CN102979777B - Rotary valve type large torque hydraulic corner self-servo valve - Google Patents
Rotary valve type large torque hydraulic corner self-servo valve Download PDFInfo
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- CN102979777B CN102979777B CN201210514025.4A CN201210514025A CN102979777B CN 102979777 B CN102979777 B CN 102979777B CN 201210514025 A CN201210514025 A CN 201210514025A CN 102979777 B CN102979777 B CN 102979777B
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Abstract
The invention relates to a rotary valve type large torque hydraulic corner self-servo valve, which has the technical scheme that: a valve body (10) is concentrically arranged in a cylinder body cylindrical cavity (18); a valve sleeve (8) is concentrically arranged in a valve body cylindrical cavity (27); a right end of a valve plug (9) penetrates through the valve sleeve (8) so as to be concentrically arranged in the valve body cylindrical cavity (27); and an output shaft of a motor (3) is in key joint with an inner hole (46) on a left end of the valve plug (9) concentrically. Fixed stops (7) are respectively arranged on an upper part and a lower part of an inner wall of a cylinder body (4), and are in movable fit with the valve body (10); two blades (17) are fixed on an outer wall of the valve body cylindrical cavity (27), are arranged at an angle of 180 degrees, and are in movable fit with the cylinder body (4); and the fixed stops (7) and the blades (17) are in staggered arrangement with the blades (17). The rotary valve type large torque hydraulic corner self-servo valve has the characteristics of simple structure, easiness in processing, balance in stressing of the valve plug, large output torque, good dynamic property, flow gain linear, quick respond speed, and high control accuracy.
Description
Technical field
The invention belongs to the technical field of servovalve, be specifically related to a kind of rotary valve high-torque hydraulic corner self-servo valve.
Background technique
Hydraulic corner servo techniques is combined with motor technology by hydraulic pressure, utilizes respective advantage, with the little moment Direct driver spool of motor, valve port opened, allow high pressure oil act on valve body, and then obtain large output torque.Hydraulic corner self-servo valve is the core parts in hydraulic control system, it has high, the swift feature of precision, have a wide range of applications in high-precision electro-mechanical system, the airborne drive system of Aero-Space, large-scale experiment equipment, thus obtain the concern of domestic and international scientific and technical personnel.
At present, the people such as associate professor Zhu Xinglong of domestic Yangzhou University are in research hydraulic servo-joint, propose first hydraulic corner servo concept (research of the .3 degrees of freedom hydraulic servo-joint dynamic modeling and simulation such as Zhu Xinglong. machine design and manufacture engineering, 2002,31 (6): 23-25.), useful exploration has been done for hydraulic servomechanism is built-in and reduce hydraulic knuckle size aspect, achieve certain achievement in research, but the hydraulic card clamping force that spool is subject to and frictional force all larger, spool dynamic property degenerates, and servo blind area is larger.
" one easily controls hydraulic corner self-servo valve " (CN 201210033081.6) patented technology overcomes above-mentioned existing problem, this valve core of servo valve has is convenient to preparation, the all each self balancing of spool force in radial and axial force, dynamic property is good, the little feature with being easy to control in servo blind area, but there is complex structure, particularly there is the internal oil channel of much complex in spool and valve pocket inside, be difficult to ensure machining accuracy, also there is output torque large not and have employed the design of circular valve port, its flow gain is caused to be nonlinear, and then create the not high enough problem of precision.
Summary of the invention
The present invention is intended to overcome prior art defect, object be to provide a kind of structure simple, be easy to processing, spool stress balance, output torque is large, dynamic property good, flow gain is linear, fast response time, the rotary valve high-torque hydraulic corner self-servo valve that control accuracy is high.
For achieving the above object, the technical solution used in the present invention is: described rotary valve high-torque hydraulic corner self-servo valve comprises connecting cover, motor, cylinder body, valve pocket, spool, valve body, fixed stop and blade.
Connecting cover is arranged on the left end of cylinder body concentrically, valve body is arranged in cylinder body cylindrical cavity concentrically, and right end cap is arranged on the right-hand member of cylinder body, and the output shaft of valve body stretches out right end cap, flange plate is arranged on the output shaft end of valve body, and sealing cover is mounted by means of bolts on the right-hand member of flange plate.
Fixed stop is equipped with in positive top and the positive bottom of inboard wall of cylinder block, and fixed stop coordinates for dynamic with valve body; The outer wall of valve cylinder-shaped cavity is fixedly equipped with two blades, and two blades are 180 ° of layouts, and blade coordinates for dynamic with cylinder body; Fixed stop and blade stagger are arranged.
Valve pocket is arranged in valve cylinder-shaped cavity concentrically, the left side of valve pocket and the left side of valve body are fixed together by straight pin, spool left end is arranged in the small cylindrical opening of cylinder body concentrically, spool right-hand member is arranged in valve cylinder-shaped cavity through valve pocket concentrically, motor is fixed on cylinder body, the output shaft of motor and the concentricity key connecting of endoporus of spool left end.
Directly over connecting cover and immediately below corresponding be provided with connecting cover low pressure oil passage and connecting cover high-pressure oil passage, the outlet of connecting cover low pressure oil passage is low pressure oil outlet T, the entrance of connecting cover high-pressure oil passage is high pressure oil import P, and the center position of connecting cover is provided with power line passage.The positive top of cylinder body is radially provided with the first low pressure oil passage, is in axial direction provided with the second low pressure oil passage, and the first low pressure oil passage and the second low pressure oil passage communicate, and the second low pressure oil passage communicates with connecting cover low pressure oil passage; The positive bottom of cylinder body is in axial direction provided with cylinder body high-pressure oil passage, and cylinder body high-pressure oil passage communicates with connecting cover high-pressure oil passage.
The entrance of the first low pressure oil passage is directly communicated with the left T mouth of valve pocket by the first radial low pressure oilhole of valve body, the left T mouth of valve pocket communicates with the rectangle groove on the first annular boss of spool, rectangle groove on first annular boss of spool communicates with the left A mouth of valve pocket, and valve pocket left A mouth is communicated with the first corresponding active chamber and the 3rd active chamber by the first rectangle valve port of valve body and the 3rd rectangle valve port.
