CN100342143C - Two-stage screw internal foodback digital fluid cylinder - Google Patents
Two-stage screw internal foodback digital fluid cylinder Download PDFInfo
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- CN100342143C CN100342143C CNB2004100693923A CN200410069392A CN100342143C CN 100342143 C CN100342143 C CN 100342143C CN B2004100693923 A CNB2004100693923 A CN B2004100693923A CN 200410069392 A CN200410069392 A CN 200410069392A CN 100342143 C CN100342143 C CN 100342143C
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Abstract
The present invention discloses a two-stage screw internal feedback digital fluid cylinder. The present invention comprises a cylinder body (1), a hollow piston rod (2), a feedback sleeve (3), a poke pin (4), a steep-lead precise groove-shaped screw rod (5), a connecting pin (6), a fastener (7), a thrust bearing (8), a gland (9), a nut sleeve (10), a valve core (11) with threads, a sliding key (12), a sliding sleeve (13), a step motor (14), a connecting screw (15), a bracket (16), an external oil pipe (17), an oil passage (18) which is communicated with a front cavity, an oil returning port (19), an oil passage (20) which is communicated with a back cavity, an oil inlet (21), a small stop pin (22), etc., wherein the step motor receives a digital pulse signal and rotates the valve core (11) with the threads, and meanwhile, the step motor controls a valve port to be communicated with a fluid cylinder. The piston rod (2) is driven by hydraulic oil to move, in the process of movement, the poke pin (4) on the hollow piston rod pokes the first-stage steep-lead groove-shaped screw rod (5), and then, the second-stage nut sleeve (10) is driven to be fed back to the control valve core (11). Because of the amplifying action of the first-stage steep-lead groove-shaped screw rod (5), the high-speed movement and the position tracking of an oil cylinder are realized under the condition that the rotating speed of the step motor (14) is not high, and therefore, the high-speed high-accuracy omnidistance digital transmission and control of a digital fluid cylinder is really realized.
Description
Technical field
The invention belongs to fluid operating system field, be specifically related to a kind of " two-stage screw internal foodback digital fluid cylinder " that amplifies through hydraulic pressure again with the digital pulse signal drive motor.
Background technique
In the fluid transmission, oil hydraulic cylinder is widely adopted as end effector.Traditional oil hydraulic cylinder is just as a simple power executive component, its motion is to control by other fluid control elements, in order to allow oil hydraulic cylinder satisfy various functional requirements, thereby invented various fluid control elements, as tens of kinds of specifications of directional control valve, throttle valve, series flow control valve, Proportional valve, servovalve or the like, up to a hundred products satisfy the different control requirement of oil hydraulic cylinder, make hydraulics become very complicated.But even so, still have many problems to be difficult for solving, as high-accuracy speed control, positioning control, multi-cylinder synchronization control, long stroke synchronization control or the like are hydraulic pressure difficult problems of often running into.People have to seek help from very complicated hydraulic servo technology for this reason, electric displacement sensor promptly is installed on oil hydraulic cylinder, speed and stroke by the sensor oil hydraulic cylinder, this signal is delivered to computer, constantly compare with speed setting and set positions in the computer, with error amount process Mathematical treatment, output regulation signal again, the control servovalve converts the hydraulic pressure valve port opening again to, thereby control flow rate changes, reach the purpose of control oil cylinder speed and position, traditional servo control technique that up to the present Here it is generally adopts, not only cost an arm and a leg, complex structure, transmission link is many, and debug difficulties, be difficult to safeguard, the antipollution poor anti jamming capability, thus limited promoting the use of of this technology greatly.
