CN109798270A - Multi-modal energy-saving servo actuator and the multi-modal energy-efficient method of realization - Google Patents

Abstract

Multi-modal energy-saving servo actuator and the multi-modal energy-efficient method of realization, belong to hydraulic energy-saving system technical field.To solve following problems of the existing technology: the thrust of piston rod and the mismatch problem of load；The bilateral throttling effect generated when passing through servo valve to hydraulic cylinder disengaging oil carries out decoupling problem；It handles under damped condition, oil liquid is heating up and converts the problem of collecting external loading energy.Oil sources pipe fitting and fuel tank pipe fitting are installed on the leading flank of oil-way integrated block, the upper surface of oil-way integrated block is detachably fixed from front to back is connected with 3-position-3-way proportional reversing valve one, 3-position-3-way proportional reversing valve two and two-bit triplet solenoid directional control valve, the rear end of oil-way integrated block is fixedly connected with the outer wall that asymmetric servo cylinder is located at rodless cavity side, the left side of oil-way integrated block is equipped with hydraulic cylinder rod chamber pipe fitting, and hydraulic cylinder rod chamber pipe fitting is connected to by seamless steel pipe with asymmetric servo cylinder rod chamber.The present invention is in hydraulic device.

Description

Multi-modal energy-saving servo actuator and the multi-modal energy-efficient method of realization

Technical field

It the present invention relates to a kind of servo actuator and realizes energy-efficient method, belongs to hydraulic energy-saving system technical field.

Background technique

Actuator on the market at present, is made of hydraulic cylinder and single 3-position 4-way servo reversing valve, circuit mostly Principle is as shown in Figure 1.When the work of 3-position 4-way servo reversing valve left position, the high pressure oil of oil sources output is changed through 3-position 4-way servo Enter P11 hydraulic fluid port from hydraulic cylinder rodless cavity to valve and A11 hydraulic fluid port, hydraulic cylinder rod chamber low pressure oil is through 3-position 4-way servo reversing valve B11 hydraulic fluid port and T11 hydraulic fluid port oil return box, piston rod move right under the action of two cavity pressures difference, push load.Similarly, when three When right position works, high pressure oil enters through 3-position 4-way servo reversing valve P11 hydraulic fluid port and B11 hydraulic fluid port to be had position four-way servo reversing valve Rod cavity, low pressure oil, through 3-position 4-way servo reversing valve A11 hydraulic fluid port and T11 hydraulic fluid port oil return box, are made from rodless cavity in two cavity pressure differences Under, piston rod is moved downward, and pulls load.This style of actuator, simple structure, control is simple, but has energy Amount wastes serious disadvantage.It is mainly shown as the following aspects:

(1) external loading is usually to change, and the thrust of pattern actuator driving load is single, will appear often big Thrust drives the phenomenon that small load, causes energy dissipation；

(2) in face of needing the operating condition of deceleration loading, load finally consumes the reaction force of actuator in a manner of heat production Fall, not only hydraulic fluid temperature was caused to increase, but also wastes energy；

(3) the disengaging oil of hydraulic cylinder all passes through 3-position 4-way servo valve (see Fig. 1), and the internal restriction stream of single servo valve (P11 hydraulic fluid port → A11 hydraulic fluid port and B11 hydraulic fluid port → T11 hydraulic fluid port or P11 hydraulic fluid port → B11 hydraulic fluid port and A11 hydraulic fluid port → T11 hydraulic fluid port are total in road Four runners) connect firmly, this result in throttle effect be also it is two-way, not only there is meter in but also there are meter outs.Cause This inevitably causes very big energy loss at throttling runner；

Hydraulic device belongs to highly energy-consuming equipment, if energy consumption can be lowered, can bring very high economic benefit.Cause This, it is great to carry out energy-saving significance to actuator using suitable means.

Summary of the invention

The object of the present invention is to provide a kind of multi-modal energy-saving servo actuator and multi-modal energy-efficient method is realized, with solution Following problems certainly of the existing technology:

(1) mismatch problem of the thrust of piston rod and load；

(2) the bilateral throttling effect generated when passing through servo valve to hydraulic cylinder disengaging oil carries out decoupling problem；

(3) it handles under damped condition, oil liquid is heating up and converts the problem of collecting external loading energy.

For three above problem, circuit as shown in Figure 2 is devised for actuator of the invention, wherein having contained four kinds Operation mode, respectively differential mode, energy regenerating mode, independent throttle mode and normal work mode.

Wherein: differential mode is for solving the problems, such as (1)；

Energy regenerating mode is for solving the problems, such as (2)；

Independent throttle mode solves the problems, such as (3).

It should be noted that these four mode of synchronization be not necessarily all it is unique existing, differential operation mode cannot be with Other operation modes carry out simultaneously, and energy regenerating mode cannot be existed simultaneously with mode is worked normally, and independent throttle mode can To be existed simultaneously with normal work mode and the mode that recovers energy.This is determined by designed circuit.Specifically, because Under differential mode, the work of two-bit triplet solenoid directional control valve left position flows to two by 3-position-3-way proportional reversing valve two at this time The oil circuit of three-way solenoid valve is closed, that is to say, that under differential mode, 3-position-3-way proportional reversing valve two is not acted as With, and other modes require two cooperating of 3-position-3-way proportional reversing valve, therefore differential mode and other modes cannot be same When work；The case where energy regenerating mode exists only in deceleration loading；And it works normally mode and refers to actuator of the invention As general executing agency, the case where driving load movement, therefore energy regenerating mode and mode is worked normally because locating External loading environment difference without may be simultaneously present.

Realize above-mentioned purpose, the technical solution adopted by the present invention is that:

Multi-modal energy-saving servo actuator, including asymmetric servo cylinder, hydraulic cylinder rod chamber pipe fitting, seamless steel pipe, oil Road integrated package, oil sources pipe fitting, fuel tank pipe fitting and combination valve, the combination valve include two 3-position-3-way proportional reversing valves and One two-bit triplet solenoid directional control valve, described two 3-position-3-way solenoid directional control valves be respectively 3-position-3-way proportional reversing valve one and 3-position-3-way solenoid directional control valve two；

Oil sources pipe fitting and fuel tank pipe fitting be installed on the leading flank of the oil-way integrated block, the oil sources pipe fitting with The oil input channel being arranged in oil-way integrated block communicates, and the fuel tank pipe fitting connects with the back oil road being arranged in oil-way integrated block It is logical；Duct ten, control duct one in oil-way integrated block equipped with order outlet-rod hydraulic cylinder rod chamber, control duct four, order go out Duct 11, control duct two and the control duct three of bar hydraulic cylinder rodless cavity, the duct ten and control duct one pass to oil The left side of road integrated package, the control duct four-way to the right side of oil-way integrated block, the duct 11, control duct two And duct threeway is controlled to the trailing flank of oil-way integrated block；The upper surface of oil-way integrated block is detachably fixed from front to back to be connected with 3-position-3-way proportional reversing valve one, 3-position-3-way proportional reversing valve two and two-bit triplet solenoid directional control valve are set in oil-way integrated block There are duct one, duct two, duct three, duct four, duct five, duct six, duct seven, duct eight and a duct nine, the duct one, Duct two and duct three pass to the upper surface of oil-way integrated block and are located in one region of 3-position-3-way proportional reversing valve, the duct One duct corresponding with the P hydraulic fluid port in left side is located in 3-position-3-way proportional reversing valve one communicates, the duct two and 3-position-3-way The corresponding duct of A hydraulic fluid port in proportional reversing valve one positioned at middle part communicates, the duct three and 3-position-3-way proportional reversing valve one In be located at right side the corresponding duct of T hydraulic fluid port communicate；

The upper surface that the duct four, duct five and duct six pass to oil-way integrated block is located at 3-position-3-way proportional reversing valve In two region, the duct four duct corresponding with the P hydraulic fluid port in left side is located in 3-position-3-way proportional reversing valve two is communicated, institute It states the duct corresponding with the A hydraulic fluid port at middle part is located in 3-position-3-way proportional reversing valve two of duct five to communicate, the duct six and three The corresponding duct of T hydraulic fluid port for being located at right side in position threeway proportional reversing valve two communicates；The duct seven, duct eight and duct nine are logical In upper surface to oil-way integrated block and the region positioned at two-bit triplet solenoid directional control valve three, the duct seven and two-bit triplet electricity The corresponding duct of hydraulic fluid port in magnetic reversal valve three positioned at left side communicates, the duct eight and position in two-bit triplet solenoid directional control valve three The corresponding duct of hydraulic fluid port in middle part communicates, the duct nine and the hydraulic fluid port pair for being located at right side in two-bit triplet solenoid directional control valve three The duct answered communicates；

Wherein: the oil input channel is communicated with duct one, duct four, and oil input channel is 3-position-3-way by duct one, duct four Two DFF Direct Fuel Feed of proportional reversing valve one and 3-position-3-way proportional reversing valve, the back oil road are communicated with duct three and duct six, and three The oil return of position threeway proportional reversing valve one, 3-position-3-way proportional reversing valve two imports back oil road, the hole through duct three, duct six Road 11 is communicated with duct two and control duct one, and control duct one is communicated with duct seven, the A of 3-position-3-way proportional reversing valve one The pressure oil of hydraulic fluid port is divided into two-way, wherein enter asymmetric servo cylinder rodless cavity by duct two and duct 11 all the way, it is another Road enters in two-bit triplet solenoid directional control valve the T10 hydraulic fluid port for being located at right side, control hole through duct two, control duct one and duct seven Road four and duct nine and control duct two-phase are logical, and control duct two is communicated with duct five, position in 3-position-3-way proportional reversing valve two It is changed through duct five, control duct two, control duct four and duct nine into two-bit triplet electromagnetism in the pressure oil of the A hydraulic fluid port at middle part It is located at the T10 hydraulic fluid port on right side into valve, control duct three is communicated with duct eight and duct ten, position in two-bit triplet solenoid directional control valve It is communicated through duct eight and control duct three and duct ten with asymmetric servo cylinder rod chamber in the pressure oil of the A10 hydraulic fluid port at middle part； The rear end of oil-way integrated block is fixedly connected with the outer wall that asymmetric servo cylinder is located at rodless cavity side, the left side of oil-way integrated block Hydraulic cylinder rod chamber pipe fitting is installed at duct ten, the hydraulic cylinder rod chamber pipe fitting passes through seamless steel pipe and singly goes out The connection of bar hydraulic cylinder rod chamber.

