CN103775441B - The electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder - Google Patents
The electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder Download PDFInfo
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- CN103775441B CN103775441B CN201410037636.3A CN201410037636A CN103775441B CN 103775441 B CN103775441 B CN 103775441B CN 201410037636 A CN201410037636 A CN 201410037636A CN 103775441 B CN103775441 B CN 103775441B
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Abstract
The electricity that the invention discloses Dual-motors Driving feeds back large-scale servo hydraulic cylinder, it comprises oil hydraulic cylinder, it also comprises pilot valve and lower guiding valve, pilot valve comprises pilot valve body, at pilot valve body built with pilot valve core, pilot valve body has pilot valve first hydraulic fluid port, pilot valve second hydraulic fluid port, pilot valve the 3rd hydraulic fluid port and pilot valve the 4th hydraulic fluid port from left to right successively, and pilot valve core can be moved left and right along pilot valve core axial direction by slipping mechanism under active motor and the driving of feeding back motor; Lower guiding valve comprises downslide valve body, the lower valve core of the spool valve be assemblied in downslide valve body, with downslide valve body left end coordinate be connected left valve gap, coordinate with downslide valve body right-hand member the right valve gap be connected, be arranged on the left spring of lower valve core of the spool valve left end and be arranged on the right spring of lower valve core of the spool valve right-hand member.This device is adopted to be easy to quantified controlling.
Description
Technical field
The present invention relates to servo hydraulic cylinder, relate generally to the large-scale servo hydraulic cylinder of electricity feedback.
Background technique
Traditional hydraulic servo and ratio control system control complexity, need D/A-A/D to change, and 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 complexity.Present digital quantization oil hydraulic cylinder (patent 200920081786.9) overwhelming majority adopts internal mechanical feedback mechanism to carry out control accuracy, but internal mechanical feedback mechanism manufacturing difficulty, not easily install, keep in repair numerous and diverse.Especially, when hydraulic cylinder travel increases, the problems referred to above can be more serious." a kind of internal feedback digital servo hydraulic cylinder " that patent of invention 201310092096.4 proposes, although the subproblem of to some extent solving, but the direct hydraulic control cylinder of pilot stage digital valve, cause flow unsuitable excessive, the speeds control therefore for large-scale oil hydraulic cylinder is slightly inadequate; And its feedback silk braid is by two bearings, causes rotary inertia to increase, and cannot ensure the response of its stationarity and precision.
The patent No. is that the Chinese patent of CN201310079796.X discloses " a kind of directly-fed Digital Hydraulic Valve ", comprise valve body, spool, spline pair, command motor, command motor is for receiving command pulse and determining rotating speed and the angle of swing of described command motor output shaft according to the frequency of described command pulse and number respectively; Two reverse side of spline pair are connected with the output shaft of described command motor and spool one end of described Digital Hydraulic Valve respectively, it is characterized in that: also comprise feedback screw pair and feedback motor, described feedback screw pair is threaded with the other end of described spool, produces and move axially when described spool is swayed; The output shaft of described feedback motor connects feedback screw pair, for receiving the feedback pulse signal of actuator, rotating speed and the angle of swing of described feedback motor output shaft is determined respectively according to the frequency of described feedback pulse and number, the output shaft of the output shaft relative instruction motor of feedback motor is rotated backward, completes the comparison operation of instruction specified amount for described valve element position and feedback quantity thus.This hydrovalve displacement transducer is external, have very high requirement, and sensor is not easily protected to the parallelism of installing.In addition this hydrovalve can only hydraulic control cylinder in the to-and-fro motion of fixing point-to-point transmission, for the poor stability of speeds control, and accurately cannot control the oil hydraulic cylinder of large discharge.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, provide a kind of valve arrangement simple, manufacturing is relatively easy, and inner uniform force, the electricity of the Dual-motors Driving that control accuracy is high feeds back large-scale servo hydraulic cylinder.
