolution, there is an urgent need for a drive rotation device that can overcome the above problems.

[0003] Meanwhile, with the rapid development of embodied intelligence, industrial robots, humanoid robots, and their joint drives generally adopt direct motor drive or drive through motor reducers. The problems include: small load, poor precision, insufficient torque density, poor shock resistance, difficulty in energy recovery, and difficulty in use in high-load and confined space scenarios in industrial environments. Traditional gear and rack rotary cylinders require additional control systems, are bulky, and have complicated pipelines, making them unsuitable for use in highly compact industrial robots. Furthermore, they lack the cluster control and distributed control capabilities of robot joints. Therefore, there is an urgent need for a high-load rotary actuator to meet various needs in industrial engineering and daily life. Summary of the Invention

[0004] In order to solve the problem of high-precision, high-load rotary drive in compact spaces and industrial equipment, this invention provides a high-load rotary drive and drive control method.

[0005] The present invention adopts the following technical solution: A high-load rotary actuator includes a housing and a rack, gear shaft, and cylinder housed within the housing. It also includes a power piston, a second piston, a piston rod, and a rotary power source. Power pistons and second pistons are respectively located on both sides of the rack, forming a power gear mechanism. The housing has an inner cavity accommodating the gear shaft and connecting to the cylinders. Two cylinders are connected to both sides of the housing. The meshing surface of the rack meshes with the gear shaft inside the housing for transmission. The power piston and second piston move horizontally within their respective cylinders, thereby driving the gear shaft to rotate. The power piston or power piston and second piston are equipped with piston rods. The power gear mechanism is equipped with a pressure input / output power device. The piston rod is equipped with a rotary power source that drives and connects to the pressure input / output power device. One end of the pressure input / output power device's inlet / outlet is connected to a closed cavity outside the power piston, and the other end is connected to a closed cavity outside the second piston.

[0006] The power gear is also equipped with an oil drain circuit for connecting the pressure input and output power device. The oil drain circuit includes a left check valve and a right check valve that are unidirectionally connected to the oil drain port of the pressure input and output power device. The left check valve and the right check valve are respectively connected to the closed cavity outside the power piston and the closed cavity outside the second piston.

[0007] The power gear condition is also equipped with a compensation circuit II and an oil replenishment device for connecting the pressure input and output power device. The compensation circuit II includes two hydraulic control check valves that are respectively connected to the oil replenishment device in one direction. The outlets of the two hydraulic control check valves are respectively connected to the inlet and outlet of the pressure input and output power device, and the control oil ports of the two hydraulic control check valves are respectively connected to the outlet circuit of the other. Compensation circuit II may include two check valves with a one-way connection to the oil replenishment device. The outlets of the check valves are respectively connected to the inlet and outlet of the pressure input / output power device. The oil replenishment device is provided with a cavity, which is divided into a gas cavity and a liquid cavity. The liquid cavity is connected to the check valve of compensation circuit II or a hydraulically controlled check valve. The gas cavity is provided with high-pressure gas and / or an elastomer.

[0008] The power gear also includes a safety overflow circuit I for connecting the pressure input / output power device. The safety overflow circuit I is a single overflow circuit consisting of a check valve and an overflow valve. The inlet and outlet of the pressure input / output power device are connected to two check valves in one direction, and the outlets of the two check valves are connected to the overflow valve. The outlet of the overflow valve is connected to the compensation circuit. The safety overflow circuit I can also include a double overflow circuit consisting of two overflow valves, with the two overflow valves connected to the inlet and outlet of the pressure input / output power device in opposite directions.

[0009] The piston rod includes a first piston rod and a second piston rod. The first piston rod is provided at the power piston end, and the second piston rod is provided at the second piston end. The oil replenishment device is provided inside the second piston rod, outside the second piston rod, or inside the rack.

[0010] The piston rod includes a first piston rod and a second piston rod. The first piston rod is provided at the power piston end, and the second piston rod is provided at the second piston end. The pressure input / output power device and the oil drain circuit are provided on the power piston.

[0011] The piston rod includes a first piston rod and a second piston rod. The first piston rod is provided at the power piston end, and the second piston rod is provided at the second piston end. The compensation circuit II is provided on the power piston, or rack, or second piston.