Multi-modal energy-efficient method is realized using multi-modal energy-saving servo actuator actuator, and the method includes differential moulds State；The differential mode is:

Under the mode, the electromagnet two in two-bit triplet solenoid directional control valve must be electric, on 3-position-3-way proportional reversing valve one Electromagnet one positioned at left side must be electric, and the hydraulic oil of oil sources supply enters oil-way integrated block through oil sources pipe fitting, successively along oil inlet Road, duct one enter in 3-position-3-way proportional reversing valve one the P hydraulic fluid port for being located at left side, one left position work of 3-position-3-way proportional reversing valve Make, the P hydraulic fluid port that left side is located in 3-position-3-way proportional reversing valve one is communicated with the A hydraulic fluid port for being located at middle part, and 3-position-3-way ratio is changed T hydraulic fluid port into valve one positioned at right side is closed, and pressure oil is through being located at the A hydraulic fluid port at middle part along hole in 3-position-3-way proportional reversing valve one Road two, duct 11 enter the rodless cavity of asymmetric servo cylinder, meanwhile, the oil liquid of the rod chamber of asymmetric servo cylinder is successively through nothing It stitches steel pipe, hydraulic cylinder rod chamber pipe fitting, the duct ten of oil-way integrated block, control duct three and duct eight and enters two-bit triplet electricity In magnetic reversal valve, the work of two-bit triplet solenoid directional control valve left position, be located in two-bit triplet solenoid directional control valve the P10 hydraulic fluid port in left side with A10 hydraulic fluid port positioned at middle part communicates, and the hydraulic fluid port in two-bit triplet solenoid directional control valve positioned at right side is closed, and pressure oil is through two-bit triplet P10 hydraulic fluid port in solenoid directional control valve positioned at left side successively also enters single rod liquid along duct seven, control duct one and duct 11 The rodless cavity of cylinder pressure forms differential circuit.

The beneficial effect of the present invention compared with the existing technology is:

The present invention is multi-modal energy-saving servo actuator, and composition mainly includes two-bit triplet solenoid directional control valve, single rod Hydraulic cylinder, oil-way integrated block and two 3-position-3-way proportional reversing valves, each part set becomes a module, compact-sized, occupies Space is small, is easily installed disassembly, is suitable for a variety of occasions such as legged type robot, vehicle braking, weight lifting.

Main effect of the invention is embodied in energy conservation, for three particular problems for causing general actuator energy consumption high, Three kinds of certain moduli states have been separately designed to be resolved.The unmatched problem of size of thrust and load for piston rod, benefit Switched between differential circuit and non-differential circuit with a two-bit triplet solenoid directional control valve control actuator circuit, when loading big Using non-differential circuit, load hour using differential circuit (about the Rule of judgment of loop switch, see below provide it is specific Formula), make to be mutually matched between power demand and power supply.This is the efficient utilization by the energy, reaches energy-efficient purpose. For the problem that under damped condition, the energy that oil liquid is heating up, waste loads proposes to utilize actuator by the machine of external loading Tool can be converted into the hydraulic energy of internal oil, be then collected, stored to resulting high pressure oil by oil supply system and is sharp again Method had not only effectively alleviated the problem of oil liquid generates heat, but also has reached energy-efficient purpose.For general actuator, because singly going out Bar hydraulic cylinder disengaging oil generates bilateral throttle effect when passing through 3-position 4-way proportional reversing valve (see Fig. 1), and big energy is caused to damage The problem of consumption, devises double proportioning valves (i.e. two 3-position-3-way proportional reversing valves) and stands alone as asymmetric servo cylinder fuel feeding, oil extraction Circuit, so that bilateral throttling is become unilateral throttling, by reduce energy loss realize energy conservation.

These three certain moduli states, differential mode are applied to small load behavior, and energy regenerating mode is applied to deceleration loading Operating condition, independent throttle mode be applied to work normally and deceleration loading operating condition in.On circuit, these mode are combined together, Switching between mode is realized by combining the different working position of each valve.In structure, each part set is become into an entirety, Reduce hydraulic pipeline and hydraulic cavity as far as possible.Result of practical application show using Novel loop structure, integration mode it is multi-modal Servo actuator has apparent energy saving effect, compared to the energy consumption that general actuator can save 30%.

Detailed description of the invention

Fig. 1 is the schematic diagram of the actuator referred in background technique；

Fig. 2 is the schematic diagram of multi-modal energy-saving servo actuator of the invention；

Fig. 3 is the axonometric drawing of multi-modal energy-saving servo actuator of the invention；

Fig. 4 is partial enlarged view at the C of Fig. 3；

Fig. 5 is the main sectional view of one left position of 3-position-3-way proportional reversing valve work；

Fig. 6 is the main sectional view of the right position of 3-position-3-way proportional reversing valve one work；

Fig. 7 is the main sectional view of two left position of 3-position-3-way proportional reversing valve work；

Fig. 8 is the main sectional view of the right position of 3-position-3-way proportional reversing valve two work；

Fig. 9 is the main sectional view of two-bit triplet solenoid directional control valve left position work；

Figure 10 is the main sectional view of the right position work of two-bit triplet solenoid directional control valve；

Figure 11 is the top view of oil-way integrated block；

Figure 12 is the D direction view of Figure 11；

Figure 13 is the C direction view of Figure 11；

Figure 14 is the A direction view of Figure 11；

Figure 15 is the B direction view of Figure 11；

Figure 16 is the partial enlarged view in Fig. 5 at M1；

Figure 17 is the partial enlarged view in Fig. 5 at M2；

Figure 18 is the partial enlarged view in Fig. 9 at E1；

Figure 19 is the partial enlarged view in Fig. 9 at E2.

Parts title and label are as follows in figure:

3-position-3-way proportional reversing valve 1, two-bit triplet solenoid directional control valve 3, singly goes out 3-position-3-way solenoid directional control valve 22 Bar hydraulic cylinder 4, hydraulic cylinder rod chamber pipe fitting 7, seamless steel pipe 8, oil-way integrated block 9, oil sources pipe fitting 10, fuel tank pipe fitting 11, spool 1, valve body 1, spring base 1, plain washer 1, spring 1, push rod 1, electromagnet 1, sealing Enclose one 19, sealing ring 2 20, spool 2 21, valve body 2 22, spring base 2 23, electromagnet 2 24, silk plug 25, plain washer 2 26, Spring 2 27, push rod 1, sealing ring 3 29, sealing ring 4 30.

Specific embodiment

Specific embodiment 1: present embodiment describes a kind of multi-modal energy conservation as shown in Fig. 2, Fig. 3, Figure 10-Figure 14 Servo actuator, including asymmetric servo cylinder 4, hydraulic cylinder rod chamber pipe fitting 7, seamless steel pipe 8, oil-way integrated block 9, oil sources pipe Connector 10, fuel tank pipe fitting 11 and combination valve, the combination valve include two 3-position-3-way proportional reversing valves and one two three Electric change valve 3, described two 3-position-3-way solenoid directional control valves are 3-position-3-way proportional reversing valve 1 and 3-position-3-way respectively Solenoid directional control valve 22；

Oil sources pipe fitting 10 and fuel tank pipe fitting 11, the oil sources pipe are installed on the leading flank of the oil-way integrated block 9 Connector 10 is communicated with the oil input channel P0 being arranged in oil-way integrated block 9, and the fuel tank pipe fitting 11 is with setting in oil-way integrated block 9 Interior back oil road T0 connection；Ten out of duct, control duct one in oil-way integrated block 9 equipped with 4 rod chamber of order outlet-rod hydraulic cylinder K1, control four K4 of duct, 11 in of duct of 4 rodless cavity of order outlet-rod hydraulic cylinder, control two K2 of duct and control three K3 of duct, Ten out of duct and control one K1 of duct passes to the left side of oil-way integrated block 9, and four K4 of control duct passes to oil circuit collection Blocking 9 right side, 11 in of duct, control two K2 of duct and control three K3 of duct pass to the rear side of oil-way integrated block 9 Face；The upper surface of oil-way integrated block 9, which (passes through bolt) from front to back and is detachably fixed, is connected with 3-position-3-way proportional reversing valve one 1,3-position-3-way proportional reversing valve 22 and two-bit triplet solenoid directional control valve 3, oil-way integrated block 9 is interior to be equipped with one P1 of duct, duct two A1, three T1 of duct, four P2 of duct, five A2 of duct, six T2 of duct, nine T3 of seven P3 of duct, eight A3 of duct and duct, the duct one P1, two A1 of duct and three T1 of duct pass to the upper surface of oil-way integrated block 9 and are located at one 1 region of 3-position-3-way proportional reversing valve Interior, the duct corresponding with the P hydraulic fluid port in left side is located in 3-position-3-way proportional reversing valve 1 one P1 of duct communicates, the hole The duct corresponding with the A hydraulic fluid port at middle part is located in 3-position-3-way proportional reversing valve 1 two A1 of road communicates, duct three T1 and three The corresponding duct of T hydraulic fluid port for being located at right side in position threeway proportional reversing valve 1 communicates；

The upper surface that four P2 of duct, five A2 of duct and six T2 of duct pass to oil-way integrated block 9 is located at 3-position-3-way ratio In the region of example reversal valve 22, four P2 of duct is corresponding with the P hydraulic fluid port in left side is located in 3-position-3-way proportional reversing valve 22 Duct communicate, five A2 of duct be located at the corresponding duct phase of the A hydraulic fluid port at middle part in 3-position-3-way proportional reversing valve 22 Logical, the duct corresponding with the T hydraulic fluid port on right side is located in 3-position-3-way proportional reversing valve 22 six T2 of duct communicates；The hole Seven P3 of road, eight A3 of duct and nine T3 of duct pass to the upper surface of oil-way integrated block 9 and are located at two-bit triplet solenoid directional control valve 33 In region, the duct corresponding with the P10 hydraulic fluid port in left side is located in two-bit triplet solenoid directional control valve 33 seven P3 of duct is communicated, The duct corresponding with the A10 hydraulic fluid port at middle part is located in two-bit triplet solenoid directional control valve 33 eight A3 of duct communicates, the duct Nine T3 communicate (above-mentioned each duct and corresponding with the corresponding duct of T10 hydraulic fluid port for being located at right side in two-bit triplet solenoid directional control valve 33 Hydraulic fluid port diameter it is equal, and on same center line)；