The entrance of the second low pressure oil passage communicates with the low pressure oil circular groove of valve body, the low pressure oil circular groove of valve body is communicated by the second radial low pressure oilhole with internal low-voltage oil passage, second radial low pressure oilhole communicates with the right T mouth of valve pocket, the right T mouth of valve pocket communicates with the rectangle groove on the 4th annular boss of spool, rectangle groove on 4th annular boss of spool communicates with the right B mouth of valve pocket, and valve pocket right B mouth is communicated with the second corresponding active chamber and the 4th active chamber by the second rectangle valve port of valve body and the 4th rectangle valve port.
The outlet of cylinder body high-pressure oil passage communicates with the high pressure oil circular groove of valve body, the high pressure oil circular groove of valve body is communicated with internal high pressure oil passage by high-pressure radial oilhole, internal high pressure oil passage communicates respectively with valve pocket left P mouth and the right P mouth of valve pocket, the left P mouth of valve pocket communicates with the rectangle groove on the second annular boss of spool, rectangle groove on second annular boss of spool communicates with the right A mouth of valve pocket, and valve pocket right A mouth is communicated with the first corresponding active chamber and the 3rd active chamber by the first rectangle valve port of valve body and the 3rd rectangle valve port.
The right P mouth of valve pocket communicates with the rectangle groove on the 3rd annular boss of spool, rectangle groove on 3rd annular boss of spool communicates with the left B mouth of valve pocket, and valve pocket left B mouth is communicated with the second corresponding active chamber and the 4th active chamber by the second rectangle valve port of valve body and the 4th rectangle valve port.
Described valve body is made up of hollow cylinder, cylindrical body boss and output shaft from left to right successively.Output shaft near cylindrical body boss place is provided with two valve seal grooves, and the end face of output shaft has low pressure oil entrance and high pressure oil outlet, and low pressure oil entrance and high pressure oil outlet communicate with corresponding internal low-voltage oil passage and high-pressure radial oilhole.
The external diameter of cylindrical body boss is identical with the nominal size of cylinder body cylindrical cavity internal diameter, the cylndrical surface of cylindrical body boss has four valve seal grooves, low pressure oil circular groove is had between the valve seal groove of two, the left side, the second radial low pressure oilhole is had in low pressure oil circular groove, high pressure oil circular groove is had between two the valve seal grooves in the right, have high-pressure radial oilhole in high pressure oil circular groove, the second radial low pressure oilhole and high-pressure radial oilhole two plain lines corresponding on valve body differ 180 °.
On the cylndrical surface at hollow cylinder left end place, have two valve seal grooves, have the first radial low pressure oilhole between two valve seal grooves, valve cylinder-shaped cavity inside diameter is identical with the nominal size of valve pocket external diameter.Hollow cylinder near cylindrical body boss is provided with the second rectangle valve port and the 4th rectangle valve port, second rectangle valve port and the 4th rectangle valve port are that axle center is arranged symmetrically with, the hollow cylinder of the valve seal groove near the right is provided with first rectangle valve port and the 3rd rectangle valve port, and the first rectangle valve port and the 3rd rectangle valve port are that axle center is arranged symmetrically with; First rectangle valve port, the second rectangle valve port, the 3rd rectangle valve port and the 4th rectangle valve port measure-alike.
The plain line of high-pressure radial oilhole is positioned at the middle of the plain line at the second rectangle valve port center and the plain line at the 3rd rectangle valve port center, and the angle of the plain line at the second rectangle valve port center and the plain line at the 3rd rectangle valve port center is θ
In formula (1): b
1for the arc length of blade inwall;
B
2for the arc length of rectangle valve port on hollow cylinder;
R is the external diameter of hollow cylinder.
Described spool left end is coaxially provided with the endoporus connected with motor output shaft, has core body seal groove near the left end place of spool.Spool is provided with the first annular boss, the second annular boss, the 3rd annular boss, the 4th annular boss and the 5th annular boss from left to right, the right of first annular boss, the second annular boss, the 3rd annular boss and the 4th annular boss has two measure-alike rectangle grooves, two rectangle grooves are 180 ° of distributions, and every two rectangle grooves are positioned on respective same circumference.Two rectangle groove center lines of the first annular boss and two rectangle groove center lines of the 3rd annular boss respectively axle center symmetry be positioned on two bars of plain lines, two rectangle groove center lines of the second annular boss and two rectangle groove center lines of the 4th annular boss lay respectively on another two bars of plain lines of axle center symmetry, and every bar element line differs 90 °; Two logical oil grooves are had at the first annular boss of spool and the 5th annular boss, two logical oil grooves are 180 ° of distributions, every two logical oil grooves are positioned on respective same circumference, and the center line of two logical oil grooves is symmetrically located on two plain lines in axle center respectively.
Described valve pocket is made up of six annular boss and five grooves, and annular boss and groove are alternately arranged.Two grooves on the left side and the right have two rectangular opening, and two rectangular opening are 180 ° of layouts, and two rectangular opening on the groove of the left side are the left T mouth of valve pocket, and two rectangular opening on the groove of the right are the right T mouth of valve pocket; The left side and the right of three grooves in the middle of valve pocket have one group of rectangular opening, often organize rectangular opening and are made up of the rectangular opening that two are arranged in 180 ° mutually.Rectangular opening on five grooves is measure-alike, and the rectangular opening center line on five grooves is all positioned on each self-corresponding same plain line, and the rectangle groove of the size of the rectangular opening on five grooves and four boss of spool is measure-alike.
The left surface often organizing rectangular opening on the left side on middle three grooves and the right flank of adjacent annular boss are same plane, and the right flank often organizing rectangular opening on the right on middle three grooves and the left surface of adjacent annular boss are same plane.Six groups of rectangular opening in the middle of valve pocket are from left to right followed successively by valve pocket left A mouth, valve pocket right A mouth, valve pocket left P mouth, valve pocket right P mouth, valve pocket left B mouth and the right B mouth of valve pocket.
Described fixed stop is strip, and the length of fixed stop is the difference of the length of the length of cylinder body cylindrical cavity and the cylindrical body boss of valve body, and the upper lower camber side difference of fixed stop is the half of the internal diameter of cylinder body cylindrical cavity and the hollow cylinder body diameter difference of valve body.The lower camber side center of fixed stop is provided with strip gasket groove in the axial direction, and strip gasket groove is equal with the length of fixed stop, and strip gasket groove is embedded with block Stamping Steel Ribbon.
