Proportional servo device of oscillating oil cylinder

Abstract

The utility model relates to the field of oil cylinder devices, in particular to an oscillating oil cylinder proportional servo device which comprises a reversing valve, a remote control oscillating oil cylinder, a main oscillating oil cylinder and a servo oil cylinder, a plunger of the remote control oscillating oil cylinder reciprocates along with one oscillating action, and a plunger of the main oscillating oil cylinder reciprocates along with the other oscillating action. The remote control swing oil cylinder and the servo oil cylinder are connected through a connecting oil pipe so that the remote control swing oil cylinder and the servo oil cylinder can move synchronously, the reversing valve is connected with the two sides of a plunger of the main swing oil cylinder through a first main oil pipe and a second main oil pipe respectively, and a cylinder body of the servo oil cylinder is connected with the reversing valve so that the reversing valve can be driven to change the opening degree of the reversing valve or reverse. A piston rod of the servo oil cylinder is connected with a plunger of the main swing oil cylinder through a synchronous assembly, so that the plunger of the main swing oil cylinder and the piston rod of the servo oil cylinder move in equal proportion. The swing mechanism has the effects that two swing actions are synchronously operated in equal proportion, and the synchronism of the two swing actions is improved.

Description

Technical Field

[0001] This application relates to the field of oil cylinder devices, and in particular to a swing oil cylinder proportional servo device. Background Art

[0002] A swing oil cylinder is a tightly assembled fitting that combines very high torque hydraulically in a very small space. It adopts a combined spiral tooth structure inside, and the entire swing oil cylinder can generate a large torque in a relatively small space. Swing oil cylinders have been successfully applied in almost all fields that require limited rotational motion and large torque.

[0003] In the use of swing oil cylinders, two swing motions need to be coordinated. The existing control method is to set two reversing valves separately, and control the coordination of the two swing motions by controlling the opening degrees of the reversing valves respectively. However, controlling the swings of the two swing motions only through the reversing valves makes it very difficult for the two swing motions to achieve proportional swings, resulting in poor synchronism between the two swing motions. Summary of the Utility Model

[0004] In order to improve the problem of poor synchronism between two swing motions, this application provides a swing oil cylinder proportional servo device.

[0005] The swing oil cylinder proportional servo device provided by this application adopts the following technical solutions:

[0006] A swing oil cylinder proportional servo device includes a reversing valve connected to a power pumping station, and also includes a remote control swing oil cylinder, a main swing oil cylinder, and a servo oil cylinder. The plunger of the remote control swing oil cylinder reciprocates with one swing action, and the plunger of the main swing oil cylinder reciprocates with another swing action. The remote control swing oil cylinder is connected to the servo oil cylinder through a connecting oil pipe so that the remote control swing oil cylinder and the servo oil cylinder perform synchronous motion. The reversing valve is respectively connected to both sides of the plunger of the main swing oil cylinder through a first main oil pipe and a second main oil pipe. The cylinder body of the servo oil cylinder is connected to the reversing valve to be able to drive the reversing valve to change its own opening degree or reverse. The piston rod of the servo oil cylinder is connected to the plunger of the main swing oil cylinder through a synchronous component so that the plunger of the main swing oil cylinder and the piston rod of the servo oil cylinder move in equal proportion.

[0007] By adopting the above technical solution, when the swinging motion drives the plunger of the remotely controlled swinging oil cylinder to move, the cylinder block of the servo oil cylinder drives the directional control valve to move and open, enabling the hydraulic oil from the power pumping station to enter the main swinging oil cylinder, driving the plunger of the main swinging oil cylinder to slide, driving another swinging motion, and at the same time, the plunger of the main swinging oil cylinder drives the piston rod of the servo oil cylinder to extend proportionally through the synchronization assembly; when the plunger of the main swinging oil cylinder moves faster, the plunger of the main swinging oil cylinder drives the piston rod of the servo oil cylinder to move faster through the synchronization assembly, causing the cylinder block of the servo oil cylinder to drive the opening degree of the directional control valve to decrease, reducing the moving speed of the plunger in the main swinging oil cylinder, enabling the piston rod of the servo oil cylinder to move proportionally with the plunger of the main swinging oil cylinder, and the main swinging oil cylinder feedback-controls the opening degree of the directional control valve through the synchronization assembly, enabling the two swinging motions to operate synchronously and proportionally, improving the synchronization of the two swinging motions.