The electricity of Dual-motors Driving of the present invention feeds back large-scale servo hydraulic cylinder, it comprises oil hydraulic cylinder, it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body, at described pilot valve body built with pilot valve core, described pilot valve core is provided with four pilot valve boss, the left chamber of pilot valve is formed between two the pilot valve boss in left side, the right chamber of pilot valve is formed between two the pilot valve boss in right side, described pilot valve body has pilot valve first hydraulic fluid port from left to right successively, pilot valve second hydraulic fluid port, pilot valve the 3rd hydraulic fluid port and pilot valve the 4th hydraulic fluid port, two, centre in four boss boss can close pilot valve first hydraulic fluid port simultaneously and pilot valve the 3rd hydraulic fluid port is arranged, described pilot valve body is provided with built-in first perforation channels being 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 be arranged on pilot valve body, described pilot valve core right-hand member is connected with the active motor be arranged on pilot valve body, described pilot valve core can be moved left and right along pilot valve core axial direction by slipping mechanism under active motor and the driving of feeding back motor, described lower guiding valve comprises downslide valve body, be assemblied in the lower valve core of the spool valve in downslide valve body, the left valve gap be connected is coordinated with downslide valve body left end, the right valve gap be connected is coordinated with downslide valve body right-hand member, be arranged on the left spring of lower valve core of the spool valve left end and be arranged on the right spring of lower valve core of the spool valve right-hand member, described lower valve core of the spool valve is provided with four lower guiding valve boss, the lower left chamber of guiding valve is formed between two the lower guiding valve boss in left side, the lower right chamber of guiding valve is formed between two the lower guiding valve boss in right side, left side spring chamber is formed between lower valve core of the spool valve left end and left valve gap inwall, right side spring chamber is formed between lower valve core of the spool valve right-hand member and right valve gap inwall, described downslide valve body is provided with built-in second perforation channels in the left chamber of guiding valve and the lower right chamber of guiding valve under connection, described downslide valve body has lower guiding valve the 4th hydraulic fluid port from left to right successively, lower guiding valve first hydraulic fluid port, lower guiding valve 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 close lower guiding valve first hydraulic fluid port and the setting of lower guiding valve the 3rd hydraulic fluid port simultaneously, left side spring chamber and pilot valve first hydraulic fluid port are by opening the A mouth flow passage on downslide valve body, right side spring chamber is communicated with pilot valve the 3rd hydraulic fluid port with by the B mouth runner opened on downslide valve body, lower guiding valve second hydraulic fluid port is communicated with pilot valve second hydraulic fluid port by the P mouth runner opened 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 first hydraulic fluid port is connected with hydraulic fluid port on the left of oil hydraulic cylinder by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port is connected with hydraulic fluid port on the right side of oil hydraulic cylinder by B mouth oil pipe, built-in sensors is arranged on hydraulic cylinder piston, control module and active motor, feedback motor and built-in sensors are connected, built-in sensors gathers hydraulic cylinder piston displacement signal and passes to control module, control module sends signal transacting to feedback motor, feedback motor produces the rotation contrary with initiatively motor.
The advantage that the present invention has and good effect are: control module sends out Pulse Width Control initiatively driven by motor pilot valve, and then drive lower guiding valve that oil hydraulic cylinder is moved, export large quantity of fluid, built-in sensors is measured oil hydraulic cylinder amount of movement and is fed back to control module, control module controls feedback motor compensating valve core movement again, reach accurate control, inner uniform force and operating steadily.Structure of the present invention is simple, controls simple, is easy to manufacture, is easy to quantified controlling, is more suitable for controlling large_sized hydraulic cylinder requirement position, velocity accuracy and the very large working environment of thrust.
Accompanying drawing explanation
Fig. 1 is the plan view that the electricity of Dual-motors Driving of the present invention feeds back large-scale servo hydraulic cylinder;
Fig. 2 is the structural representation of the pilot valve in the oil hydraulic cylinder shown in Fig. 1;
The structural representation that Fig. 3 is connected with the first coupling for pilot valve core in the oil hydraulic cylinder shown in Fig. 1;
Fig. 4 is the structural representation of guiding valve lower in the oil hydraulic cylinder shown in Fig. 1.