Wherein: the oil input channel P0 is communicated with one P1 of duct, four P2 of duct, and oil input channel P0 passes through one P1 of duct, duct four P2 is 22 DFF Direct Fuel Feed of 3-position-3-way proportional reversing valve 1 and 3-position-3-way proportional reversing valve, the back oil road T0 and duct three T1 and six T2 of duct are communicated, 3-position-3-way proportional reversing valve 1,3-position-3-way proportional reversing valve 22 oil return through three T1 of duct, Six T2 of duct imports back oil road T0,11 in of duct and two A1 of duct and control one K1 of duct is communicated, and controls one K1 of duct It is communicated with seven P3 of duct, the pressure oil of the A hydraulic fluid port of 3-position-3-way proportional reversing valve 1 is divided into two-way, wherein all the way by duct Two A1 and 11 in of duct enter 4 rodless cavity of asymmetric servo cylinder, and another way is through two A1 of duct, control one K1 of duct and duct seven P3 enters in two-bit triplet solenoid directional control valve 3 the T10 hydraulic fluid port for being located at right side, control four K4 of duct and nine T3 of duct and control duct Two K2 are communicated, and control two K2 of duct is communicated with five A2 of duct, and the A hydraulic fluid port at middle part is located in 3-position-3-way proportional reversing valve 22 Pressure oil enters through five A2 of duct, control two K2 of duct, control duct four K4 and T3 and is located at the right side in two-bit triplet solenoid directional control valve 3 The T10 hydraulic fluid port of side, control three K3 of duct are communicated with eight A3 of duct and ten out of duct, are located in two-bit triplet solenoid directional control valve 3 The pressure oil of the A10 hydraulic fluid port in portion is through eight A3 of duct and control three K3 of duct and ten out of duct and 4 rod chamber phase of asymmetric servo cylinder It is logical；The rear end of oil-way integrated block 9 is fixedly connected with the outer wall that asymmetric servo cylinder 4 is located at rodless cavity side, oil-way integrated block 9 Left side, which is located at ten out of duct, is equipped with hydraulic cylinder rod chamber pipe fitting 7, and the hydraulic cylinder rod chamber pipe fitting 7 passes through nothing Seam steel pipe 8 is connected to 4 rod chamber of asymmetric servo cylinder.

Front side, middle part and the rear side of the upper surface of oil-way integrated block 9 are respectively equipped with the threaded hole of four rectangular settings, position Four threaded holes on front side of 9 upper surface of oil-way integrated block are detachable by four bolts and 3-position-3-way proportional reversing valve 1 It is fixedly connected；Four threaded holes in the middle part of the upper surface of oil-way integrated block 9 are changed by four bolts and 3-position-3-way ratio Connection is detachably fixed to valve 22；Four threaded holes on rear side of 9 upper surface of oil-way integrated block pass through four bolts and two Three-way solenoid valve 3 is detachably fixed connection.

Specific embodiment 2: present embodiment is made to specific embodiment one as shown in Fig. 4-Fig. 7, Figure 15, Figure 16 Further explanation out, the 3-position-3-way ratio solenoid directional control valve 1 and 3-position-3-way ratio solenoid directional control valve 22 include Spool 1, one 16, two, the spring push rod 1 and two of plain washer one 15, two of spring base one 14, two of valve body one 13, two A electromagnet 1；The lower end surface of the valve body 1 is set along the vertical direction there are three ratio solenoid directional control valve duct, and described three A ratio solenoid directional control valve duct is set gradually by left, center, right, and the port positioned at the ratio solenoid directional control valve duct in left side is P oil Mouthful, the port positioned at the proportion magnetic valve commutation duct at middle part is A hydraulic fluid port, positioned at the end in the proportion magnetic valve commutation duct on right side Mouth is T hydraulic fluid port, and the middle part of valve body 1 is equipped with the horizontal centre hole one communicated with three ratio solenoid directional control valve ducts, valve body one 13 left and right sides are respectively equipped with threaded hole one and shoulder hole one, and the shoulder hole one is located at threaded hole one and horizontal centre hole Between one, shoulder Kong Yiyu threaded hole one and horizontal centre hole one are coaxial and communicate setting, described two settings of electromagnet 1 In the left and right sides of valve body 1, the connecting pin of each electromagnet 1 is threadedly coupled with corresponding threaded hole one, valve body 1 Horizontal centre hole one in sliding be provided with spool 1, the shoulder hole communicated is equipped in the middle part of the connecting pin of each electromagnet 1 Two and push rod centre bore one, the shoulder hole two and push rod centre bore one and horizontal centre hole one are coaxially disposed, in each push rod Sliding is provided with push rod 1 in heart hole one, and the inner end of each push rod 1 is in contact with the abutting end of spool 1, Mei Getai Spring 1 is respectively arranged in shoulder hole two, the spring 1 is sleeved on push rod 1, and one end of spring 1 acts against shoulder On the shoulder end face in hole two, the other end of spring 1 is acted against on the plain washer 1 being disposed adjacent, described two plain washers One 15 are sleeved on the left and right ends on spool 1, and two spring bases 1, described two springs are further sleeved on spool 1 Seat 1 is separately positioned in corresponding shoulder hole one.

The outer end of two threaded holes one of each valve body 1 is equipped with closure gasket groove one, and each closure gasket groove one is provided with Sealing ring 1, each sealing ring 1 are sleeved on the root of corresponding one 18 connecting pin of electromagnet, valve body 1 and two electricity It is sealed between magnet 1 by two sealing rings 1.

P oil port positioned at the ratio solenoid directional control valve duct in left side, the proportion magnetic valve positioned at middle part commutation duct A Oil port and the T oil port in the proportion magnetic valve commutation duct positioned at right side are equipped with closure gasket groove two, each sealing Annular groove two is provided with sealing ring 2 20, P hydraulic fluid port, A hydraulic fluid port and T hydraulic fluid port and oil of three sealing rings 2 20 for valve body one The sealing of road integrated package 9.

The continuous input current of electromagnet 1 in 3-position-3-way proportional reversing valve 1 is adjustable.When the electricity for being located at left end When magnet 1 obtains electric, one 18 driving push rod 1 of electromagnet positioned at left end pushes away to the right spool 1,3-position-3-way ratio The work of one 1 left position of reversal valve.Electric current is bigger, pushes the displacement of spool 1 bigger, until one 12 shoulder of spool, which arrives at, is located at the right side The spring base 1 (valve is in left dominant bit) of side, the P hydraulic fluid port of 3-position-3-way proportional reversing valve 1 is communicated with A hydraulic fluid port at this time, T Hydraulic fluid port is closed, as shown in Figure 4.

Similarly, when the electromagnet 1 for being located at right end in 3-position-3-way proportional reversing valve 1 obtains electric, push rod 1 is pushed Spool 1 moves to left, the work of the right position of 3-position-3-way proportional reversing valve 1.Electric current is bigger, pushes the displacement of spool 1 bigger, directly Shoulder to spool 2 12 arrives at the spring base 1 (3-position-3-way proportional reversing valve 1 is in right dominant bit) positioned at left end, The P hydraulic fluid port of 3-position-3-way proportional reversing valve 1 is closed at this time, and T hydraulic fluid port is communicated with A hydraulic fluid port, as shown in Figure 5.When two electromagnetism Iron 1 all must not electricity when, spool 1 is in one 3 duct middle position of valve body, and (corresponding A hydraulic fluid port, spool land is by A hydraulic fluid port at this time It is completely enclosed), it is all not communicated between the P hydraulic fluid port of 3-position-3-way proportional reversing valve 1, A hydraulic fluid port and T hydraulic fluid port.

Specific embodiment 3: present embodiment is to specific embodiment one as shown in Fig. 8, Fig. 9, Figure 17 and Figure 18 The further explanation made, the two-bit triplet solenoid directional control valve 3 include spool 2 21, valve body 2 22, spring base 2 23, electromagnetism Iron 2 24, silk plug 25, one 28, two plain washers 2 26 of push rod and two springs 2 27；The lower end surface of the valve body 2 22 is along perpendicular To setting there are three solenoid directional control valve duct, three solenoid directional control valve ducts are set gradually histogram by left, center, right, are located at left side Solenoid directional control valve duct port be P10 hydraulic fluid port, positioned at middle part solenoid directional control valve duct port be A10 hydraulic fluid port, be located at The port in the solenoid valve commutation duct on right side is T10 hydraulic fluid port, and the middle part of valve body 2 22 is equipped with and three solenoid directional control valve duct phases The left side in logical horizontal centre hole two, valve body 2 22 is equipped with threaded hole two and shoulder hole three, and the shoulder hole three is located at screw thread Between hole two and horizontal centre hole two, shoulder Kong Sanyu threaded hole two and horizontal centre hole two are coaxial and communicate setting, valve body two 22 right side is equipped with and communicates with horizontal centre hole two and coaxial threaded hole three, and the electromagnet 2 24 is arranged in valve body 2 22 Left side, the connecting pin of electromagnet 2 24 is threadedly coupled with threaded hole two, sliding setting in the horizontal centre hole two of valve body 2 22 There is a spool 2 21, be equipped with shoulder hole four and push rod centre bore two in the middle part of the connecting pin of electromagnet 2 24, the shoulder hole four and pushes away Bar centre bore two and horizontal centre hole two are coaxially disposed, and sliding is provided with push rod 2 28, the push rod two in push rod centre bore two 28 inner end is in contact with the abutting end of spool 2 21；Counterbore, silk plug 25 and valve body are equipped in the middle part of the connecting pin of the silk plug 25 The threaded hole three of 2 22 right sides is threadedly coupled, and a spring 2 27, dress are respectively housed in the counterbore of shoulder hole four and silk plug 25 It is sleeved on push rod 2 28 in the spring 2 27 in shoulder hole four, and one end acts against on the shoulder end face in shoulder hole four, it is another End acts against on one of them described plain washer 2 26, and one of plain washer 2 26 is sleeved on the left side on spool 2 21 It holds, spring base 2 23 is further sleeved on spool 2 21, the spring base 2 23 is arranged in shoulder hole three, one of plain cushion It encloses 2 26 and is affixed setting with spring base 2 23；Spring 2 27 in counterbore is sleeved on spool 2 21, is sleeved on spool two 21 2 27 one end of spring acts against on counterbore end face, and the other end acts against on another described plain washer 2 26, described another A plain washer 2 26 is sleeved on spool 2 21 and is acted against on the right side shoulder end face of spool 2 21.