[0012] The piston rod includes a first piston rod and a second piston rod. The first piston rod is provided at the power piston end, and the second piston rod is provided at the second piston end. The safety overflow circuit I is provided at the power piston, or rack, or second piston.

[0013] The piston rod includes a first piston rod and a second piston rod. The first piston rod is provided at the power piston end, and the second piston rod is provided at the second piston end. The rotational power source is provided inside the first piston rod or outside the first piston rod.

[0014] The power piston includes an end cap, a piston body, a seal on the outer circumference of the piston body, a cavity inside the piston body, and a driving gear and a driven gear inside the cavity, which constitute a pressure input and output power device. The drive shaft axis of the driving gear is coaxial with the center axis of the piston body. Side plates are provided at the front and rear ends of the driving gear and the driven gear. The inner hole of the end cap adapted to the drive shaft of the driving gear is provided with a bidirectional pressure-bearing high-pressure rotary seal. An O-ring seal is provided between the end cap and the piston body, near the outer circumference.

[0015] The outer circle of the second piston is sealed, and a hydraulically controlled check valve and a check valve are respectively inserted into the two end faces of the second piston. An overflow valve is inserted into the outer circle of the second piston. The outlets of the two check valves are connected to the pressure port of the overflow valve through process holes. The inlet of the hydraulically controlled check valve is connected to the outlet of the overflow valve. The control port of the hydraulically controlled check valve is connected to the outlet of the other hydraulically controlled check valve.

[0016] An adjustment hole is provided on the outer circle of the cylinder body. The position of the adjustment hole on the cylinder body is aligned with the overflow valve inserted into the outer circle of the second piston at the end of the second piston stroke.

[0017] A rotation sensor is installed at the end of the gear shaft, and the feedback from the rotation sensor is connected to the rotation power source.

[0018] The two enclosed cavities are respectively equipped with external connecting pipelines, and the pipeline connection points are equipped with switching valves, including solenoid valves, ball valves, or valves with on / off functions.

[0019] A driving control method for a high-load rotary actuator is characterized by: a rotary power source set in the first piston rod driving a pressure input / output power device inside the power piston to rotate in both directions; the active gear and the driven gear mesh and rotate to generate pressure; the pressure oil is supplied to two closed cavities on the two piston sides, thereby pushing the power gear condition to move axially; the gear shaft meshing with it is driven to rotate and output rotational force; the oil leakage generated by the pressure input / output power device is discharged to the low-pressure side of the two closed cavities through the right check valve and the left check valve, respectively; during operation, when the pressure in either of the two closed cavities is too high or too low, generating negative pressure, pressure is balanced through a safety overflow circuit I and a compensation circuit II connected to an oil replenishment device; a rotation sensor is set at the end of the gear shaft, and the rotation sensor feedback is connected to the rotary power source; the rotary power source precisely controls the output pressure to the two closed cavities, thereby pushing the power gear condition to move axially, and the gear shaft meshing with it rotates precisely.

[0020] Compared with existing technologies, this invention achieves the following technical effects: Compared with ordinary rotary actuators, it eliminates traditional hydraulic systems, pipelines, valve groups, etc., and makes full use of the small space of the rotary actuator to achieve good adaptation of hydraulic circuit and power components. It solves the heat dissipation and conduction control of high load and high frequency energy output. The overall structure is compact, with high rotational accuracy, overload protection, controllable cost, and convenient manufacturing. It is suitable for various applications such as low speed and high load, high speed and low load, and high speed and high load. It has energy recovery characteristics, reasonable structure and convenient disassembly and assembly, easy installation and adjustment of regulating valve, and fully enclosed key components. It can be used in harsh environments such as deep sea, has strong high and low temperature adaptability, can be applied to various industrial equipment, and has strong versatility.

