CN104154068A - Corner self-servo valve control annular cylinder - Google Patents

Abstract

A rotary angle self-servo valve-controlled annular cylinder, comprising an annular hydraulic cylinder body and a connecting plate (6), the annular hydraulic cylinder comprising an upper end cover (2), a lower end cover (18), an annular piston rod (14), a fixed gear Block (16), output shaft (22), valve core shaft hole (30) opened in the center of the upper end cover; the upper end cover (2) of the annular hydraulic cylinder and the connection plate (6) are connected by bolts (25), and the A valve sleeve chamber (31) is provided in the upper end cover (2), and a valve sleeve (10) is arranged in the valve sleeve chamber (31). The valve sleeve (10) connects the circular piston rod (14) and the output The shafts (22) are fixed together, the spool (12) is placed inside the valve sleeve (10), and the upper end of the spool (12) passes through the shaft hole and is fixedly connected with the servo motor (11) located in the connection plate (6). The valve sleeve (10) and the spool (12) are dynamic fit, the upper end cover (2), the annular piston rod (14), the valve sleeve (10), the spool (12), the output shaft (22), and the connection plate (6), the axes of the servo motor (11) are located on the same straight line. The advantages are: the invention has the characteristics of convenient manufacture, compact structure, low failure rate, good sealing performance, good dynamic characteristics, long life and large flow rate.

Description

A rotary self-servo valve-controlled annular cylinder

technical field

The invention relates to the technical field of hydraulic cylinders, in particular to a rotary angle self-servo valve-controlled annular cylinder.

Background technique

The hydraulic cylinder is an indispensable component in the hydraulic control system. It can convert the small power input by the motor into the high power output by the hydraulic pressure, so as to output high power and stability to the equipment.

At present, the rack structure swing cylinder is commonly used to convert the linear reciprocating motion of the traditional hydraulic cylinder into the swing motion. The principle of the swing cylinder is to convert the reciprocating motion of the hydraulic cylinder into the positive and negative directions of the gear shaft through the gear rack. Swing and rotate, and then convert the thrust of the reciprocating hydraulic cylinder into the output torque of the gear shaft. However, the rack-and-rack swing cylinder has a relatively high failure rate and a relatively large volume. Common faults include breakage of the cylinder fixing bolts and internal leakage of the oil cylinder. Luo Xinwei from the Hot Rolling Plate Factory of Nanjing Meishan Iron and Steel Co. Principle and Fault Analysis" (Luo Xinwei, Working Principle and Fault Analysis of Rack and Pinion Hydraulic Cylinder, Meishan Science and Technology, 2012, 3:52-53) introduces the working principle of rack and pinion oscillating hydraulic cylinder, and analyzes the An important reason for the failure of the swing hydraulic cylinder. Since the swing cylinder with a rack structure is a combination of a hydraulic cylinder and a rack structure, it requires high processing and assembly, which makes the use cost of the swing cylinder with a rack structure relatively high.

The angle servo valve-controlled cylinder is generally a double-blade swing cylinder and a servo motor to complete the servo action, but the general double-blade swing cylinder has radial force imbalance of the shaft, poor sealing performance, and complex structure. Aiming at the unbalanced radial force of the spool, Jiang Lin, a scholar at Wuhan University of Science and Technology, designed a servo valve structure with P-port and T-port paired vertically and orthogonally distributed (Jiang Lin, Chen Xinyuan, Zhao Hui, Zeng Liangcai, Jin Xiaohong , Xie Zhen. Research on Hydraulic Joint Based on Hydraulic Angle Servo. Electromechanical Engineering, 2011,28(3): 265-268+309.). The radial force of the spool of the servo valve is balanced, and the resistance of the spool is reduced, but at the same time, there is also the problem that one end of the spool is easy to form a dead space. The spool generates a large axial force, the dynamic characteristics of the spool are not very ideal, and the servo dead zone has been improved but not ideal; It brings difficulties such as difficult preparation and processing of the dark oil passage inside the valve body.

Contents of the invention

The present invention aims to solve the problems of direct output torque, sealing and servo in the field of hydraulic cylinders, and proposes a self-servo valve with corners that is easy to manufacture, compact in structure, good in sealing, low in failure rate, good in dynamic characteristics, long in life, and large in flow rate. Control ring cylinder.