The threaded hole two of each valve body 2 22 and the outer end of threaded hole three are equipped with closure gasket groove three, each closure gasket groove three It is provided with sealing ring 3 29, one of them sealing ring 3 29 is sleeved on the root of 2 24 connecting pin of electromagnet, another institute The root that sealing ring 3 29 is sleeved on 25 connecting pin of silk plug is stated, between valve body 2 22 and electromagnet 2 24 and valve body 2 22 and silk It is respectively sealed by a sealing ring 3 29 between stifled 25.

P10 oil port positioned at the solenoid directional control valve duct in left side, the solenoid directional control valve duct positioned at middle part A10 hydraulic fluid port The T10 oil port in place and the solenoid valve commutation duct positioned at right side is equipped with closure gasket groove four, each closure gasket groove four It is provided with sealing ring 4 30, P10 hydraulic fluid port, A10 hydraulic fluid port and T10 hydraulic fluid port and oil of three sealing rings 4 30 for valve body 2 22 The sealing of road integrated package 9.

Cellular structure inside two-bit triplet solenoid directional control valve 3 is similar with 3-position-3-way proportional reversing valve, three ducts by Left, center, right is set gradually, but two-bit triplet solenoid directional control valve only has left side to be equipped with electromagnet 2 24, and right side is with spring 2 27 and silk Stifled 25 block.When electromagnet 2 24 must be electric, 2 24 driving push rod 2 28 of electromagnet pushes spool 2 21 to move to right, two-bit triplet electricity Magnetic reversal valve 3 works in left position, and mobile displacement is fixed, unadjustable.T10 hydraulic fluid port is blocked at this time, P10 hydraulic fluid port and A10 oil Mouth communicates, as shown in Figure 8.When two power loss of electromagnet, under the action of spring 2 27, spool 2 21 is pushed back left end, and two Three-way solenoid valve 3 works in right position.P10 hydraulic fluid port is closed at this time, and T10 mouthfuls communicate with A10 mouthfuls, as shown in Figure 9.It should infuse Meaning, right position are the normal work position of the two-bit triplet solenoid directional control valve 3.

Specific embodiment 4: a kind of realize multi-modal section using actuator described in specific embodiment one, two or three The method of energy, the method includes differential mode；The differential mode is:

Under the mode, the electromagnet 2 24 in two-bit triplet solenoid directional control valve 3 obtains electric, 3-position-3-way proportional reversing valve one Electromagnet 1 on 1 positioned at left side must be electric, and the hydraulic oil of oil sources supply enters oil-way integrated block 9 through oil sources pipe fitting 10, according to It is secondary to enter in 3-position-3-way proportional reversing valve 1 the P hydraulic fluid port for being located at left side, 3-position-3-way ratio along oil input channel P0, one P1 of duct One 1 left position of reversal valve works, the P hydraulic fluid port that left side is located in 3-position-3-way proportional reversing valve 1 and the A hydraulic fluid port phase for being located at middle part Logical, the T hydraulic fluid port in 3-position-3-way proportional reversing valve 1 positioned at right side is closed, and pressure oil is through in 3-position-3-way proportional reversing valve 1 A hydraulic fluid port positioned at middle part enters along two A1 of duct, 11 in of duct the rodless cavity of asymmetric servo cylinder 4, meanwhile, single rod is hydraulic The oil liquid of the rod chamber of cylinder 4 successively through seamless steel pipe 8, hydraulic cylinder rod chamber pipe fitting 7, oil-way integrated block 9 ten out of duct, Control three K3 of duct and eight A3 of duct enters in two-bit triplet solenoid directional control valve 3, the work of 3 left position of two-bit triplet solenoid directional control valve, P10 hydraulic fluid port in two-bit triplet solenoid directional control valve 3 positioned at left side is communicated with the A10 hydraulic fluid port for being located at middle part, and two-bit triplet electromagnetism changes Into valve 3 positioned at right side T10 hydraulic fluid port close, pressure oil through in two-bit triplet solenoid directional control valve 3 be located at left side P10 hydraulic fluid port according to The secondary rodless cavity for also entering asymmetric servo cylinder 4 along seven P3 of duct, control one K1 of duct and 11 in of duct, forms differential time Road.

It should be noted that the differential mode of this actuator, which is only applicable to hydraulic cylinder piston cylinder, stretches out the work for pushing load Condition, other situations do not constitute differential circuit.

In real work, the size of load is usually to change.For enable the piston rod thrust of asymmetric servo cylinder 4 with Load matches, first under analysis differential mode and non-differential mode, the thrust of the piston rod.Under differential mode, piston rod Thrust F=(P_S-ΔP)·(A_p-A_T), under non-differential mode, the thrust F=(P of piston rod_S-ΔP)·A_P.Wherein P_SFor oil Source pressure, Δ P are the pressure drop of valve, A_PIt is located at the area of rodless cavity side, A for piston rod_TIt is located at rod chamber side for piston rod Area；It is apparent from, when oil supply pressure is identical, the thrust of the piston rod of non-differential mode is greater than the thrust of differential mode.Another party Face, under differential mode, oil sources needs to export the flow q=v (A of oil liquid_P-A_T), under non-differential mode, required flow q=vA_P.Its Middle q is the oil liquid flow of oil sources output, and v is the movement speed of piston rod.Obviously, under identical driving speed, differential mode The flow needed is smaller.Therefore, as load F_L> (P_S-ΔP)·(A_P-A_T) when, non-differential mode should be selected, so that single rod The piston rod of hydraulic cylinder 4 obtains sufficient thrust.As load F_L< (P_S-ΔP)·(A_P-A_T) when, Ying Gaiyong differential mode, this Sample both can avoid energy dissipation when high thrust drives small load, can also reduce the supply of hydraulic oil at oil sources.This work Mode reasonably selects differential mode and non-differential mode by judging the size of external loading.It is substantially according to load need It asks, adjusts the pressure and flow of oil sources output oil liquid, make to be mutually matched between power demand and power supply, pass through the height of the energy Effect utilizes, and reaches energy-efficient purpose.

Specific embodiment 5: present embodiment is the further explanation made to specific embodiment four, the method It further include working normally mode；The normal work mode is:

When not needing braking external loading, promotion that this actuator is loaded as general executing agency；When two Position three-way solenoid valve 3 is in the work of right position, and 3-position-3-way proportional reversing valve 1 is in left position work, 3-position-3-way ratio When reversal valve 22 is in the work of right position, the piston rod of asymmetric servo cylinder 4 stretches out, and load is pushed to move right；Work as two-bit triplet Solenoid directional control valve 3 is in the work of right position, and 3-position-3-way proportional reversing valve 1 is in the work of right position, 3-position-3-way proportional reversing valve 22 in left position when working, and the piston rod of asymmetric servo cylinder 4 retracts, and load is pulled to move downward；Specifically:

2 24 power loss of electromagnet of two-bit triplet solenoid directional control valve 3, the spool 2 21 of two-bit triplet solenoid directional control valve 3 is in bullet Left side, the work of the right position of two-bit triplet solenoid directional control valve 3 are reset under the action of spring 2 27；When 3-position-3-way proportional reversing valve 1 In be located at left side electromagnet 1 it is electric, in 3-position-3-way proportional reversing valve 22 positioned at right side electromagnet 1 it is electric when (i.e. one 1 left position of 3-position-3-way proportional reversing valve works, the work of the right position of 3-position-3-way proportional reversing valve 2 2), hydraulic oil is through oil sources Pipe fitting 10 enters in oil-way integrated block 9, and enters 3-position-3-way proportional reversing valve 1 along oil input channel P0, one P1 of duct, then from A hydraulic fluid port in 3-position-3-way proportional reversing valve 1 positioned at middle part enters asymmetric servo cylinder 4 through two A1 of duct, 11 in of duct Rodless cavity；Meanwhile the rod chamber oil return of asymmetric servo cylinder 4 is successively through seamless steel pipe 8, hydraulic cylinder rod chamber pipe fitting 7, hole Ten out of road, control three K3 of duct and eight A3 of duct enter two-bit triplet solenoid directional control valve 3, then by two-bit triplet solenoid directional control valve 3 In be located at right side T10 hydraulic fluid port successively through nine T3 of duct, control four K4 of duct, control two K2 of duct, five A2 of duct enter three Threeway proportional reversing valve 22, by being located at the T hydraulic fluid port on right side in 3-position-3-way proportional reversing valve 22 successively through six T2 of duct, oil return Road T0 and fuel tank pipe fitting 11 return to fuel tank；The pressure differential piston rod of 4 rod chamber of asymmetric servo cylinder and rodless cavity stretches out, and pushes away Dynamic load moves right；When the right position of 3-position-3-way proportional reversing valve 1 works, 22 left position of 3-position-3-way proportional reversing valve works When, oil liquid enters after oil-way integrated block 9 flow path just on the contrary, hydraulic oil is successively through oil input channel P0, four P2 of duct, three three Logical proportional reversing valve 22, five A2 of duct, control two K2 of duct, control four K4 of duct, nine T3 of duct, two-bit triplet electromagnetic switch Valve 33, eight A3 of duct, control three K3 of duct, ten out of duct, hydraulic cylinder rod chamber pipe fitting 7 and seamless steel pipe 8 enter singly to go out 4 rod chamber of bar hydraulic cylinder, the oil liquid of 4 rodless cavity of asymmetric servo cylinder then side through 11 in of duct, two A1 of duct, 3-position-3-way Proportional reversing valve 1, three T1 of duct, back oil road T0 and fuel tank pipe fitting 11 flow back to fuel tank, the piston rod contracting of asymmetric servo cylinder 4 It returns, band dynamic load moves downward.