[0008] In a specific feasible implementation, one swinging motion is connected to the remotely controlled swinging oil cylinder through meshing remote control gears and a remote control rack, and the other swinging motion is connected to the main swinging oil cylinder through meshing main gears and a main rack. The remote control rack is fixedly arranged on the plunger of the remotely controlled swinging oil cylinder and can drive the plunger of the remotely controlled swinging oil cylinder to reciprocate. The main rack is fixedly arranged on the plunger of the main swinging oil cylinder and can drive the plunger of the main swinging oil cylinder to reciprocate.

[0009] By adopting the above technical solution, one swinging motion is connected to the remotely controlled swinging oil cylinder through meshing remote control gears and a remote control rack, and the other swinging motion is connected to the main swinging oil cylinder through meshing main gears and a main rack, enabling the swinging motion to be accurately transmitted to the plunger of the swinging oil cylinder.

[0010] In a specific feasible implementation, the synchronization assembly includes a servo rack, a driving rack, and a gear speed change mechanism. The servo rack is fixedly arranged on the piston rod of the servo oil cylinder, the driving rack is fixedly arranged on the plunger of the main swinging oil cylinder, and both the servo rack and the driving rack are meshed with the gears in the gear speed change mechanism, so that the ratio of the moving speed of the driving rack to the moving speed of the servo rack is N.

[0011] By adopting the above technical solution, when the piston rod of the servo oil cylinder moves, hydraulic oil enters the cylinder body of the main swinging oil cylinder, and the servo rack controls the proportional movement of the driving rack through the gear speed change mechanism, enabling the piston rod of the main swinging oil cylinder to move proportionally with the piston rod of the servo oil cylinder.

[0012] In a specific feasible embodiment, the gear shifting mechanism includes a first gear and a second gear. The first gear and the second gear are coaxially and fixedly arranged through a gear shaft. The radius ratio of the second gear to the first gear is N. The first gear meshes with the driving rack, and the second gear meshes with the servo rack.

[0013] By adopting the above technical solution, the servo rack controls the driving rack through the first gear and the second gear. At the same time, through the radius ratio of the first gear and the second gear, the piston rod of the main swing oil cylinder is controlled to move proportionally. The structure is simple and the control accuracy is high.

[0014] In a specific feasible embodiment, the gear shifting mechanism includes an input gear, an output gear, and M variable-speed gear sets. The input gear and the output gear are both rotatably arranged on a frame body through a rotating shaft. The diameter ratio of the input gear to the output gear is X. The input gear meshes with the driving rack, and the output gear meshes with the servo rack. The two rotating shafts are connected through M variable-speed gear sets. The transmission ratios of each variable-speed gear set are Z1, Z2... Z M , and X * (Z1 * Z2 *... * Z M ) = N.

[0015] By adopting the above technical solution, the servo rack performs multi-stage speed change control on the driving rack through the input gear, the output gear, and M reduction gear sets, improves the speed change range with the servo oil cylinder, increases the moving range of the piston rod of the main swing oil cylinder, and improves the applicable range of the main swing oil cylinder.

[0016] In a specific feasible embodiment, the reversing valve is connected to a power pumping station through an oil inlet pipe and an oil return pipe. The oil inlet pipe and the oil return pipe are communicated through a connecting pipe. A safety valve is provided on the connecting pipe.