A rotary angle self-servo valve-controlled annular cylinder, including an annular hydraulic cylinder body and a connecting plate, the annular hydraulic cylinder includes an upper end cover, an annular piston rod, a fixed stopper, an output shaft, and a shaft hole opened in the center of the upper end cover; The upper end cover of the hydraulic cylinder and the connecting plate are connected by bolts, and a valve sleeve cavity is set in the upper end cover, and a valve sleeve is arranged in the valve sleeve cavity, and the valve sleeve is fixed together with the circular piston rod and the output shaft by pins. The core is placed inside the valve sleeve, and the upper end of the valve core passes through the shaft hole and is fixedly connected with the servo motor located in the connection plate. The valve sleeve and the valve core are in dynamic fit. The shaft centers of the output shaft, the connection plate and the servo motor are located on the same straight line; there are four oil passages on the upper end cover, and the two oil ports corresponding to the first oil passage and the second oil passage are symmetrically distributed on both sides of the shaft hole of the valve core. On the side, the two oil ports corresponding to the third oil passage and the fourth oil passage are distributed on both sides of the fixed stopper and distributed up and down between the hydraulic cylinder oil chamber and the valve sleeve chamber.

The nominal size of the outer diameter and the nominal height of the valve sleeve are the same as the nominal outer diameter and nominal height of the valve sleeve cavity, the nominal size of the inner diameter of the valve sleeve is the same as the nominal size of the lower end diameter of the valve core, and the valve sleeve and the valve sleeve cavity are in dynamic fit. There are four oil grooves on the outer wall of the valve sleeve, the cross sections of the four oil grooves are all rectangular, and there are four rectangular oil ports through the valve sleeve respectively in the four oil grooves, and the oil ports in the first oil groove and the third oil groove are one The center lines of the oil ports are on the same plane, the oil ports in the second oil groove and the fourth oil groove are a pair and the center lines are on the same plane, the center lines of the oil ports in the first oil groove and the third oil groove are in line with the second oil groove It is perpendicular to the center line of the oil port in the fourth oil groove.

The nominal size of the diameter of the lower end of the spool is the same as the nominal size of the inner diameter of the valve sleeve, the nominal size of the upper end of the spool is the same as the nominal diameter of the shaft hole of the spool, and there are four fan-shaped grooves in the middle of the spool. The nominal size of the distance from the upper end surface of the first oil groove to the lower end surface of the fourth oil groove is the same, the central angle corresponding to the sector is 90°, the radius of the sector is r, the width of the oil port in the oil groove is a, and the radius of the lower end of the valve core is r ₀ , then r satisfies the following formula:

.

The annular hydraulic cylinder includes an upper end cover and a lower end cover, and the upper end cover and the lower end cover are connected by six uniformly distributed bolts and nuts; The ring-shaped piston rod, the piston and the fixed block also include an output shaft with one end connected to the upper end cover, and the other end sequentially passing through the circular piston rod, the lower end cover and extending out of the lower end cover; the fixed stop is fixedly connected to the On the inner wall of the oil chamber of the hydraulic cylinder, the fixed block is in dynamic fit with the circular piston rod; Symmetrical to both sides of the vertical plane of the central axis of the upper end cover; the ring-shaped piston rod and the output shaft are fixed together by pins; The size is the same, the valve sleeve and the valve sleeve cavity are in dynamic fit, and a fifth sealing ring is arranged between the valve sleeve and the valve sleeve cavity.

The nominal size of the outer diameter of the connection plate is the same as the nominal size of the upper end of the upper end cover, and there are six bolt holes evenly distributed around the circumference; there are servo motor slots and shaft holes in the middle of the connection plate, and the nominal size of the radius of the shaft hole is the same as that of the valve. The nominal size of the radius of the upper end of the core is the same; there are two oil passages between the servo motor slot and the bolt hole, and the two oil passages are symmetrical to the axis of the connecting plate.

The upper end cover and the lower end cover are sealed by a first sealing ring, the outer surface of the piston is provided with a second sealing ring on the central axis, and a third sealing ring is provided between the annular piston rod and the upper end cover. A fourth sealing ring is arranged between the shaped piston rod and the lower end cover.

The nominal size of the radius of the annular piston rod is the average value of the nominal size of the outer diameter and the nominal size of the inner diameter of the oil chamber of the hydraulic cylinder.

The center line of the piston is a circular arc, and the axial section of the piston is a circle. The nominal size of the radial section radius of the piston is the same as the nominal size of the radial section radius of the oil chamber of the hydraulic cylinder, and the outer surface of the piston is provided with a second sealing ring groove.

