CN109798270B - Multi-mode energy-saving servo actuator and method for realizing multi-mode energy saving - Google Patents

Abstract

A multi-mode energy-saving servo actuator and a method for realizing multi-mode energy saving belong to the technical field of hydraulic energy-saving systems. The following problems in the prior art are solved: the problem of mismatching of the thrust of the piston rod and the load; the decoupling problem is carried out on the bilateral throttling effect generated when the oil in and out of the hydraulic cylinder passes through the servo valve; the problem that under the braking working condition, oil heats and warms up and is converted to collect external load energy is solved. The front side surface of the oil circuit integrated block is provided with an oil source pipe joint and an oil tank pipe joint, the upper end surface of the oil circuit integrated block is fixedly connected with a three-position three-way proportional reversing valve I, a three-position three-way proportional reversing valve II and a two-position three-way electromagnetic reversing valve in a detachable mode from front to back, the rear end of the oil circuit integrated block is fixedly connected with the outer wall of the single-rod hydraulic cylinder on one side of a rodless cavity, the left side surface of the oil circuit integrated block is provided with a hydraulic cylinder pipe joint with a rod cavity, and the hydraulic cylinder pipe joint with the rod cavity is communicated with the single-. The invention is used in hydraulic equipment.

Description

Multi-mode energy-saving servo actuator and method for realizing multi-mode energy saving

Technical Field

The invention relates to a servo actuator and a method for realizing energy conservation, belonging to the technical field of hydraulic energy-saving systems.

Background

Most of actuators on the market at present consist of a hydraulic cylinder and a single three-position four-way servo reversing valve, and the loop principle of the actuators is shown in figure 1. When the three-position four-way servo reversing valve works at the left position, high-pressure oil output by an oil source enters a rodless cavity of a hydraulic cylinder through a P11 oil port and an A11 oil port of the three-position four-way servo reversing valve, low-pressure oil in a rod cavity of the hydraulic cylinder returns to an oil tank through a B11 oil port and a T11 oil port of the three-position four-way servo reversing valve, and a piston rod moves rightwards under the action of pressure difference of the two cavities to push a load. Similarly, when the three-position four-way servo reversing valve works at the right position, high-pressure oil enters the rod cavity through the oil port P11 and the oil port B11 of the three-position four-way servo reversing valve, low-pressure oil returns to the oil tank from the rodless cavity through the oil port A11 and the oil port T11 of the three-position four-way servo reversing valve, and under the action of pressure difference of the two cavities, the piston rod moves leftwards to pull a load. This type of actuator is simple in construction and control, but suffers from the disadvantage of significant energy waste. The main manifestations are as follows:

(1) the external load is usually changed, and the thrust of the actuator driving load is single, so that the phenomenon that a large thrust drives a small load often occurs, and energy waste is caused;

(2) in the face of the working condition that the load needs to be braked, the reaction force of the load on the actuator is finally consumed in a heat-generating mode, so that the temperature of hydraulic oil is increased, and energy is wasted;

(3) the oil inlet and outlet of the hydraulic cylinder pass through a three-position four-way servo valve (see figure 1), and the internal throttling flow passages (four flow passages including a P11 oil port → an A11 oil port and a B11 oil port → a T11 oil port, or a P11 oil port → a B11 oil port and an A11 oil port → a T11 oil port) of a single servo valve are fixedly connected, so that the throttling effect is also bidirectional, and the oil inlet throttling and the oil return throttling exist. Therefore, great energy loss is inevitably caused at the throttling flow channel;

the hydraulic equipment belongs to high energy consumption equipment, and if the energy consumption can be reduced, high economic benefit can be brought. Therefore, it is important to save energy for the actuator by an appropriate means.

Disclosure of Invention

The invention aims to provide a multi-mode energy-saving servo actuator and a method for realizing multi-mode energy saving, which aim to solve the following problems in the prior art:

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

(2) the decoupling problem is carried out on the bilateral throttling effect generated when the oil in and out of the hydraulic cylinder passes through the servo valve;

(3) the problem that under the braking working condition, oil heats and warms up and is converted to collect external load energy is solved.

In view of the above three problems, a loop as shown in fig. 2 is designed for the actuator of the present invention, wherein four working modes are included, which are a differential mode, an energy recovery mode, an independent throttling mode and a normal working mode.

Wherein: differential mode is used to solve the problem (1);

the energy recovery modality is used to solve the problem (2);

the independent throttling modality solves problem (3).

It should be noted that these four modes are not unique at the same time, the differential mode of operation cannot be performed simultaneously with the other modes of operation, the energy recovery mode cannot be performed simultaneously with the normal mode of operation, and the independent throttling mode can be performed simultaneously with the normal mode of operation and the energy recovery mode. This is determined by the designed loop. Specifically, because the two-position three-way electromagnetic directional valve works at the left position in the differential mode, an oil path which flows to the two-position three-way electromagnetic directional valve through the two-position three-way proportional directional valve is sealed, namely, in the differential mode, the two-position three-way proportional directional valve does not work, and other modes need the two-position three-way proportional directional valve to work in a matching way, the differential mode and other modes cannot work at the same time; the energy recovery mode exists only in the case of braking loads; the normal working mode refers to a condition that the actuator of the invention is used as a general actuating mechanism to drive the load to move, so that the energy recovery mode and the normal working mode cannot exist at the same time because the external load environment is different.

The technical scheme adopted by the invention is as follows:

the multimode energy-saving servo actuator comprises a single-rod hydraulic cylinder, a hydraulic cylinder rod cavity pipe joint, a seamless steel pipe, an oil circuit integrated block, an oil source pipe joint, an oil tank pipe joint and a combination valve, wherein the combination valve comprises two three-position three-way proportional reversing valves and a two-position three-way electromagnetic reversing valve, and the two three-position three-way proportional reversing valves are respectively a three-position three-way proportional reversing valve I and a three-position three-way proportional reversing valve II;

an oil source pipe joint and an oil tank pipe joint are arranged on the front side surface of the oil path integrated block, the oil source pipe joint is communicated with an oil inlet channel arranged in the oil path integrated block, and the oil tank pipe joint is communicated with an oil return channel arranged in the oil path integrated block; the oil circuit integrated block is internally provided with a pore passage ten, a control pore passage one, a control pore passage four, a pore passage eleven, a control pore passage two and a control pore passage three of a rod cavity of the single-rod-out hydraulic cylinder, wherein the pore passage ten and the control pore passage one are communicated to the left side surface of the oil circuit integrated block, the control pore passage four-way is communicated to the right side surface of the oil circuit integrated block, and the pore passage eleven, the control pore passage two and the control pore passage three-way are communicated to the rear side surface of the oil circuit integrated block; the upper end face of the oil circuit manifold block is detachably and fixedly connected with a three-position three-way proportional reversing valve I, a three-position three-way proportional reversing valve II and a two-position three-way electromagnetic reversing valve from front to back, a pore passage I, a pore passage II, a pore passage III, a pore passage IV, a pore passage VI, a pore passage VII and a pore passage nine are arranged in the oil circuit manifold block, the pore passage I, the pore passage II and the pore passage three-way are connected to the upper end face of the oil circuit manifold block and are positioned in the area of the three-position three-way proportional reversing valve I, the pore passage I is communicated with a pore passage corresponding to a oil port P on the left side in the three-position three-way proportional reversing valve I, the pore passage II is communicated with a pore passage corresponding to an oil port A on the middle part in the three-position;

the upper end face of the oil way manifold block, which is communicated with the fourth hole channel, the fifth hole channel and the sixth hole channel, is positioned in the area of the three-position three-way proportional reversing valve II, the fourth hole channel is communicated with the hole channel corresponding to the oil port P on the left side in the three-position three-way proportional reversing valve II, the fifth hole channel is communicated with the hole channel corresponding to the oil port A in the middle of the three-position three-way proportional reversing valve II, and the sixth hole channel is communicated with the hole channel corresponding to the oil port T on the right side in the three-position three-; the oil passage seven, the oil passage eight and the oil passage nine are communicated to the upper end face of the oil passage manifold block and are positioned in the area of the two-position three-way electromagnetic directional valve, the oil port on the left side in the two-position three-way electromagnetic directional valve is communicated with the oil passage corresponding to the oil port on the middle part in the two-position three-way electromagnetic directional valve, and the oil port on the right side in the two-position three-way electromagnetic directional valve is communicated with the oil port;

wherein: the oil inlet channel is communicated with a first hole channel and a fourth hole channel, the oil inlet channel directly supplies oil for a first three-position three-way proportional reversing valve and a second three-position three-way proportional reversing valve through the first hole channel and the fourth hole channel, the oil return channel is communicated with a third hole channel and a sixth hole channel, the oil return of the first three-position three-way proportional reversing valve and the second three-position three-way proportional reversing valve is converged into the oil return channel through the third hole channel and the sixth hole channel, a eleventh hole channel is communicated with a second hole channel and a first control hole channel, the first control hole channel is communicated with a seventh hole channel, the pressure oil at an oil port A of the first three-position three-way proportional reversing valve is divided into two paths, one path enters a rodless cavity of the single-rod hydraulic cylinder through the second hole channel and the eleventh hole channel, the other path enters a T10 in the two-position three-way electromagnetic reversing, pressure oil of an oil port A in the middle of the three-position three-way proportional directional valve II enters a T10 oil port on the right side of the two-position three-way electromagnetic directional valve through a pore passage five, a control pore passage two, a control pore passage four and a pore passage nine, a control pore passage three is communicated with a pore passage eight and a pore passage ten, and pressure oil of an oil port A10 in the middle of the two-position three-way electromagnetic directional valve is communicated with a rod cavity of the single-rod hydraulic cylinder through the pore passage eight, the control pore passage three and the pore passage ten; the rear end of the oil circuit integrated block is fixedly connected with the outer wall of one side of the single-rod hydraulic cylinder on the rodless cavity, the left side face of the oil circuit integrated block is positioned in the ten positions of the pore channel and is provided with a hydraulic cylinder rod cavity pipe joint, and the hydraulic cylinder rod cavity pipe joint is communicated with the single-rod hydraulic cylinder rod cavity through a seamless steel pipe.