[0017] By adopting the above technical solution, when the main swing oil cylinder is subjected to a large external force, the safety valve opens, the main swing oil cylinder slowly retracts. At the same time, through the gear-rack speed change device, the servo rack and the servo oil cylinder are forced to retract. This action is simultaneously fed back to the remote control swing oil cylinder, causing the remote control swing oil cylinder to retract, improving the safety of the main swing oil cylinder during operation.

[0018] In a specific feasible embodiment, the connecting oil pipe includes a first oil pipe and a second oil pipe arranged crosswise. The two ends of the first oil pipe and the second oil pipe are respectively connected to both sides of the pistons of the remote control swing oil cylinder and the servo oil cylinder. The first oil pipe and the second oil pipe are communicated through an adjusting pipe. A stop valve is provided on the adjusting pipe.

[0019] By adopting the above technical solution, when the work is completed, the cut-off valve is opened, and the first oil pipe is communicated with the second oil pipe, so that the oil pressures on both sides of the piston of the servo oil cylinder and on both sides of the plug column of the remote control swing oil cylinder are the same, which is convenient for the synchronous adjustment of the remote control swing oil cylinder and the servo oil cylinder.

[0020] In a specific feasible embodiment, the first oil pipe and the second oil pipe are communicated through a first supplementary oil pipe, the first supplementary oil pipe and the inlet oil pipe are communicated through a second supplementary oil pipe, and one-way valves are arranged on both sides of the second supplementary oil pipe of the first supplementary oil pipe.

[0021] By adopting the above technical solution, the inlet oil pipe replenishes hydraulic oil into the remote control swing oil cylinder and the servo oil cylinder through the first supplementary oil pipe and the second supplementary oil pipe, ensuring sufficient hydraulic oil in the remote control swing oil cylinder and the servo oil cylinder, and making the synchronization of the remote control swing oil cylinder and the servo oil cylinder better; the one-way valve can prevent the communication between the first oil pipe and the second oil pipe.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] 1. When the swinging action drives the plunger of the remote control swing oil cylinder to move, the cylinder block of the servo oil cylinder drives the reversing valve to move and open, so that the hydraulic oil of the power pumping station enters the main swing oil cylinder, driving the plunger of the main swing oil cylinder to slide, driving another swinging action, and at the same time, the plunger of the main swing oil cylinder drives the piston rod of the servo oil cylinder to extend proportionally through the synchronization component; when the plunger of the main swing oil cylinder moves faster, the plunger of the main swing oil cylinder drives the piston rod of the servo oil cylinder to move faster through the synchronization component, so that the cylinder block of the servo oil cylinder drives the opening of the reversing valve to decrease, reducing the moving speed of the plunger in the main swing oil cylinder, making the piston rod of the servo oil cylinder move proportionally with the plunger of the main swing oil cylinder, and the main swing oil cylinder feedback-controls the opening of the reversing valve through the synchronization component, so that the two swinging actions operate synchronously and proportionally, improving the synchronization of the two swinging actions;

[0024] 2. The servo rack performs multi-stage speed change control on the driving rack through the input gear, the output gear and M reduction gear sets, improving the speed change range with the servo oil cylinder, increasing the moving range of the piston rod of the main swing oil cylinder, and improving the applicable range of the main swing oil cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of a swing oil cylinder proportional servo device according to Embodiment 1 of the present application.

[0026] Figure 2 is a structural sectional view for showing the servo device.

[0027] Figure 3 is a sectional view for showing the mating relationship between the first gear and the second gear.

[0028] Figure 4 It is a schematic structural diagram of a swing oil cylinder proportional servo device according to Embodiment 2 of the present application.