The upper end cover is respectively provided with a coaxial first seal ring groove, the upper half chamber of the hydraulic cylinder oil chamber, the third seal ring groove, and a valve sleeve chamber from the outside to the inside; the upper half chamber of the hydraulic cylinder oil chamber and the valve sleeve The upper half cavity of the circular piston rod cavity is arranged between the cavities; the nominal size of the outer diameter of the lower end cover and the upper end cover is the same, and the lower end cover is respectively provided with a coaxial first sealing ring groove and a hydraulic cylinder from the outside to the inside. The lower half chamber of the oil chamber, the fourth sealing ring groove, and the output shaft hole; the lower half chamber of the annular piston rod chamber is arranged between the lower half chamber of the oil chamber of the hydraulic cylinder and the output shaft hole.

The nominal size of the radial section radius of the fixed block is the same as the nominal size of the radial section radius of the oil chamber of the hydraulic cylinder; there is a sealing strip groove along the symmetrical line of the contact surface between the fixed block and the circular piston rod, and the sealing strip groove The nominal dimension of the length is the same as the nominal dimension of the length of the line of symmetry.

The advantages of the present invention's self-servo valve-controlled annular cylinder with corners are as follows:

1) The present invention adopts a sealing ring in sealing, and the sealing ring has better sealing characteristics and motion characteristics than the sealing strip, so that the hydraulic oil leakage of the hydraulic cylinder is well controlled under the condition of high-pressure operation;

2) The present invention has no rack and rack combination, simple and compact structure, small volume, large output torque, and wide application field; at the same time, the cost is reduced and the failure rate is reduced;

3) The valve sleeve and valve core of the present invention are simple in structure, easy to process the radial force balance of the valve core, reduce the failure rate, increase the stability of the system, prolong the service life of the valve core and valve sleeve, and at the same time effectively increase the valve capacity. The flow rate of the spool;

4) The structure of the oil channel involved in the present invention is simple, consisting of at most two sections, which greatly reduces the processing difficulty and cost.

Therefore, the present invention has the characteristics of convenient manufacture, compact structure, low failure rate, good sealing performance, good dynamic characteristics, long service life and large flow rate.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of Fig. 1;

Figure 3 is a schematic diagram of the connection plate structure;

Fig. 4 is the B-B sectional structure schematic diagram of Fig. 3;

Fig. 5 is the structural representation of upper end cap;

Fig. 6 is a schematic diagram of the C-C sectional structure of Fig. 5;

Fig. 7 is a schematic diagram of the D-D cross-sectional structure of Fig. 5;

Fig. 8 is a schematic structural view of the lower end cap;

Fig. 9 is a schematic diagram of the E-E sectional structure of Fig. 8;

Fig. 10 is the structural representation of circular piston rod;

Fig. 11 is a schematic diagram of the F-F sectional structure of Fig. 10;

Figure 12 is a schematic structural view of the output shaft;

Figure 13 is a bottom view of Figure 12;

Figure 14 is a schematic diagram of the assembly structure of the valve core and the valve sleeve;

Fig. 15 is the left side view of Fig. 14;

Figure 16 is a bottom view of Figure 14;

Figure 17 is a top view of Figure 14;

Fig. 18 is a schematic diagram of the G-G cross-sectional structure of Fig. 14;

Fig. 19 is a schematic diagram of the H-H sectional structure of Fig. 15;

Fig. 20 is a schematic diagram of the I-I sectional structure of Fig. 19;

Fig. 21 is the structural representation of piston;

Fig. 22 is a schematic diagram of the J-J cross-sectional structure of Fig. 21;

Fig. 23 is the structural representation of fixed block;

Fig. 24 is a schematic diagram of the K-K cross-sectional structure of Fig. 23;

Fig. 25 is a schematic diagram of the three-dimensional structure of the piston.

