CN103758799A - Electric feedback servo hydraulic motor driven by two motors - Google Patents
Electric feedback servo hydraulic motor driven by two motors Download PDFInfo
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- CN103758799A CN103758799A CN201410037908.XA CN201410037908A CN103758799A CN 103758799 A CN103758799 A CN 103758799A CN 201410037908 A CN201410037908 A CN 201410037908A CN 103758799 A CN103758799 A CN 103758799A
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Abstract
The invention discloses an electric feedback servo hydraulic motor driven by two motors. The electric feedback servo hydraulic motor driven by the two motors comprises a hydraulic motor body and further comprises a pilot valve and a slide-down valve, wherein the pilot valve comprises a pilot valve body, a pilot valve element is installed in the pilot valve body, a first oil port of the pilot valve, a second oil port of the pilot valve, a third oil port of the pilot valve and a fourth oil port of the pilot valve are sequentially formed in the pilot valve body from left to right, and the pilot valve element can move left and right in the direction of the axis of the pilot valve element through a sliding mechanism under the driving of the driving motor and the feedback motor; the slide-down valve comprises a slide-down valve body, a slide-down valve element assembled in the slide-down valve body, a left valve deck connected with the left end of the slide-down valve body in a matching mode, a right valve deck connected with the right end of the slide-down valve body in a matching mode, a left spring installed at the left end of the slide-down valve element and a right spring installed at the right end of the slide-down valve element, and a fourth oil port of the slide-down valve, a first oil port of the slide-down valve, a second oil port of the slide-down valve, a third oil port of the slide-down valve and a fifth oil port of the slide-down valve are sequentially formed in the slide-down valve body from left to right. The electric feedback servo hydraulic motor driven by the two motors is easy to control quantitatively.
Description
Technical field
The invention belongs to Fluid Transmission and Control field, be specifically related to a kind of electric feedback servo oil hydraulic motor of Dual-motors Driving.
Background technique
Traditional hydraulic servo and ratio control system control complexity, need D/A-A/D conversion, can not realize direct control.Under prior art, proportional valve control precision is low; Electrohydraulic control dead band is little, and stagnant ring is little, and frequency response is high, and control accuracy is high, but complex structure, and manufacture cost is high, uses complicated.Present oil hydraulic motor servo-control system, for positive displacement, has the defect that low speed is unstable, dynamic characteristic is poor; For throttle type, dynamic characteristic is better, but efficiency is too low.Unstable due to traditional servo-control system control, causes the oil hydraulic motor can not stable operation, especially at oil hydraulic motor, during in heavily loaded working state, may occur the phenomenons such as oil hydraulic motor shake, reverse.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, provide a kind of simple in structure, manufacturing is relatively easy, inner stressed even, the electric feedback servo oil hydraulic motor of the Dual-motors Driving that control accuracy is high.