[0029] Explanation of reference numerals: 1, remote control swing oil cylinder; 11, inlet oil pipe; 12, return oil pipe; 13, first main oil pipe; 14, second main oil pipe; 151, remote control gear; 152, remote control rack; 161, main gear; 162, main rack; 17, connecting oil pipe; 171, first oil pipe; 172, second oil pipe; 181, connecting pipe; 182, safety valve; 183, regulating pipe; 184, stop valve; 191, first supplementary oil pipe; 192, second supplementary oil pipe; 193, check valve; 2, main swing oil cylinder; 3, servo oil cylinder; 4, reversing valve; 5, synchronization assembly; 51, servo rack; 52, driving rack; 53, gear transmission mechanism; 531, first gear; 532, second gear; 533, input gear; 534, output gear; 535, speed change gear set; 5351, large gear; 5352, small gear; 6, power pumping station. Detailed implementation manners

[0030] Embodiment 1

[0031] Referring to Figure 1 , a kind of oil cylinder proportional servo device includes a remote control swing oil cylinder 1, a main swing oil cylinder 2, a servo oil cylinder 3 and a reversing valve 4. The reversing valve 4 is a reciprocating slide valve. The reversing valve 4 is connected to the power pumping station 6 through the inlet oil pipe 11 and the return oil pipe 12, and is communicated with the inner cavities on both sides of the piston rod of the main swing oil cylinder 2 through the first main oil pipe 13 and the second main oil pipe 14. The reversing valve 4 has three states, namely, a disconnected state, a reversing state and a forward state. When the reversing valve 4 is in the disconnected state, the inlet oil pipe 11 and the return oil pipe 12 are both disconnected from the first main oil pipe 13 and the second main oil pipe 14; when the reversing valve 4 is in the reversing state, the inlet oil pipe 11 is communicated with the second main oil pipe 14, and the return oil pipe 12 is communicated with the first main oil pipe 13, so that the piston rod of the main swing oil cylinder 2 moves; when the reversing valve 4 is in the forward state, the inlet oil pipe 11 is communicated with the first main oil pipe 13, and the return oil pipe 12 is communicated with the second main oil pipe 14, so that the piston rod of the main swing oil cylinder 2 moves in the reverse direction.

[0032] Referring to Figure 1 , Figure 2, a swinging motion is connected to the remote control swing cylinder 1 through the engaged remote control gear 151 and remote control rack 152. Another swinging motion is connected to the main swing cylinder 2 through the engaged main gear 161 and main rack 162. The remote control rack 152 is fixedly arranged on the piston rod of the remote control swing cylinder 1 along the sliding direction of the piston rod of the remote control swing cylinder 1. The swinging motion drives the remote control gear 151 to swing, and drives the piston rod of the remote control swing cylinder 1 to reciprocate through the remote control rack 152. The main rack 162 is fixedly arranged on the piston rod of the main swing cylinder 2 along the sliding direction of the piston rod of the main swing cylinder 2. The piston rod of the main swing cylinder 2 drives the main rack 162 to reciprocate, drives the main gear 161 to swing, and drives another swinging motion to operate, thereby improving the accuracy of transmission between the swinging motion and the swing cylinder.

[0033] Refer to Figure 1 , the remote control swing cylinder 1 and the servo cylinder 3 are connected through a connecting oil pipe 17. The connecting oil pipe 17 includes a first oil pipe 171 and a second oil pipe 172 arranged crosswise. The first oil pipe 171 and the second oil pipe 172 are respectively located at both ends of the remote control swing cylinder 1 and the servo cylinder 3. When the piston rod of the remote control swing cylinder 1 slides, the piston in the servo cylinder 3 slides in the same direction and synchronously. The cylinder body of the servo cylinder 3 is slidably connected to the frame body and fixedly connected to the valve core of the reversing valve 4, driving the valve core of the reversing valve 4 to slide, so as to realize the adjustment of the flow direction and opening degree of the reversing valve 4. The piston rod of the servo cylinder 3 is connected to the piston rod of the main swing cylinder 2 through a synchronization assembly 5, so that the piston rod of the main swing cylinder 2 and the piston rod of the servo cylinder 3 can extend synchronously and proportionally. This device can be applied to the loading and unloading manipulator on a ship. Multiple such devices are used in parallel on a power pumping station 6 to realize the drive and control of each joint of the manipulator.