In today of computer technology, Digital Technique develop rapidly, people are badly in need of a kind of oil hydraulic cylinder that can directly accept Computer signal and are finished various control functions.People just studied since the seventies for this reason, Germany has at first released a kind of trapezoid spiral tooth top control oil channel of utilizing switches, utilize the step motor drive helical rotation, thereby first digital oil cylinder in the world of control oil cylinder forward-reverse causes that the world causes a sensation greatly.But should the numeral oil cylinder owing to be difficult to make, cost an arm and a leg, can only stay in laboratory stage and be difficult to promote.After this, Japan, the Soviet Union, France, Switzerland, China etc. are studied in succession, released different types of single step helical internal feedback numeral oil cylinder, and obtained audience-proof application, but these digital oil cylinders, a common shortcoming is all arranged, can't accomplish at a high speed, long stroke, low price, the spiral of this digital oil hydraulic cylinder and spool have made an integral body, this integral body one end links to each other with nut on the hydraulic cylinder piston rod, the other end is the changeover valve core of hydrovalve, and when rotating under the driving of spool at stepper motor, spool can produce under the effect of nut and move axially, thereby cause that the mobile direction of hydraulic oil changes, when the promotion oil cylinder advances, spool is closed, form position feedback by pair of nut.This mechanism is because lead of screw can not be done too greatly, general 3-6mm, otherwise with self-locking, and the rotating speed of stepper motor is subjected to structural limitations, general 3-5 circle/second, thereby the digital oil cylinder speed of this direct feedback is generally all at 30-50mm/ below second, and this digital cylinder is subjected to external force to do the time spent at no oil pressure, piston rod moves the damage internal mechanism, this is contingent in many cases, this defective has just limited its application area greatly, although thereby these countries carried out a large amount of research, the market of also having to withdraw from last.Afterwards, released the digital cylinder that carries out position feedback with ball nut replacement screw thread abroad again, though this digital cylinder also is the two-stage feedback that adopts, but the first order adopts is ball nut on the market, helical pitch is little, and volume is bigger, in the small-sized oil cylinder piston bar of can't packing into.And the ball nut fancy price also is difficult to accept, and the speed of this digital cylinder is not high yet, so can not satisfy the commercial Application requirement.In the recent period, also having a kind of method is to adopt square steel or band steel machinery to be reversed into big helical pitch heliconid, replace ball nut to feed back, although this method has solved the problem of big helical pitch feedback, but reverse heliconid and can not form pitch accurately, repeatability can not guarantee, reverses spirochetal attaching nut and also is difficult to machine shaping, can only add great machinery and intermittently come to satisfy the cooperation requirement, so can only be used in the undemanding place of status requirement.Therefore, these panoramic digital cylinders only use in very little field, and relatively its advantage is not obvious with conventional art, can not obtain extensive use.Thus, how how very convenient cylinder pressure combines with Digital Technique and computer digital oil hydraulic cylinder very easily, can accomplish accurately again, at a high speed, the problem of long stroke, low price, become a common difficult problem.
Summary of the invention
The objective of the invention is at a difficult problem that exists in the prior art, release and a kind ofly combine with Digital Technique, realize motion accurately, at a high speed, long stroke, and significantly reduce the digital fluid cylinder of cost.
The present invention is achieved in that a kind of two-stage screw internal foodback digital fluid cylinder, and it comprises cylinder body, hollow piston rod, feedback cover, finger, the accurate feedback of the big helical pitch of first order screw rod, link, fastening piece, thrust-bearing, gland, second level feedback nut, little backing pin, spool, feather key, sliding sleeve, stepper motor, bearing and each runner and oil inlet and oil return mouth etc. form a whole.It is to utilize stepper motor to receive digital pulse signal to drive valve core movement switching oil circuit, promotes the piston rod forward-reverse, and piston rod is only made the straight line motion of forward-reverse in cylinder body.This device is finished reverse feedback through secondary feedback screw rod again, finishes speed Tracking and position simultaneously and follows the tracks of.