In the figure, 1 is the bolt, 2 is the upper end cover, 3 is the second sealing ring, 4 is the piston, 5 is the third sealing ring, 6 is the connection plate, 7 is the sixth sealing ring, 8 is the first oil passage, 9 10 is the valve sleeve, 11 is the servo motor, 12 is the spool, 13 is the second oil passage, 14 is the circular piston rod, 15 is the sealing strip, 16 is the fixed block, 17 is the first One sealing ring, 18 is the lower end cover, 19 is the fourth sealing ring, 20 is a pin, 21 is a deep groove ball bearing, 22 is an output shaft, 23 is a nut, 24 is a hydraulic cylinder oil chamber, 25 is a bolt, 26 is a bolt hole , 27, 30 are valve core shaft holes, 28, 36 are bolt holes, 29, 37 are the first sealing ring grooves, 31 is the valve sleeve cavity, 32, 41 are the third sealing ring grooves, 33 is the third oil passage, 34 is the fourth oil passage, 35 is the bolt hole, 38, 43 is the fourth sealing ring groove, 39 is the output shaft hole, 40 is the piston groove, 42 is the process hole, 44, 45 is the pin hole, 46, 47, 48 , 53 is the oil guide port, 49 is the first oil groove, 50 is the second oil groove, 51 is the third oil groove, 52 is the fourth oil groove, 54 is the second sealing ring groove, and 55 is the sealing strip groove.

Detailed ways

Below in conjunction with accompanying drawing, the present invention is further described: as shown in Fig. 1-25, a kind of angular self-servo valve control annular cylinder, by upper end cover 2, lower end cover 18, valve sleeve 10, spool 12, annular piston Composition of rod 14, piston 4, fixed block 16 and output shaft 22;

As shown in FIGS. 1 and 2 , the upper end cover 2 and the lower end cover 18 are connected by six bolts 1 and nuts 23 uniformly distributed around the circumference. The hydraulic cylinder oil cavity 24 is formed by the combination of the upper end cover 2 and the lower end cover 18, and the first sealing ring 17 is used for sealing between the upper end cover 2 and the lower end cover 18. As shown in FIGS. 3 and 4 , the connecting plate 6 and the upper end cover 2 are connected by six bolts 25 evenly distributed around the circumference.

As shown in Figure 1, the fixed block 16 is affixed on the inner wall of the oil chamber 24 of the hydraulic cylinder, the fixed block 16 is in dynamic fit with the annular piston rod 14, the piston 4 is affixed to the annular piston rod 14, and the piston 4 and the annular piston rod 14 are in dynamic cooperation with the oil chamber 24 of the hydraulic cylinder. The radially symmetrical surface of the piston 4 is equipped with a second sealing ring 3. The piston 4 and the fixed stopper 16 are symmetrical on both sides of the vertical plane of the axis. , the upper end cover 2 has two oil ports 8, 13, two oil passages 32, 33, the two oil ports 8, 13 are symmetrically distributed on both sides of the shaft hole 30, and the two oil passages 32, 33 are distributed on both sides of the fixed block 16 The valve sleeve 10, the annular piston rod 14 and the output shaft 22 are fixed together by the pin 20, the valve sleeve 10 is assembled in the valve sleeve chamber 31 of the upper end cover 2, and the axial center of the annular piston rod 14 and the output shaft 22 On the same straight line, a third sealing ring 5 is provided between the annular piston rod 14 and the upper end cover 2 , and a fourth sealing ring 19 is provided between the annular piston rod 14 and the lower end cover 18 .

As shown in Fig. 5, Fig. 6 and Fig. 7, the upper end cover 2 is respectively provided with six evenly distributed bolt holes 28, the first sealing ring groove 29, the upper half chamber of the hydraulic cylinder oil chamber 24, the third The sealing ring groove 32 and the valve sleeve cavity 31, and their axes are on the same straight line. The upper half chamber of the piston rod chamber is arranged between the upper half chamber of the hydraulic cylinder oil chamber 24 and the valve sleeve chamber chamber 31 . The upper end cover 2 has a first oil passage 8, a second oil passage 13, a third oil passage 32 and a fourth oil passage 33, and the oil ports corresponding to the first oil passage 8 and the second oil passage 13 are symmetrically distributed in the shaft hole 30 On both sides, the oil ports corresponding to the third oil passage 32 and the fourth oil passage 33 are distributed on both sides of the fixed stopper 16 and distributed vertically and alternately between the hydraulic cylinder oil chamber 24 and the valve sleeve chamber 31 .

The hydraulic cylinder oil chamber 24 is annular, and the hydraulic cylinder oil chamber 24 is composed of the upper half chamber of the hydraulic cylinder oil chamber 24 located at the upper end cover 2 and the lower half chamber of the hydraulic cylinder oil chamber 24 located at the lower end cover 18 . The upper half of the hydraulic cylinder oil chamber 24 is located between the first sealing ring groove 29 and the third sealing ring groove 32, and the lower half of the hydraulic cylinder oil chamber 24 is located between the first sealing ring groove 37 and the fourth sealing ring groove 38 between.