Described blade is strip, and the length of blade is the difference of the length of the length of cylinder body cylindrical cavity and the cylindrical body boss of valve body, and the upper lower camber side difference of blade is the half of the internal diameter of cylinder body cylindrical cavity and the hollow cylinder body diameter difference of valve body; The lower camber side center of blade is provided with strip gasket groove in the axial direction, and strip gasket groove is equal with the length of blade, and strip gasket groove is embedded with runner sealing bar.
Owing to adopting technique scheme, high pressure oil import P of the present invention enters the high-pressure oil passage of cylinder body by the high-pressure oil passage of connecting cover, then the high pressure oil circular groove of valve body is entered, entered the internal high pressure oil passage of valve body again by high-pressure radial oilhole, finally enter valve pocket left P mouth and the right P mouth of valve pocket.
When spool is rotated counterclockwise relative to valve pocket, high pressure oil is entered the rectangle groove on the second annular boss of spool by the left P mouth of valve pocket, then the right A mouth of valve pocket is entered, the first active chamber and the 3rd active chamber is entered respectively finally by the first rectangle valve port of valve body and the 3rd rectangle valve port, promotion blade is rotated counterclockwise, valve body is made to follow valve core movement, the low pressure oil of the second active chamber and the 4th active chamber then enters the right B mouth of valve pocket respectively by the second rectangle valve port of valve body and the 4th rectangle valve port, enter the rectangle groove on the 4th annular boss of spool again, finally enter the right T mouth of valve pocket.
When spool turns clockwise relative to valve pocket, high pressure oil is entered the rectangle groove on the 3rd annular boss of spool by the right P mouth of valve pocket, then the left B mouth of valve pocket is entered, the second active chamber and the 4th active chamber is entered respectively finally by the second rectangle valve port of valve body and the 4th rectangle valve port, promotion vane clockwise rotates, valve body is made to follow valve core movement, the low pressure oil of the first active chamber and the 3rd active chamber then enters the left A mouth of valve pocket respectively by the first rectangle valve port of valve body and the 3rd rectangle valve port, enter the rectangle groove on the first annular boss of spool again, finally enter the left T mouth of valve pocket.
The low pressure oil of valve pocket left T mouth directly enters the first low pressure oil passage of cylinder body by the first radial low pressure oilhole of valve body, then enters low pressure oil outlet T through the low pressure oil passage of connecting cover and progressively reflux; The low pressure oil of valve pocket right T mouth then enters the low pressure oil circular groove of valve body by the second radial low pressure oilhole of valve body, then enters the low pressure oil duct of connecting cover through the second low pressure oil passage of cylinder body, progressively refluxes finally by low pressure oil outlet T.
When the left A mouth of valve pocket communicates with the first active chamber and the 3rd active chamber, the left B mouth of valve pocket then communicates with the second active chamber and the 4th active chamber, and valve pocket right A mouth and the right B mouth of valve pocket then all do not communicate with the first active chamber, the 3rd active chamber, the second active chamber and the 4th active chamber; When the right A mouth of valve pocket communicates with the first active chamber and the 3rd active chamber, the right B mouth of valve pocket communicates with the second active chamber and the 4th active chamber, and valve pocket left A mouth and the left B mouth of valve pocket then all do not communicate with the first active chamber, the 3rd active chamber, the second active chamber and the 4th active chamber.Except above-mentioned situation, valve pocket valve port does not all communicate with the first active chamber, the 3rd active chamber, the second active chamber and the 4th active chamber.
Compared with the prior art the present invention, has following good effect:
1) valve body is divided into two parts by the present invention, adds a valve pocket, controls the oil circuit of high pressure oil and low pressure oil with the rectangle valve port of valve pocket; Because oil circuit in the present invention joins oil merely through the surface of spool and valve pocket, spool does not have complicated internal oil channel, and valve pocket is only provided with several groups of valve ports in addition, therefore structure is simple, and be easy to processing, machining accuracy easily ensures.
2) spool of the present invention and the symmetrical flow of valve pocket, therefore the balanced radial force that spool and valve pocket are subject to; It is another when spool is rotated counterclockwise relative to valve pocket, high pressure oil is entered the rectangle groove on the second annular boss of spool by the left P mouth of valve pocket, then the right A mouth of valve pocket is entered, the first active chamber and the 3rd active chamber is entered respectively finally by the first rectangle valve port of valve body and the 3rd rectangle valve port, the power that high pressure oil acts on valve body all points to axle center, and the equal and opposite in direction direction of these power is contrary; In like manner, when spool turns clockwise relative to valve pocket, high pressure oil is entered the rectangle groove on the 3rd annular boss of spool by the right P mouth of valve pocket, then the left B mouth of valve pocket is entered, the second active chamber and the 4th active chamber is entered respectively finally by the second rectangle valve port of valve body and the 4th rectangle valve port, the power that high pressure oil acts on valve body also points to axle center, also equal and opposite in direction direction is contrary for these power, visible valve body force in radial balance, therefore resistance suffered by valve body and hydraulic card clamping force are all very little, dynamic property good; Due to all each self balancing of valve pocket, spool and valve body force in radial in the present invention, valve port distortion is little, and quality of fit is high, and lap is little, and close to zero lap, therefore rotary valve servo blind area of the present invention is little, dynamic property good.
3) because valve pocket of the present invention and spool all adopt rectangle valve port, can linear flow gain be obtained, improve control accuracy, therefore control accuracy be high.
4) in the process that the present invention moves at servovalve, because active chamber exists four, and always to have two to be high pressure or two in active chamber be low pressure simultaneously simultaneously, and material is thus formed a pair torque of couple, output torque is large.