The another kind of mode of the present invention is to realize like this, a kind of two-stage screw internal foodback digital fluid cylinder, comprise cylinder body, hollow piston rod, motor, and each runner and oil inlet and oil return mouth, also comprise the feedback cover, finger, big helical pitch flute profile screw rod, connecting pin, fastening piece, thrust-bearing, gland, nut sleeve, threaded spool, feather key, sliding sleeve, support, external oil pipe, logical ante-chamber oil circuit, return opening, logical back cavity oil circuit, filler opening, the feedback cover is fixing as a whole with piston rod, piston rod is a moving linearly in cylinder body, finger is fixed in the feedback cover, it leans out end and can slide in the spiral chute of screw rod, the spiral fluted rotation direction makes the sense of rotation of screw rod consistent with the sense of rotation of motor output shaft, the head of screw rod is connected as a whole with nut sleeve by connecting pin, nut sleeve is glanded and rotatably is fixed in the cylinder bore, gland by screw on cylinder body, fastening piece is pressed against thrust-bearing on the gland, motor is fixed on the cylinder body by support, its output shaft links to each other with threaded spool with feather key by sliding sleeve, threaded spool one end is threaded the other end and has feather key, the centre is a plurality of boss that play the sealing and the switching effect of oil circuit, sealed and wait flows to the high pressure oil that distributes and enters between two spool boss from the cylinder body filler opening, hydraulic oil is by the return opening oil return, and stepper motor receives digital pulse signal and drives valve core movement switching oil circuit.
This digital fluid cylinder has twin-stage feedback screw pair, the first order wherein be adopt can not self-locking big helical pitch spiral chute cooperate with straight pin, rotatablely move thereby the piston rod straight line motion converted to, thereby its helical pitch must be bigger, can not be in self-locking state.
Described first order screw pair, screw rod are cylindrical, are processed with helical guide groove on it, and external feedback has put finger, and finger and helical guide groove are slidingly matched, and stir screw rod by finger and rotate.
Described first order screw pair is to link to each other with second level feedback screw pair by link to form an integral body.
The second level in the described two-stage screw pair, its left end are the abnormity nut covers, and the right side is a spool, have three on the spool to top bar, and carry out oil circuit sealing and switching, and the screw thread of spool left part is threaded with nut sleeve; There is a fan-shaped projection abnormity nut cover right part, have a scalloped recess in this fan-shaped projection inboard, spool left side threaded middle is fixed a little shelves pin, the projection of little shelves pin is just in time in the inboard scalloped recess of the fan-shaped protuberance in nut sleeve right part, the spool right part has keyway that feather key is installed, and links to each other with stepper motor by sliding sleeve.
Described second level pair of nut is to be fixed in the valve body with gland, the right-hand member of pair of nut and the screw-thread fit of spool, and left end is connected to form an integral body with connecting pin and feedback screw rod.
Described nut sleeve is to be supported on the gland with thrust-bearing, and thrust-bearing is fastening with fastening piece.
The stepper motor that the present invention adopts also can change into the form that other drive motor adds sensor or the closed loop control of encoder formation, and digital fluid cylinder has at this moment promptly become servo fluid cylinder.
The flowing medium that the present invention adopts can be various liquid or gas medium.
The spool of described digital cylinder must adopt the slip form with relative movement with being connected of motor shaft.
Described motor must be fixed with cylinder body, does not allow relative movement.
Spiral chute on the big helical pitch screw rod in the described first order feedback screw pair can be equidistant also can be not equidistant.
The present invention has broken through the high speed of digital cylinder, and the Three Difficult Issues of long stroke, low price have been realized digital fluid cylinder high-accuracy speed control and positioning control.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the present invention;
Fig. 2 is a spool end partial enlarged drawing;
Fig. 3 is Fig. 2 A-A sectional view.
Embodiment
Below in conjunction with accompanying drawing one embodiment of the present of invention are made and to be described in further detail.