As shown in FIG. 8 and FIG. 9 , the outer diameter of the lower end cover 18 and the upper end cover 2 is the same in nominal size. The lower end cover 18 is respectively provided with six evenly distributed bolt holes 36, a first sealing ring groove 37, the lower half chamber of the hydraulic cylinder oil chamber 24, a fourth sealing ring groove 38, and an output shaft hole 39 from the outside to the inside, and they axes are on the same straight line. Between the lower half chamber of the hydraulic cylinder oil chamber 24 and the output shaft hole 39, the lower half chamber of the annular piston rod chamber is arranged.

As shown in Figure 10 and Figure 11, the nominal size of the radius of the annular piston rod 14 is a, the nominal size of the outer diameter of the hydraulic cylinder oil chamber 24 is b, and the nominal size of the inner diameter of the hydraulic cylinder oil chamber 24 is c, And a, b, c satisfy:

.

The annular piston rod 14 is located in the piston rod cavity formed by the upper end cover 2 and the lower end cover 18, and the axis of the annular piston rod 14 and the axis of the hydraulic cylinder oil chamber 24 are on the same straight line. There is a process hole 42 in the middle of the annular piston rod 14 . A piston groove 40 is formed on the edge of the annular piston rod 14 . A third sealing ring 5 is provided between the annular piston rod 14 and the upper end cover 2, and a fourth sealing ring 19 is provided between the annular piston rod 14 and the lower end cover 18. Correspondingly, on the annular piston rod 14 A third sealing ring groove 41 is provided on the surface, and a fourth sealing ring groove 43 is provided on the lower surface.

As shown in Figure 12 and Figure 13, the nominal size of the radius of the lower end of the output shaft 22 is the same as the nominal size of the radius of the output shaft hole 39, and the upper end of the output shaft 22 is provided with six evenly distributed pin holes 44, the axis of the output shaft 22 and The axes of the annular piston rods 14 are on the same straight line.

As shown in Figure 14 and Figure 15, the nominal size of the radius of the lower end of the valve core 12 is the same as the nominal size of the inner diameter of the valve sleeve 10, the valve core 12 and the valve sleeve 10 are dynamic fit, and the valve sleeve 10 and the valve sleeve cavity 31 are dynamic fit; As shown in Figure 16 and Figure 17, the lower end of the valve sleeve 10 is provided with six evenly distributed pin holes 45, the nominal size of the radius of the upper end of the valve core 12 is the same as the nominal size of the radius of the valve core axis hole 30 of the upper end cover 2, the valve The upper end of the core 12 has a servo motor output shaft hole and a keyway; as shown in Figure 18, Figure 19 and Figure 20, the valve sleeve 10 has four pairs of oil guide ports 46, 47, 48, 53, oil guide port 46 and guide port The oil port 47 is distributed in a 90° circle, the oil guide port 47 and the oil guide port 48 are distributed in a 90° circle, and the oil guide port 48 and the oil guide port 53 are distributed in a 90° circle;

The nominal size of the diameter of the lower end of the valve core 12 is the same as the nominal size of the inner diameter of the valve sleeve 10, and there are four fan-shaped grooves in the middle of the valve core 12. The nominal distance between the end faces is the same, the central angle corresponding to the sector is 90°, the radius of the sector is r, the width of the oil port in the oil groove is a, and the radius of the lower end of the valve core is r ₀ , then r satisfies the following formula:

.

As shown in Figures 21 and 22, the center line of the piston 4 is a circular arc and the axial section is circular, and the nominal size of the radial section radius of the piston 4 is the same as the nominal size of the radial section radius of the oil chamber 24 of the hydraulic cylinder. same. The outer surface of the piston 4 is provided with a second sealing ring groove 54 , and the piston 4 is fixedly connected with the annular piston rod 14 . Piston 4 and hydraulic cylinder oil cavity 24 are dynamic cooperation.

As shown in FIGS. 23 and 24 , the nominal size of the radial section radius of the fixed block 16 is the same as the nominal size of the radial section radius of the hydraulic cylinder oil chamber 24 . The piston 4 and the fixed block 16 are located on both sides of the axis of the annular piston rod 14 and the radial symmetry plane is on the same plane. The fixed block 16 is affixed to the inner wall of the hydraulic cylinder oil chamber 24. The annular piston rod 14 is a moving fit. There is a line of symmetry between the fixed block 16 and the contact surface of the annular piston rod 14, and a sealing strip groove 55 is formed along the line of symmetry.