The electric feedback servo oil hydraulic motor of Dual-motors Driving of the present invention, it comprises oil hydraulic motor, it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body, in described pilot valve body, pilot valve core is housed, on described pilot valve core, be provided with four pilot valve boss, between two the pilot valve boss in left side, form the left chamber of pilot valve, between the pilot valve boss of two, right side, form the right chamber of pilot valve, on described pilot valve body, have successively from left to right pilot valve the first hydraulic fluid port, pilot valve the second hydraulic fluid port, pilot valve the 3rd hydraulic fluid port and pilot valve the 4th hydraulic fluid port, two of centres boss in four boss can seal pilot valve the first hydraulic fluid port and pilot valve the 3rd hydraulic fluid port setting simultaneously, on described pilot valve body, be provided with built-in the first perforate passage that is communicated with the left chamber of pilot valve and the right chamber of pilot valve, described pilot valve core left end is connected with the feedback motor being arranged on pilot valve body, described pilot valve core right-hand member is connected with the active motor being arranged on pilot valve body, described pilot valve core can move left and right along pilot valve core axial direction by slipping mechanism under the driving of active motor and feedback motor, described lower guiding valve comprises downslide valve body, be assemblied in the lower valve core of the spool valve in downslide valve body, coordinate with downslide valve body left end the left valve gap being connected, coordinate with downslide valve body right-hand member the right valve gap being connected, be arranged on the left spring and the right spring that is arranged on lower valve core of the spool valve right-hand member of lower valve core of the spool valve left end, on described lower valve core of the spool valve, be provided with four lower guiding valve boss, between two the lower guiding valve boss in left side, form the left chamber of lower guiding valve, between the lower guiding valve boss in two, right side, form the right chamber of lower guiding valve, between lower valve core of the spool valve left end and left valve gap inwall, form left side spring chamber, between lower valve core of the spool valve right-hand member and right valve gap inwall, form right side spring chamber, on described downslide valve body, be provided with the built-in second perforate passage in the left chamber of guiding valve and the right chamber of lower guiding valve under connection, on described downslide valve body, have successively from left to right lower guiding valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port, lower guiding valve the second hydraulic fluid port, lower guiding valve the 3rd hydraulic fluid port and lower guiding valve the 5th hydraulic fluid port, under two centres in four lower guiding valve boss, guiding valve boss can seal lower guiding valve the first hydraulic fluid port and the 3rd hydraulic fluid port setting of lower guiding valve simultaneously, left side spring chamber is communicated with by the A mouth runner of opening on downslide valve body with pilot valve the first hydraulic fluid port, right side spring chamber with by the B mouth runner of opening on downslide valve body, be communicated with pilot valve the 3rd hydraulic fluid port, lower guiding valve the second hydraulic fluid port is communicated with pilot valve the second hydraulic fluid port by the P mouth runner of opening on downslide valve body, the Y mouth runner that lower guiding valve the 5th hydraulic fluid port is crossed out on downslide valve body is communicated with pilot valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port is connected with hydraulic fluid port under oil hydraulic motor by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port is connected with hydraulic fluid port on oil hydraulic motor by B mouth oil pipe, angle transducer is arranged on oil hydraulic motor, control module and active motor, feedback motor and angle transducer are connected, angle transducer gathers oil hydraulic motor rotation angle signal and passes to control module, control module sends signal processing to feedback motor, the rotation that feedback motor produces with initiatively motor is contrary.
Advantage and good effect that the present invention has are: control module is sent out initiatively driven by motor pilot valve of pulse control, and then drive lower guiding valve that oil hydraulic motor is moved, export large quantity of fluid, angle transducer is measured oil hydraulic motor angular misalignment momentum and is fed back to control module, control module is controlled feedback motor compensating valve core movement again, reach accurate control, stably operation.The present invention is simple in structure, controls simply, is easy to manufacture, and is easy to quantified controlling, is more suitable in the working environment to oil hydraulic motor requirement position, velocity control accuracy.
Accompanying drawing explanation
Fig. 1 is the plan view of the electric feedback servo oil hydraulic motor of Dual-motors Driving of the present invention;
Fig. 2 is the structural representation of the pilot valve in the oil hydraulic motor shown in Fig. 1;
Fig. 3 is the structural representation that in the oil hydraulic motor shown in Fig. 1, pilot valve core is connected with the first coupling;
Fig. 4 is the structural representation of lower guiding valve in the oil hydraulic motor shown in Fig. 1.
Embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Consult Fig. 1～Fig. 4, the electric feedback servo oil hydraulic motor of Dual-motors Driving of the present invention, it comprises oil hydraulic motor, it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body 4, pilot valve core 5 is housed in described pilot valve body 4, on described pilot valve core 5, be provided with four pilot valve boss, between two the pilot valve boss in left side, form the left chamber of pilot valve, between the pilot valve boss of two, right side, form the right chamber of pilot valve, on described pilot valve body 4, have successively from left to right pilot valve the first hydraulic fluid port A, pilot valve the second hydraulic fluid port P, pilot valve the 3rd hydraulic fluid port B and pilot valve the 4th hydraulic fluid port T, two of centres boss in four boss can seal pilot valve the first hydraulic fluid port A simultaneously and pilot valve the 3rd hydraulic fluid port B arranges, on described pilot valve body 4, be provided with built-in the first perforate passage 15 that is communicated with the left chamber of pilot valve and the right chamber of pilot valve, described pilot valve core 5 left ends are connected with the feedback motor 2 being arranged on pilot valve body, described pilot valve core 5 right-hand members are connected with the active motor 7 being arranged on pilot valve body, described pilot valve core 5 can move left and right along pilot valve core 5 axial directions by slipping mechanism under the driving of active motor and feedback motor, described lower guiding valve comprises downslide valve body 8, be assemblied in the lower valve core of the spool valve 11 in downslide valve body 8, coordinate with downslide valve body 8 left ends the left valve gap 1 being connected, coordinate with downslide valve body 8 right-hand members the right valve gap 9 being connected, be arranged on the left spring 12 and the right spring 10 that is arranged on lower valve core of the spool valve right-hand member of lower valve core of the spool valve left end, on described lower valve core of the spool valve 11, be provided with four lower guiding valve boss, between two the lower guiding valve boss in left side, form the left chamber of lower guiding valve, between the lower guiding valve boss in two, right side, form the right chamber of lower guiding valve, between lower valve core of the spool valve left end and left valve gap 1 inwall, form left side spring chamber, between lower valve core of the spool valve right-hand member and right valve gap inwall, form right side spring chamber, on described downslide valve body 8, be provided with the built-in second perforate passage 16 in the left chamber of guiding valve and the right chamber of lower guiding valve under connection, on described downslide valve body, have successively from left to right lower guiding valve the 4th hydraulic fluid port T, lower guiding valve the first hydraulic fluid port A, lower guiding valve the second hydraulic fluid port P, lower guiding valve the 3rd hydraulic fluid port B and lower guiding valve the 5th hydraulic fluid port Y, under two centres in four lower guiding valve boss, guiding valve boss can seal lower guiding valve the first hydraulic fluid port A and the 3rd hydraulic fluid port B setting of lower guiding valve simultaneously, left side spring chamber is communicated with by the A mouth runner of opening on downslide valve body 8 with pilot valve the first hydraulic fluid port A, right side spring chamber with by the B mouth runner of opening on downslide valve body 8, be communicated with pilot valve the 3rd hydraulic fluid port B, lower guiding valve the second hydraulic fluid port P is communicated with pilot valve the second hydraulic fluid port P by the P mouth runner of opening on downslide valve body 8, the Y mouth runner that lower guiding valve the 5th hydraulic fluid port Y crosses out on downslide valve body 8 is communicated with pilot valve the 4th hydraulic fluid port T, lower guiding valve the first hydraulic fluid port is connected with hydraulic fluid port under oil hydraulic motor by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port is connected with hydraulic fluid port on oil hydraulic motor by B mouth oil pipe, angle transducer is arranged on oil hydraulic motor, control module 14 and active motor 7, feedback motor 2 and angle transducer are connected, angle transducer gathers oil hydraulic motor rotation angle signal and passes to control module 14, control module sends signal processing to feedback motor 2, the rotation that feedback motor produces with initiatively motor is contrary.
Preferred initiatively motor 7 is stepper motor with feedback motor 2, and quiet moment of torsion is large.
Lower guiding valve puts the left spring chamber of left spring 12 and the A hydraulic fluid port of pilot valve body 4 is communicated with, and puts the right spring chamber of right spring 10 and the B hydraulic fluid port of pilot valve body 4 is communicated with.The P hydraulic fluid port of downslide valve body 8 is communicated with the P hydraulic fluid port of pilot valve body 4, and the 5th hydraulic fluid port Y of downslide valve body 8 is communicated with the first hydraulic fluid port T of pilot valve body 4.The left valve gap 1 and the right valve gap 9 that are arranged on lower valve core of the spool valve 11 fix respectively left spring 12 and right spring 10, and then the static initial position of valve core of the spool valve 11 under fixing centering.