Specific embodiment 6: present embodiment is the further explanation made to specific embodiment five, the method It further include energy regenerating mode；The energy regenerating mode is:

When needing deceleration loading, actuator enters the mode that recovers energy.With asymmetric servo cylinder in schematic diagram shown in Fig. 2 For 4 installation sites (in practical application, 4 installation site of asymmetric servo cylinder can adjust as needed), work as load direction When to the right, enable the work of two-bit triplet solenoid directional control valve 3 in right position, the work of 3-position-3-way proportional reversing valve 1 is in right position, and three three In left position, which is the state that recovers energy for the logical work of proportional reversing valve 22.At this point, 4 rod chamber of asymmetric servo cylinder and oil Source is connected, and the rod chamber inner fluid is high pressure oil, and 4 rodless cavity of asymmetric servo cylinder and fuel tank are connected, oil in the rodless cavity Liquid is low pressure oil.If it is normal mode of operation, 4 rod chamber of asymmetric servo cylinder and rodless cavity oil pressure difference will drive single rod liquid The piston rod of cylinder pressure 4 is moved to the left.But at this point, load can haul the piston rod and slow down to the right due to the effect of inertia of load Movement, until load stops, end of braking.In this braking process, piston rod, which moves to right, leads to 4 rod chamber of asymmetric servo cylinder Inner fluid is extruded, and external oil supply system is flowed back to along oil circuit, and the high pressure oil in such rod chamber is just collected by oil supply system And it stores.After load brake, actuator turns to other operating modes, such as normal driving load behavior, at this point, The high pressure oil that oil supply system collects storage is discharged, provides power for asymmetric servo cylinder 4.This operating mode is substantially logical The hydraulic energy that actuator converts the mechanical energy of external loading to internal oil is crossed, then by oil supply system to resulting high pressure Oil is collected, stores and recycles, and reaches energy-efficient purpose with this.

Similarly, when the load that braking moves downward, enable the work of two-bit triplet solenoid directional control valve 3 in right position, 3-position-3-way The work of proportional reversing valve 1 works in left position, 3-position-3-way proportional reversing valve 22 in right position.Load can push piston rod to the left Retarded motion, until load stops.During this, piston rod, which moves to left, causes 4 rodless cavity inner fluid of asymmetric servo cylinder to be extruded, edge Oil circuit flow back to external oil supply system, and collected and store by oil supply system.

Specifically, when the load that braking moves right, 2 24 power loss of electromagnet of two-bit triplet solenoid directional control valve 3, The right position of two-bit triplet solenoid directional control valve 3 works, and the electromagnet 1 that right side is located in 3-position-3-way proportional reversing valve 1 must be electric, The right position of 3-position-3-way proportional reversing valve 1 works, and the electromagnet 1 that left side is located in 3-position-3-way proportional reversing valve 22 obtains The hydraulic oil of electricity, the work of 22 left position of 3-position-3-way proportional reversing valve, oil supply system supply enters oil circuit collection by oil sources pipe fitting 10 Blocking 9, and enter 3-position-3-way proportional reversing valve 22 along oil input channel P0, four P2 of duct, oil liquid commutates from 3-position-3-way ratio again The A hydraulic fluid port of valve 22 enters two-bit triplet electromagnetism and changes through five A2 of duct, control two K2 of duct, control four K4 of duct and nine T3 of duct To valve 3, finally from the A10 hydraulic fluid port of two-bit triplet solenoid directional control valve 3 through eight A3 of duct, control three K3 of duct, ten out of duct, liquid Cylinder pressure rod chamber pipe fitting 7 and seamless steel pipe 8 enter 4 rod chamber of asymmetric servo cylinder；At this point, pouring in the oil liquid of the rod chamber It has put aside pressure and thrust to the left is formed to the piston rod of asymmetric servo cylinder 4, start that braking connect with the piston rod bears It carries, therefore load to the right starts retarded motion to the right, until the piston rod being connected with load is forced the right side during load stops It moves, and the oil liquid of the rod chamber is squeezed out into rod chamber, the oil liquid being extruded is through seamless steel pipe 8 and hydraulic cylinder rod chamber pipe fitting 7 enter oil-way integrated block 9, and enter two-bit triplet solenoid directional control valve along ten out of duct, control three K3 of duct and eight A3 of duct 3, then by two-bit triplet solenoid directional control valve 3 T10 hydraulic fluid port through nine T3 of duct, control four K4 of duct, control two K2 of duct and duct Five A2 enter 3-position-3-way proportional reversing valve 22, then by 3-position-3-way proportional reversing valve 22 P hydraulic fluid port through four P2 of duct, oil inlet Road P0 and oil sources pipe fitting 10, finally, the high-voltage oil liquid of outflow oil-way integrated block 9 collects storage benefit again by external oil supply system With；

Similarly, when the load that braking moves downward, 2 24 power loss of electromagnet in two-bit triplet solenoid directional control valve 3, two The position right position of three-way solenoid valve 3 works, and the electromagnet 1 that left side is located in 3-position-3-way proportional reversing valve 1 must be electric, and three One 1 left position of position threeway proportional reversing valve works, and the electromagnet 2 18 that right side is located in 3-position-3-way proportional reversing valve 22 must be electric, The work of the right position of 3-position-3-way proportional reversing valve 22；The hydraulic oil of oil supply system supply enters oil circuit through oil sources pipe fitting 10 and integrates Block 9, and enter 3-position-3-way proportional reversing valve 1 along oil input channel P0, one P1 of duct, then from 3-position-3-way proportional reversing valve 1 A hydraulic fluid port enter 4 rodless cavity of asymmetric servo cylinder through two A1 of duct and 11 in of duct, at this point, pouring in the oil of the rodless cavity Liquid has put aside pressure and has formed thrust to the right to the piston rod of asymmetric servo cylinder 4, starts what braking was connect with the piston rod Therefore load, load to the left start retarded motion to the left, until the piston rod being connected with load is forced during load stops It moves to left, and the oil liquid of rodless cavity is squeezed out into rodless cavity, the oil liquid being extruded is directly entered oil-way integrated block 9, and along duct ten One in, two A1 of duct enter 3-position-3-way proportional reversing valve 1, then by 3-position-3-way proportional reversing valve 1 P hydraulic fluid port through duct Four P2, oil input channel P0 and oil sources pipe fitting 10 flow out oil-way integrated block 9, flow out the high-voltage oil liquid of oil-way integrated block 9 by outside Oil supply system is collected storage and is recycled.

Specific embodiment 7: present embodiment is the further explanation made to specific embodiment four, the method It further include independent throttle mode；The independent throttle mode is:

The independent throttle mode is:

Electricity when the piston rod that actuator is in asymmetric servo cylinder 4 stretches out operating condition, in two-bit triplet solenoid directional control valve 3 2 24 power loss of magnet, spool 2 21 reset to left side, 3 right works of two-bit triplet solenoid directional control valve under the action of spring 2 27 Make；Electromagnet 1 in 3-position-3-way proportional reversing valve 1 positioned at left side obtains electric, position in 3-position-3-way proportional reversing valve 22 When electromagnet one in right side obtains electric, hydraulic oil enters oil-way integrated block 9 through oil sources pipe fitting 10, and along oil input channel P0 and duct One P1 enters 3-position-3-way proportional reversing valve 1, then from the A hydraulic fluid port of 3-position-3-way proportional reversing valve 1 through two A1 of duct and hole 11 in of road enters 4 rodless cavity of asymmetric servo cylinder；Meanwhile 4 rod chamber oil return of asymmetric servo cylinder is through seamless steel pipe 8, hydraulic Cylinder rod chamber pipe fitting 7, ten out of duct, control three K3 of duct and eight A3 of duct enter two-bit triplet solenoid directional control valve 3, then by The T10 hydraulic fluid port of two-bit triplet solenoid directional control valve 3 through nine T3 of duct, control four K4 of duct, control two K2 of duct and five A2 of duct into Enter 3-position-3-way proportional reversing valve 22, by the T hydraulic fluid port of 3-position-3-way proportional reversing valve 22 through six T2 of duct, back oil road T0 and oil Case pipe fitting 11 returns to fuel tank；

At this point, to open independent throttle mode, first to the electromagnetism for being located at left side in 3-position-3-way proportional reversing valve 1 Iron 1 loads maximum current (rated current) signal, so that 3-position-3-way proportional reversing valve 1 is in left dominant bit, three three P hydraulic fluid port → A hydraulic fluid port standard-sized sheet of the throttling runner of logical proportional reversing valve 1, then servo-control system is according to asymmetric servo cylinder 4 The position of piston rod, into 3-position-3-way proportional reversing valve 22 positioned at right side electromagnet 1 export fed-back current signals, three The electromagnet 1 for being located at right side in position threeway proportional reversing valve 22 is determined according to the size of feedback current pushes 3-position-3-way ratio The distance that the spool 1 of example reversal valve 22 moves to left then determines the A hydraulic fluid port of the throttling runner of 3-position-3-way proportional reversing valve 22 The aperture of → T hydraulic fluid port；

Similarly, when actuator, which is in piston rod, retracts operating condition, the electromagnet 2 24 in two-bit triplet solenoid directional control valve 3 is lost Electricity, spool 2 21 reset to left side, the work of the right position of two-bit triplet solenoid directional control valve 3,3-position-3-way under the action of spring 2 27 Electromagnet 1 in proportional reversing valve 22 positioned at left side must be electric, and the electromagnetism on right side is located in 3-position-3-way proportional reversing valve 1 When iron 1 obtains electric, hydraulic oil enters oil-way integrated block 9 through oil sources pipe fitting 10, and enters three along oil input channel P0 and four P2 of duct Position threeway proportional reversing valve 1, then from the A hydraulic fluid port of 3-position-3-way proportional reversing valve 22 through five A2 of duct, control two K2 of duct, Control four K4 of duct and nine T3 of duct enters two-bit triplet solenoid directional control valve 3, then the A10 oil by two-bit triplet solenoid directional control valve 3 Mouth enters single rod through eight A3 of duct, control three K3 of duct, ten out of duct, hydraulic cylinder rod chamber pipe fitting 7 and seamless steel pipe 8 4 rod chamber of hydraulic cylinder；Meanwhile 4 rodless cavity oil return of asymmetric servo cylinder is directly entered oil-way integrated block 9, then through 11 in of duct And two A1 of duct enters 3-position-3-way proportional reversing valve 1, then by 3-position-3-way proportional reversing valve 1 T hydraulic fluid port through duct three T1, back oil road T0 and fuel tank pipe fitting 11 leave oil-way integrated block 9, return to fuel tank；

When opening independent throttle mode, first to the electromagnet 1 for being located at left side in 3-position-3-way proportional reversing valve 22 Maximum current (rated current) signal is loaded, so that 3-position-3-way proportional reversing valve 22 is in left dominant bit, 3-position-3-way ratio P hydraulic fluid port → A hydraulic fluid port standard-sized sheet of the throttling runner of reversal valve 22, then servo-control system is according to 4 piston rod of asymmetric servo cylinder Position, into 3-position-3-way proportional reversing valve 1 positioned at right side electromagnet 1 export fed-back current signals, 3-position-3-way Electromagnet 1 in proportional reversing valve 1 positioned at right side is determined according to the size of feedback current pushes the commutation of 3-position-3-way ratio The distance that the spool 1 of valve 1 moves to left then determines A hydraulic fluid port → T hydraulic fluid port of the throttling runner of 3-position-3-way proportional reversing valve 1 Aperture.