This digital fluid cylinder as shown in Figure 1, it comprises cylinder body 1, hollow piston rod 2, feedback cover 3, finger 4, big helical pitch flute profile screw rod 5, connecting pin 6, fastening piece 7, thrust-bearing 8, gland 9, nut sleeve 10, threaded spool 11, feather key 12, sliding sleeve 13, stepper motor 14, joint bolt 15, support 16, external oil pipe 17, logical ante-chamber oil circuit 18, return opening 19, logical back cavity oil circuit 20, filler opening 21, little shelves pin 22 etc.Feedback cover 3 is fixing as a whole with piston rod 2, finger 4 is fixed in the feedback cover 3, it leans out end and can slide in the spiral chute of screw rod 5, the head of screw rod 5 and nut sleeve 10 hold together by connecting pin 6, nut sleeve 10 is glanded 9 and rotatably is fixed in cylinder body 1 hole, gland 9 is fixed on the cylinder body 1 by screw 15, fastening piece 7 is pressed against thrust-bearing 8 on the gland 9, stepper motor 14 output shafts link to each other with threaded spool 11 with feather key 12 by sliding sleeve 13, threaded spool 11 1 ends are threaded the other end and have feather key, a screwed end is threaded with nut sleeve 10, the intermediate portion of spool 11 helical thread portions is fixed with a little shelves pin 22, and the projection Spielpassung of little shelves pin 22 is in the fan groove of the fan-shaped protuberance in nut sleeve 10 ends.In the middle of the spool 11 is a plurality of boss, and this boss plays the sealing and the switching effect of oil circuit, and high pressure oil enters sealed and wait flow direction distribution between two spool boss from cylinder body filler opening 21, and hydraulic oil is by return opening 19 oil returns.
This digital fluid cylinder is work like this: rotatablely move if stepper motor 14 produces under the effect of digital pulse signal, then this moves through sliding sleeve 13, feather key 12 is transferred on the threaded spool 11, threaded spool 11 is when generation rotatablely moves, under the effect of head threads and nut sleeve 10, produce axial motion, for example to left movement, the shoulder of at this moment threaded spool 11 moves to left, high pressure oil is sent into the oil cylinder back cavity through logical back cavity oil circuit 20, and the oil of ante-chamber is by oil pipe 17, passage 18, shoulder opening and oil duct 19 oil returns, piston rod 2 travels forward under the effect of chamber, front and back pressure reduction, when piston rod 2 moves, stir big helical pitch flute profile screw rod 5 rotations by finger 4, this sense of rotation is identical with stepper motor 14 sense of rotation, rotatablely moving of big helical pitch flute profile screw rod 5 drives the rotation of nut 10 original places by connecting pin 6, because the direction that nut rotates is identical with the direction that threaded spool 11 rotates, so with spool 11 pushed home, thereby realized the mechnical servo reverse feedback, if the speed of piston rod 2 operations is lower than the command speed of stepper motor 14 inputs, then feedback can make the valve port of spool 11 controls increase automatically, thereby accelerate the motion speed of piston rod 2, valve port can reduce automatically if the motion speed of piston rod 2 is higher than the command speed of stepper motor input, the motion speed of piston rod 2 that slows down, thus realized that the pulse frequency of speed Tracking input instruction and the two of pulse sum that the input instruction is followed the tracks of in the position regulate automatically.Because have only when the revolution of big helical pitch flute profile screw rod 5 and threaded spool 11 are identical, threaded spool 11 could cover 2 hydraulic fluid ports fully, piston rod 2 just can be in halted state, is exactly the stroke of piston rod 2 so the number of turns that spool 11 rotates is multiplied by the helical pitch of screw rod 5.And the angular displacement that spool 11 rotates is again to be subjected to stepper motor 14 directly actuated.As everyone knows, the digital pulse signal that stepper motor receiving computer or digital controller send is worked, if can allow the stepping motor rotate a circle with n pulse, corresponding screw rod 5 also turns around, if the helical pitch of screw rod 5 is T, then the displacement of each pulse correspondence is S=T/n, if T=100mm, n=1000, S=0.1mm then is when the stepper motor rotating speed was 5 circle/seconds, then the speed of piston rod 2 can reach 500mm/ second, if T=200mm, then the speed of piston rod 2 can reach 1000mm/ second, thereby has solved the difficult problem of digital fluid cylinder realization high speed operation.And the big helical pitch flute profile screw rod processing of a finger transmission of this usefulness is very easy, and can adopt the method for splicing to be prolonged, as long as helix lead just is not subjected to the restriction of lead change big to not self-locking of reversing drive, even can realize reverse feedback for the helical pitch that changes yet.Thereby broken through the high speed of digital cylinder, the Three Difficult Issues of long stroke, low price.Again because digital pulse signal can be by computer, programmable controller (PLC) and special-purpose digital pulse generator obtain very easily, thereby digital fluid cylinder high-accuracy speed control and positioning control have been realized, as long as pulse frequency is controlled in the scope of stepper motor proper functioning, just can pulse-losing, thereby realized high-precision open loop control, and can realize the regulating piston bar speed of (more than 1000 times) continuously on a large scale, realized the direction of piston rod simultaneously, speed and positioning control, all conventional hydraulic elements have almost been replaced, make the conventional hydraulic technology really realize omnidistance digital transmission, hydraulics has been brought great advance.