Therefore, the present invention have structure simple, be easy to processing, spool stress balance, output torque is large, dynamic property good, flow gain is linear, fast response time and the high feature of control accuracy.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention;
Fig. 2 is the A-A generalized section of Fig. 1;
Fig. 3 is the structural representation of cylinder body 4 in Fig. 1;
Fig. 4 is the generalized section of valve body 10 in Fig. 2;
Fig. 5 is the structural representation of Fig. 4;
Fig. 6 is the F-F generalized section of Fig. 5;
Fig. 7 is the G-G generalized section of Fig. 5;
Fig. 8 is the structural representation of valve pocket 8 in Fig. 1;
Fig. 9 is the H-H generalized section of Fig. 8;
Figure 10 is the structural representation of spool 9 in Fig. 1;
Figure 11 is the I-I generalized section of Figure 10;
Figure 12 is the B-B generalized section of Fig. 1;
Figure 13 is the C-C generalized section of Fig. 1;
Figure 14 is the D-D generalized section of Fig. 1;
Figure 15 is the E-E generalized section of Fig. 1.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described, the restriction not to its protection domain.
Embodiment 1
A kind of rotary valve high-torque hydraulic corner self-servo valve, as depicted in figs. 1 and 2, rotary valve high-torque hydraulic corner self-servo valve comprises connecting cover 1, motor 3, cylinder body 4, valve pocket 8, spool 9, valve body 10, fixed stop 7 and blade 17.
As depicted in figs. 1 and 2, connecting cover 1 is arranged on the left end of cylinder body 4 concentrically, valve body 10 is arranged in cylinder body cylindrical cavity 18 as shown in Figure 3 concentrically, right end cap 11 is arranged on the right-hand member of cylinder body 4, the output shaft of valve body 10 stretches out right end cap 11, flange plate 12 is arranged on the output shaft end of valve body 10, and sealing cover 13 is mounted by means of bolts on the right-hand member of flange plate 12.
As shown in Figure 1, fixed stop 7 is equipped with in positive top and the positive bottom of cylinder body 4 inwall, and fixed stop 7 coordinates for dynamic with valve body 10, as shown in Figure 2, the outer wall of valve cylinder-shaped cavity 27 is fixedly equipped with two blades, 17, two blades 17 in 180 ° of layouts, and blade 17 coordinates for dynamic with cylinder body 4.Fixed stop 7 and blade 17 interlaced arrangement.During use, the initial position between fixed stop 7 and blade 17 is adjusted to 90 °.
As shown in Figure 1, valve pocket 8 is arranged in valve cylinder-shaped cavity 27 as shown in Figure 4 concentrically, the left side of valve pocket 8 and the left side of valve body 10 are fixed together by straight pin, spool 9 left end is arranged in the small cylindrical opening 19 of the cylinder body 4 shown in Fig. 3 concentrically, spool 9 right-hand member is arranged in valve cylinder-shaped cavity 27 through valve pocket 8 concentrically, motor 3 is fixed on cylinder body 4, the concentricity key connecting of endoporus 46 of spool 9 left end shown in the output shaft of motor 3 and Figure 11.
As shown in Figure 1, directly over connecting cover 1 and immediately below corresponding be provided with connecting cover low pressure oil passage 2 and connecting cover high-pressure oil passage 15, the outlet of connecting cover low pressure oil passage 2 is low pressure oil outlet T, and the entrance of connecting cover high-pressure oil passage 15 is high pressure oil import P; The center position of connecting cover 1 is provided with power line passage 16.The positive top of cylinder body 4 is in axial direction provided with the second low pressure oil passage 6, is radially provided with the first low pressure oil passage 5, first low pressure oil passage 5 and the second low pressure oil passage 6 communicates, and the second low pressure oil passage 6 communicates with connecting cover low pressure oil passage 2; The positive bottom of cylinder body 4 is in axial direction provided with cylinder body high-pressure oil passage 14, and cylinder body high-pressure oil passage 14 communicates with connecting cover high-pressure oil passage 15.
As shown in Figure 1 and Figure 4, the entrance of the first low pressure oil passage 5 is directly communicated with the left T mouth 32 of the valve pocket shown in Fig. 8 by the first radial low pressure oilhole 20 of valve body 10, the left T mouth 32 of valve pocket communicates with the rectangle groove on the first annular boss 41 of the spool 9 shown in Figure 10, rectangle groove on first annular boss 41 of spool 9 communicates with the left A mouth 33 of valve pocket, and valve pocket left A mouth 33 is communicated with the first corresponding active chamber 47 and the 3rd active chamber 49 by the first rectangle valve port 30 of valve body 10 as shown in figure 15 and the 3rd rectangle valve port 29.
As shown in Figure 1 and Figure 4, the entrance of the second low pressure oil passage 6 communicates with the low pressure oil circular groove 21 of valve body 10, and the low pressure oil circular groove 21 of valve body 10 is communicated by the second radial low pressure oilhole 22 with internal low-voltage oil passage 23; Second radial low pressure oilhole 22 communicates with the right T mouth 39 of the valve pocket shown in Fig. 8, the right T mouth 39 of valve pocket communicates with the rectangle groove on the 4th annular boss 44 of spool 9 as shown in Figure 10, rectangle groove on 4th annular boss 44 of spool 9 communicates with the right B mouth 38 of valve pocket, and valve pocket right B mouth 38 is communicated with the second corresponding active chamber 48 and the 4th active chamber 50 by the second rectangle valve port 28 of valve body 10 shown in Figure 13 and the 4th rectangle valve port 31.
As shown in Figure 1 and Figure 4, the outlet of cylinder body high-pressure oil passage 14 communicates with the high pressure oil circular groove 24 of valve body 10, the high pressure oil circular groove 24 of valve body 10 is communicated with internal high pressure oil passage 26 by high-pressure radial oilhole 25, internal high pressure oil passage 26 communicates respectively with the left P of the valve pocket shown in Fig. 8 mouth 35 and the right P mouth 36 of valve pocket, the left P mouth 35 of valve pocket communicates with the rectangle groove on the second annular boss 42 of spool 9 shown in Figure 10, rectangle groove on second annular boss 42 of spool 9 communicates with the right A mouth 34 of valve pocket, valve pocket right A mouth 34 is communicated with the first corresponding active chamber 47 and the 3rd active chamber 49 by the first rectangle valve port 30 of valve body 10 shown in Figure 12 and the 3rd rectangle valve port 29.
As shown in figs, the right P mouth 36 of valve pocket communicates with the rectangle groove on the 3rd annular boss 43 of spool 9, and the rectangle groove on the 3rd annular boss 43 of spool 9 communicates with the left B mouth 37 of valve pocket; Valve pocket left B mouth 37 is communicated with the second corresponding active chamber 48 and the 4th active chamber 50 by the second rectangle valve port 28 of valve body 10 as shown in figure 14 and the 4th rectangle valve port 31.