The method for realizing multi-mode energy conservation by utilizing the multi-mode energy-saving servo actuator comprises a differential mode; the differential mode is as follows:

in the mode, the second electromagnet in the two-position three-way electromagnetic reversing valve is electrified, the first electromagnet on the left side of the first three-position three-way proportional reversing valve is electrified, hydraulic oil supplied by an oil source enters the oil circuit manifold block through an oil source pipe joint, enters the P oil port on the left side of the first three-position three-way proportional reversing valve along the oil inlet channel and the first pore channel in sequence, the first three-position three-way proportional reversing valve works in the left position, the P oil port on the left side of the first three-position three-way proportional reversing valve is communicated with the A oil port on the middle part, the T oil port on the right side of the first three-position three-way proportional reversing valve is sealed, pressure oil enters the rodless cavity of the single-outlet rod hydraulic cylinder through the A oil port on the middle part of the first three-position three-way proportional reversing valve along the second pore channel and the eleventh pore channel, and simultaneously, and the control hole channel III and the control hole channel eight enter the two-position three-way electromagnetic directional valve, the two-position three-way electromagnetic directional valve works at the left position, a P10 oil port on the left side in the two-position three-way electromagnetic directional valve is communicated with an A10 oil port on the middle part, an oil port on the right side in the two-position three-way electromagnetic directional valve is closed, and pressure oil sequentially passes through a P10 oil port on the left side in the two-position three-way electromagnetic directional valve and sequentially enters a rodless cavity of the single-rod hydraulic cylinder along the hole channel seven, the control hole channel I.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a multi-mode energy-saving servo actuator which mainly comprises a two-position three-way electromagnetic reversing valve, a single-rod hydraulic cylinder, an oil circuit manifold block and two three-position three-way proportional reversing valves, wherein all the components are integrated into a module, the structure is compact, the occupied space is small, the assembly and disassembly are convenient, and the multi-mode energy-saving servo actuator is suitable for various occasions such as foot robots, vehicle braking, heavy object hoisting and the like.

The main effect of the invention is reflected in energy saving, and three specific problems which cause high energy consumption of a common actuator are solved by respectively designing three special modes. Aiming at the problem that the thrust of a piston rod is not matched with the load, a two-position three-way electromagnetic directional valve is used for controlling an actuator loop to switch between a differential loop and a non-differential loop, the non-differential loop is used when the load is large, and the differential loop is used when the load is small (regarding the judgment condition of loop switching, see a specific formula given below), so that the power demand and the power supply are matched with each other. The aim of saving energy is achieved by efficient utilization of energy. Aiming at the problems of heating and temperature rise of oil and waste of energy of load under the braking working condition, the method is provided for converting mechanical energy of external load into hydraulic energy of internal oil by using the actuator, and then collecting, storing and recycling the obtained high-pressure oil through the oil source system, so that the problem of heating of the oil is effectively relieved, and the aim of saving energy is fulfilled. Aiming at the problem of large energy loss caused by the fact that a bilateral throttling effect is generated when oil enters and exits from a single-rod hydraulic cylinder and passes through a three-position four-way proportional reversing valve (see figure 1) in a common actuator, a double-proportional valve (namely two three-position three-way proportional reversing valves) is designed to independently supply oil and discharge oil to the single-rod hydraulic cylinder, bilateral throttling is changed into unilateral throttling, and energy conservation is achieved by reducing energy loss.

The three special modes are a differential mode applied to a small-load working condition, an energy recovery mode applied to a braking load working condition and an independent throttling mode applied to a normal working condition and a braking load working condition. On the loop, the modes are integrated, and the switching between the modes is realized by combining different working positions of all valves. Structurally, each part is integrated into a whole, and a hydraulic pipeline and a hydraulic cavity are reduced as much as possible. Practical application results show that the multi-mode servo actuator adopting the novel loop structure and the integration mode has obvious energy-saving effect, and can save 30% of energy consumption compared with a common actuator.

Drawings

FIG. 1 is a schematic diagram of an actuator of the background art;

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

FIG. 3 is an isometric view of the multi-modal energy-saving servo actuator of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at C;

FIG. 5 is a front cross-sectional view of the three-position, three-way proportional directional valve in a left position of operation;

FIG. 6 is a front cross-sectional view of the three-position, three-way proportional directional valve in a right position of operation;

FIG. 7 is a front cross-sectional view of the second left-hand operation of the three-position, three-way proportional reversing valve;

FIG. 8 is a front cross-sectional view of the second right position of the three-position, three-way proportional directional valve;

FIG. 9 is a front cross-sectional view of the two-position three-way solenoid directional valve in a left position of operation;

FIG. 10 is a front cross-sectional view of the two-position three-way solenoid directional valve in a right position of operation;

fig. 11 is a plan view of the oil manifold block;

FIG. 12 is a view in the direction D of FIG. 11;

FIG. 13 is a view in the direction C of FIG. 11;

FIG. 14 is a view from the direction A of FIG. 11;

FIG. 15 is a view from direction B of FIG. 11;

FIG. 16 is an enlarged fragmentary view at M1 of FIG. 5;

FIG. 17 is an enlarged fragmentary view at M2 in FIG. 5;

FIG. 18 is an enlarged fragmentary view at E1 in FIG. 9;

fig. 19 is a partial enlarged view at E2 in fig. 9.

The names and the labels of the parts in the figure are as follows:

the three-position three-way proportional reversing valve comprises a first three-position three-way proportional reversing valve 1, a second three-position three-way proportional reversing valve 2, a two-position three-way electromagnetic reversing valve 3, a single-rod hydraulic cylinder 4, a hydraulic cylinder rod cavity pipe joint 7, a seamless steel pipe 8, an oil circuit manifold block 9, an oil source pipe joint 10, an oil tank pipe joint 11, a first valve core 12, a first valve body 13, a first spring seat 14, a first flat gasket 15, a first spring 16, a first push rod 17, a first electromagnet 18, a first seal ring 19, a second seal ring 20, a second valve core 21, a second valve body 22, a second spring seat 23, a second electromagnet 24, a plug 25, a second flat gasket 26, a second spring 27, a.

Detailed Description

The first embodiment is as follows: as shown in fig. 2, 3, and 10-14, this embodiment describes a multi-mode energy-saving servo actuator, which includes a single-rod hydraulic cylinder 4, a hydraulic cylinder rod cavity pipe joint 7, a seamless steel pipe 8, an oil circuit manifold block 9, an oil source pipe joint 10, an oil tank pipe joint 11, and a combination valve, where the combination valve includes two three-position three-way proportional directional valves and a two-position three-way electromagnetic directional valve 3, and the two three-position three-way proportional directional valves are a three-position three-way proportional directional valve one 1 and a three-position three-way proportional directional valve two 2, respectively;

an oil source pipe joint 10 and an oil tank pipe joint 11 are installed on the front side surface of the oil circuit manifold block 9, the oil source pipe joint 10 is communicated with an oil inlet channel P0 arranged in the oil circuit manifold block 9, and the oil tank pipe joint 11 is communicated with an oil return channel T0 arranged in the oil circuit manifold block 9; the oil circuit manifold block 9 is internally provided with a channel ten M for connecting a rod cavity of the single-rod hydraulic cylinder 4, a control channel one K1, a control channel four K4, a channel eleven N for connecting a rod cavity of the single-rod hydraulic cylinder 4, a control channel two K2 and a control channel three K3, wherein the channel ten M and the control channel one K1 are communicated with the left side surface of the oil circuit manifold block 9, the control channel four K4 is communicated with the right side surface of the oil circuit manifold block 9, and the channel eleven N, the control channel two K2 and the control channel three K3 are communicated with the rear side surface of the oil circuit manifold block 9; the upper end face of the oil circuit manifold block 9 is detachably and fixedly connected with a three-position three-way proportional reversing valve I1, a three-position three-way proportional reversing valve II 2 and a two-position three-way electromagnetic reversing valve 3 from front to back (through bolts), a first hole passage P1, a second hole passage A1, a third hole passage T1, a fourth hole passage P2, a fifth hole passage A2, a sixth hole passage T2, a seventh hole passage P3, an eighth hole passage A3 and a ninth hole passage T3 are arranged in the oil circuit manifold block 9, the first hole passage P1, the second hole passage A1 and the third hole passage T1 are communicated with the upper end surface of the oil circuit manifold block 9 and are positioned in the area of the three-position three-way proportional reversing valve I1, the first hole passage P1 is communicated with a hole passage corresponding to the P oil port on the left side in the three-position three-way proportional reversing valve I1, the second pore passage A1 is communicated with a pore passage corresponding to the oil port A in the middle of the three-position three-way proportional directional valve I1, the three-hole passage T1 is communicated with a hole passage corresponding to the oil port T on the right side in the three-position three-way proportional reversing valve I1;

the upper end face of the channel four P2, the channel five A2 and the channel six T2 communicated to the oil circuit manifold block 9 is located in the area of the three-position three-way proportional reversing valve II 2, the channel four P2 is communicated with a channel corresponding to a P oil port on the left side in the three-position three-way proportional reversing valve II 2, the channel five A2 is communicated with a channel corresponding to an A oil port on the middle part in the three-position three-way proportional reversing valve II 2, and the channel six T2 is communicated with a channel corresponding to a T oil port on the right side in the three-position three-way proportional reversing valve II 2; the oil passage seven P3, the oil passage eight A3 and the oil passage nine T3 are communicated to the upper end face of the oil passage manifold block 9 and are positioned in the area of the two-position three-way electromagnetic directional valve 3, the oil passage seven P3 is communicated with the oil passage corresponding to the P10 oil port on the left side in the two-position three-way electromagnetic directional valve 3, the oil passage eight A3 is communicated with the oil passage corresponding to the A10 oil port on the middle part in the two-position three-way electromagnetic directional valve 3, and the oil passage nine T3 is communicated with the oil passage corresponding to the T10 oil port on the right side in the two-position three-way electromagnetic directional valve 3 (the diameters of the oil ports are equal and are on the same;