[0021] This invention achieves a compact, high-precision, and high-load rotary drive, suitable for rotating conditions in robots, industrial equipment, and other applications. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the principle structure of Scheme 1 of the present invention; Figure 2 This is the present invention. Figure 1 A schematic diagram of the principle structure cross-section; Figure 3 This is an example and schematic diagram of the principle structure of Scheme 2 of the present invention; Figure 4 This is an example and schematic diagram of the principle structure of Scheme 3 of the present invention; Figure 5 This is a schematic diagram of the principle structure of the second piston of the present invention; Figure 6 This is a schematic diagram of the first piston principle structure of the present invention; Figure 7 This is a schematic diagram of the structure of the second piston of the present invention using the double overflow principle; Figure 8 This is a schematic diagram of the principle structure of the second piston of the present invention, which adopts a double overflow and double one-way valve. Figure 9 This is a schematic diagram of the principle structure of the safety overflow circuit I of the present invention under the dynamic tooth condition of the rack 3; Figure 10 This is a schematic diagram of the principle structure of the safety overflow circuit I and compensation circuit II of the present invention under the dynamic tooth conditions of the rack 3; Figure 11 This is a schematic diagram of the safety overflow circuit I and compensation circuit II of the present invention on the first piston principle structure; Figure 12 This is a schematic diagram of the first piston shaft side of the present invention; Figure 13 This is a frontal schematic diagram of the first piston of the present invention; Figure 14 This is the present invention. Figure 13Right view; Figure 15 This is the present invention. Figure 13 DD cross-sectional diagram; Figure 16 This is the present invention. Figure 12 AA cross-sectional diagram; Figure 17 This is the present invention. Figure 14 EE cross-sectional diagram; Figure 18 This is the present invention. Figure 14 BB cross-sectional diagram; Figure 19 This is a frontal schematic diagram of the first piston of the present invention with a double overflow structure; Figure 20 This is the present invention. Figure 19 Right-facing diagram; Figure 21 This invention is designed Figure 20 TT cross-sectional diagram; Figure 22 This is a schematic diagram of the second piston of the present invention from an isometric perspective; Figure 23 This is a frontal schematic diagram of the second piston of the present invention; Figure 24 This is the present invention. Figure 23 Right-facing diagram; Figure 25 This is the present invention. Figure 24 Cross-sectional view; Figure 26 This is a schematic cross-sectional view of the JJ section of the present invention; Figure 27 This is a partial schematic diagram of the rack of the present invention; Figure 28 This is the present invention. Figure 27 WW cross-sectional diagram; Figure 29 This is a schematic diagram of the structure of the cylinder body with adjustment holes according to the present invention.

[0023] Among them, 1-power piston, 2-second piston, 3-rack, 4-second piston rod, 5-first piston rod, 6-box body, 7-gear shaft, 8-cylinder body, 9-guide sleeve, 10-oil replenishing device, 11-rotational power source, 12-control module, 13-cylinder head, 14-rotation sensor, 15-switching valve, 16-adjusting hole. 101-Pressure input / output power unit; 102-Right check valve; 103-Left check valve; 104-Drive gear; 105-End cover; 106-Piston body; 107-Front port; 108-Screw hole; 109-Screw plug; 110-Driven gear; 111-O-ring seal; 112-High-pressure rotary seal; 113-Rear port; 114-Spare port. 201-Check valve, 202-Relief valve, 203-Hydraulic check valve, 204-Second spare port, 205-Rack and pinion connection threaded hole, 206-Piston rod connection threaded hole. Detailed Implementation

[0024] like Figure 1-29 A high-load rotary actuator includes a power piston 1, a second piston 2, a rack 3, a first piston rod 5, a housing 6, a gear shaft 7, a cylinder 8, a guide sleeve 9, and a rotary power source 11. The rack 3 has a power piston 1 and a second piston 2 on either side. These three components can be separate or integrated, forming a power gear mechanism. The housing 6 has an inner cavity for accommodating the gear shaft 7 and connecting the cylinder 8. The two cylinders 8 are coaxially connected on both sides of the housing 6. A guide sleeve 9 or a guide sleeve 9 and a cylinder head 13 are provided at the outer end of the cylinder 8. The two cylinders 8, the power gear mechanism, the guide sleeve 9, and the cylinder head 13 constitute two closed cavities located outside the power piston 1 and the second piston 2, respectively. The power gear mechanism is placed inside the two cylinders 8. The rack meshing surface meshes with the gear shaft 7 inside the housing 6. The power piston 1 has a first piston rod 5 at one end and a pressure input / output power device 101. The rotary power source 11 is a motor, engine, or generator. The outer circumferences of the power piston 1 and the second piston 2 are sealed.

[0025] like Figure 1 The second piston 2 is provided with a second piston rod 4.

[0026] Furthermore, the second piston rod 4 is equipped with an oil replenishment device 10 and a pressure sensor to monitor the range of pressure changes, thereby determining the problem of micro-leakage of liquid inside the closed system during long-term standby.

