Hey,
I'm currently in the process of implementing something similar myself, and after creating a convertor method to try to do this and going down a long-winded path, their is a better way. Import Guzzle PSR7 into your project and you can instantiate a request object with a convenience method as shown:
    use GuzzleHttp\Psr7\ServerRequest;
     //in your controller action method
     $response = new PhalconResponsePSR7(); // I'm still working on this part
        try {
            // Try to respond to the access token request
            $serverRequest = ServerRequest::fromGlobals(); // instantiates a Guzzle serverRequest  from the global request vars
            echo $server->respondToAccessTokenRequest($serverRequest, $response);
        } catch (OAuthServerException $exception) {
        // All instances of OAuthServerException can be converted to a PSR-7 response
        $this->view->disable();
        //Create a response instance
        $presponse = new \Phalcon\Http\Response();
        //Set the content of the response
        $presponse->setContent($exception->generateHttpResponse($response)->getBody());
        //Return the response
        return $presponse;
    } catch (\Exception $exception) {
        // Catch unexpected exceptions
        $body = $response->getBody();
        $body->write($exception->getMessage());
        echo $body;
    }
This is very basic and I'm still working on the response (though that's slightly more simple I believe) but it should get you started