wherein: the oil inlet channel P0 is communicated with a first hole channel P1 and a fourth hole channel P2, the oil inlet channel P0 directly supplies oil for a first three-position three-way proportional reversing valve 1 and a second three-position three-way proportional reversing valve 2 through a first hole channel P1 and a fourth hole channel P2, the oil return channel T0 is communicated with a third hole channel T1 and a sixth hole channel T2, the oil return of the first three-position three-way proportional reversing valve 1 and the second three-position three-way proportional reversing valve 2 is converged into the oil return channel T0 through a third hole channel T1 and a sixth hole channel T2, an eleventh hole channel N is communicated with a second hole channel A1 and a first control hole channel K1, the first control hole channel K1 is communicated with a seventh hole channel P3, the pressure oil of an oil port A of the first three-position three-way proportional reversing valve 1 is divided into two ways, one way enters a rodless cavity of the single-rod hydraulic cylinder 4 through a second hole channel A1 and an eleventh hole channel N, the other way channel A1, a first control hole channel K1 and a P3 enter a three-way electromagnetic valve T38, the control hole channel II K2 is communicated with a hole channel five A2, pressure oil of an oil port A in the middle of the three-position three-way proportional directional valve II 2 enters a oil port T10 in the two-position three-way electromagnetic directional valve 3 on the right side through a hole channel five A2, a control hole channel II K2, a control hole channel four K4 and T3, the control hole channel three K3 is communicated with a hole channel eight A3 and a hole channel ten M, and pressure oil of an oil port A10 in the middle of the two-position three-way electromagnetic directional valve 3 is communicated with a rod cavity of the single-rod hydraulic cylinder 4 through the hole channel eight A3, the control hole channel three K3 and the hole channel ten M; the rear end of the oil circuit manifold block 9 is fixedly connected with the outer wall of the single-rod hydraulic cylinder 4 on one side of the rodless cavity, the left side face of the oil circuit manifold block 9 is provided with a hydraulic cylinder rod cavity pipe joint 7 at the position of ten M of the pore channel, and the hydraulic cylinder rod cavity pipe joint 7 is communicated with the single-rod hydraulic cylinder 4 through a seamless steel pipe 8.

The front side, the middle part and the rear side of the upper end face of the oil circuit manifold block 9 are respectively provided with four threaded holes which are arranged in a rectangular shape, and the four threaded holes which are positioned on the front side of the upper end face of the oil circuit manifold block 9 are detachably and fixedly connected with a three-position three-way proportional reversing valve I1 through four bolts; the four threaded holes in the middle of the upper end face of the oil circuit manifold block 9 are detachably and fixedly connected with the three-position three-way proportional reversing valve II 2 through four bolts; the four threaded holes in the rear side of the upper end face of the oil circuit manifold block 9 are detachably and fixedly connected with the two-position three-way electromagnetic directional valve 3 through four bolts.

The second embodiment is as follows: as shown in fig. 4-7, 15, and 16, the first three-position three-way proportional directional valve 1 and the second three-position three-way proportional directional valve 2 each include a first valve core 12, a first valve body 13, a first two spring seats 14, a first two flat washers 15, a first two springs 16, a first two push rods 17, and a first two electromagnets 18; the lower end face of the valve body I13 is provided with three proportional electromagnetic directional valve pore passages along the vertical direction, the three proportional electromagnetic directional valve pore passages are sequentially arranged from left to right, a port of the proportional electromagnetic directional valve pore passage positioned on the left side is a P oil port, a port of the proportional electromagnetic directional valve pore passage positioned in the middle is an A oil port, a port of the proportional electromagnetic directional valve pore passage positioned on the right side is a T oil port, the middle of the valve body I13 is provided with a first horizontal central hole communicated with the three proportional electromagnetic directional valve pore passages, the left side face and the right side face of the valve body I13 are respectively provided with a first threaded hole and a first shoulder hole, the first shoulder hole is positioned between the first threaded hole and the first horizontal central hole, the first shoulder hole is coaxial and communicated with the first threaded hole and the first horizontal central hole, the two electromagnets I18 are arranged on the left side and the right, a first valve core 12 is arranged in a horizontal central hole I of a first valve body 13 in a sliding mode, a second shoulder hole I and a first push rod central hole I which are communicated with each other are arranged in the middle of the connecting end of each first electromagnet 18, the second shoulder hole I and the first push rod central hole I are coaxially arranged with the horizontal central hole I, a first push rod 17 is arranged in the central hole I in a sliding mode, the inner end of each first push rod 17 is in contact with the adjacent end of the first valve core 12, a first spring 16 is arranged in each shoulder hole II, the first spring 16 is sleeved on the first push rod 17, one end of the first spring 16 abuts against the shoulder end face of the second shoulder hole, the other end of the first spring 16 abuts against a first flat washer 15 which is arranged adjacently, the two first flat washers 15 are sleeved on the left end and the right end of the first valve core 12, two first spring seats 14 are further sleeved on the first valve.

The outer ends of the two threaded holes I of each valve body I13 are respectively provided with a first sealing ring groove, a first sealing ring 19 is arranged in each first sealing ring groove, each first sealing ring 19 is sleeved at the root of the connecting end of the corresponding electromagnet I18, and the valve body I13 and the two electromagnet I18 are sealed through the two first sealing rings 19.

The P oil mouth department that is located left proportion solenoid directional valve pore, the A oil mouth department that is located the proportion solenoid valve switching-over pore at middle part and the T oil mouth department that is located the proportion solenoid valve switching-over pore on right side all are equipped with sealed annular two, every be equipped with two 20, three sealing washer two 20 are used for the P oil mouth, the A oil mouth and the T oil mouth of valve body one and the sealed of oil circuit manifold block 9.

The input current of the electromagnet I18 in the three-position three-way proportional reversing valve I1 is continuously adjustable. When the electromagnet I18 at the left end is electrified, the electromagnet I18 at the left end drives the push rod I17 to push the valve core I12 to the right, and the three-position three-way proportional reversing valve I1 works at the left position. The larger the current is, the larger the displacement of the first valve element 12 is pushed until the shoulder of the first valve element 12 reaches the first spring seat 14 positioned on the right side (the valve is in the left maximum position), at this time, the oil port P of the first three-position three-way proportional reversing valve 1 is communicated with the oil port a, and the oil port T is closed, as shown in fig. 4.

Similarly, when the electromagnet I18 positioned at the right end in the three-position three-way proportional reversing valve I1 is electrified, the push rod I17 pushes the valve core I12 to move left, and the three-position three-way proportional reversing valve I1 works at the right position. The larger the current is, the larger the displacement of the first valve core 12 is pushed, until the shoulder of the second valve core 12 reaches the first spring seat 14 at the left end (the first three-position three-way proportional reversing valve 1 is at the right maximum position), at this time, the oil port P of the first three-position three-way proportional reversing valve 1 is closed, and the oil port T is communicated with the oil port a, as shown in fig. 5. When the two electromagnets I8 are not electrified, the valve core I12 is located in the middle of the hole channel 3 of the valve body I (corresponding to the oil port A, the oil port A is completely sealed by the valve core shoulder at the moment), and the oil ports P, A and T of the three-position three-way proportional reversing valve I1 are not communicated.

The third concrete implementation mode: as shown in fig. 8, 9, 17 and 18, the present embodiment further describes a first embodiment, and the two-position three-way electromagnetic directional valve 3 includes a second valve core 21, a second valve body 22, a second spring seat 23, a second electromagnet 24, a plug 25, a second push rod 28, two flat washers 26 and two springs 27; the lower end face of the second valve body 22 is provided with three electromagnetic directional valve pore passages along the vertical direction, the three electromagnetic directional valve pore passages are sequentially arranged from left to right, the port of the electromagnetic directional valve pore passage positioned on the left side is a P10 oil port, the port of the electromagnetic directional valve pore passage positioned in the middle is an A10 oil port, the port of the electromagnetic directional valve pore passage positioned on the right side is a T10 oil port, the middle of the second valve body 22 is provided with a second horizontal central hole communicated with the three electromagnetic directional valve pore passages, the left side face of the second valve body 22 is provided with a second threaded hole and a third shoulder hole, the third shoulder hole is positioned between the second threaded hole and the second horizontal central hole, the third shoulder hole is coaxially communicated with the second threaded hole and the second horizontal central hole, the right side face of the second valve body 22 is provided with a third threaded hole communicated with and coaxial with the second horizontal central hole, the second electromagnet 24 is arranged on the left, a second valve core 21 is arranged in a horizontal central hole II of the second valve body 22 in a sliding manner, a fourth shoulder hole and a second push rod central hole are arranged in the middle of the connecting end of the second electromagnet 24, the fourth shoulder hole and the second push rod central hole are coaxially arranged with the second horizontal central hole, a second push rod 28 is arranged in the second push rod central hole in a sliding manner, and the inner end of the second push rod 28 is in contact with the adjacent end of the second valve core 21; a counter bore is arranged in the middle of the connecting end of the plug 25, the plug 25 is in threaded connection with a threaded hole on the right side face of the second valve body 22, a second spring 27 is arranged in each of the shoulder hole four and the counter bore of the plug 25, the second spring 27 arranged in each shoulder hole four is sleeved on the second push rod 28, one end of the second spring abuts against the shoulder end face of each shoulder hole four, the other end of the second spring abuts against one flat washer 26, one flat washer 26 is sleeved on the left end of the second valve core 21, a second spring seat 23 is further sleeved on the second valve core 21, the second spring seat 23 is arranged in each shoulder hole three, and one flat washer 26 is attached to the second spring seat 23; and a second spring 27 arranged in the counter bore is sleeved on the second valve core 21, one end of the second spring 27 sleeved on the second valve core 21 abuts against the end face of the counter bore, the other end of the second spring 27 abuts against the other second flat washer 26, and the other second flat washer 26 is sleeved on the second valve core 21 and abuts against the end face of the right shoulder of the second valve core 21.