As shown in Figure 4, valve body 10 described in the present embodiment is made up of hollow cylinder, cylindrical body boss and output shaft from left to right successively.Output shaft near cylindrical body boss place is provided with two valve seal grooves, and the end face of output shaft has low pressure oil entrance and high pressure oil outlet, and low pressure oil entrance and high pressure oil outlet communicate with corresponding internal low-voltage oil passage 23 and high-pressure radial oilhole 25.
The external diameter of cylindrical body boss is identical with the nominal size of the cylindrical cavity 18 of cylinder body shown in Fig. 3 internal diameter, the cylndrical surface of cylindrical body boss has four valve seal grooves, low pressure oil circular groove 21 is had between the valve seal groove of two, the left side, the second radial low pressure oilhole 22 is had in low pressure oil circular groove 21, high pressure oil circular groove 24 is had between two the valve seal grooves in the right, the two plain lines having the radial low pressure oilhole 22 of high-pressure radial oilhole 25, second and high-pressure radial oilhole 25 in high pressure oil circular groove 24 corresponding on valve body 10 differ 180 °.
On the cylndrical surface at hollow cylinder left end place, have two valve seal grooves, have the first radial low pressure oilhole 20 between two valve seal grooves, valve cylinder-shaped cavity 27 internal diameter is identical with the nominal size of valve pocket 8 external diameter; Hollow cylinder near cylindrical body boss is provided with the second rectangle valve port 28 and the 4th rectangle valve port 31, second rectangle valve port 28 and the 4th rectangle valve port 31 are arranged symmetrically with in axle center, the hollow cylinder of the valve seal groove near the right is provided with first rectangle valve port 30 and the 3rd rectangle valve port 29, first rectangle valve port 30 and the 3rd rectangle valve port 29 be arranged symmetrically with in axle center; First rectangle valve port 30, second rectangle valve port 28, the 3rd rectangle valve port 29 and the 4th rectangle valve port 31 measure-alike.
As shown in Figure 5, the plain line of high-pressure radial oilhole 25 is positioned at the middle of the plain line at the second rectangle valve port 28 center and the plain line at the 3rd rectangle valve port 29 center, the angle of the plain line at the second rectangle valve port 28 center and the plain line at the 3rd rectangle valve port 29 center is θ, and its size is
B in formula
1for the arc length of blade 17 inwall;
B
2for the arc length of rectangle valve port on hollow cylinder;
R is the external diameter of hollow cylinder.
As shown in Figure 10 and Figure 11, described spool 9 left end is coaxially provided with the endoporus 46 connected with motor 3 output shaft, has core body seal groove near the left end place of spool 9; Spool 9 is provided with the first annular boss 41, second annular boss 42, the 3rd annular boss 43, the 4th annular boss 44 and the 5th annular boss 45 from left to right, the right of first annular boss 41, second annular boss 42, the 3rd annular boss 43 and the 4th annular boss 44 has two measure-alike rectangle grooves, two rectangle grooves are 180 ° of distributions, and every two rectangle grooves are positioned on respective same circumference; Two rectangle groove center lines of the first annular boss 41 and two rectangle groove center lines of the 3rd annular boss 43 respectively axle center symmetry be positioned on two bars of plain lines, two rectangle groove center lines of the second annular boss 42 and two rectangle groove center lines of the 4th annular boss 44 lay respectively on another two bars of plain lines of axle center symmetry, and every bar element line differs 90 °;
Two logical oil grooves 40 are had at the first annular boss 41 of spool and the 5th annular boss 45, two logical oil grooves 40 are in 180 ° of distributions, every two logical oil grooves 40 are positioned on respective same circumference, and the center line of two logical oil grooves 40 is symmetrically located on two plain lines in axle center respectively.
As shown in Figure 8 and Figure 9, described valve pocket 8 is made up of six annular boss and five grooves, and annular boss and groove are alternately arranged.Two grooves on the left side and the right have two rectangular opening, and two rectangular opening are 180 ° of layouts, and two rectangular opening on the groove of the left side are the left T mouth 32 of valve pocket, and two rectangular opening on the groove of the right are the right T mouth 39 of valve pocket; The left side and the right of three grooves in the middle of valve pocket 8 have one group of rectangular opening, often organize rectangular opening and are made up of the rectangular opening that two are arranged in 180 ° mutually; Rectangular opening on five grooves is measure-alike, and the rectangular opening center line on five grooves is all positioned on each self-corresponding same plain line, and the rectangle groove of the size of the rectangular opening on five grooves and four boss of spool 9 is measure-alike;
The left surface often organizing rectangular opening on the left side on middle three grooves and the right flank of adjacent annular boss are same plane, and the right flank often organizing rectangular opening on the right on middle three grooves and the left surface of adjacent annular boss are same plane; Six groups of rectangular opening in the middle of valve pocket 8 are from left to right followed successively by valve pocket left A mouth 33, valve pocket right A mouth 34, valve pocket left P mouth 35, valve pocket right P mouth 36, valve pocket left B mouth 37 and the right B mouth 38 of valve pocket.
As shown in figs. 1 and 12, described fixed stop 7 is strip, the length of fixed stop 7 is the difference of the length of the length of cylinder body cylindrical cavity 18 and the cylindrical body boss of valve body 10, and the upper lower camber side difference of fixed stop 7 is the half of the internal diameter of cylinder body cylindrical cavity 18 and the hollow cylinder body diameter difference of valve body 10; The lower camber side center of fixed stop 7 is provided with strip gasket groove in the axial direction, and strip gasket groove is equal with the length of fixed stop 7, and strip gasket groove is embedded with block Stamping Steel Ribbon.
As shown in Fig. 2 and Figure 12, described blade 17 is strip, the length of blade 17 is the difference of the length of the length of cylinder body cylindrical cavity 18 and the cylindrical body boss of valve body 10, and the upper lower camber side difference of blade 17 is the half of the internal diameter of cylinder body cylindrical cavity 18 and the hollow cylinder body diameter difference of valve body 10; The lower camber side center of blade 17 is provided with strip gasket groove in the axial direction, and strip gasket groove is equal with the length of blade 17, and strip gasket groove is embedded with runner sealing bar.