It should be noted that this actuator be servo actuator, external control system can according to the position of piston rod, To 3-position-3-way proportional reversing valve 1 and the one 18 input feedback current signal of electromagnet of 3-position-3-way proportional reversing valve 22, adjust A hydraulic fluid port → T hydraulic fluid port aperture of runner, forming position closed-loop control, so that independent throttle mode is in lowest loss are flowed successively State.

Due to the mechanical structure feature of proportional reversing valve, disengaging throttling runner is connected firmly, and throttle effect is caused to be also Two-way volume, not only there is meter in but also there are meter outs.For the bilateral throttle effect of this high loss, in design actuation When the circuit of device, two 3-position-3-way proportional reversing valves is used to be respectively that asymmetric servo cylinder 4 carries out fuel feeding or oil extraction, and One 3-position 4-way proportional reversing valve of non-simple use.The oil inlet and outlet of asymmetric servo cylinder 4 in this way with regard to mutually indepedent, by Two proportional reversing valve (i.e. 3-position-3-way proportional reversing valve 1 and 3-position-3-way proportional reversing valve 2 2) independent control disengaging oil, Unilateral throttle effect is formed, realizes the decoupling of bilateral throttle effect.

Through theory deduction, compared to single 4-way proportional valve control asymmetric servo cylinder 4 is used, using two 3-position-3-ways After proportional reversing valve makes asymmetric servo cylinder 4 pass in and out oily independent throttle, identical load is driven, required oil sources charge oil pressure is bright It is aobvious to reduce.Specific reduction amount is as follows:

In formula: v --- the movement speed of piston rod, v > 0 are that piston rod stretches out operating condition, and v < 0 is that piston rod retracts operating condition；

P_r--- it is 3-position-3-way ratio when being pressure .v < 0 at 22 oil return opening of 3-position-3-way proportional reversing valve when v > 0 Pressure at one 1 oil return opening of reversal valve；

P_A--- pressure at the A mouth of 3-position-3-way proportional reversing valve 1；

P_B--- pressure at the A mouth of 3-position-3-way proportional reversing valve 22；

F_L--- load force；

α --- the ratio between one 1 valve port opening of 3-position-3-way proportional reversing valve and 22 valve port opening of 3-position-3-way proportional reversing valve

N --- piston rod two sides area ratio, n=A_P/A_T；

A_P--- piston rod is located at the area of rodless cavity side；

A_T--- piston rod is located at the area of rod chamber side；

Piston rod stretches out under operating condition, P hydraulic fluid port → A hydraulic fluid port standard-sized sheet of the throttling runner of 3-position-3-way proportional reversing valve 1, and three A hydraulic fluid port → T hydraulic fluid port of the throttling runner of threeway proportional reversing valve 22 is determining according to feedback current, α ∈ [1 ,+∞).Retract operating condition Under, P hydraulic fluid port → A hydraulic fluid port standard-sized sheet of the throttling runner of 3-position-3-way proportional reversing valve 22,3-position-3-way proportional reversing valve 1 throttles A hydraulic fluid port → T hydraulic fluid port of runner is determining according to feedback current, α ∈ (0,1].Then there is fuel feeding pressure drop maximum value:

Therefore, the operating mode of independent throttle realizes energy conservation by reducing energy loss.

As shown in Fig. 2, wherein two-bit triplet solenoid directional control valve 3, controls hydraulic system (asymmetric servo cylinder 4) differential mode With the switching of non-differential mode.3-position-3-way proportional reversing valve 1,3-position-3-way proportional reversing valve 22 and two-bit triplet electromagnetism Reversal valve 3 cooperates with each other, and circuit oil liquid flow direction can be changed, actuator is made to adapt to different operating conditions.When two-bit triplet electromagnetism When reversal valve 3 is in left position work and 3-position-3-way proportional reversing valve 1 is also at left position work, circuit is in differential mode. When two-bit triplet solenoid directional control valve 3 is in the work of right position, circuit is in non-differential mode.Under non-differential mode, according to outer The motion conditions of section load, actuator show two different functional characteristics again, are defined as working normally mode and energy Amount recycling mode.

Claims (7)

1. a kind of multi-modal energy-saving servo actuator, it is characterised in that: including asymmetric servo cylinder (4), hydraulic cylinder rod chamber pipe Connector (7), seamless steel pipe (8), oil-way integrated block (9), oil sources pipe fitting (10), fuel tank pipe fitting (11) and combination valve, it is described Combination valve includes two 3-position-3-way proportional reversing valves and a two-bit triplet solenoid directional control valve (3), described two 3-position-3-ways Solenoid directional control valve is 3-position-3-way proportional reversing valve one (1) and 3-position-3-way solenoid directional control valve two (2) respectively；

Oil sources pipe fitting (10) and fuel tank pipe fitting (11), the oil sources are installed on the leading flank of the oil-way integrated block (9) Pipe fitting (10) is communicated with the oil input channel (P0) being arranged in oil-way integrated block (9), and the fuel tank pipe fitting (11) and setting exist Back oil road (T0) connection in oil-way integrated block (9)；Equipped with order outlet-rod hydraulic cylinder (4) rod chamber in oil-way integrated block (9) Duct ten (out), control duct one (K1), the duct 11 for controlling duct four (K4), order outlet-rod hydraulic cylinder (4) rodless cavity (in), duct two (K2) and control duct three (K3) are controlled, the duct ten (out) and control duct one (K1) pass to oil circuit collection The left side of blocking (9), the right side for controlling duct four (K4) and passing to oil-way integrated block (9), the duct 11 (in), Control duct two (K2) and control duct three (K3) pass to the trailing flank of oil-way integrated block (9)；The upper surface of oil-way integrated block (9) It is detachably fixed from front to back and is connected with 3-position-3-way proportional reversing valve one (1), 3-position-3-way proportional reversing valve two (2) Ji Liangwei Three-way solenoid valve (3), oil-way integrated block (9) is interior to be equipped with duct one (P1), duct two (A1), duct three (T1), duct four (P2), duct five (A2), duct six (T2), duct seven (P3), duct eight (A3) and duct nine (T3), the duct one (P1), Duct two (A1) and duct three (T1) pass to the upper surface of oil-way integrated block (9) and are located at 3-position-3-way proportional reversing valve one (1) In region, the duct one (P1) duct phase corresponding with the P hydraulic fluid port in left side is located in 3-position-3-way proportional reversing valve one (1) Logical, the duct two (A1) duct corresponding with the A hydraulic fluid port at middle part is located in 3-position-3-way proportional reversing valve one (1) communicates, institute Duct three (T1) duct corresponding with the T hydraulic fluid port on right side is located in 3-position-3-way proportional reversing valve one (1) is stated to communicate；

The duct four (P2), duct five (A2) and duct six (T2) pass to the upper surface of oil-way integrated block (9) positioned at three three In the region of logical proportional reversing valve two (2), left side is located in the duct four (P2) and 3-position-3-way proportional reversing valve two (2) The corresponding duct of P hydraulic fluid port communicates, and the A hydraulic fluid port at middle part is located in the duct five (A2) and 3-position-3-way proportional reversing valve two (2) Corresponding duct communicates, and the duct six (T2) is corresponding with the T hydraulic fluid port on right side is located in 3-position-3-way proportional reversing valve two (2) Duct communicates；The duct seven (P3), duct eight (A3) and duct nine (T3) pass to the upper surface of oil-way integrated block (9) and are located at In the region of two-bit triplet solenoid directional control valve three (3), it is located in the duct seven (P3) and two-bit triplet solenoid directional control valve three (3) The corresponding duct of (P10) hydraulic fluid port in left side communicates, and is located in the duct eight (A3) and two-bit triplet solenoid directional control valve three (3) The corresponding duct of (A10) hydraulic fluid port in portion communicates, and right side is located in the duct nine (T3) and two-bit triplet solenoid directional control valve three (3) The corresponding duct of (T10) hydraulic fluid port communicate；

Wherein: the oil input channel (P0) communicates with duct one (P1), duct four (P2), oil input channel (P0) by duct one (P1), Duct four (P2) is 3-position-3-way proportional reversing valve one (1) and 3-position-3-way proportional reversing valve two (2) DFF Direct Fuel Feed, the oil return Road (T0) is communicated with duct three (T1) and duct six (T2), 3-position-3-way proportional reversing valve one (1), 3-position-3-way proportional reversing valve The oil return of two (2) imports back oil road (T0) through duct three (T1), duct six (T2), the duct 11 (in) and duct two (A1) And control duct one (K1) communicates, control duct one (K1) is communicated with duct seven (P3), 3-position-3-way proportional reversing valve one (1) The pressure oil of A hydraulic fluid port is divided into two-way, wherein entering asymmetric servo cylinder (4) by duct two (A1) and duct 11 (in) all the way Rodless cavity, another way enter two-bit triplet solenoid directional control valve (3) through duct two (A1), control duct one (K1) and duct seven (P3) In be located at the T10 hydraulic fluid port on right side, control duct four (K4) and duct nine (T3) and control duct two (K2) communicate, control duct two (K2) it is communicated with duct five (A2), the pressure oil of the A hydraulic fluid port at middle part is located in 3-position-3-way proportional reversing valve two (2) through duct five (A2), duct two (K2) is controlled, control duct four (K4) and duct nine (T3) enters in two-bit triplet solenoid directional control valve (3) and is located at The T10 hydraulic fluid port on right side, control duct three (K3) are communicated with duct eight (A3) and duct ten (out), two-bit triplet solenoid directional control valve (3) pressure oil of the A10 hydraulic fluid port in positioned at middle part through duct eight (A3) and controls duct three (K3) and duct ten (out) and singly goes out Bar hydraulic cylinder (4) rod chamber communicates；The rear end and asymmetric servo cylinder (4) of oil-way integrated block (9) are located at the outer of rodless cavity side Wall is fixedly connected, and the left side of oil-way integrated block (9), which is located at duct ten (out), is equipped with hydraulic cylinder rod chamber pipe fitting (7), The hydraulic cylinder rod chamber pipe fitting (7) is connected to by seamless steel pipe (8) with asymmetric servo cylinder (4) rod chamber.