The outer ends of the threaded hole II and the threaded hole III of each valve body II 22 are respectively provided with a sealing ring groove III, a sealing ring III 29 is arranged in each sealing ring groove III, one sealing ring III 29 is sleeved at the root of the connecting end of the electromagnet II 24, the other sealing ring III 29 is sleeved at the root of the connecting end of the plug 25, and the sealing rings III 29 are respectively sealed between the valve body II 22 and the electromagnet II 24 and between the valve body II 22 and the plug 25 through one sealing ring III 29.

The P10 oil mouth department that is located the solenoid directional valve pore on left side, the A10 oil mouth department that is located the solenoid directional valve pore on middle part and the T10 oil mouth department that is located the solenoid directional valve pore on right side all are equipped with four, every sealing ring four is equipped with four 30, three sealing ring four 30 is used for the P10 hydraulic fluid port of two 22 valve bodies, A10 hydraulic fluid port and T10 hydraulic fluid port and the sealed of oil circuit manifold block 9.

The structure of the pore channel inside the two-position three-way electromagnetic directional valve 3 is similar to that of a three-position three-way proportional directional valve, the three pore channels are sequentially arranged from left to right, but only the left side of the two-position three-way electromagnetic directional valve is provided with a second electromagnet 24, and the right side of the two-position three-way electromagnetic directional valve is blocked by a second spring 27 and a plug 25. When the second electromagnet 24 is electrified, the second electromagnet 24 drives the second push rod 28 to push the second valve core 21 to move rightwards, the two-position three-way electromagnetic directional valve 3 works in the left position, and the moving displacement is fixed and cannot be adjusted. At this time, the T10 port was blocked and the P10 port was connected to the a10 port, as shown in fig. 8. When the second electromagnet loses power, the second valve core 21 is pushed back to the left end under the action of the second spring 27, and the two-position three-way electromagnetic directional valve 3 works at the right position. At this time, the P10 port was closed, and the T10 port communicated with the A10 port, as shown in FIG. 9. It should be noted that the right position is a normal operating position of the two-position three-way electromagnetic directional valve 3.

The fourth concrete implementation mode: a method of achieving multi-modal energy savings using an actuator according to any one, two or three of the preceding embodiments, the method comprising a differential mode; the differential mode is as follows:

in the mode, the second electromagnet 24 in the two-position three-way electromagnetic directional valve 3 is electrified, the first electromagnet 18 on the left side of the first three-position three-way proportional directional valve 1 is electrified, hydraulic oil supplied by an oil source enters the oil circuit manifold block 9 through the oil source pipe joint 10, enters the P oil port on the left side of the first three-position three-way proportional directional valve 1 along the oil inlet channel P0 and the pore channel P1 in sequence, the first three-position three-way proportional directional valve 1 works on the left side, the P oil port on the left side of the first three-position three-way proportional directional valve 1 is communicated with the A oil port on the middle part, the T oil port on the right side of the first three-position three-way proportional directional valve 1 is sealed, pressure oil enters the rodless cavity of the single-outlet rod hydraulic cylinder 4 through the A oil port on the middle part of the first three-position three-way proportional directional valve 1 along the pore channel II A1 and the pore channel, The ten M pore passage, the three K3 control pore passage and the eight A3 pore passage of the oil circuit manifold block 9 enter the two-position three-way electromagnetic directional valve 3, the left position of the two-position three-way electromagnetic directional valve 3 works, a P10 oil port on the left side of the two-position three-way electromagnetic directional valve 3 is communicated with an A10 oil port on the middle part, a T10 oil port on the right side of the two-position three-way electromagnetic directional valve 3 is closed, and pressure oil sequentially passes through a P10 oil port on the left side of the two-position three-way electromagnetic directional valve 3 and then enters a rodless cavity of the single-rod hydraulic cylinder 4 along the seven P3 pore passage, the one K1 control pore.

It should be noted that: the differential mode of the actuator is only suitable for the working condition that the piston cylinder of the hydraulic cylinder extends out to push the load, and the differential loop is not formed under other conditions.

In actual operation, the load is usually variable in sizeAnd (4) carrying out chemical reaction. In order to match the piston rod thrust of the single-rod hydraulic cylinder 4 to the load, the piston rod thrust in the differential mode and the non-differential mode is first analyzed. In the differential mode, the thrust F of the piston rod is equal to (P)_S-ΔP)·(A_p-A_T) In the non-differential mode, the thrust F of the piston rod is equal to (P)_S-ΔP)·A_P. Wherein P is_SIs the oil source pressure, Δ P is the pressure drop of the valve, A_PThe area of the piston rod on one side of the rodless cavity, A_TThe area of the piston rod on one side of the rod cavity is shown; it is easy to know that when the oil source pressure is the same, the thrust of the piston rod in the non-differential mode is larger than that in the differential mode. On the other hand, in the differential mode, the oil source needs to output the flow rate q ═ v (a) of the oil liquid_P-A_T) In the non-differential mode, the required flow q is vA_P. Wherein q is the oil flow output by the oil source, and v is the moving speed of the piston rod. Obviously, the differential mode requires less flow at the same drive speed. Therefore, when the load F_L＞(P_S-ΔP)·(A_P-A_T) In the meantime, a non-differential mode should be selected so that the piston rod of the single-rod hydraulic cylinder 4 obtains sufficient thrust. When the load F_L＜(P_S-ΔP)·(A_P-A_T) When the hydraulic oil supply device is used, a differential mode is adopted, so that energy waste when a large thrust drives a small load can be avoided, and the supply amount of hydraulic oil at an oil source can be reduced. In the operation mode, the differential mode and the non-differential mode are reasonably selected by judging the size of the external load. The energy-saving power supply system is essentially characterized in that the pressure and the flow of oil output by an oil source are adjusted according to load requirements, so that power requirements and power supply are matched with each other, and the purpose of saving energy is achieved through efficient utilization of energy.

The fifth concrete implementation mode: in this embodiment, a fourth specific embodiment is further described, and the method further includes a normal operation mode; the normal working modes are as follows:

when the external load does not need to be braked, the actuator is used as a general actuating mechanism to push the load; when the two-position three-way electromagnetic reversing valve 3 works at the right position, the three-position three-way proportional reversing valve I1 works at the left position, and the three-position three-way proportional reversing valve II 2 works at the right position, a piston rod of the single-rod hydraulic cylinder 4 extends out to push a load to move rightwards; when the two-position three-way electromagnetic reversing valve 3 works at the right position, the three-position three-way proportional reversing valve I1 works at the right position, and the three-position three-way proportional reversing valve II 2 works at the left position, the piston rod of the single-rod hydraulic cylinder 4 retracts to pull the load to move leftwards; the method specifically comprises the following steps:

the second electromagnet 24 of the two-position three-way electromagnetic directional valve 3 is powered off, the second valve core 21 of the two-position three-way electromagnetic directional valve 3 is reset to the left side under the action of the second spring 27, and the right position of the two-position three-way electromagnetic directional valve 3 works; when the electromagnet I18 positioned on the left side in the three-position three-way proportional reversing valve I1 is electrified and the electromagnet I18 positioned on the right side in the three-position three-way proportional reversing valve II 2 is electrified (namely the three-position three-way proportional reversing valve I1 works on the left side and the three-position three-way proportional reversing valve II 2 works on the right side), hydraulic oil enters the oil path manifold block 9 through the oil source pipe joint 10, enters the three-position three-way proportional reversing valve I1 along the oil inlet channel P0 and the pore channel I P1, and then enters the rodless cavity of the single-rod hydraulic cylinder 4 from the oil port A positioned in the middle of the three-position three-way proportional reversing valve I1 through the pore channel II A63; meanwhile, the return oil of the rod cavity of the single-rod hydraulic cylinder 4 sequentially enters the two-position three-way electromagnetic directional valve 3 through a seamless steel pipe 8, a hydraulic cylinder rod cavity pipe joint 7, a pore passage ten M, a control pore passage three K3 and a pore passage eight A3, then sequentially enters the three-position three-way proportional directional valve two 2 through a T10 oil port on the right side in the two-position three-way electromagnetic directional valve 3 through a pore passage nine T3, a control pore passage four K4, a control pore passage two K2 and a pore passage five A2, and sequentially returns to the oil tank through a pore passage six T2, an oil return passage T0 and an oil tank pipe joint 11 through a T oil port on the right side in the three; the pressure difference between the rod cavity and the rodless cavity of the single-rod hydraulic cylinder 4 drives the piston rod to extend out, so that the load is pushed to move rightwards; when the first three-position three-way proportional reversing valve 1 works at the right position and the second three-position three-way proportional reversing valve 2 works at the left position, the flow paths of oil entering the oil circuit integrated block 9 are just opposite, hydraulic oil sequentially passes through an oil inlet channel P0, a pore channel four P2, the second three-position three-way proportional reversing valve 2, a pore channel five A2, a control pore channel two K2, a control pore channel four K4, a pore channel nine T3, the two-position three-way electromagnetic reversing valve 3, a pore channel eight A3, a control pore channel three K3, a pore channel ten M, a hydraulic cylinder rod cavity pipe joint 7 and a seamless steel pipe 8 to enter a rod cavity of the single-rod hydraulic cylinder 4, one side of the oil in the rod cavity of the single-rod hydraulic cylinder 4 flows back to an oil tank through the pore channel eleven N, the pore channel two A1, the first three-position three-way proportional reversing valve 1, the pore channel three.