The high pressure oil import P of this embodiment enters the high-pressure oil passage 14 of cylinder body 4 by the high-pressure oil passage 15 of connecting cover 1, then the high pressure oil circular groove 24 of valve body 10 is entered, entered the internal high pressure oil passage 26 of valve body 10 again by high-pressure radial oilhole 25, finally enter valve pocket left P mouth 35 and the right P mouth 36 of valve pocket.
When spool 9 is rotated counterclockwise relative to valve pocket 8, high pressure oil is entered the rectangle groove on the second annular boss 42 of spool 9 by the left P mouth 35 of valve pocket, then the right A mouth 34 of valve pocket is entered, the first active chamber 47 and the 3rd active chamber 49 is entered respectively finally by the first rectangle valve port 30 of valve body 10 and the 3rd rectangle valve port 29, promote blade 17 to be rotated counterclockwise, make valve body 10 follow spool 9 to move, the low pressure oil of the second active chamber 48 and the 4th active chamber 50 then enters the right B mouth 38 of valve pocket respectively by the second rectangle valve port 28 of valve body 10 and the 4th rectangle valve port 31, enter the rectangle groove on the 4th annular boss 44 of spool 9 again, finally enter the right T mouth 39 of valve pocket.
When spool 9 turns clockwise relative to valve pocket 8, high pressure oil is entered the rectangle groove on the 3rd annular boss 43 of spool 9 by the right P mouth 36 of valve pocket, then the left B mouth 37 of valve pocket is entered, the second active chamber 48 and the 4th active chamber 50 is entered respectively finally by the second rectangle valve port 28 of valve body 10 and the 4th rectangle valve port 31, promote blade 17 to turn clockwise, make valve body 10 follow spool 9 to move, the low pressure oil of the first active chamber 47 and the 3rd active chamber 49 then enters the left A mouth 33 of valve pocket respectively by the first rectangle valve port 30 of valve body 10 and the 3rd rectangle valve port 29, enter the rectangle groove on the first annular boss 41 of spool 9 again, finally enter the left T mouth 32 of valve pocket.
The low pressure oil of valve pocket left T mouth 32 directly enters the first low pressure oil passage 5 of cylinder body 4 by the first radial low pressure oilhole 20 of valve body 10, then enters low pressure oil outlet T through the low pressure oil passage 2 of connecting cover 1 and progressively reflux; The low pressure oil of valve pocket right T mouth 39 then enters the low pressure oil circular groove 21 of valve body 10 by the second radial low pressure oilhole 22 of valve body 10, then enters the low pressure oil duct 2 of connecting cover 1 through the second low pressure oil passage 6 of cylinder body 4, progressively refluxes finally by low pressure oil outlet T.
When the left A mouth of valve pocket communicates with the first active chamber and the 3rd active chamber, the left B mouth of valve pocket then communicates with the second active chamber and the 4th active chamber, and valve pocket right A mouth and the right B mouth of valve pocket then all do not communicate with the first active chamber, the 3rd active chamber, the second active chamber and the 4th active chamber; When the right A mouth of valve pocket communicates with the first active chamber and the 3rd active chamber, the right B mouth of valve pocket communicates with the second active chamber and the 4th active chamber, and valve pocket left A mouth and the left B mouth of valve pocket then all do not communicate with the first active chamber, the 3rd active chamber, the second active chamber and the 4th active chamber.Except above-mentioned situation, valve pocket valve port does not all communicate with the first active chamber, the 3rd active chamber, the second active chamber and the 4th active chamber.
Compared with the prior art this embodiment, has following good effect:
1) valve body 10 is divided into two parts by this embodiment, adds a valve pocket 8, controls the oil circuit of high pressure oil and low pressure oil with the rectangle valve port of valve pocket 8; Because oil circuit in this embodiment joins oil merely through the surface of spool 9 and valve pocket 8, spool 9 does not have complicated internal oil channel, and valve pocket 8 is only provided with several groups of valve ports in addition, therefore structure is simple, and be easy to processing, machining accuracy easily ensures.
2) spool 9 of this embodiment and the symmetrical flow of valve pocket 8, therefore the balanced radial force that spool 9 and valve pocket 8 are subject to; It is another when spool 9 is rotated counterclockwise relative to valve pocket 8, high pressure oil is entered the rectangle groove on the second annular boss 42 of spool 9 by the left P mouth 35 of valve pocket, then the right A mouth 34 of valve pocket is entered, the first active chamber 47 and the 3rd active chamber 49 is entered respectively finally by the first rectangle valve port 30 of valve body 10 and the 3rd rectangle valve port 29, the power that high pressure oil acts on valve body 10 all points to axle center, and the equal and opposite in direction direction of these power is contrary; In like manner, when spool 9 turns clockwise relative to valve pocket 8, high pressure oil is entered the rectangle groove on the 3rd annular boss 43 of spool 9 by the right P mouth 36 of valve pocket, then the left B mouth 37 of valve pocket is entered, the second active chamber 48 and the 4th active chamber 50 is entered respectively finally by the second rectangle valve port 28 of valve body 10 and the 4th rectangle valve port 31, the power that high pressure oil acts on valve body 10 also points to axle center, also equal and opposite in direction direction is contrary for these power, visible valve body 10 force in radial balance, therefore resistance and hydraulic card clamping force suffered by valve body 10 are all very little, dynamic property good; Due to valve pocket in this embodiment 8, spool 9 and all each self balancing of valve body 10 force in radial, valve port distortion is little, and quality of fit is high, and lap is little, and close to zero lap, therefore the rotary valve servo blind area of this embodiment is little, dynamic property good.
3) because the valve pocket 8 of this embodiment and spool 9 all adopt rectangle valve port, can linear flow gain be obtained, improve control accuracy, therefore control accuracy be high.
4) in the process that this embodiment is moved at servovalve, because active chamber exists four, and always to have two to be high pressure or two in active chamber be low pressure simultaneously simultaneously, and material is thus formed a pair torque of couple, output torque is large.
Therefore, this embodiment have structure simple, be easy to processing, spool stress balance, output torque is large, dynamic property good, flow gain is linear, fast response time and the high feature of control accuracy.