2. multi-modal energy-saving servo actuator according to claim 1, it is characterised in that: the 3-position-3-way ratio electromagnetism Reversal valve one (1) and 3-position-3-way ratio solenoid directional control valve two (2) include spool one (12), valve body one (13), two springs One (14) of seat, two plain washers one (15), two springs one (16), two push rods one (17) and two electromagnet one (18)；Institute The lower end surface for stating valve body one (13) is set along the vertical direction there are three ratio solenoid directional control valve duct, three ratio electromagnetic switch Valve opening road is set gradually by left, center, right, and the port positioned at the ratio solenoid directional control valve duct in left side is P hydraulic fluid port, the ratio positioned at middle part The port in example solenoid valve commutation duct is A hydraulic fluid port, and the port positioned at the proportion magnetic valve commutation duct on right side is T hydraulic fluid port, valve body The middle part of one (13) is equipped with the horizontal centre hole one communicated with three ratio solenoid directional control valve ducts, the left and right two of valve body one (13) Side is respectively equipped with threaded hole one and shoulder hole one, and the shoulder hole one is between threaded hole one and horizontal centre hole one, platform Shoulder Kong Yiyu threaded hole one and horizontal centre hole one are coaxial and communicate setting, and described two electromagnet one (18) settings are in valve body one (13) the left and right sides, the connecting pin of each electromagnet one (18) are threadedly coupled with corresponding threaded hole one, valve body one (13) Sliding is provided with spool one (12) in horizontal centre hole one, is equipped with the shoulder communicated in the middle part of the connecting pin of each electromagnet one (18) Hole two and push rod centre bore one, the shoulder hole two and push rod centre bore one and horizontal centre hole one are coaxially disposed, each push rod Sliding is provided with push rod one (17) in centre bore one, and the inner end of each push rod one (17) connects with the abutting end of spool one (12) It touches, is respectively arranged with spring one (16) in each shoulder hole two, the spring one (16) is sleeved on push rod one (17), spring one (16) One end act against on the shoulder end face in shoulder hole two, the other end of spring one (16) acts against the plain washer one being disposed adjacent (15) on, described two plain washers one (15) are sleeved on the left and right ends on spool one (12), are further sleeved on spool one (12) Two spring bases one (14), described two spring bases one (14) are separately positioned in corresponding shoulder hole one.

3. multi-modal energy-saving servo actuator according to claim 1, it is characterised in that: the two-bit triplet electromagnetic switch Valve (3) include spool two (21), valve body two (22), spring base two (23), electromagnet two (24), silk plug (25), push rod one (28), Two plain washers two (26) and two springs two (27)；The lower end surface of the valve body two (22) is set along the vertical direction there are three electromagnetism Reversal valve duct, three solenoid directional control valve ducts set gradually by left, center, right, positioned at the solenoid directional control valve duct in left side Port is P10 hydraulic fluid port, and the port positioned at the solenoid directional control valve duct at middle part is A10 hydraulic fluid port, positioned at the solenoid valve commutation hole on right side The port in road is T10 hydraulic fluid port, and the middle part of valve body two (22) is equipped with the horizontal centre hole two communicated with three solenoid directional control valve ducts, The left side of valve body two (22) is equipped with threaded hole two and shoulder hole three, and the shoulder hole three is located at threaded hole two and horizontal centre hole Between two, shoulder Kong Sanyu threaded hole two and horizontal centre hole two are coaxial and communicate setting, and the right side of valve body two (22) is equipped with It is communicated with horizontal centre hole two and coaxial threaded hole three, the electromagnet two (24) is arranged in the left side of valve body two (22), electricity The connecting pin of magnet two (24) is threadedly coupled with threaded hole two, and sliding is provided with spool in the horizontal centre hole two of valve body two (22) The connecting pin middle part of two (21), electromagnet two (24) is equipped with shoulder hole four and push rod centre bore two, the shoulder hole four and push rod Centre bore two and horizontal centre hole two are coaxially disposed, and sliding is provided with push rod two (28), the push rod two in push rod centre bore two (28) inner end is in contact with the abutting end of spool two (21)；Counterbore, silk plug are equipped in the middle part of the connecting pin of the silk plug (25) (25) it is threadedly coupled with the threaded hole three of valve body two (22) right side, one is respectively equipped in the counterbore of shoulder hole four and silk plug (25) A spring two (27), the spring two (27) in shoulder hole four is sleeved on push rod two (28), and one end acts against shoulder hole On four shoulder end face, the other end is acted against on one of them described plain washer two (26), one of plain washer two (26) it is sleeved on the left end on spool two (21), spring base two (23), the spring base two are further sleeved on spool two (21) (23) it is arranged in shoulder hole three, one of plain washer two (26) and spring base two (23) are affixed setting；In counterbore Spring two (27) be sleeved on spool two (21), spring two (27) one end for being sleeved on spool two (21) acts against counterbore end face On, the other end acts against on another described plain washer two (26), another described plain washer two (26) is sleeved on spool two (21) it on and acts against on the right side shoulder end face of spool two (21).

4. a kind of realize multi-modal energy-efficient method using actuator described in claim 1,2 or 3, it is characterised in that: described Method includes differential mode；The differential mode is:

Under the mode, the electromagnet two (24) in two-bit triplet solenoid directional control valve (3) obtains electric, 3-position-3-way proportional reversing valve one (1) electromagnet one (18) on positioned at left side must be electric, and the hydraulic oil of oil sources supply is integrated into oil circuit through oil sources pipe fitting (10) Block (9) successively enters in 3-position-3-way proportional reversing valve one (1) the P oil for being located at left side along oil input channel (P0), duct one (P1) Mouthful, the work of 3-position-3-way proportional reversing valve one (1) left position, be located in 3-position-3-way proportional reversing valve one (1) the P hydraulic fluid port in left side with A hydraulic fluid port positioned at middle part communicates, and the T hydraulic fluid port in 3-position-3-way proportional reversing valve one (1) positioned at right side is closed, and pressure oil is through three A hydraulic fluid port in threeway proportional reversing valve one (1) positioned at middle part enters asymmetric servo cylinder along duct two (A1), duct 11 (in) (4) rodless cavity, meanwhile, the oil liquid of the rod chamber of asymmetric servo cylinder (4) is successively through seamless steel pipe (8), hydraulic cylinder rod chamber Pipe fitting (7), the duct ten (out) of oil-way integrated block (9), control duct three (K3) and duct eight (A3) enter two-bit triplet electricity In magnetic reversal valve (3), two-bit triplet solenoid directional control valve (3) left position works, and left side is located in two-bit triplet solenoid directional control valve (3) P10 hydraulic fluid port is communicated with the A10 hydraulic fluid port for being located at middle part, and (T10) hydraulic fluid port in two-bit triplet solenoid directional control valve (3) positioned at right side seals It closes, pressure oil is located at the P10 hydraulic fluid port in left side successively along duct seven (P3), control duct in two-bit triplet solenoid directional control valve (3) One (K1) and duct 11 (in) also enter the rodless cavity of asymmetric servo cylinder (4), form differential circuit.

5. according to claim 4 realize multi-modal energy-efficient method using actuator, it is characterised in that: the method is also Including working normally mode；The normal work mode is:

When not needing braking external loading, promotion that this actuator is loaded as general executing agency；When two three Electric change valve (3) is in the work of right position, and 3-position-3-way proportional reversing valve one (1) is in left position work, 3-position-3-way ratio When reversal valve two (2) is in the work of right position, the piston rod of asymmetric servo cylinder (4) stretches out, and load is pushed to move right；When two Three-way solenoid valve (3) is in the work of right position, and 3-position-3-way proportional reversing valve one (1) is in the work of right position, 3-position-3-way ratio When example reversal valve two (2) is in left position work, the piston rod of asymmetric servo cylinder (4) is retracted, and load is pulled to move downward；Specifically Are as follows:

Electromagnet two (24) power loss of two-bit triplet solenoid directional control valve (3), the spool two (21) of two-bit triplet solenoid directional control valve (3) Left side, two-bit triplet solenoid directional control valve (3) right position work are reset under the action of spring two (27)；When 3-position-3-way ratio is changed Electromagnet one (18) into valve one (1) positioned at left side must be electric, and the electromagnetism on right side is located in 3-position-3-way proportional reversing valve two (2) When iron one (18) obtains electric, hydraulic oil enters in oil-way integrated block (9) through oil sources pipe fitting (10), and along oil input channel (P0), duct One (P1) enters 3-position-3-way proportional reversing valve one (1), then positioned at the A oil at middle part from 3-position-3-way proportional reversing valve one (1) Mouth enters the rodless cavity of asymmetric servo cylinder (4) through duct two (A1), duct 11 (in)；Meanwhile asymmetric servo cylinder (4) Rod chamber oil return is successively through seamless steel pipe (8), hydraulic cylinder rod chamber pipe fitting (7), duct ten (out), control duct three (K3) And duct eight (A3) enters two-bit triplet solenoid directional control valve (3), then by being located at right side in two-bit triplet solenoid directional control valve (3) T10 hydraulic fluid port successively enters 3-position-3-way through duct nine (T3), control duct four (K4), control duct two (K2), duct five (A2) Proportional reversing valve two (2), by 3-position-3-way proportional reversing valve two (2) be located at right side T hydraulic fluid port successively through duct six (T2), return Oil duct (T0) and fuel tank pipe fitting (11) return to fuel tank；The pressure differential piston of asymmetric servo cylinder (4) rod chamber and rodless cavity Bar stretches out, and load is pushed to move right；When the right position work of 3-position-3-way proportional reversing valve one (1), 3-position-3-way proportional reversing valve Two (2) left positions work when, oil liquid enter oil-way integrated block (9) afterwards flow path just on the contrary, hydraulic oil is successively through oil input channel (P0), duct four (P2), 3-position-3-way proportional reversing valve two (2), duct five (A2), control duct two (K2), control duct four (K4), duct nine (T3), two-bit triplet solenoid directional control valve three (3), duct eight (A3), control duct three (K3), duct ten (out), hydraulic cylinder rod chamber pipe fitting (7) and seamless steel pipe (8) enter asymmetric servo cylinder (4) rod chamber, and single rod is hydraulic The oil liquid of cylinder (4) rodless cavity then side through duct 11 (in), duct two (A1), 3-position-3-way proportional reversing valve one (1), duct Three (T1), back oil road (T0) and fuel tank pipe fitting (11) flow back to fuel tank, and the piston rod of asymmetric servo cylinder (4) retracts, and drive negative Load moves downward.