The present invention is realized in this way: the first oil passage 8 and the second oil passage 13 are respectively connected to the high-pressure oil passage and the low-pressure oil passage, and the annular hydraulic cylinder oil chamber 24 is divided into a high-pressure oil chamber and a low-pressure oil chamber by the fixed block 16 and the piston 4. The oil chamber, the valve core 12 is rotated by the servo motor 11, so that the oil guide port on the valve sleeve 10 is fully opened, and the inside of the valve sleeve 10 is divided into two high-pressure oil chambers and two low-pressure oil chambers by the valve core 12, and the high-pressure oil passes through the high-pressure The oil passage enters the oil guide port 47 of the valve sleeve 10 through the first oil passage 8, and then enters the hydraulic cylinder oil chamber 24 through the oil guide port 46 and the oil passage 34. A pressure difference is formed between the high-pressure oil chamber and the low-pressure oil chamber, so that the piston 4 moves to the low-pressure oil chamber, the piston 4 drives the circular piston rod 14 to move, the circular piston rod 14 drives the output shaft 22 and the valve sleeve 10 to rotate, and the low-pressure oil enters the valve sleeve through the oil passage 33 and the oil guide port 53 The low-pressure oil chamber inside 10 then enters the second oil passage 13 through the oil guide port 48 and returns to the oil tank. The valve sleeve 10 rotates until all the oil ports on the valve sleeve 10 are closed by the valve core 12. The whole process realizes the rotation angle servo valve control. Annular cylinder output torque.

Claims (10)

1. a corner self-servo valve control annular cylinder, comprise annular hydraulic cylinder cylinder body and land (6), annular hydraulic cylinder comprises upper end cap (2), lower end cap (18), ring piston rod (14), fixed stop (16), output shaft (22), is opened in the spool axis hole (30) at upper end cap center, it is characterized in that: the upper end cap (2) of annular hydraulic cylinder is connected by bolt (25) with land (6), in described upper end cap (2), offer valve pocket chamber (31), in valve pocket chamber (31), be provided with valve pocket (10), valve pocket (10) is fixed together by pin (20) and ring piston rod (14) and output shaft (22), spool (12) is placed in valve pocket (10) inside, the upper end of spool (12) is fixedly connected with the actuating motor (11) that is positioned at land (6) through axis hole, valve pocket (10) and spool (12) coordinate for moving, upper end cap (2), ring piston rod (14), valve pocket (10), spool (12), output shaft (22), land (6), the axle center of actuating motor (11) is located along the same line, on described upper end cap (2), also have four oil ducts (8,13,33,34), the first oil duct (8), two hydraulic fluid ports that the second oil duct (13) is corresponding are symmetrically distributed in spool axis hole (30) both sides, and the 3rd oil duct (33), two hydraulic fluid ports that the 4th oil duct (34) is corresponding are distributed in the both sides of fixed stop (16) and are staggered up and down and are distributed between oil hydraulic cylinder oil pocket and valve pocket chamber.

2. corner self-servo valve control annular cylinder as claimed in claim 1, it is characterized in that: described valve pocket (10) external diameter nominal size is identical with height nominal size with the external diameter nominal size of valve pocket chamber (31) with height nominal size, valve pocket (10) internal diameter nominal size is identical with spool (12) lower end diameter nominal size, and valve pocket (10) coordinates for moving with valve pocket chamber (31), valve pocket (10) outer wall has four oil grooves (49, 50, 51, 52), four oil grooves (49, 50, 51, 52) cross section is all rectangle, four oil grooves (49, 50, 51, 52) in, have four rectangle oil diverting ports (46 that run through valve pocket (10), 47, 48, 53), hydraulic fluid port in the first oil groove (49) and the 3rd oil groove (51) be a pair of and hydraulic fluid port center line at grade, hydraulic fluid port in the second oil groove (50) and the 4th oil groove (52) be a pair of and center line at grade, the first oil groove (49) is mutually vertical with the hydraulic fluid port center line in the 4th oil groove (52) with the second oil groove (50) with the hydraulic fluid port center line in the 3rd oil groove (51).