Claims (6)
1. a rotary valve high-torque hydraulic corner self-servo valve, is characterized in that described rotary valve high-torque hydraulic corner self-servo valve comprises connecting cover (1), motor (3), cylinder body (4), valve pocket (8), spool (9), valve body (10), fixed stop (7) and blade (17);
Connecting cover (1) is arranged on the left end of cylinder body (4) concentrically, valve body (10) is arranged in cylinder body cylindrical cavity (18) concentrically, right end cap (11) is arranged on the right-hand member of cylinder body (4), the output shaft of valve body (10) stretches out right end cap (11), flange plate (12) is arranged on the output shaft end of valve body (10), and sealing cover (13) is mounted by means of bolts on the right-hand member of flange plate (12);
Fixed stop (7) is equipped with in the positive top of cylinder body (4) inwall and positive bottom, and fixed stop (7) coordinates for dynamic with valve body (10); The outer wall of valve cylinder-shaped cavity (27) is fixedly equipped with two blades (17), and two blades (17) are in 180 ° of layouts, and blade (17) coordinates for dynamic with cylinder body (4); Fixed stop (7) and blade (17) interlaced arrangement;
Valve pocket (8) is arranged in valve cylinder-shaped cavity (27) concentrically, the left side of valve pocket (8) and the left side of valve body (10) are fixed together by straight pin, spool (9) left end is arranged in the small cylindrical opening (19) of cylinder body (4) concentrically, spool (9) right-hand member is arranged in valve cylinder-shaped cavity (27) through valve pocket (8) concentrically, motor (3) is fixed on cylinder body (4), the output shaft of motor (3) and endoporus (46) the concentricity key connecting of spool (9) left end;
Directly over connecting cover (1) and immediately below corresponding be provided with connecting cover low pressure oil passage (2) and connecting cover high-pressure oil passage (15), the outlet of connecting cover low pressure oil passage (2) is low pressure oil outlet T, the entrance of connecting cover high-pressure oil passage (15) is high pressure oil import P, and the center position of connecting cover (1) is provided with power line passage (16); The positive top of cylinder body (4) is radially provided with the first low pressure oil passage (5), in axial direction be provided with the second low pressure oil passage (6), first low pressure oil passage (5) and the second low pressure oil passage (6) communicate, and the second low pressure oil passage (6) communicates with connecting cover low pressure oil passage (2); The positive bottom of cylinder body (4) is in axial direction provided with cylinder body high-pressure oil passage (14), and cylinder body high-pressure oil passage (14) communicates with connecting cover high-pressure oil passage (15);
The entrance of the first low pressure oil passage (5) is directly by the first radial low pressure oilhole (20) and valve of valve body (10)
Overlap left T mouth (32) to communicate, the left T mouth (32) of valve pocket communicates with the rectangle groove on first annular boss (41) of spool (9), rectangle groove on first annular boss (41) of spool (9) communicates with the left A mouth (33) of valve pocket, and valve pocket left A mouth (33) is communicated with corresponding the first active chamber (47) and the 3rd active chamber (49) by the first rectangle valve port (30) of valve body (10) and the 3rd rectangle valve port (29);
The entrance of the second low pressure oil passage (6) communicates with the low pressure oil circular groove (21) of valve body (10), the low pressure oil circular groove (21) of valve body (10) is communicated by the second radial low pressure oilhole (22) with internal low-voltage oil passage (23), second radial low pressure oilhole (22) communicates with the right T mouth (39) of valve pocket, the right T mouth (39) of valve pocket communicates with the rectangle groove on the 4th annular boss (44) of spool (9), rectangle groove on 4th annular boss (44) of spool (9) communicates with the right B mouth (38) of valve pocket, valve pocket right B mouth (38) is communicated with corresponding the second active chamber (48) and the 4th active chamber (50) by the second rectangle valve port (28) of valve body (10) and the 4th rectangle valve port (31),
The outlet of cylinder body high-pressure oil passage (14) communicates with the high pressure oil circular groove (24) of valve body (10), the high pressure oil circular groove (24) of valve body (10) is communicated with internal high pressure oil passage (26) by high-pressure radial oilhole (25), internal high pressure oil passage (26) communicates respectively with valve pocket left P mouth (35) and the right P mouth (36) of valve pocket, the left P mouth (35) of valve pocket communicates with the rectangle groove on second annular boss (42) of spool (9), rectangle groove on second annular boss (42) of spool (9) communicates with the right A mouth (34) of valve pocket, valve pocket right A mouth (34) is communicated with corresponding the first active chamber (47) and the 3rd active chamber (49) by the first rectangle valve port (30) of valve body (10) and the 3rd rectangle valve port (29),
The right P mouth (36) of valve pocket communicates with the rectangle groove on the 3rd annular boss (43) of spool (9), rectangle groove on 3rd annular boss (43) of spool (9) communicates with the left B mouth (37) of valve pocket, and valve pocket left B mouth (37) is communicated with corresponding the second active chamber (48) and the 4th active chamber (50) by the second rectangle valve port (28) of valve body (10) and the 4th rectangle valve port (31).