[0027] Furthermore, a rotary power source 11 is provided inside the first piston rod 5. The rotary power source 11 is a motor or multiple motors connected in series on the same axis. Connecting multiple motors in series can further increase the driving force and reduce the size.

[0028] Furthermore, a rotary power source 11 and a control module 12 for controlling the rotary power source 11 are provided inside the first piston rod 5.

[0029] Furthermore, such as Figure 3 A rotary power source 11 is provided outside the first piston rod 5, and the drive shaft of the rotary power source 11 is connected to the rotary power source 11 through the inner hole provided in the first piston rod 5.

[0030] like Figure 1-8 The power gear is equipped with a pressure input / output power device 101, an oil drain circuit, a safety overflow circuit I, and a compensation circuit II. One end of the pressure input / output power device 101 is connected to the closed cavity on the side of the power piston 1, and the other end is connected to the closed cavity on the side of the second piston 2. Figure 6 The oil drain circuit includes: a left one-way valve 103 and a right one-way valve 102 connected unidirectionally to the oil drain port of the pressure input / output power unit 101. The left one-way valve 103 and the right one-way valve 102 are respectively connected to the closed cavity on the side of the power piston 1 and the closed cavity on the side of the second piston 2. The safety overflow circuit I includes a single overflow circuit composed of a one-way valve 201 and an overflow valve 202, such as... Figure 5 The pressure input / output power unit 101 has two one-way valves 201 connected to its inlet and outlet. The outlets of the two one-way valves 201 are connected to an overflow valve 202. The outlet of the overflow valve 202 is connected to a compensation circuit. The two one-way valves 201 can be replaced by a shuttle valve. The safety overflow circuit I can also include a double overflow circuit composed of two overflow valves 202, such as... Figure 3 , Figure 7-8 The two overflow valves 202 are connected to the pressure input / output power unit inlet and outlet respectively, such as... Figure 7-8 The compensation circuit II includes two hydraulically controlled check valves 203 that are unidirectionally connected to the oil replenishment device 10. The outlets of the two hydraulically controlled check valves 203 are respectively connected to the inlet and outlet of the pressure input / output power device 101. The control ports of the two hydraulically controlled check valves 203 are respectively connected to the outlet circuit of the other. The compensation circuit II may also include two check valves 201 that are unidirectionally connected to the oil replenishment device 10. The outlets of the check valves 201 are respectively connected to the inlet and outlet of the pressure input / output power device 101.

[0031] like Figure 1 , Figure 3 The oil replenishment device 10 is located inside or outside the second piston rod 4. The oil replenishment device 10 has a cavity, which is divided into a gas cavity and a liquid cavity. The gas cavity is connected to and filled with high-pressure gas, and the liquid cavity is connected to the one-way valve 201 or the hydraulic one-way valve 203 of the compensation circuit II. The cavity can be divided into piston type, diaphragm type, or air bladder type. The gas cavity can also be equipped with an elastic body, such as a spring or rubber, to provide energy release and retraction.

[0032] like Figure 1 , Figure 5-8 The power piston 1 is equipped with a pressure input and output power device 101. One end of the pressure input and output power device 101 is connected to the closed cavity on the side of the power piston 1, and the other end is connected to the closed cavity on the side of the second piston 2. The power piston 1 is equipped with an oil drain circuit, and the second piston 2 is equipped with a safety overflow circuit I and a compensation circuit II. The second piston rod 4 is provided on the side of the second piston 2.

[0033] like Figure 5-9The power piston 1 is equipped with a pressure input and output power device 101. One end of the pressure input and output power device 101 is connected to the closed cavity on the side of the power piston 1, and the other end is connected to the closed cavity on the side of the second piston 2. The power piston 1 is equipped with an oil drain circuit, the second piston 2 is equipped with a compensation circuit II, the rack 3 is equipped with a safety overflow circuit I, and the second piston rod 4 is provided on the side of the second piston 2.

[0034] like Figure 5-8 , Figure 10 The power piston 1 is equipped with a pressure input / output power device 101. One end of the pressure input / output power device 101 is connected to the closed cavity on the side of the power piston 1, and the other end is connected to the closed cavity on the side of the second piston 2. The power piston 1 is equipped with an oil drain circuit. The rack 3 is equipped with a safety overflow circuit I and a compensation circuit II. The second piston 2 is equipped with a second piston rod 4. The second piston 2 is equipped with an oil passage connecting the rack 3 and the oil replenishment device 10 and the cavity on the side of the second piston 2.