[0034] Refer to Figure 2 , Figure 3 , the synchronization assembly 5 in this embodiment includes a servo rack 51, a driving rack 52, and a gear speed change mechanism 53. The servo rack 51 is fixedly arranged on the piston rod of the servo cylinder 3 along the sliding direction of the servo cylinder 3. The driving rack 52 is fixedly arranged on the piston rod of the main swing cylinder 2 along the sliding direction parallel to the piston rod of the main swing cylinder 2. The gear speed change mechanism 53 in this embodiment includes a first gear 531 and a second gear 532. The first gear 531 and the second gear 532 are coaxially fixedly arranged through a gear shaft. The gear shaft is inserted into the frame body and rotatably connected. The ratio of the radius of the second gear 532 to the first gear 531 is N (N < 1). The first gear 531 meshes with the driving rack 52, and the second gear 532 meshes with the servo rack 51, so that the ratio of the extending speed of the servo rack 51 to the driving rack 52 is N. In this embodiment, the value range of N is 1 / 7 - 1 / 2.

[0035] Refer to Figure 1, a power pump station 6 is communicatively connected between an inlet pipe 11 and a return pipe 12 through a connecting pipe 181. A safety valve 182 is serially arranged on the connecting pipe 181. When the main swing cylinder 2 is subjected to a large external force, the safety valve 182 opens, and the main swing cylinder 2 slowly retracts. At the same time, through a gear-rack speed change device, the servo rack 51 and the servo cylinder 3 are forced to retract. This action is simultaneously fed back to the remote control swing cylinder 1, causing the remote control swing cylinder 1 to retract, thereby improving the safety of the main swing cylinder 2 during operation.

[0036] Refer to Figure 1 , since there is a slight oil leakage phenomenon during the use of the cylinder, it will cause the piston positions in the remote control swing cylinder 1 and the servo cylinder 3 to be misaligned. To solve this problem, the first oil pipe 171 and the second oil pipe 172 are communicatively connected through an adjustment pipe 183, and a stop valve 184 is arranged in parallel on the adjustment pipe 183 to control the opening and closing of the adjustment pipe 183. After the work is completed, the stop valve 184 is opened, and the first oil pipe 171 and the second oil pipe 172 are communicatively connected, so that the oil pressures on both sides of the piston of the servo cylinder 3 and on both sides of the piston of the remote control swing cylinder 1 are the same, pushing the piston rod in the remote control swing cylinder 1 to move, so that the piston in the remote control swing cylinder 1 moves to a position corresponding to the piston in the servo cylinder 3, facilitating the synchronous adjustment of the remote control swing cylinder 1 and the servo cylinder 3.

[0037] Refer to Figure 1 , to solve the problem that the hydraulic oil in the cylinder body decreases due to oil leakage of the cylinder, a first oil replenishing pipe 191 is arranged between the first oil pipe 171 and the second oil pipe 172. The first oil replenishing pipe 191 is communicatively connected to the first oil pipe 171 and the second oil pipe 172 respectively. A second oil replenishing pipe 192 is communicatively connected to the first oil replenishing pipe 191. The second oil replenishing pipe 192 is communicatively connected to the inlet pipe 11 in the power pump station 6. The hydraulic oil in the inlet pipe 11 enters the remote control swing cylinder 1 and the servo cylinder 3 through the second oil replenishing pipe 192, the first oil replenishing pipe 191, the first oil pipe 171, and the second oil pipe 172 to replenish the hydraulic oil in the cylinder body, so as to ensure that the hydraulic oil in the cylinder body is sufficient and improve the synchronism of the piston rod movement of the servo cylinder 3 and the remote control swing cylinder 1. When replenishing oil, in order to prevent the hydraulic oil in the cylinder body from flowing back into the second oil replenishing pipe 192, two one-way valves 193 are serially arranged on the first oil replenishing pipe 191. The one-way valves 193 are located on both sides of the second oil replenishing pipe 192, so as to ensure that the hydraulic oil in the second oil replenishing pipe 192 can only flow into the first oil pipe 171 and the second oil pipe 172 unidirectionally, ensuring the stability of the hydraulic oil in the cylinder.