2. rotary valve high-torque hydraulic corner self-servo valve according to claim 1, is characterized in that described valve body (10) is made up of hollow cylinder, cylindrical body boss and output shaft from left to right successively; Output shaft near cylindrical body boss place is provided with two valve seal grooves, the end face of output shaft has low pressure oil entrance and high pressure oil outlet, and low pressure oil entrance and high pressure oil outlet communicate with corresponding internal low-voltage oil passage (23) and high-pressure radial oilhole (25);
The external diameter of cylindrical body boss is identical with the nominal size of cylinder body cylindrical cavity (18) internal diameter, the cylndrical surface of cylindrical body boss has four valve seal grooves, low pressure oil circular groove (21) is had between the valve seal groove of two, the left side, the second radial low pressure oilhole (22) is had in low pressure oil circular groove (21), high pressure oil circular groove (24) is had between two the valve seal grooves in the right, high-pressure radial oilhole (25) is had in high pressure oil circular groove (24), second radial low pressure oilhole (22) and high-pressure radial oilhole (25) differ 180 ° at the upper two corresponding plain lines of valve body (10),
Two valve seal grooves are had on the cylndrical surface at hollow cylinder left end place, have the first radial low pressure oilhole (20) between two valve seal grooves, valve cylinder-shaped cavity (27) internal diameter is identical with the nominal size of valve pocket (8) external diameter; Hollow cylinder near cylindrical body boss is provided with the second rectangle valve port (28) and the 4th rectangle valve port (31), second rectangle valve port (28) and the 4th rectangle valve port (31) are arranged symmetrically with in axle center, the hollow cylinder of the valve seal groove near the right is provided with the first rectangle valve port (30) and the 3rd rectangle valve port (29), and the first rectangle valve port (30) and the 3rd rectangle valve port (29) are arranged symmetrically with in axle center; First rectangle valve port (30), the second rectangle valve port (28), the 3rd rectangle valve port (29) and the 4th rectangle valve port (31) measure-alike;
The plain line of high-pressure radial oilhole (25) is positioned at the middle of the plain line at the second rectangle valve port (28) center and the plain line at the 3rd rectangle valve port (29) center, the angle of the plain line at the second rectangle valve port (28) center and the plain line at the 3rd rectangle valve port (29) center is θ, and its size is
In formula (1): b
1for the arc length of blade (17) inwall;
B
2be second or the arc length of the 3rd rectangle valve port on hollow cylinder;
R is the external diameter of hollow cylinder.
3. rotary valve high-torque hydraulic corner self-servo valve according to claim 1, it is characterized in that described spool (9) left end is coaxially provided with the endoporus (46) connected with motor (3) output shaft, have core body seal groove near the left end place of spool (9); Spool (9) is provided with the first annular boss (41), the second annular boss (42), the 3rd annular boss (43), the 4th annular boss (44) and the 5th annular boss (45) from left to right, the right of first annular boss (41), the second annular boss (42), the 3rd annular boss (43) and the 4th annular boss (44) has two measure-alike rectangle grooves, two rectangle grooves are 180 ° of distributions, and every two rectangle grooves are positioned on respective same circumference; Two rectangle groove center lines of the first annular boss (41) and two rectangle groove center lines of the 3rd annular boss (43) respectively axle center symmetry be positioned on two bars of plain lines, two rectangle groove center lines of the second annular boss (42) and two rectangle groove center lines of the 4th annular boss (44) lay respectively on another two bars of plain lines of axle center symmetry, and every bar element line differs 90 °; Two logical oil grooves (40) are had at first annular boss (41) of spool and the 5th annular boss (45), two logical oil grooves (40) are in 180 ° of distributions, every two logical oil grooves (40) are positioned on respective same circumference, and the center line of two logical oil grooves (40) is symmetrically located on two plain lines in axle center respectively.
4. rotary valve high-torque hydraulic corner self-servo valve according to claim 1, is characterized in that described valve pocket (8) is made up of six annular boss and five grooves, and annular boss and groove are alternately arranged; Two grooves on the left side and the right have two rectangular opening, and two rectangular opening are 180 ° of layouts, and two rectangular opening on the groove of the left side are the left T mouth (32) of valve pocket, and two rectangular opening on the groove of the right are the right T mouth (39) of valve pocket; The left side and the right of three grooves in the middle of valve pocket (8) have one group of rectangular opening, often organize rectangular opening and are made up of the rectangular opening that two are arranged in 180 ° mutually; Rectangular opening on five grooves is measure-alike, and the rectangular opening center line on five grooves is all positioned on each self-corresponding same plain line, and the rectangle groove of the size of the rectangular opening on five grooves and four boss of spool (9) is measure-alike;
The left surface often organizing rectangular opening on the left side on middle three grooves and the right flank of adjacent annular boss are same plane, and the right flank often organizing rectangular opening on the right on middle three grooves and the left surface of adjacent annular boss are same plane; Six groups of rectangular opening in the middle of valve pocket (8) are from left to right followed successively by the right B mouth (38) of valve pocket left A mouth (33), valve pocket right A mouth (34), valve pocket left P mouth (35), valve pocket right P mouth (36), valve pocket left B mouth (37) and valve pocket.
5. rotary valve high-torque hydraulic corner self-servo valve according to claim 1, it is characterized in that described fixed stop (7) is strip, the length of fixed stop (7) is the difference of the length of the length of cylinder body cylindrical cavity (18) and the cylindrical body boss of valve body (10), and the upper lower camber side difference of fixed stop (7) is the half of the internal diameter of cylinder body cylindrical cavity (18) and the hollow cylinder body diameter difference of valve body (10); The lower camber side center of fixed stop (7) is provided with strip gasket groove in the axial direction, and strip gasket groove is equal with the length of fixed stop (7), and strip gasket groove is embedded with block Stamping Steel Ribbon.
6. rotary valve high-torque hydraulic corner self-servo valve according to claim 1, it is characterized in that described blade (17) is strip, the length of blade (17) is the difference of the length of the length of cylinder body cylindrical cavity (18) and the cylindrical body boss of valve body (10), and the upper lower camber side difference of blade (17) is the half of the internal diameter of cylinder body cylindrical cavity (18) and the hollow cylinder body diameter difference of valve body (10); The lower camber side center of blade (17) is provided with strip gasket groove in the axial direction, and strip gasket groove is equal with the length of blade (17), and strip gasket groove is embedded with runner sealing bar.
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| CN103352887B (en) * | 2013-07-18 | 2015-08-19 | 武汉科技大学 | A kind of single vane water pressure self-servo rotary valve |
| CN104179746B (en) * | 2014-08-15 | 2016-04-13 | 武汉科技大学 | A kind of can continuous rotation from servo-hydraulic machine person joint |
| CN104806592B (en) * | 2015-03-16 | 2016-11-30 | 西安交通大学 | A kind of adjustable bilateral board-like 3-position 4-way rotary valve of flow |
| CN109483589B (en) * | 2018-12-28 | 2024-01-05 | 武汉科技大学 | Hydraulic corner self-servo compliant driver easy to process |
| CN112983919B (en) * | 2021-03-31 | 2021-12-31 | 同济大学 | Large-impulse hydraulic power mechanism based on shaft flow distribution |
| CN113370202A (en) * | 2021-07-08 | 2021-09-10 | 武汉科技大学 | Double-blade hydraulic servo compliant driver |
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