[0035] like Figure 5-8 , Figure 11 The power piston 1 is equipped with a pressure input / output power device 101. One end of the pressure input / output power device 101 is connected to the closed cavity on the side of the power piston 1, and the other end is connected to the closed cavity on the side of the second piston 2. The pressure input / output power device 101 is a gear-type, plunger-type, or vane-type power assembly and is adapted to the oil drain circuit. Therefore, the power piston 1 is equipped with an oil drain circuit, a safety overflow circuit I, and a compensation circuit II. The second piston 2 is equipped with a second piston rod 4. The second piston 2 and the rack 3 are equipped with an oil passage connecting the oil replenishment device 10 and the cavity on the side of the second piston 2.

[0036] like Figure 4-8 Remove the second piston 2 and install the second piston rod 4 on the side, and install the oil replenishment device 10 and compensation circuit II on the rack 3.

[0037] like Figure 12-18The power piston 1 includes an end cap 105, a piston body 106, a seal on the outer circumference of the piston body 106, and a cavity inside the piston body 106. The cavity, along with a drive gear 104 and a driven gear 110, constitutes a pressure input / output power device 101. The drive shaft axis of the drive gear 104 is coaxial with the central axis of the piston body 106. Side plates are provided at the front and rear ends of the drive gear 104 and the driven gear 110. A high-pressure rotary seal with bidirectional pressure bearing is provided in the inner hole of the end cap 105, which is adapted to the drive shaft of the drive gear 104. An O-ring seal 111 is provided between the end cap 105 and the piston body 106, near the outer circumference. Oil drain passages are provided at the front and rear ends of the shaft end of the drive gear 104. The end cap 105 and piston body 106... The outer circumference of the piston body 106 is respectively fitted with a right one-way valve 102 and a left one-way valve 103. The oil drain passage is connected to the process hole of the piston body 106 through the end cover 105. A screw plug 109 is installed at the process hole. The screw inlets of the right one-way valve 102 and the left one-way valve 103 are respectively connected to the sealing sides of the outer circumference of the piston body 106. The end cover 105 and the piston body 106 are connected by screws. The screws pass through the screw holes 108 of the piston body 106 and are screwed into the threaded holes of the end cover 105. The threaded holes are blind holes. The screws can also connect to the flanges on the rack 3 side. The end face of the drive shaft is provided with a threaded hole for connecting the first piston rod 5. The drive gear 104 drives the driven gear 110 to rotate in both directions and output pressure oil to the front port 107 or the rear port 113. Figure 6 , Figure 18 Meanwhile, a spare port 114 is reserved to connect to the front port 107.

[0038] like Figure 3 ,like Figure 19-21 Furthermore, the piston body 106 of the power piston 1 is provided with a safety overflow circuit I, including two overflow valves 202 respectively inserted into the outer circle of the piston body 106. The overflow valves 202 are inserted downwards, and the adjusting rod is lower than the outer circle. The pressure port and the oil discharge port of one overflow valve 202 are connected to the oil passage of the rear port 113 and the oil passage of the spare port 114 respectively. The pressure port and the oil discharge port of the other overflow valve 202 are connected to the oil passage of the spare port 114 and the oil passage of the rear port 113 respectively.

[0039] like Figure 1 , Figure 5 , Figure 22-26 The outer circumference of the second piston 2 is sealed. A hydraulically controlled check valve 203 and a check valve 201 are respectively installed on both ends of the second piston 2. Oil enters the check valve 201 unidirectionally from the end face. An overflow valve 202 is installed on the outer circumference of the second piston 2. The outlets of the two check valves 201 are connected to the pressure port of the overflow valve 202 through a process hole. The overflow valve 202 is installed with its insertion recessed, and the adjusting rod is lower than the outer circumference. The inlet of the hydraulically controlled check valve 203 is connected to the outlet of the overflow valve 202. The control ports of the hydraulically controlled check valve 203 are respectively connected to the outlet of the other hydraulically controlled check valve 203. Figure 25The control port of the hydraulic check valve 203 at the left end is connected to the left side of the outer circular seal, and the outlet is connected to the check valve inlet near the rack side. The second piston 2 is provided with a channel for the second spare port 204 that connects to both ends. The rack 3 is connected to the side of the second piston 2 and is provided with a rack connection threaded hole 205. The first piston rod 5 is connected to the side of the second piston 2 and is provided with a piston rod connection threaded hole 206.