Described slipping mechanism comprises one end and the motor shaft of active motor 7 the first coupling 6 being connected of pegging graft, as one of the present invention preferred embodiment, initiatively motor 7 axles can be D type, first coupling 6 one end have D type groove, initiatively motor 7 axle D type ends are inserted in the first coupling 6D type groove, advantage is easy processing, and assembling is simple, and guarantees that motor shaft is not subject to axial force.First described coupling 6 the other ends are inserted in the fluting on pilot valve core 5 right sides, and the first described coupling 6, by pilot valve body 4 structural limitations, can not move, but can drive pilot valve core 5 to rotate.For easy to process, the fluting on pilot valve core 5 right sides is D type, first described coupling 6 the other ends are D type end, described D type end is inserted in D type fluting and D type end can move in D type fluting, peg graft and be connected with the second coupling 3 in described feedback motor shaft one end, as one of the present invention preferred embodiment, feedback motor shaft can be D type, second coupling 6 one end have D type groove, the D type end of feedback motor shaft is inserted in the D type groove of the second coupling 6, second described coupling 3 the other ends have tapped hole, in described pilot valve core 5 left sides, be provided with male end, the male end of described pilot valve core 5 is threaded with tapped hole, the second coupling 3 is assemblied in pilot valve, can only rotate and can not move.
Working principle of the present invention:
When control module is not given signal, pilot valve core 5 is when meta, pilot valve the first hydraulic fluid port A and pilot valve the second hydraulic fluid port B are communicated with pilot valve the 4th hydraulic fluid port T hydraulic fluid port simultaneously, lower valve core of the spool valve 11 left and right pressure at two ends equate, the acting in conjunction that lower valve core of the spool valve 11 passes through left spring 12 and right spring 10 is in meta, pilot valve the first hydraulic fluid port A, pilot valve the second hydraulic fluid port B all without pressure oil flow, oil hydraulic motor does not rotate.
When control module is sent positive rotaring signal to active motor 7, initiatively motor 7 drives pilot valve core 5 forward rotation by the first coupling 6, because the first coupling 6, the second coupling 3 all can not move, and feedback motor does not obtain in the situation of feedback signal, because feedback motor static torque, the second coupling 3 also can not rotate, and pilot valve core 5 is moved to the left by screw thread.Pilot valve the second hydraulic fluid port P is communicated with the first hydraulic fluid port A, and the 3rd hydraulic fluid port B is communicated with the 4th hydraulic fluid port T.Pressure oil flows to pilot valve the second hydraulic fluid port P by lower guiding valve the second hydraulic fluid port P, and the left spring that enters lower guiding valve through the first hydraulic fluid port A promotes lower valve core of the spool valve 11 and moves right lower guiding valve the second hydraulic fluid port P is communicated with the 3rd hydraulic fluid port B, and the first hydraulic fluid port A is communicated with the 4th hydraulic fluid port T.Pressure oil enters hydraulic fluid port on oil hydraulic motor 13 by lower guiding valve the second hydraulic fluid port P through the 3rd hydraulic fluid port B by oil pipe, oil hydraulic motor is rotated counterclockwise, oil hydraulic motor inner chamber oil from oil pipe through guiding valve the first hydraulic fluid port A, then by the 4th hydraulic fluid port T flow out.Angle transducer gathers oil hydraulic motor rotation angle signal and passes to control module 14, control module 14 sends signal processing to feedback motor 2, control the movement of feedback motor 2 rotation compensation pilot valve cores 5, control lower valve core of the spool valve 11 and move, and then control oil hydraulic motor and steadily accurately rotate.
When control module is sent reverse signal to active motor 7, principle is the same.