3. corner self-servo valve control annular cylinder as claimed in claim 2, it is characterized in that: described spool (12) upper end diameter nominal size is identical with spool axis hole (30) diameter nominal size, spool (12) middle part has four fan grooves, the distance nominal size of the lower end surface of upper-end surface to the four oil grooves (52) of the height nominal size of fan groove and the first oil groove (49) is identical, fan-shaped corresponding central angle is 90 °, fan-shaped radius is r, in oil groove, the width of hydraulic fluid port is a, and spool (12) lower end radius is r ₀, r meets following formula:

。

4. corner self-servo valve control annular cylinder as claimed in claim 1, it is characterized in that: described annular hydraulic cylinder, comprise upper end cap (2) and lower end cap (18), described upper end cap (2) is connected by the screw bolt and nut of six even circle distribution with lower end cap (18); Described upper end cap (2) and lower end cap (18) inside are provided with annular oil hydraulic cylinder oil pocket (24), ring piston rod (14), piston (4) and fixed stop (16), also include one end and be connected with upper end cap (2), the other end stretches out the outside output shaft (22) of lower end cap (18) then through ring piston rod (14), lower end cap (18) successively; Described fixed stop (16) is fixed on the inwall of oil hydraulic cylinder oil pocket (24), and fixed stop (16) coordinates for moving with ring piston rod (14); Described piston (4) fixes as one with ring piston rod (14) and coordinates for moving with oil hydraulic cylinder oil pocket (24), and piston (4) and fixed stop (16) are symmetrical in the both sides of the vertical guide of upper end cap medial axis; Together with ring piston rod (14) is fixed by a pin to output shaft (22); Between valve pocket (10) and valve pocket chamber (31), be provided with the 5th seal ring (9).

5. corner self-servo valve control annular cylinder as claimed in claim 1, it is characterized in that: the external diameter nominal size of described land (6) is identical with upper end cap (2) upper end diameter nominal size, and have the bolt hole of six even circle distribution; In the middle of land (6), have actuating motor groove and axis hole; Between actuating motor groove and bolt hole, have two oil ducts, two oil ducts are symmetrical in the axis of land (6).

6. corner self-servo valve control annular cylinder as claimed in claim 1, it is characterized in that: between described upper end cap (2) and lower end cap (18), seal by the first seal ring (17), the outer surface medial axis place of piston (4) is provided with the second seal ring (3), between ring piston rod (14) and upper end cap (2), be provided with the 3rd seal ring (5), between ring piston rod (14) and lower end cap (18), be provided with the 4th seal ring (19).

7. corner self-servo valve control annular cylinder as claimed in claim 1, is characterized in that: the radius nominal size of described ring piston rod (14) is the mean value of external diameter nominal size and the internal diameter nominal size of oil hydraulic cylinder oil pocket (24).

8. corner self-servo valve control annular cylinder as claimed in claim 1, is characterized in that: the center line of described piston (4) is one section of circular arc, and the axial cross section of piston (4) is circular; The radial cross section radius nominal size of described piston (4) is identical with the radial cross section radius nominal size of oil hydraulic cylinder oil pocket (24), and the outer surface of piston (4) is provided with the second seal groove (54).

9. corner self-servo valve control annular cylinder as claimed in claim 1, is characterized in that: described upper end cap (2) is respectively equipped with first chamber, the 3rd seal groove (32), valve pocket chamber (31) of coaxial the first seal groove (29), oil hydraulic cylinder oil pocket (24) from outside to inside; Between first chamber of oil hydraulic cylinder oil pocket (24) and valve pocket chamber (31), be provided with first chamber of ring rod end chamber; Described lower end cap (18) is identical with the external diameter nominal size of upper end cap (2), and lower end cap (18) is respectively equipped with second chamber, the 4th seal groove (38), the output shaft hole (39) of coaxial the first seal groove (37), oil hydraulic cylinder oil pocket (24) from outside to inside; Between second chamber of oil hydraulic cylinder oil pocket (24) and output shaft hole, be provided with second chamber of ring rod end chamber.

10. corner self-servo valve control annular cylinder as claimed in claim 1, is characterized in that: the radial cross section radius nominal size of described fixed stop (16) is identical with the radial cross section radius nominal size of oil hydraulic cylinder oil pocket (24); Have seal strip groove (55) along fixed stop (16) and the symmetrical line of ring piston rod (14) surface of contact, the length nominal size of seal strip groove (55) is identical with symmetrical line length nominal size.