[0040] like Figure 6 , Figure 9 , Figure 27-28 The rack 3 body is provided with a safety overflow circuit I, including a shuttle valve and an overflow valve 202 that replace the functions of two check valves. The shuttle valve and the overflow valve 202 are inserted into the outer periphery of the rack 3. The rack 3 is provided with two oil passages that connect to the two closed cavities of the pressure input and output power device 101. The inlet of the shuttle valve is connected to the two oil passages provided in the rack 3, the outlet of the shuttle valve is connected to the pressure port of the overflow valve 202, and the outlet of the overflow valve 202 is connected to the compensation circuit II.

[0041] like Figure 29 An adjustment hole 16 is provided on the outer circle of the cylinder body 8. When the adjustment hole 16 on the cylinder body 8 is at the end of the stroke of the second piston 2, it is aligned with the overflow valve 202 inserted on the outer circle of the second piston 2, which facilitates on-site debugging. The adjustment hole 16 can be a threaded hole, which is easy to seal to prevent dirt from entering.

[0042] like Figure 1 Two closed cavities are respectively provided with external connecting pipes, and a switch valve 15 is provided at the pipe connection. The switch valve 15 includes valves with on and off functions such as solenoid valves and ball valves. The switch valve 15 has the function of connecting and disconnecting the two closed cavities, so that they have a pressure balance effect. The power gear condition is in a floating state, which facilitates the external power to drive the gear shaft to rotate. At the same time, the switch valve 15 can overcome the problem of excessive starting torque caused by the large initial load of the motor when it is open to closed.

[0043] like Figure 1-2 A rotation sensor 14 is installed at the end of the gear shaft 7. The rotation sensor 14 is connected to the rotation power source 11. When the rotation power source 11 is a servo motor, the accuracy of the end drive angle of the gear shaft 7 can be improved. Compared with ordinary servo motors, the deviation formed during gear meshing and hydraulic power transmission can be reduced.

[0044] During operation, the rotary power source 11 drives the pressure input / output power device 101 inside the power piston 1 to rotate in both directions. The driving gear 104 and the driven gear 110 mesh and rotate to generate pressure. The pressure oil flows to the two closed cavities on the two piston sides, thereby pushing the power gear axially. The gear shaft 7 meshing with it is driven to rotate and output rotational force. The oil leakage generated by the pressure input / output power device 101 is discharged to the low-pressure side of the two closed cavities through the right one-way valve 102 and the left one-way valve 103, respectively. During operation, if the pressure in either of the two closed cavities is too high or too low, resulting in negative pressure, it can be compensated through the safety overflow circuit I. Circuit II performs pressure balancing. When the pressure is too high, it is discharged from the high pressure to the low pressure closed cavity or the oil replenishment device 10 through a single overflow circuit composed of check valve 201 and overflow valve 202, or a double overflow circuit composed of two overflow valves 202. The single overflow circuit is suitable for the working condition of adjusting the forward and reverse safety loads at one time, and the double overflow circuit is suitable for the working condition of adjusting the forward and reverse loads separately. When the pressure is too low, the oil replenishment device 10 outputs oil to check valve 201 or hydraulic check valve 203 to enter the low pressure closed cavity. When the volume of the two closed cavities is relatively large, the hydraulic check valve 203 can achieve rapid oil return to compensate for the difference.

[0045] For situations with large starting loads, multiple series-connected rotary power sources 11 are added to increase the driving force, and a switching valve 15 is set to gradually load the load, or to allow the power gear to float under certain conditions.

[0046] When operating at high frequency, the closed system of this invention has a compact space, and the rotary power source 11 and the pressure input / output power device 101 are prone to generating a lot of heat. Therefore, the extension and retraction of the rack 3 and the first piston rod 5 located on both sides of the power piston 1 can make the heat balanced, conducted and exchanged between the closed cavities of the two, the outer surface of the first piston rod 5, and the flow channel inside the long rack 3, thereby reducing the temperature of the core component pressure input / output power device 101 and the rotary power source 11 inside the first piston rod 5.