The sixth specific implementation mode: this embodiment is a further description of embodiment five, wherein the method further comprises an energy recovery modality; the energy recovery modality is:

when a braking load is required, the actuator enters a recovered energy mode. Taking the installation position of the single-rod hydraulic cylinder 4 in the schematic diagram shown in fig. 2 as an example (in practical application, the installation position of the single-rod hydraulic cylinder 4 can be adjusted as required), when the load direction is rightward, the two-position three-way electromagnetic directional valve 3 works at the right position, the three-position three-way proportional directional valve one 1 works at the right position, and the three-position three-way proportional directional valve two 2 works at the left position, which is the energy recovery state. At the moment, a rod cavity of the single-rod hydraulic cylinder 4 is communicated with an oil source, oil in the rod cavity is high-pressure oil, a rodless cavity of the single-rod hydraulic cylinder 4 is communicated with an oil tank, and the oil in the rodless cavity is low-pressure oil. If the single-rod hydraulic cylinder 4 is in the normal working mode, the oil pressure difference between the rod cavity and the rodless cavity of the single-rod hydraulic cylinder 4 drives the piston rod of the single-rod hydraulic cylinder 4 to move leftwards. However, at this time, due to the inertia of the load, the load pulls the piston rod to move in a decelerating manner to the right until the load stops, and the braking is finished. During the braking process, the piston rod moves to the right, so that the oil in the rod cavity of the single-rod hydraulic cylinder 4 is extruded out and flows back to the external oil source system along the oil path, and the high-pressure oil in the rod cavity is collected and stored by the oil source system. After the load braking is finished, the actuator turns to other working modes, such as normal driving load working conditions, at the moment, the oil source system is released to collect the stored high-pressure oil, and power is provided for the single-rod hydraulic cylinder 4. The working mode is essentially that mechanical energy of an external load is converted into hydraulic energy of internal oil through an actuator, and then the obtained high-pressure oil is collected, stored and reused through an oil source system, so that the aim of saving energy is fulfilled.

Similarly, when a load moving leftwards is braked, the two-position three-way electromagnetic reversing valve 3 works at the right position, the three-position three-way proportional reversing valve I1 works at the left position, and the three-position three-way proportional reversing valve II 2 works at the right position. The load will push the piston rod to move to the left with a reduced speed until the load stops. During this period, the piston rod moves to the left, so that the oil in the rodless cavity of the single-rod hydraulic cylinder 4 is squeezed out, flows back to the external oil source system along the oil path, and is collected and stored by the oil source system.

Specifically, when a load moving to the right is braked, the second electromagnet 24 of the two-position three-way electromagnetic directional valve 3 loses power, the right position of the two-position three-way electromagnetic directional valve 3 works, the first electromagnet 18 on the right side in the first three-position three-way proportional directional valve 1 is powered, the first electromagnet 18 on the left side in the second three-position three-way proportional directional valve 2 is powered, the left position of the second three-position three-way proportional directional valve 2 works, hydraulic oil supplied by an oil source system enters the oil path manifold block 9 through the oil source pipe joint 10, enters the second three-position three-way proportional directional valve 2 along the oil inlet channel P0 and the channel four P2, enters the two-position three-way electromagnetic directional valve 3 through the channel five A2, the control channel two K2, the control channel four K4 and the channel nine T3, and finally enters the two-position three-way electromagnetic directional valve 3 through the channel eight A3, the channel eight A10, the eight A3, controlling the three K3 pore canals, the ten M pore canal canals, the hydraulic cylinder rod cavity pipe joint 7 and the seamless steel pipe 8 to enter the single-rod hydraulic cylinder 4 rod cavity; at the moment, the oil flowing into the rod cavity accumulates pressure to form leftward thrust on a piston rod of the single-rod hydraulic cylinder 4, the load connected with the piston rod is braked, the rightward load starts to perform rightward deceleration movement until the load stops, the piston rod connected with the load is forced to move rightward, the oil in the rod cavity is extruded out of the rod cavity, the extruded oil enters the oil path manifold block 9 through the seamless steel pipe 8 and a pipe joint 7 of the rod cavity of the hydraulic cylinder, enters the two-position three-way electromagnetic directional valve 3 along a hole passage ten M, a control hole passage three K3 and a hole passage eight A3, then enters the two-position three-way proportional directional valve two 2 through a T10 oil port of the two-position three-way electromagnetic directional valve 3 through a hole passage nine T3, a control hole passage four K4, a control hole passage two K2 and a hole passage five A2, and then passes through a hole passage four P2, an oil inlet passage P0 and an oil source pipe joint 10 from a P oil port of, finally, the high-pressure oil flowing out of the oil circuit manifold block 9 is collected, stored and reused by an external oil source system;

similarly, when a load moving leftwards is braked, the second electromagnet 24 in the two-position three-way electromagnetic reversing valve 3 loses power, the right position of the two-position three-way electromagnetic reversing valve 3 works, the first electromagnet 18 on the left side in the three-position three-way proportional reversing valve 1 is powered, the first three-position three-way proportional reversing valve 1 works on the left position, the second electromagnet 18 on the right side in the three-position three-way proportional reversing valve 2 is powered, and the second three-position three-way proportional reversing valve 2 works on the right position; hydraulic oil supplied by an oil source system enters an oil circuit manifold block 9 through an oil source pipe joint 10, enters a three-position three-way proportional reversing valve I1 through an oil inlet channel P0 and a pore channel P1, then enters a rodless cavity of a single-rod hydraulic cylinder 4 through a pore channel II A1 and a pore channel eleven N, at the moment, pressure accumulated by the oil flowing into the rodless cavity forms rightward thrust on a piston rod of the single-rod hydraulic cylinder 4, the load connected with the piston rod starts to be braked, the leftward load starts to perform leftward deceleration movement until the load stops, the piston rod connected with the load is forced to move leftward, the oil in the rodless cavity is extruded out of the rodless cavity, the extruded oil directly enters the oil circuit manifold block 9, enters the three-position three-way proportional reversing valve I1 through a pore channel II A1 and the P oil port of the three-position three-way proportional reversing valve I1 passes through a pore channel IV P2 and a pore channel IV, The oil inlet passage P0 and the oil source pipe joint 10 flow out of the oil path manifold block 9, and the high-pressure oil flowing out of the oil path manifold block 9 is collected, stored and reused by an external oil source system.

The seventh embodiment: in this embodiment, a fourth embodiment is further described, wherein the method further comprises an independent throttling modality; the independent throttling modality is:

the independent throttling modality is:

when the actuator is in the working condition that the piston rod of the single-rod hydraulic cylinder 4 extends out, the electromagnet II 24 in the two-position three-way electromagnetic directional valve 3 loses power, the valve core II 21 is reset to the left side under the action of the spring II 27, and the two-position three-way electromagnetic directional valve 3 works in the right position; when the electromagnet I18 on the left side in the three-position three-way proportional reversing valve I1 is electrified, and the electromagnet I on the right side in the three-position three-way proportional reversing valve II 2 is electrified, hydraulic oil enters the oil circuit manifold block 9 through the oil source pipe joint 10, enters the three-position three-way proportional reversing valve I1 along the oil inlet channel P0 and the pore channel I P1, and then enters the rodless cavity of the single-outlet-rod hydraulic cylinder 4 through the oil port A of the three-position three-way proportional reversing valve I1 through the pore channel II A1 and the pore channel eleven N; meanwhile, the return oil of the rod cavity of the single-rod hydraulic cylinder 4 enters the two-position three-way electromagnetic directional valve 3 through a seamless steel pipe 8, a hydraulic cylinder rod cavity pipe joint 7, a pore passage ten M, a control pore passage three K3 and a pore passage eight A3, then enters the two-position three-way proportional directional valve 2 through a T10 oil port of the two-position three-way electromagnetic directional valve 3 through a pore passage nine T3, a control pore passage four K4, a control pore passage two K2 and a pore passage five A2, and returns to the oil tank through a T oil port of the three-position three-way proportional directional valve 2 through a pore passage six T2, an oil return passage T0 and an;

at the moment, if an independent throttling mode is to be started, firstly, a maximum current (rated current) signal is loaded on the electromagnet I18 positioned on the left side in the three-position three-way proportional reversing valve I1, so that the three-position three-way proportional reversing valve I1 is positioned on the left maximum position, the P oil port → A oil port of the throttling flow channel of the three-position three-way proportional reversing valve I1 is fully opened, then the servo control system outputs a feedback current signal to the electromagnet I18 positioned on the right side in the three-position three-way proportional reversing valve II 2 according to the position of the piston rod of the single-rod hydraulic cylinder 4, the electromagnet I18 positioned on the right side in the three-position three-way proportional reversing valve II 2 determines the distance for pushing the valve core I12 of the three-position three-way proportional reversing valve II 2 to move to the left according to the size of;

in a similar way, when the actuator is in the piston rod retraction working condition, the second electromagnet 24 in the two-position three-way electromagnetic directional valve 3 loses power, the second valve core 21 is reset to the left side under the action of the second spring 27, the right position of the two-position three-way electromagnetic directional valve 3 works, the first electromagnet 18 on the left side in the three-position three-way proportional directional valve 2 is powered on, when the first electromagnet 18 on the right side in the three-position three-way proportional directional valve 1 is powered on, hydraulic oil enters the oil path manifold block 9 through the oil source pipe joint 10, the oil enters a first three-position three-way proportional reversing valve 1 along an oil inlet channel P0 and a pore channel four P2, then enters a two-position three-way electromagnetic reversing valve 3 from an oil port A of a second three-position three-way proportional reversing valve 2 through a pore channel five A2, a control pore channel two K2, a control pore channel four K4 and a pore channel nine T3, and then enters a rod cavity of a single-outlet rod hydraulic cylinder 4 through an oil port A10 of the two-position three-way electromagnetic reversing valve 3 through a pore channel eight A3, a control pore channel three K3, a pore channel ten M, a hydraulic cylinder rod cavity pipe joint 7 and a seamless steel pipe 8; meanwhile, return oil of a rodless cavity of the single-rod hydraulic cylinder 4 directly enters the oil path manifold block 9, then enters the three-position three-way proportional reversing valve I1 through a duct eleven N and a duct II A1, and then leaves the oil path manifold block 9 through a duct III T1, an oil return path T0 and an oil tank pipe joint 11 from a T oil port of the three-position three-way proportional reversing valve I1 to return to an oil tank;

when the independent throttling mode is started, firstly, a maximum current (rated current) signal is loaded on the electromagnet I18 positioned on the left side in the three-position three-way proportional reversing valve II 2, so that the three-position three-way proportional reversing valve II 2 is positioned on the left maximum position, the P oil port → A oil port of the throttling flow channel of the three-position three-way proportional reversing valve II 2 is fully opened, then the servo control system outputs a feedback current signal to the electromagnet I18 positioned on the right side in the three-position three-way proportional reversing valve I1 according to the position of the piston rod of the single-rod hydraulic cylinder 4, the electromagnet I18 positioned on the right side in the three-position three-way proportional reversing valve I1 determines the distance for pushing the valve core I12 of the three-position three-way proportional reversing valve I1 to move to the left according to the size of the feedback current.