[0038] The implementation principle of Embodiment 1 is as follows: When a swinging action drives the plunger of the remote control swinging oil cylinder 1 to move, the cylinder block of the servo oil cylinder 3 drives the directional control valve 4 to move and open, enabling the hydraulic oil from the power pumping station 6 to enter the main swinging oil cylinder 2, driving the plunger of the main swinging oil cylinder 2 to slide, driving another swinging action. At the same time, the plunger of the main swinging oil cylinder 2 drives the piston rod of the servo oil cylinder 3 to extend proportionally through the synchronization assembly 5. When the movement speed of the plunger of the main swinging oil cylinder 2 increases, the plunger of the main swinging oil cylinder 2 drives the piston rod of the servo oil cylinder 3 to move faster through the synchronization assembly 5, causing the cylinder block of the servo oil cylinder 3 to drive the opening degree of the directional control valve 4 to decrease, reducing the movement speed of the plunger in the main swinging oil cylinder 2, enabling the piston rod of the servo oil cylinder 3 to move proportionally to the plunger of the main swinging oil cylinder 2, and enabling the two swinging actions to operate synchronously and proportionally, improving the synchronization of the two swinging actions.

[0039] Embodiment 2

[0040] Referring to Figure 4 , the difference between this embodiment and Embodiment 1 is that the gear speed change mechanism 53 in this embodiment is a P-level speed change. Taking P = 2 as an example, the gear speed change mechanism 53 in this embodiment includes an input gear 533, an output gear 534, and M speed change gear sets 535, where M = P - 1, so M = 1. The input gear 533 and the output gear 534 are both rotatably arranged on the frame through rotating shafts. The output gear 534 meshes with the servo rack 51, and the input gear 533 meshes with the driving rack 52. The diameter ratio of the output gear 534 to the input gear 533 is X, where X < 1. The speed change gear set 535 includes a large gear 5351 and a small gear 5352. The small gear 5352 is coaxially and fixedly arranged on the rotating shaft where the input gear 533 is located, and the large gear 5351 is coaxially and fixedly arranged on the rotating shaft where the output gear 534 is located. The large gear 5351 and the small gear 5352 are in meshing transmission, and the transmission ratio between the large gear 5351 and the small gear 5352 is Z, where X * Z = N. The value range of N in this embodiment is 1 / 42 - 1 / 7. When P > 2, the deceleration setting method of the speed change gear set 535 is the same as that of the reduction gear set in the reduction gearbox to obtain a greater deceleration effect.

[0041] The implementation principle of the embodiment is as follows: The servo rack 51 performs multi-stage speed change control on the driving rack 52 through the input gear 533, the output gear 534, and a reduction gear set, which can reduce the value range of N, increase the speed change range between the main swinging oil cylinder 2 and the servo oil cylinder 3, increase the movement range of the piston rod of the main swinging oil cylinder 2, and improve the applicable range of the main swinging oil cylinder 2.

[0042] The above are all the preferred embodiments of this application. The protection scope of this application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A swing cylinder proportional servo device, comprising a reversing valve (4) connected to a power pump station (6), characterized in that: The invention also comprises a remote control swing cylinder (1), a main swing cylinder (2) and a servo cylinder (3), wherein the plunger of the remote control swing cylinder (1) reciprocates with one swinging motion, and the plunger of the main swing cylinder (2) reciprocates with another swinging motion, and the remote control swing cylinder (1) and the servo cylinder (3) are connected via a connecting oil pipe (17) so that the remote control swing cylinder (1) and the servo cylinder (3) move synchronously, and the reversing valve (4) is connected via a first oil pipe (17). A main oil pipe (13) and a second main oil pipe (14) are respectively connected to the two sides of the plunger of the main swing cylinder (2); the cylinder body of the servo oil cylinder (3) is connected to the reversing valve (4) so ​​as to be able to drive the reversing valve (4) to change its opening or reversing; the piston rod of the servo oil cylinder (3) and the plunger of the main swing cylinder (2) are connected via a synchronization component (5) so that the plunger of the main swing cylinder (2) and the piston rod of the servo oil cylinder (3) move in proportion.