Referring to Fig. 2, Fig. 3, little shelves pin 22 is used for preventing that nut sleeve 10 and spool 11 are locked mutually because of step-out, thereby prevents that stepper motor from can't release cause fault.Fixing this little shelves pin 22 in the intermediate portion of spool 11 helical thread portions, the projection Spielpassung of little shelves pin 22 is in the fan groove of the fan-shaped protuberance in nut sleeve 10 ends.The effect of little shelves pin 22 is such: when proper functioning, because nut sleeve 10 and spool 11 almost are rotations synchronously, both phase differences are less, little shelves pin 22 is not participate in any work, only when abnormal condition such as flow system flow and pressure do not catch up with the rotating speed of stepper motor, nut sleeve 10 can strengthen gradually with the phase difference of spool 11, when arriving to a certain degree greatly, little shelves pin 22 sides that can run into nut sleeve 10 projections, thereby prevent from continue to strengthen step-out and locked, because little shelves pin 22 is to keep off in the side of nut sleeve 10 projections, motor needs only counter-rotating and just can untie, can't be from the accident of new proper functioning thereby avoided step-out to cause.In addition, when digital fluid cylinder does not have work, and piston rod 2 is when being moved under external force, because the feedback effect of finger 4 and big helical pitch screw rod 5, nut sleeve 10 can be rotated, because the effect of little shelves pin 22 can drive spool 11 and stepper motor 14 and rotate together, has also prevented the generation of deadlock phenomenon.This shows, because the effect of little shelves pin 22 damages the possibility of digital fluid cylinder, thereby guaranteed proper functioning reliably and with long-term with regard to having prevented various operate misses.
Claims (10)
1, a kind of two-stage screw internal foodback digital fluid cylinder, comprise cylinder body (1), hollow piston rod (2), motor (14), and each runner and oil inlet and oil return mouth, it is characterized in that also comprising feedback cover (3), finger (4), big helical pitch flute profile screw rod (5), connecting pin (6), fastening piece (7), thrust-bearing (8), gland (9), nut sleeve (10), threaded spool (11), feather key (12), sliding sleeve (13), support (16), external oil pipe (17), logical ante-chamber oil circuit (18), return opening (19), logical back cavity oil circuit (20), filler opening (21), feedback cover (3) is fixing as a whole with piston rod (2), piston rod (2) is a moving linearly in cylinder body (1), finger (4) is fixed in the feedback cover (3), it leans out end and can slide in the spiral chute of screw rod (5), the spiral fluted rotation direction makes the sense of rotation of screw rod (5) consistent with the sense of rotation of motor (14) output shaft, the head of screw rod (5) is connected as a whole with nut sleeve (10) by connecting pin (6), nut sleeve (10) is glanded (9) and rotatably is fixed in cylinder body (1) hole, gland (9) is fixed on the cylinder body (1) by screw (15), fastening piece (7) is pressed against thrust-bearing (8) on the gland (9), motor (14) is fixed on the cylinder body (1) by support (16), its output shaft links to each other with threaded spool (11) with feather key (12) by sliding sleeve (13), threaded spool (11) one ends are threaded the other end and have feather key, the centre is a plurality of boss that play the sealing and the switching effect of oil circuit, sealed and wait flows to the high pressure oil that distributes and enters between two spool boss from cylinder body filler opening (21), hydraulic oil is by return opening (19) oil return, and stepper motor (14) receives digital pulse signal and drives spool (11) motion switching oil circuit.