It should be noted that the actuator is a servo actuator, and an external control system can input a feedback current signal to the electromagnets one 18 of the three-position three-way proportional reversing valve one 1 and the three-position three-way proportional reversing valve two 2 according to the position of the piston rod, adjust the opening degree of the oil port a → the oil port T of the throttling flow channel, and form position closed-loop control, so that the independent throttling mode is in the lowest loss state.

Due to the mechanical structure characteristics of the proportional reversing valve, the in-out throttling flow channel is fixedly connected, so that the throttling effect is bidirectional, and both oil inlet throttling and oil return throttling exist. Aiming at the high-loss bilateral throttling effect, when a loop of the actuator is designed, two three-position three-way proportional reversing valves are used for supplying oil or discharging oil for the single-rod hydraulic cylinder 4, instead of simply using one three-position four-way proportional reversing valve. The oil inlet and the oil outlet of the single-outlet-rod hydraulic cylinder 4 are mutually independent, the oil inlet and the oil outlet are independently controlled by two proportional reversing valves (namely a three-position three-way proportional reversing valve I1 and a three-position three-way proportional reversing valve II 2), a unilateral throttling effect is formed, and decoupling of the bilateral throttling effect is realized.

Through theoretical derivation, compared with the single four-way proportional valve for controlling the single-rod hydraulic cylinder 4, the two three-position three-way proportional reversing valves are adopted to independently throttle the oil inlet and outlet of the single-rod hydraulic cylinder 4, the same load is driven, and the required oil supply pressure of an oil source is obviously reduced. The specific reduction amounts are as follows:

in the formula: v is the moving speed of the piston rod, v is the piston rod extending working condition when v is more than 0, and v is the piston rod retracting working condition when v is less than 0;

P_rwhen v is larger than 0, the pressure at the oil return port of the second three-position three-way proportional reversing valve 2 is obtained, and when v is smaller than 0, the pressure at the oil return port of the first three-position three-way proportional reversing valve 1 is obtained;

P_Apressure at an opening A of the three-position three-way proportional reversing valve I1;

P_Bpressure at the port A of the three-position three-way proportional reversing valve II 2;

F_L-a load force;

alpha-ratio of opening degree of first valve port of three-position three-way proportional reversing valve 1 to opening degree of second valve port of three-position three-way proportional reversing valve 2

n is area ratio of two sides of piston rod, n is A_P/A_T；

A_PThe area of the piston rod on one side of the rodless cavity;

A_Tthe area of the piston rod on the side with the rod cavity;

under the working condition that the piston rod extends out, the oil port P → the oil port A of the throttling flow passage of the first three-position three-way proportional reversing valve 1 is fully opened, the oil port A → the oil port T of the throttling flow passage of the second three-position three-way proportional reversing valve 2 is determined according to feedback current, α belongs to [1, + ∞ ]. under the working condition that the oil port A → the oil port T of the throttling flow passage of the second three-position three-way proportional reversing valve 2 is fully opened, the oil port A → the oil port T of the throttling flow passage of the first three-position three-way proportional reversing valve 1 is determined according to the feedback current, and α belongs to (0, 1) ]:

therefore, the operating mode of independent throttling realizes energy saving by reducing energy loss.

As shown in fig. 2, the two-position three-way electromagnetic directional valve 3 controls the hydraulic system (single-rod hydraulic cylinder 4) to switch between the differential mode and the non-differential mode. The three-position three-way proportional reversing valve I1, the three-position three-way proportional reversing valve II 2 and the two-position three-way electromagnetic reversing valve 3 work in a matched mode, the flow direction of oil in a loop can be changed, and the actuator can adapt to different working conditions. When the two-position three-way electromagnetic directional valve 3 works at the left position and the three-position three-way proportional directional valve I1 also works at the left position, the loop is in a differential mode. When the two-position three-way electromagnetic directional valve 3 works at the right position, the loop is in a non-differential mode. In the non-differential mode, the actuator shows two different functional characteristics according to the motion of the external load, which are defined as a normal operation mode and an energy recovery mode.

Claims (7)

1. A multi-mode energy-saving servo actuator is characterized in that: the hydraulic system comprises a single-rod hydraulic cylinder (4), a hydraulic cylinder rod cavity pipe joint (7), a seamless steel pipe (8), an oil circuit manifold block (9), an oil source pipe joint (10), an oil tank pipe joint (11) and a combination valve, wherein the combination valve comprises two three-position three-way proportional reversing valves and a two-position three-way electromagnetic reversing valve (3), and the two three-position three-way proportional reversing valves are respectively a three-position three-way proportional reversing valve I (1) and a three-position three-way proportional reversing valve II (2);

an oil source pipe joint (10) and an oil tank pipe joint (11) are installed on the front side face of the oil circuit integrated block (9), the oil source pipe joint (10) is communicated with an oil inlet channel (P0) arranged in the oil circuit integrated block (9), and the oil tank pipe joint (11) is communicated with an oil return channel (T0) arranged in the oil circuit integrated block (9); a channel ten (M) with a rod cavity of the single-rod-connected hydraulic cylinder (4), a control channel I (K1), a control channel four (K4), a channel eleven (N) without a rod cavity of the single-rod-connected hydraulic cylinder (4), a control channel II (K2) and a control channel III (K3) are arranged in the oil circuit integrated block (9), the channel ten (M) and the control channel I (K1) are communicated with the left side face of the oil circuit integrated block (9), the control channel IV (K4) is communicated with the right side face of the oil circuit integrated block (9), and the channel eleven (N), the control channel II (K2) and the control channel III (K3) are communicated with the rear side face of the oil circuit integrated block (9); the upper end face of the oil circuit manifold block (9) is detachably and fixedly connected with a three-position three-way proportional reversing valve I (1), a three-position three-way proportional reversing valve II (2) and a two-position three-way electromagnetic reversing valve (3) from front to back, a hole channel I (P1), a hole channel II (A1), a hole channel III (T1), a hole channel IV (P2), a hole channel V (A2), a hole channel VI (T2), a hole channel VII (P3), a hole channel VIII (A3) and a hole channel IX (T3) are arranged in the oil circuit manifold block (9), the hole channel I (P1) is communicated with a hole channel corresponding to a P oil port on the left side in the three-position three-way proportional reversing valve I (1), the hole channel II (A1) is communicated with a hole channel corresponding to the A oil port on the middle part in the three-position three-way proportional reversing valve I (1), the third hole passage (T1) is communicated with a hole passage corresponding to the T oil port on the right side in the three-position three-way proportional reversing valve I (1);

the upper end face of the four (P2) channel, the five (A2) channel and the six (T2) channel communicated to the oil circuit manifold block (9) is located in the area of the three-position three-way proportional reversing valve II (2), the four (P2) channel is communicated with the channel corresponding to the P oil port on the left side in the three-position three-way proportional reversing valve II (2), the five (A2) channel is communicated with the channel corresponding to the A oil port in the middle of the three-position three-way proportional reversing valve II (2), and the six (T2) channel is communicated with the channel corresponding to the T oil port on the right side in the three-position three-way proportional reversing valve II (2); the oil passage seven (P3), the oil passage eight (A3) and the oil passage nine (T3) are communicated to the upper end face of the oil passage manifold block (9) and are positioned in the area of the two-position three-way electromagnetic directional valve (3), the oil port of the oil passage seven (P3) which is positioned on the left side (P10) in the two-position three-way electromagnetic directional valve (3) is communicated with the oil port of the oil passage eight (A3) which is positioned on the middle part (A10) in the two-position three-way electromagnetic directional valve (3), and the oil port of the oil passage nine (T3) which is positioned on the right side (T10) in the two-position three-way electromagnetic directional valve (3) is communicated with the oil port of the;

wherein: the oil inlet channel (P0) is communicated with a first hole channel (P1) and a fourth hole channel (P2), the oil inlet channel (P0) directly supplies oil to a first three-position three-way proportional reversing valve (1) and a second three-position three-way proportional reversing valve (2) through the first hole channel (P1) and the fourth hole channel (P2), the oil return channel (T0) is communicated with a third hole channel (T1) and a sixth hole channel (T2), the oil return channels of the first three-position three-way proportional reversing valve (1) and the second three-position three-way proportional reversing valve (2) are converged into the oil return channel (T0) through the third hole channel (T1) and the sixth hole channel (T2), the eleventh hole channel (N) is communicated with the second hole channel (A1) and the first control hole channel (K1), the first control hole channel (K1) is communicated with the seventh hole channel (P3), the pressure oil of the A of the first three-position three-way proportional reversing valve (1) is divided into two channels, one channel (A1) and the one channel (, the other path enters a T10 oil port on the right side in the two-position three-way electromagnetic reversing valve (3) through a second hole channel (A1), a first control hole channel (K1) and a seventh hole channel (P3), a fourth control hole channel (K4) is communicated with a ninth hole channel (T3) and a second control hole channel (K2), a second control hole channel (K2) is communicated with a fifth hole channel (A2), pressure oil of the A oil port on the middle part in the two-position three-way proportional reversing valve (2) enters a T10 oil port on the right side in the two-position three-way electromagnetic reversing valve (3) through a fifth hole channel (A2), a second control hole channel (K2), a fourth control hole channel (K4) and the ninth hole channel (T3), and the third control hole channel (K3) is communicated with an eighth hole channel (A3) and a tenth hole, the pressure oil of an A10 oil port in the middle of the two-position three-way electromagnetic directional valve (3) is communicated with a rod cavity of the single-rod hydraulic cylinder (4) through a pore passage eight (A3), a control pore passage three (K3) and a pore passage ten (M); the rear end of the oil circuit manifold block (9) is fixedly connected with the outer wall of one side of the rodless cavity of the single-rod hydraulic cylinder (4), the left side face of the oil circuit manifold block (9) is located at the position of ten (M) of the pore channel and is provided with a hydraulic cylinder rod cavity pipe joint (7), and the hydraulic cylinder rod cavity pipe joint (7) is communicated with the rod cavity of the single-rod hydraulic cylinder (4) through a seamless steel pipe (8).