Although by reference to the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation that aim of the present invention and claim protect, can also make a lot of forms, within these all belong to protection scope of the present invention.
Claims (5)
1. the electric feedback servo oil hydraulic motor of Dual-motors Driving, it comprises oil hydraulic motor, it is characterized in that: it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body, in described pilot valve body, pilot valve core is housed, on described pilot valve core, be provided with four pilot valve boss, between two the pilot valve boss in left side, form the left chamber of pilot valve, between the pilot valve boss of two, right side, form the right chamber of pilot valve, on described pilot valve body, have successively from left to right pilot valve the first hydraulic fluid port, pilot valve the second hydraulic fluid port, pilot valve the 3rd hydraulic fluid port and pilot valve the 4th hydraulic fluid port, two of centres boss in four boss can seal pilot valve the first hydraulic fluid port and pilot valve the 3rd hydraulic fluid port setting simultaneously, on described pilot valve body, be provided with built-in the first perforate passage that is communicated with the left chamber of pilot valve and the right chamber of pilot valve, described pilot valve core left end is connected with the feedback motor being arranged on pilot valve body, described pilot valve core right-hand member is connected with the active motor being arranged on pilot valve body, described pilot valve core can move left and right along pilot valve core axial direction by slipping mechanism under the driving of active motor and feedback motor, described lower guiding valve comprises downslide valve body, be assemblied in the lower valve core of the spool valve in downslide valve body, coordinate with downslide valve body left end the left valve gap being connected, coordinate with downslide valve body right-hand member the right valve gap being connected, be arranged on the left spring and the right spring that is arranged on lower valve core of the spool valve right-hand member of lower valve core of the spool valve left end, on described lower valve core of the spool valve, be provided with four lower guiding valve boss, between two the lower guiding valve boss in left side, form the left chamber of lower guiding valve, between the lower guiding valve boss in two, right side, form the right chamber of lower guiding valve, between lower valve core of the spool valve left end and left valve gap inwall, form left side spring chamber, between lower valve core of the spool valve right-hand member and right valve gap inwall, form right side spring chamber, on described downslide valve body, be provided with the built-in second perforate passage in the left chamber of guiding valve and the right chamber of lower guiding valve under connection, on described downslide valve body, have successively from left to right lower guiding valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port, lower guiding valve the second hydraulic fluid port, lower guiding valve the 3rd hydraulic fluid port and lower guiding valve the 5th hydraulic fluid port, under two centres in four lower guiding valve boss, guiding valve boss can seal lower guiding valve the first hydraulic fluid port and the 3rd hydraulic fluid port setting of lower guiding valve simultaneously, left side spring chamber is communicated with by the A mouth runner of opening on downslide valve body with pilot valve the first hydraulic fluid port, right side spring chamber with by the B mouth runner of opening on downslide valve body, be communicated with pilot valve the 3rd hydraulic fluid port, lower guiding valve the second hydraulic fluid port is communicated with pilot valve the second hydraulic fluid port by the P mouth runner of opening on downslide valve body, the Y mouth runner that lower guiding valve the 5th hydraulic fluid port is crossed out on downslide valve body is communicated with pilot valve the 4th hydraulic fluid port, lower guiding valve the first hydraulic fluid port is connected with hydraulic fluid port under oil hydraulic motor by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port is connected with hydraulic fluid port on oil hydraulic motor by B mouth oil pipe, angle transducer is arranged on oil hydraulic motor, control module and active motor, feedback motor and angle transducer are connected, angle transducer gathers oil hydraulic motor rotation angle signal and passes to control module, control module sends signal processing to feedback motor, the rotation that feedback motor produces with initiatively motor is contrary.
2. the electric feedback servo oil hydraulic motor of Dual-motors Driving according to claim 1, it is characterized in that: described slipping mechanism comprises one end and the motor shaft of active motor the first coupling being connected of pegging graft, and the first described coupling the other end is inserted in the fluting on pilot valve core right side; Peg graft and be connected with the second coupling in described feedback motor shaft one end, the second described coupling the other end has tapped hole, in described pilot valve core left side, is provided with male end, and the male end of described pilot valve core is threaded with tapped hole.