[0047] When the gear shaft 7 is the power input shaft and the rack 3 is passively axially displaced, the pressures of the two closed cavities are not equal, which can drive the pressure input and output power device 101 to rotate in both directions. The driving gear 104 and the driven gear 110 mesh, and the driving gear 104 outputs torque, thereby generating electricity from the rotary power source 11. If the rotary power source 11 is a motor, the generated electrical energy can be stored and reused. An energy storage battery can also be installed in the first piston rod 5.

Claims

1. A high-load rotary drive, comprising a housing (6) and a rack (3), a gear shaft (7), and a cylinder (8) disposed within the housing (6), characterized in that: It also includes a power piston (1), a second piston (2), a piston rod, and a rotary power source (11). The power piston (1) and the second piston (2) are respectively provided on both sides of the rack (3). The three together form a power gear condition. The housing (6) is provided with an inner cavity for accommodating the gear shaft (7) and connecting the cylinder (8). The two cylinders (8) are connected to both sides of the housing (6). The meshing surface of the rack (3) meshes with the gear shaft (7) in the housing (6) for transmission. The power piston (1) and the second piston (2) move in their respective cylinders. The rack (3) is moved horizontally, thereby driving the gear shaft (7) to rotate. The power piston (1) or the power piston (1) and the second piston (2) are provided with piston rods. The power gear is provided with a pressure input and output power device (101). The piston rod is provided with a rotating power source (11) that drives and connects to the pressure input and output power device (101). One end of the pressure input and output power device (101) is connected to the closed cavity outside the power piston (1), and the other end is connected to the closed cavity outside the second piston (2).

2. The high-load rotary drive according to claim 1, characterized in that: The power gear condition is also provided with an oil drain circuit for connecting the pressure input and output power device (101). The oil drain circuit includes a left one-way valve (103) and a right one-way valve (102) that are unidirectionally connected to the oil drain port of the pressure input and output power device (101). The left one-way valve (103) and the right one-way valve (102) are respectively connected to the closed cavity outside the power piston (1) and the closed cavity outside the second piston (2).

3. The high-load rotary drive according to claim 1, characterized in that: The power gear condition is also provided with a compensation circuit II and an oil replenishment device (10) that connects to the pressure input and output power device (101). The compensation circuit II includes two hydraulic control check valves (203) that are respectively connected to the oil replenishment device (10) in one direction. The outlets of the two hydraulic control check valves (203) are respectively connected to the inlet and outlet of the pressure input and output power device (101), and the control oil ports of the two hydraulic control check valves (203) are respectively connected to the outlet circuit of the other. The compensation circuit II may be two check valves (201) including a one-way connection oil replenishment device (10). The outlets of the check valves (201) are respectively connected to the inlet and outlet of the pressure input and output power device (101). The oil replenishment device (10) is provided with a cavity, which is divided into a gas cavity and a liquid cavity. The liquid cavity is connected to the check valve (201) of the compensation circuit II or the hydraulic control check valve (203). The gas cavity is provided with high-pressure gas and / or an elastomer.

4. The high-load rotary drive according to claim 3, characterized in that: The power gear condition is also provided with a safety overflow circuit I connected to the pressure input and output power device (101). The safety overflow circuit I is a single overflow circuit composed of a check valve (201) and an overflow valve (202). The inlet and outlet of the pressure input and output power device (101) are connected to two check valves (201) in one direction. The outlet of the two check valves (201) is connected to the overflow valve (202). The outlet of the overflow valve (202) is connected to the compensation circuit. The safety overflow circuit I may also include a double overflow circuit composed of two overflow valves (202). The two overflow valves (202) are connected to the inlet and outlet of the pressure input and output power device in opposite directions.

5. The high-load rotary drive according to claim 3, characterized in that: The piston rod includes a first piston rod (5) and a second piston rod (4). The first piston rod (5) is provided at the end of the power piston (1), and the second piston rod (4) is provided at the end of the second piston (2). The oil replenishment device (10) is provided inside the second piston rod (4), outside the second piston rod (4), or inside the rack (3).

6. The high-load rotary drive according to claim 2, characterized in that: The piston rod includes a first piston rod (5) and a second piston rod (4). The first piston rod (5) is provided at the end of the power piston (1), and the second piston rod (4) is provided at the end of the second piston (2). The pressure input and output power device (101) and the oil drain circuit are provided on the power piston (1).