2. The multi-modal energy efficient servo actuator of claim 1, wherein: the three-position three-way proportional reversing valve I (1) and the three-position three-way proportional reversing valve II (2) respectively comprise a valve core I (12), a valve body I (13), two spring seats I (14), two flat gaskets I (15), two springs I (16), two push rods I (17) and two electromagnets I (18); the lower end face of the first valve body (13) is provided with three proportional electromagnetic directional valve pore passages along the vertical direction, the three proportional electromagnetic directional valve pore passages are sequentially arranged from left to right, the port of the proportional electromagnetic directional valve pore passage positioned on the left side is a P oil port, the port of the proportional electromagnetic directional valve pore passage positioned in the middle is an A oil port, the port of the proportional electromagnetic directional valve pore passage positioned on the right side is a T oil port, the middle of the first valve body (13) is provided with a first horizontal central hole communicated with the three proportional electromagnetic directional valve pore passages, the left side face and the right side face of the first valve body (13) are respectively provided with a first threaded hole and a first shoulder hole, the first shoulder hole is positioned between the first threaded hole and the first horizontal central hole, the first shoulder hole is coaxial with and communicated with the first threaded hole and the first horizontal central hole, the two first electromagnets (18) are arranged on the left side and the right side of the, a first valve core (12) is arranged in a horizontal central hole I of a first valve body (13) in a sliding manner, a second shoulder hole and a first push rod central hole which are communicated with each other are arranged in the middle of the connecting end of each electromagnet (18), the second shoulder hole and the first push rod central hole are coaxially arranged with the horizontal central hole I, a first push rod (17) is arranged in each push rod central hole in a sliding manner, the inner end of each first push rod (17) is contacted with the adjacent end of the first valve core (12), a first spring (16) is arranged in each shoulder hole, the first spring (16) is sleeved on the first push rod (17), one end of the first spring (16) abuts against the shoulder end surface of the second shoulder hole, the other end of the first spring (16) abuts against a first flat washer (15) which is arranged adjacently, the first flat washers (15) are sleeved at the left end and the right end of the first valve core (12), and a first spring seat (14) is, the two spring seats I (14) are respectively arranged in the corresponding shoulder holes I.

3. The multi-modal energy efficient servo actuator of claim 1, wherein: the two-position three-way electromagnetic directional valve (3) comprises a second valve core (21), a second valve body (22), a second spring seat (23), a second electromagnet (24), a plug (25), a second push rod (28), a second flat washer (26) and a second spring (27); the lower end face of the second valve body (22) is provided with three electromagnetic directional valve pore passages along the vertical direction, the three electromagnetic directional valve pore passages are sequentially arranged from left to right, the port of the electromagnetic directional valve pore passage positioned on the left side is a P10 oil port, the port of the electromagnetic directional valve pore passage positioned in the middle is an A10 oil port, the port of the electromagnetic valve directional pore passage positioned on the right side is a T10 oil port, the middle part of the second valve body (22) is provided with a second horizontal central hole communicated with the three electromagnetic directional valve pore passages, the left side face of the second valve body (22) is provided with a second threaded hole and a third shoulder hole, the third shoulder hole is positioned between the second threaded hole and the second horizontal central hole, the third shoulder hole is coaxially and communicated with the second threaded hole and the second horizontal central hole, the right side face of the second valve body (22) is provided with a third threaded hole communicated and coaxial with the second horizontal central hole, and, the connecting end of the second electromagnet (24) is in threaded connection with the second threaded hole, the second valve core (21) is arranged in a horizontal central hole of the second valve body (22) in a sliding mode, a shoulder hole IV and a push rod central hole II are arranged in the middle of the connecting end of the second electromagnet (24), the shoulder hole IV and the push rod central hole II are coaxially arranged with the horizontal central hole II, a push rod II (28) is arranged in the push rod central hole II in a sliding mode, and the inner end of the push rod II (28) is in contact with the adjacent end of the second valve core (21); a counter bore is arranged in the middle of the connecting end of the plug (25), the plug (25) is in threaded connection with a threaded hole three on the right side face of the second valve body (22), a second spring (27) is arranged in each of the shoulder hole four and the counter bore of the plug (25), the second spring (27) arranged in each shoulder hole four is sleeved on the second push rod (28), one end of the second spring abuts against the shoulder end face of each shoulder hole four, the other end of the second spring abuts against one flat washer (26), the second flat washer (26) is sleeved at the left end of the second valve core (21), the second valve core (21) is further sleeved with a second spring seat (23), the second spring seat (23) is arranged in the shoulder hole three, and the second flat washer (26) is attached to the second spring seat (23); and a second spring (27) arranged in the counter bore is sleeved on the second valve core (21), one end of the second spring (27) sleeved on the second valve core (21) is abutted against the end face of the counter bore, the other end of the second spring is abutted against the other second flat washer (26), and the other second flat washer (26) is sleeved on the second valve core (21) and is abutted against the end face of the right shoulder of the second valve core (21).

4. A method of achieving multi-modal energy savings using the actuator of claim 1, 2 or 3, wherein: the method comprises a differential modality; the differential mode is as follows:

in the mode, a second electromagnet (24) in the two-position three-way electromagnetic reversing valve (3) is electrified, a first electromagnet (18) on the left side of a first three-position three-way proportional reversing valve (1) is electrified, hydraulic oil supplied by an oil source enters an oil circuit manifold block (9) through an oil source pipe joint (10), sequentially enters a P oil port on the left side of the first three-position three-way proportional reversing valve (1) along an oil inlet channel (P0) and a first pore channel (P1), the P oil port on the left side of the first three-position three-way proportional reversing valve (1) is communicated with an A oil port on the middle part, a T oil port on the right side of the first three-position three-way proportional reversing valve (1) is sealed, and pressure oil enters a rodless cavity of a single-rod hydraulic cylinder (4) through the A oil port on the middle part of the first three-position three-way proportional reversing valve (1) along a second pore channel (A1, meanwhile, oil in a rod cavity of the single-rod hydraulic cylinder (4) sequentially enters the two-position three-way electromagnetic directional valve (3) through the seamless steel pipe (8), the pipe joint (7) of the rod cavity of the hydraulic cylinder, the ten (M) hole channels of the oil circuit manifold block (9), the three (K3) control hole channels and the eight (A3) hole channels, the left position of the two-position three-way electromagnetic directional valve (3) works, a P10 oil port on the left side in the two-position three-way electromagnetic directional valve (3) is communicated with an A10 oil port on the middle portion, a T10 oil port on the right side in the two-position three-way electromagnetic directional valve (3) is closed, and pressure oil sequentially enters a rodless cavity of the single-rod hydraulic cylinder (4) through a P10 oil port on the left side in the two-position three-way electromagnetic directional valve (3) along a seven (P3) hole channel, a first (K.

5. The method for multi-modal energy conservation using an actuator as claimed in claim 4, wherein: the method further comprises a normal operating mode; the normal working modes are as follows:

when the external load does not need to be braked, the actuator is used as a general actuating mechanism to push the load; when the two-position three-way electromagnetic directional valve (3) works at the right position, the three-position three-way proportional directional valve I (1) works at the left position, and the three-position three-way proportional directional valve II (2) works at the right position, a piston rod of the single-rod hydraulic cylinder (4) extends out to push a load to move rightwards; when the two-position three-way electromagnetic reversing valve (3) works at the right position, the three-position three-way proportional reversing valve I (1) works at the right position, and the three-position three-way proportional reversing valve II (2) works at the left position, a piston rod of the single-rod hydraulic cylinder (4) retracts to pull a load to move leftwards; the method specifically comprises the following steps:

a second electromagnet (24) of the two-position three-way electromagnetic directional valve (3) loses power, a second valve core (21) of the two-position three-way electromagnetic directional valve (3) resets to the left side under the action of a second spring (27), and the two-position three-way electromagnetic directional valve (3) works in the right position; when the electromagnet I (18) on the left side in the three-position three-way proportional reversing valve I (1) is electrified, and the electromagnet I (18) on the right side in the three-position three-way proportional reversing valve II (2) is electrified, hydraulic oil enters the oil circuit manifold block (9) through the oil source pipe joint (10), enters the three-position three-way proportional reversing valve I (1) along the oil inlet channel (P0) and the pore channel I (P1), and then enters the rodless cavity of the single-rod hydraulic cylinder (4) from the oil port A in the middle of the three-position three-way proportional reversing valve I (1) through the pore channel II (A1) and the pore channel eleven (N); meanwhile, return oil of a rod cavity of the single-rod hydraulic cylinder (4) sequentially enters the two-position three-way electromagnetic directional valve (3) through a seamless steel pipe (8), a rod cavity pipe joint (7) of the hydraulic cylinder, a pore passage ten (M), a control pore passage three (K3) and a pore passage eight (A3), then sequentially enters the three-position three-way proportional directional valve two (2) through a T10 oil port on the right side in the two-position three-way electromagnetic directional valve (3) through a pore passage nine (T3), a control pore passage four (K4), a control pore passage two (K2) and a pore passage five (A2), and sequentially returns to an oil tank through a pore passage six (T2), an oil return passage (T0) and an oil tank pipe joint (11); the pressure difference between a rod cavity and a rodless cavity of the single-rod hydraulic cylinder (4) drives a piston rod to extend out, so that a load is pushed to move rightwards; when the three-position three-way proportional reversing valve I (1) works at the right position and the three-position three-way proportional reversing valve II (2) works at the left position, the flow paths of oil entering an oil circuit integrated block (9) are just opposite, hydraulic oil sequentially passes through an oil inlet channel (P0), a hole channel four (P2), the three-position three-way proportional reversing valve II (2), a hole channel five (A2), a control hole channel two (K2), a control hole channel four (K4), a hole channel nine (T3), a two-position three-way electromagnetic reversing valve (3), a hole channel eight (A3), a control hole channel three (K3), a hole channel ten (M), a hydraulic cylinder rod cavity pipe joint (7) and a seamless steel pipe (8) to enter a rod cavity of a single-rod hydraulic cylinder (4), and one side of the oil of a rodless cavity of the single-rod hydraulic cylinder (4) flows back to an oil tank through the hole channel eleven (N), the hole channel two (A1), the three-position three-, the piston rod of the single-rod hydraulic cylinder (4) retracts to drive the load to move leftwards.