3. the electric feedback servo oil hydraulic motor of Dual-motors Driving according to claim 1 and 2, it is characterized in that: the fluting on described pilot valve core right side is D type, the first described coupling the other end is D type end, and the first coupling D type end is inserted in D type fluting and D type end can move in D type fluting.
4. the electric feedback servo oil hydraulic motor of Dual-motors Driving according to claim 3, is characterized in that: initiatively motor shaft is D type, and first coupling one end has D type groove, and initiatively motor shaft D type end is inserted in the first coupling D type groove.
5. the electric feedback servo oil hydraulic motor of Dual-motors Driving according to claim 3, is characterized in that: feedback motor shaft is D type, and second coupling one end has D type groove, and the D type end of feedback motor shaft is inserted in the D type groove of the second coupling.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410037908.XA CN103758799B (en) | 2014-01-26 | 2014-01-26 | The electric feedback servo oil hydraulic motor of Dual-motors Driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410037908.XA CN103758799B (en) | 2014-01-26 | 2014-01-26 | The electric feedback servo oil hydraulic motor of Dual-motors Driving |
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| CN103758799A true CN103758799A (en) | 2014-04-30 |
| CN103758799B CN103758799B (en) | 2015-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410037908.XA Active CN103758799B (en) | 2014-01-26 | 2014-01-26 | The electric feedback servo oil hydraulic motor of Dual-motors Driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332171A (en) * | 2019-07-02 | 2019-10-15 | 徐州阿马凯液压技术有限公司 | A kind of double speed valve and dual-speed hydraulic system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3645167A (en) * | 1968-12-20 | 1972-02-29 | Bosch Gmbh Robert | Control arrangement for hydraulic motors |
| JPS57129902A (en) * | 1981-02-02 | 1982-08-12 | Hitachi Ltd | Servomechanism driver |
| CN85105425A (en) * | 1985-07-11 | 1987-01-28 | 浙江大学 | Y-type plug-in electro-hydraulic ratio combination valve |
| CN2572033Y (en) * | 2002-09-16 | 2003-09-10 | 刘长青 | Two-stage electrohydraulic digital servo valve |
| CN101886642A (en) * | 2010-07-26 | 2010-11-17 | 海门市油威力液压工业有限责任公司 | Pilot-operated electrical feedback proportional direction valve |
-
2014
- 2014-01-26 CN CN201410037908.XA patent/CN103758799B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3645167A (en) * | 1968-12-20 | 1972-02-29 | Bosch Gmbh Robert | Control arrangement for hydraulic motors |
| JPS57129902A (en) * | 1981-02-02 | 1982-08-12 | Hitachi Ltd | Servomechanism driver |
| CN85105425A (en) * | 1985-07-11 | 1987-01-28 | 浙江大学 | Y-type plug-in electro-hydraulic ratio combination valve |
| CN2572033Y (en) * | 2002-09-16 | 2003-09-10 | 刘长青 | Two-stage electrohydraulic digital servo valve |
| CN101886642A (en) * | 2010-07-26 | 2010-11-17 | 海门市油威力液压工业有限责任公司 | Pilot-operated electrical feedback proportional direction valve |
Non-Patent Citations (1)
| Title |
|---|
| 黄效师等: "三级电反馈伺服阀的研制", 《机床与液压》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332171A (en) * | 2019-07-02 | 2019-10-15 | 徐州阿马凯液压技术有限公司 | A kind of double speed valve and dual-speed hydraulic system |
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Effective date of registration: 20170313 Address after: 300073 Tianjin City, Nankai District Anshan West Road No. 192 big building creative building room 432 Patentee after: TIANJIN YANGTIAN TECHNOLOGY Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |
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