2, digital fluid cylinder according to claim 1, it is characterized in that having twin-stage feedback screw pair, the first order wherein be adopt can not self-locking big helical pitch spiral chute cooperate with finger (4), this first order feedback screw pair converts piston rod (2) straight line motion to screw rod (5) rotatablely move, described helix lead is bigger, not self-locking.
3, digital fluid cylinder according to claim 2 is characterized in that first order screw pair is to be connected with second level feedback screw pair by link to form an integral body.
4, digital fluid cylinder according to claim 2, it is characterized in that the second level in the two-stage screw pair, its left end is abnormity nut cover (10), right-hand member is spool (11), the step that carries out the oil circuit sealing more than three and switch is arranged on the spool, spool (11) left part is that screw thread is threaded with nut sleeve (10), and the right part has keyway that feather key (12) is installed, and is connected with stepper motor (14) by sliding sleeve (13).
5, digital fluid cylinder according to claim 4, it is characterized in that second level screw pair is to be fixed in the cylinder body (1) with gland (9), the right-hand member of nut sleeve (10) is threaded with spool (11), and left end is connected to form an integral body with connecting pin (6) and screw rod (5).
6, digital fluid cylinder according to claim 4 is characterized in that abnormity nut cover (10) is to be supported on the gland (9) with thrust-bearing (8), and thrust-bearing is fastening with fastening piece (7).
7, digital fluid cylinder according to claim 1 is characterized in that motor (14) is a stepper motor, also can be the form that drive motor adds sensor or the closed loop control of encoder formation, and digital fluid cylinder at this moment is a servo hydraulic cylinder.
8, digital fluid cylinder according to claim 1 is characterized in that flowing medium can be various liquid or gas medium.
9, digital fluid cylinder according to claim 2, it is characterized in that spiral chute on the big helical pitch screw rod (5) in the first order feedback screw pair can be equidistant also can be not equidistant.
10, digital fluid cylinder according to claim 9, little shelves pins (22) are fixed in the intermediate portion that it is characterized in that spool (11) helical thread portion, and the projection Spielpassung of little shelves pins (22) is in the fan groove of the fan-shaped protuberance in abnormity nut cover (10) end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100693923A CN100342143C (en) | 2004-07-22 | 2004-07-22 | Two-stage screw internal foodback digital fluid cylinder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100693923A CN100342143C (en) | 2004-07-22 | 2004-07-22 | Two-stage screw internal foodback digital fluid cylinder |
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| CN1724882A CN1724882A (en) | 2006-01-25 |
| CN100342143C true CN100342143C (en) | 2007-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100693923A Active CN100342143C (en) | 2004-07-22 | 2004-07-22 | Two-stage screw internal foodback digital fluid cylinder |
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| IT201900007192A1 (en) * | 2019-05-24 | 2020-11-24 | Dromont S P A | DEVICE FOR THE CLOSING OF A DISPENSING HEAD OF A DOSING MACHINE FOR THE DISPENSING OF FLUID PRODUCTS SUCH AS DYES FOR PAINTS OR SIMILAR |
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| CN1724882A (en) | 2006-01-25 |
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Application publication date: 20060125 Assignee: Beijing Yimeibo Technology Co., Ltd. Assignor: Yang Shixiang|Yang Tao| Li Guiying Contract record no.: 2014990000953 Denomination of invention: Two-stage screw internal foodback digital fluid cylinder Granted publication date: 20071010 License type: Exclusive License Record date: 20141224 |
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