6. The method for multi-modal energy conservation using an actuator as claimed in claim 5, wherein: the method further comprises an energy recovery modality; the energy recovery modality is:

when a load moving rightwards is braked, the second electromagnet (24) of the two-position three-way electromagnetic directional valve (3) loses power, the right position of the two-position three-way electromagnetic directional valve (3) works, the first electromagnet (18) on the right side in the first three-position three-way proportional directional valve (1) is electrified, the right position of the first three-position three-way proportional directional valve (1) works, the first electromagnet (18) on the left side in the second three-position three-way proportional directional valve (2) is electrified, the left position of the second three-position three-way proportional directional valve (2) works, hydraulic oil supplied by an oil source system enters the oil circuit integrated block (9) through the oil source pipe joint (10) and enters the second three-position three-way proportional directional valve (2) along the oil inlet channel (P0) and the pore channel four (P2), and then enters the three-position three-way electromagnetic directional valve (3) from an oil port A of the second three-position three-way proportional directional valve (2) through the pore channel five (A2), the, finally, the oil port A10 of the two-position three-way electromagnetic directional valve (3) enters a single-rod hydraulic cylinder (4) with a rod cavity through a pore passage eight (A3), a control pore passage three (K3), a pore passage ten (M), a hydraulic cylinder rod cavity pipe joint (7) and a seamless steel pipe (8); at the moment, the pressure accumulated by oil flowing into the rod cavity forms leftward thrust on a piston rod of the single-rod hydraulic cylinder (4), the load connected with the piston rod is braked, the rightward load starts to perform rightward deceleration movement until the load stops, the piston rod connected with the load is forced to move rightward, the oil in the rod cavity is extruded out of the rod cavity, the extruded oil enters an oil way manifold block (9) through a seamless steel pipe (8) and a hydraulic cylinder rod cavity pipe joint (7), enters a two-position three-way electromagnetic reversing valve (3) along a hole passage ten (M), a control hole passage three (K3) and a hole passage eight (A3), then enters a two-position three-way proportional reversing valve two (2) through a hole passage nine (T3), a control hole passage four (K4), a control hole passage two (K2) and a hole passage five (A2), and then enters a three-position proportional reversing valve two (2) through an oil port P2, a hole passage four (P64), a hole passage four (P4), a control hole passage, Oil inlet channel (P0) and oil source pipe joint (10), finally, the high-pressure oil flowing out of the oil circuit manifold block (9) is collected, stored and reused by an external oil source system;

similarly, when a load moving leftwards is braked, the second electromagnet (24) in the two-position three-way electromagnetic reversing valve (3) loses power, the right position of the two-position three-way electromagnetic reversing valve (3) works, the first electromagnet (18) on the left side in the three-position three-way proportional reversing valve (1) is powered on, the left position of the three-position three-way proportional reversing valve (1) works, the second electromagnet (18) on the right side in the three-position three-way proportional reversing valve (2) is powered on, and the right position of the three-position three-way proportional reversing valve (2) works; hydraulic oil supplied by an oil source system enters an oil circuit manifold block (9) through an oil source pipe joint (10), enters a three-position three-way proportional reversing valve I (1) along an oil inlet channel (P0) and a pore channel I (P1), then enters a rodless cavity of a single-rod hydraulic cylinder (4) through a pore channel II (A1) and a pore channel eleven (N) from an oil port A of the three-position three-way proportional reversing valve I (1), at the moment, pressure is accumulated by the oil flowing into the rodless cavity to form rightward thrust on a piston rod of the single-rod hydraulic cylinder (4), a load connected with the piston rod is braked, the leftward load starts to perform leftward deceleration movement until the load stops, the piston rod connected with the load is forced to move leftward, the oil in the rodless cavity is extruded out of the rodless cavity, the extruded oil directly enters the manifold block (9) and enters the oil circuit manifold block I (1) along the pore channel II (A1), and then the high-pressure oil flowing out of the oil path manifold block (9) passes through a pore passage four (P2), an oil inlet passage (P0) and an oil source pipe joint (10) from a P oil port of the three-position three-way proportional directional valve I (1), and the high-pressure oil flowing out of the oil path manifold block (9) is collected, stored and reused by an external oil source system.

7. The method for multi-modal energy conservation using an actuator as claimed in claim 4, wherein: the method further comprises an independent throttling modality; the independent throttling modality is:

when the actuator is in the working condition that a piston rod of the single-rod hydraulic cylinder (4) extends out, the second electromagnet (24) in the two-position three-way electromagnetic directional valve (3) loses power, the second valve core (21) is reset to the left side under the action of the second spring (27), and the right position of the two-position three-way electromagnetic directional valve (3) works; when the electromagnet I (18) on the left side in the three-position three-way proportional reversing valve I (1) is electrified, and the electromagnet I on the right side in the three-position three-way proportional reversing valve II (2) is electrified, hydraulic oil enters the oil circuit manifold block (9) through the oil source pipe joint (10), enters the three-position three-way proportional reversing valve I (1) along the oil inlet channel (P0) and the pore channel I (P1), and then enters the rodless cavity of the single-outlet-rod hydraulic cylinder (4) from the oil port A of the three-position three-way proportional reversing valve I (1) through the pore channel II (A1) and the pore channel eleven (N); meanwhile, return oil of a rod cavity of the single-rod hydraulic cylinder (4) enters the two-position three-way electromagnetic directional valve (3) through a seamless steel pipe (8), a rod cavity pipe joint (7), a pore passage ten (M), a control pore passage three (K3) and a pore passage eight (A3), then enters the three-position three-way proportional directional valve two (2) through a T10 oil port of the two-position three-way electromagnetic directional valve (3) through a pore passage nine (T3), a control pore passage four (K4), a control pore passage two (K2) and a pore passage five (A2), and returns to an oil tank through a pore passage six (T2), an oil return passage (T0) and an oil tank pipe joint (11);

at the moment, if the independent throttling mode is started, firstly, a maximum current signal is loaded on the electromagnet I (18) positioned on the left side in the three-position three-way proportional reversing valve I (1), so that the three-position three-way proportional reversing valve I (1) is positioned at the left maximum position, the P oil port → A oil port of the throttling flow passage of the three-position three-way proportional reversing valve I (1) is fully opened, then the servo control system outputs a feedback current signal to a first electromagnet (18) on the right side in the three-position three-way proportional reversing valve II (2) according to the position of a piston rod of the single-rod hydraulic cylinder (4), the first electromagnet (18) on the right side in the three-position three-way proportional reversing valve II (2) determines the distance for pushing a first valve core (12) of the three-position three-way proportional reversing valve II (2) to move left according to the magnitude of the feedback current, and then the opening degree of an oil port A → an oil port T of a throttling flow passage of the three-position three-way proportional reversing valve II (2) is determined;

in a similar way, when the actuator is in a piston rod retraction working condition, the second electromagnet (24) in the two-position three-way electromagnetic directional valve (3) loses power, the second valve core (21) is reset to the left side under the action of the second spring (27), the right position of the two-position three-way electromagnetic directional valve (3) works, the first electromagnet (18) on the left side in the three-position three-way proportional directional valve (2) is powered, and when the first electromagnet (18) on the right side in the three-position three-way proportional directional valve (1) is powered, hydraulic oil enters the oil path integrated block (9) through the oil source pipe joint (10), enters the three-position three-way proportional directional valve (1) along the oil inlet channel (P0) and the pore channel four (P2), and then enters the two-position three-way electromagnetic directional valve (3) from the oil port A of the three-position three-way proportional directional valve (2) through the pore channel five (A2), the control pore channel two (K2), the control, then, an A10 oil port of the two-position three-way electromagnetic directional valve (3) enters a single-rod hydraulic cylinder (4) through a pore passage eight (A3), a control pore passage three (K3), a pore passage ten (M), a hydraulic cylinder rod cavity pipe joint (7) and a seamless steel pipe (8) to form a rod cavity; meanwhile, return oil of a rodless cavity of the single-rod hydraulic cylinder (4) directly enters an oil circuit manifold block (9), then enters a three-position three-way proportional reversing valve I (1) through a pore channel eleven (N) and a pore channel II (A1), and then leaves the oil circuit manifold block (9) through a T oil port of the three-position three-way proportional reversing valve I (1) through a pore channel III (T1), an oil return channel (T0) and an oil tank pipe joint (11) to return to an oil tank;

when the independent throttling mode is started, firstly, the maximum current signal is loaded to the electromagnet I (18) positioned on the left side in the three-position three-way proportional reversing valve II (2), so that the second three-position three-way proportional reversing valve (2) is positioned at the left maximum position, the P oil port → A oil port of the throttling flow passage of the second three-position three-way proportional reversing valve (2) is fully opened, and then the servo control system outputs a feedback current signal to the electromagnet I (18) on the right side in the three-position three-way proportional reversing valve I (1) according to the position of the piston rod of the single-rod hydraulic cylinder (4), the electromagnet I (18) on the right side in the three-position three-way proportional reversing valve I (1) determines the distance for pushing the valve core I (12) of the three-position three-way proportional reversing valve I (1) to move left according to the magnitude of the feedback current, and then the opening degree of an oil port A → an oil port T of a throttling flow passage of the three-position three-way proportional reversing valve I (1) is determined.

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