7. The high-load rotary drive according to claim 3, characterized in that: The piston rod includes a first piston rod (5) and a second piston rod (4). The first piston rod (5) is provided at the end of the power piston (1), and the second piston rod (4) is provided at the end of the second piston (2). The compensation circuit II is provided on the power piston (1), or rack (3), or second piston (2).

8. The high-load rotary drive according to claim 4, characterized in that: The piston rod includes a first piston rod (5) and a second piston rod (4). The first piston rod (5) is provided at the end of the power piston (1), and the second piston rod (4) is provided at the end of the second piston (2). The safety overflow circuit I is provided at the power piston (1), or rack (3), or second piston (2).

9. The high-load rotary drive according to any one of claims 1-4, characterized in that: The piston rod includes a first piston rod (5) and a second piston rod (4). The first piston rod (5) is provided at the end of the power piston (1), and the second piston rod (4) is provided at the end of the second piston (2). The rotary power source (11) is provided inside the first piston rod (5) or outside the first piston rod (5).

10. The high-load rotary drive according to any one of claims 1-4, characterized in that: The power piston (1) includes an end cap (105) and a piston body (106). A seal is provided on the outer circle of the piston body (106). A cavity is provided inside the piston body (106). The cavity and the drive gear (104) and the driven gear (110) provided inside the cavity constitute a pressure input and output power device (101). The drive shaft axis of the drive gear (104) is coaxial with the center axis of the piston body (106). Side plates are provided at the front and rear ends of the drive gear (104) and the driven gear (110). The inner hole of the end cap (105) adapted to the drive shaft of the drive gear (104) is provided with a high-pressure rotary seal with bidirectional pressure bearing. An O-type seal (111) is provided between the end cap (105) and the piston body (106) and near the outer circle.

11. The high-load rotary drive according to any one of claims 1-4, characterized in that: The outer circle of the second piston (2) is sealed. A hydraulic control check valve (203) and a check valve (201) are respectively inserted on both ends of the second piston (2). An overflow valve (202) is inserted on the outer circle of the second piston (2). The outlets of the two check valves (201) are connected to the pressure port of the overflow valve (202) through the process hole. The inlet of the hydraulic control check valve (203) is connected to the outlet of the overflow valve (202). The control port of the hydraulic control check valve (203) is connected to the outlet of another hydraulic control check valve (203).

12. The high-load rotary drive according to any one of claims 1-4, characterized in that: The cylinder (8) has an adjustment hole (16) on its outer circle. The adjustment hole (16) on the cylinder (8) is positioned at the end of the stroke of the second piston (2) and is aligned with the overflow valve (202) inserted into the outer circle of the second piston (2).

13. The high-load rotary drive according to any one of claims 1-4, characterized in that: A rotation sensor (14) is provided at the end of the gear shaft (7), and the rotation sensor (14) is connected to the rotation power source (11) for feedback.

14. The high-load rotary drive according to any one of claims 1-4, characterized in that: Two closed cavities are respectively provided with external connecting pipelines, and a switch valve (15) is provided at the pipeline connection. The switch valve (15) includes a solenoid valve, a ball valve or a valve with on / off function.

15. A drive control method for a high-load rotary actuator: characterized in that: The rotating power source (11) set by the first piston rod (5) drives the pressure input and output power device (101) in the power piston (1) to rotate in both directions. The active gear (104) and the passive gear (110) mesh and rotate to generate pressure. The pressure oil is sent to the two closed cavities on the two piston sides, thereby pushing the power gear to move axially. The gear shaft (7) meshing with it is driven to rotate and output rotational force. The oil leakage generated by the pressure input and output power device (101) is discharged to the low pressure side of the two closed cavities through the right check valve (102) and the left check valve (103), respectively. During the operation, when the pressure in either of the two closed cavities is too high or too low and negative pressure is generated, the pressure is balanced through the safety overflow circuit I and the compensation circuit II connected to the oil replenishment device (10).

16. The drive control method for a high-load rotary actuator according to claim 15, characterized in that: A rotation sensor (14) is installed at the end of the gear shaft (7). The rotation sensor (14) is connected to the rotation power source (11). The rotation power source (11) precisely controls the output pressure to the two closed cavities, thereby driving the power gear to move axially and the gear shaft (7) that meshes with it to rotate precisely.

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