2. The swing cylinder proportional servo device according to claim 1, characterized in that: One swinging motion is connected to the remote control swing cylinder (1) through a meshing remote control gear (151) and a remote control rack (152), and the other swinging motion is connected to the main swing cylinder (2) through a meshing main gear (161) and a main rack (162). The remote control rack (152) is fixedly arranged on the plunger of the remote control swing cylinder (1) and can drive the plunger of the remote control swing cylinder (1) to move back and forth. The main rack (162) is fixedly arranged on the plunger of the main swing cylinder (2) and can drive the plunger of the main swing cylinder (2) to move back and forth.

3. The cylinder proportional servo device according to claim 1, characterized in that: The synchronization component (5) comprises a servo rack (51), an active rack (52), and a gear speed change mechanism (53); the servo rack (51) is fixedly arranged on the piston rod of the servo oil cylinder (3); the active rack (52) is fixedly arranged on the plunger of the main swing oil cylinder (2); the servo rack (51) and the active rack (52) are both meshed with the gears in the gear speed change mechanism (53), so that the ratio of the moving speed of the active rack (52) to the moving speed of the servo rack (51) is N.

4. The cylinder proportional servo device according to claim 3, characterized in that: The gear speed change mechanism (53) comprises a first gear (531) and a second gear (532); the first gear (531) and the second gear (532) are coaxially fixed via a gear shaft; the radius ratio of the second gear (532) to the first gear (531) is N; the first gear (531) is meshed with the active rack (52); and the second gear (532) is meshed with the servo rack (51).

5. The oil cylinder proportional servo device according to claim 3, characterized in that: The gear speed change mechanism (53) comprises an input gear (533), an output gear (534), and M speed change gear sets (535). The input gear (533) and the output gear (534) are both rotatably arranged with a frame body via a rotating shaft. The diameter ratio of the input gear (533) and the output gear (534) is X. The input gear (533) is meshed with the active rack (52), and the output gear (534) is meshed with the servo rack (51). The two rotating shafts are connected via the M speed change gear sets (535). The transmission ratios of each speed change gear set (535) are Z1, Z2, ..., Z respectively. M , and X*(Z1*Z2*……*Z M )=N.

6. The cylinder proportional servo device according to claim 1, characterized in that: The reversing valve (4) is connected to the power pump station (6) via an oil inlet pipe (11) and an oil return pipe (12); the oil inlet pipe (11) and the oil return pipe (12) are connected via a connecting pipe (181); and a safety valve (182) is provided on the connecting pipe (181).

7. The oil cylinder proportional servo device according to claim 6, characterized in that: The connecting oil pipe (17) comprises a first oil pipe (171) and a second oil pipe (172) which are arranged crosswise, and the two ends of the first oil pipe (171) and the second oil pipe (172) are respectively connected to the two sides of the piston of the remote control swing cylinder (1) and the servo cylinder (3), and the first oil pipe (171) and the second oil pipe (172) are connected via a regulating pipe (183), and a stop valve (184) is provided on the regulating pipe (183).

8. The cylinder proportional servo device according to claim 7, characterized in that: The first oil pipe (171) and the second oil pipe (172) are connected via a first oil replenishment pipe (191), and the first oil replenishment pipe (191) and the oil inlet pipe (11) are connected via a second oil replenishment pipe (192). The first oil replenishment pipe (191) is provided with a one-way valve (193) on both sides of the second oil replenishment pipe (192).

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