6. according to claim 5 realize multi-modal energy-efficient method using actuator, it is characterised in that: the method is also Including energy regenerating mode；The energy regenerating mode is:

When the load that braking moves right, electromagnet two (24) power loss of two-bit triplet solenoid directional control valve (3), two-bit triplet electricity The right position of magnetic reversal valve (3) works, and the electromagnet one (18) that right side is located in 3-position-3-way proportional reversing valve one (1) must be electric, and three The right position of threeway proportional reversing valve one (1) works, and the electromagnet one (18) that left side is located in 3-position-3-way proportional reversing valve two (2) obtains The hydraulic oil of electricity, the work of 3-position-3-way proportional reversing valve two (2) left position, oil supply system supply enters oil by oil sources pipe fitting (10) Road integrated package (9), and enter 3-position-3-way proportional reversing valve two (2) along oil input channel (P0), duct four (P2), oil liquid is again from three The A hydraulic fluid port of threeway proportional reversing valve two (2) is through duct five (A2), control duct two (K2), control duct four (K4) and duct nine (T3) enter two-bit triplet solenoid directional control valve (3), finally from the A10 hydraulic fluid port of two-bit triplet solenoid directional control valve (3) through duct eight (A3), duct three (K3), duct ten (out), hydraulic cylinder rod chamber pipe fitting (7) and seamless steel pipe (8) are controlled and enters single rod Hydraulic cylinder (4) rod chamber；At this point, the oil liquid for pouring in the rod chamber has put aside pressure to the piston rod of asymmetric servo cylinder (4) Thrust to the left is formed, the load that braking is connect with the piston rod is started, therefore load to the right starts retarded motion to the right, Until the piston rod being connected with load is forced to move to right during load stops, and the oil liquid of the rod chamber is squeezed out into rod chamber, The oil liquid being extruded enters oil-way integrated block (9) through seamless steel pipe (8) and hydraulic cylinder rod chamber pipe fitting (7), and along duct Ten (out), control duct three (K3) and duct eight (A3) enter two-bit triplet solenoid directional control valve (3), then by two-bit triplet electromagnetism The T10 hydraulic fluid port of reversal valve (3) enters through duct nine (T3), control duct four (K4), control duct two (K2) and duct five (A2) 3-position-3-way proportional reversing valve two (2), then by 3-position-3-way proportional reversing valve two (2) P hydraulic fluid port through duct four (P2), oil input channel (P0) and oil sources pipe fitting (10), finally, the high-voltage oil liquid of outflow oil-way integrated block (9) collects storage by external oil supply system It recycles；

Similarly, when the load that braking moves downward, electromagnet two (24) power loss in two-bit triplet solenoid directional control valve (3), two The right position of position three-way solenoid valve (3) works, and the electromagnet one (18) that left side is located in 3-position-3-way proportional reversing valve one (1) obtains Electricity, 3-position-3-way proportional reversing valve one (1) left position work, and the electromagnet on right side is located in 3-position-3-way proportional reversing valve two (2) Two (18) obtain electric, the right position work of 3-position-3-way proportional reversing valve two (2)；The hydraulic oil of oil supply system supply is through oil sources pipe fitting (10) enter oil-way integrated block (9), and enter 3-position-3-way proportional reversing valve one (1) along oil input channel (P0), duct one (P1), then Enter asymmetric servo cylinder (4) through duct two (A1) and duct 11 (in) from the A hydraulic fluid port of 3-position-3-way proportional reversing valve one (1) Rodless cavity is formed to the right the piston rod of asymmetric servo cylinder (4) at this point, the oil liquid for pouring in the rodless cavity has put aside pressure Thrust starts the load that braking is connect with the piston rod, therefore load to the left starts retarded motion to the left, until load During stopping, the piston rod being connected with load is forced to move to left, and the oil liquid of rodless cavity is squeezed out rodless cavity, and the oil liquid being extruded is straight It taps into oil-way integrated block (9), and enters 3-position-3-way proportional reversing valve one (1) along duct 11 (in), duct two (A1), It is flowed out again by the P hydraulic fluid port of 3-position-3-way proportional reversing valve one (1) through duct four (P2), oil input channel (P0) and oil sources pipe fitting (10) Oil-way integrated block (9), the high-voltage oil liquid for flowing out oil-way integrated block (9) are collected storage by external oil supply system and are recycled.

7. according to claim 4 realize multi-modal energy-efficient method using actuator, it is characterised in that: the method is also Including independent throttle mode；The independent throttle mode is:

Electricity when the piston rod that actuator is in asymmetric servo cylinder (4) stretches out operating condition, in two-bit triplet solenoid directional control valve (3) Magnet two (24) power loss, spool two (21) reset to left side, two-bit triplet solenoid directional control valve (3) under the action of spring two (27) Right position work；Electromagnet one (18) in 3-position-3-way proportional reversing valve one (1) positioned at left side obtains electric, 3-position-3-way ratio commutation When electromagnet one in valve two (2) positioned at right side obtains electric, hydraulic oil enters oil-way integrated block (9) through oil sources pipe fitting (10), and Enter 3-position-3-way proportional reversing valve one (1) along oil input channel (P0) and duct one (P1), then from 3-position-3-way proportional reversing valve one (1) A hydraulic fluid port enters asymmetric servo cylinder (4) rodless cavity through duct two (A1) and duct 11 (in)；Meanwhile single rod is hydraulic Cylinder (4) rod chamber oil return is through seamless steel pipe (8), hydraulic cylinder rod chamber pipe fitting (7), duct ten (out), control duct three (K3) And duct eight (A3) enter two-bit triplet solenoid directional control valve (3), then by two-bit triplet solenoid directional control valve (3) T10 hydraulic fluid port through hole Road nine (T3), control duct four (K4), control duct two (K2) and duct five (A2) enter 3-position-3-way proportional reversing valve two (2), it is returned by the T hydraulic fluid port of 3-position-3-way proportional reversing valve two (2) through duct six (T2), back oil road (T0) and fuel tank pipe fitting (11) Oil return box；

At this point, to open independent throttle mode, first to the electromagnet for being located at left side in 3-position-3-way proportional reversing valve one (1) One (18) load maximum current signal, so that 3-position-3-way proportional reversing valve one (1) is in left dominant bit, 3-position-3-way ratio is changed To P hydraulic fluid port → A hydraulic fluid port standard-sized sheet of the throttling runner of valve one (1), then servo-control system is according to asymmetric servo cylinder (4) piston The position of bar, into 3-position-3-way proportional reversing valve two (2) positioned at right side electromagnet one (18) export fed-back current signals, three The electromagnet one (18) for being located at right side in position threeway proportional reversing valve two (2) is determined according to the size of feedback current pushes three three The distance that the spool one (12) of logical proportional reversing valve two (2) moves to left then determines 3-position-3-way proportional reversing valve two (2) throttling stream A hydraulic fluid port → T hydraulic fluid port aperture in road；

Similarly, when actuator, which is in piston rod, retracts operating condition, the electromagnet two (24) in two-bit triplet solenoid directional control valve (3) is lost Electricity, spool two (21) reset to left side under the action of spring two (27), and the right position of two-bit triplet solenoid directional control valve (3) works, and three The electromagnet one (18) for being located at left side in position threeway proportional reversing valve two (2) obtains electric, position in 3-position-3-way proportional reversing valve one (1) When electromagnet one (18) in right side obtains electric, hydraulic oil enters oil-way integrated block (9) through oil sources pipe fitting (10), and along oil input channel (P0) and duct four (P2) enters 3-position-3-way proportional reversing valve one (1), then the A oil from 3-position-3-way proportional reversing valve two (2) Mouth enters two-bit triplet electromagnetic switch through duct five (A2), control duct two (K2), control duct four (K4) and duct nine (T3) Valve (3), then by two-bit triplet solenoid directional control valve (3) A10 hydraulic fluid port through duct eight (A3), control duct three (K3), duct ten (out), hydraulic cylinder rod chamber pipe fitting (7) and seamless steel pipe (8) enter asymmetric servo cylinder (4) rod chamber；Meanwhile single rod Hydraulic cylinder (4) rodless cavity oil return is directly entered oil-way integrated block (9), then enters three through duct 11 (in) and duct two (A1) Threeway proportional reversing valve one (1), then by 3-position-3-way proportional reversing valve one (1) T hydraulic fluid port through duct three (T1), back oil road (T0) And fuel tank pipe fitting (11) leaves oil-way integrated block (9), returns to fuel tank；

When opening independent throttle mode, first to the electromagnet one (18) for being located at left side in 3-position-3-way proportional reversing valve two (2) Maximum current signal is loaded, so that 3-position-3-way proportional reversing valve two (2) is in left dominant bit, 3-position-3-way proportional reversing valve two (2) P hydraulic fluid port → A hydraulic fluid port standard-sized sheet of throttling runner, then servo-control system is according to the position of asymmetric servo cylinder (4) piston rod It sets, the electromagnet one (18) into 3-position-3-way proportional reversing valve one (1) positioned at right side exports fed-back current signals, 3-position-3-way Electromagnet one (18) in proportional reversing valve one (1) positioned at right side is determined according to the size of feedback current pushes 3-position-3-way ratio The distance that the spool one (12) of reversal valve one (1) moves to left then determines the A of 3-position-3-way proportional reversing valve one (1) throttling runner Hydraulic fluid port → T hydraulic fluid port aperture.