Embodiment
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Consult Fig. 1 ~ Fig. 4, the electricity of Dual-motors Driving of the present invention feeds back large-scale servo hydraulic cylinder, it comprises oil hydraulic cylinder, it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body 4, at described pilot valve body 4 built with pilot valve core 5, described pilot valve core 5 is provided with four pilot valve boss, the left chamber of pilot valve is formed between two the pilot valve boss in left side, the right chamber of pilot valve is formed between two the pilot valve boss in right side, described pilot valve body 4 has pilot valve first hydraulic fluid port A from left to right successively, pilot valve second hydraulic fluid port P, pilot valve the 3rd hydraulic fluid port B and pilot valve the 4th hydraulic fluid port T, two, centre in four boss boss can close pilot valve first hydraulic fluid port A simultaneously and pilot valve the 3rd hydraulic fluid port B is arranged, described pilot valve body 4 is provided with built-in first perforation channels 15 being communicated with the left chamber of pilot valve and the right chamber of pilot valve, described pilot valve core 5 left end is connected with the feedback motor 2 be arranged on pilot valve body, described pilot valve core 5 right-hand member is connected with the active motor 7 be arranged on pilot valve body, described pilot valve core 5 can be moved left and right along pilot valve core 5 axial direction by slipping mechanism under active motor and the driving of feeding back 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, the left valve gap 1 be connected is coordinated with downslide valve body 8 left end, the right valve gap 9 be connected is coordinated with downslide valve body 8 right-hand member, be arranged on the left spring 12 of lower valve core of the spool valve left end and be arranged on the right spring 10 of lower valve core of the spool valve right-hand member, described lower valve core of the spool valve 11 is provided with four lower guiding valve boss, the lower left chamber of guiding valve is formed between two the lower guiding valve boss in left side, the lower right chamber of guiding valve is formed between two the lower guiding valve boss in right side, left side spring chamber is formed between lower valve core of the spool valve left end and left valve gap 1 inwall, right side spring chamber is formed between lower valve core of the spool valve right-hand member and right valve gap inwall, described downslide valve body 8 is provided with built-in second perforation channels 16 in the left chamber of guiding valve and the lower right chamber of guiding valve under connection, described downslide valve body has lower guiding valve the 4th hydraulic fluid port T from left to right successively, lower guiding valve first hydraulic fluid port A, lower guiding valve 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 close guiding valve first hydraulic fluid port A and lower guiding valve the 3rd hydraulic fluid port B to arrange simultaneously, left side spring chamber and pilot valve first hydraulic fluid port A are by opening the A mouth flow passage on downslide valve body 8, right side spring chamber is communicated with pilot valve the 3rd hydraulic fluid port B with by the B mouth runner opened on downslide valve body 8, lower guiding valve second hydraulic fluid port P is communicated with pilot valve second hydraulic fluid port P by the P mouth runner opened 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 first hydraulic fluid port A is connected with hydraulic fluid port on the left of oil hydraulic cylinder by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port B is connected with hydraulic fluid port on the right side of oil hydraulic cylinder by B mouth oil pipe, built-in sensors is arranged on hydraulic cylinder piston, control module 14 and active motor 7, feedback motor 2 and built-in sensors are connected, built-in sensors gathers hydraulic cylinder piston displacement signal and passes to control module 14, signal transacting is sent to feedback motor 2 by control module 14, feedback motor 2 produces the rotation contrary with initiatively motor 7.
The A hydraulic fluid port in left spring chamber and pilot valve body 4 that lower guiding valve puts left spring 12 is communicated with, and the B hydraulic fluid port of the right spring chamber and pilot valve body 4 of putting right spring 10 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.Be arranged on left valve gap 1 on lower valve core of the spool valve 11 and right valve gap 9 fixes left spring 12 and right spring 10 respectively, and then the static initial position of valve core of the spool valve 11 under fixing centering.Preferred active motor 7 is stepper motor with feedback motor 2, and quiet moment of torsion is large.
Described slipping mechanism comprises the first coupling 6 that one end is connected with the motor shaft grafting of active motor 7, as one of the present invention preferred embodiment, initiatively motor 7 axle can be D type, first coupling 6 one end has D type groove, initiatively motor 7 axle D type end is inserted in the first coupling 6D type groove, advantage is easy processing, and assembling is simple, and ensures motor shaft not by axial force.First described coupling 6 the other end is inserted in the fluting on the right side of pilot valve core 5, and the first described coupling 6, by pilot valve body 4 structural limitations, can not move, but pilot valve core 5 can be driven to rotate.In order to easy to process, pilot valve core 5
right sidefluting be D type, first described coupling 6 the other end is D type end, described D type end be inserted in D type fluting in and D type end can D type fluting in move, described feedback motor shaft one end is connected with the second coupling 3 grafting, and as one of the present invention preferred embodiment, feedback motor shaft can be D type, second coupling 6 one end has D type groove, the D type end of feedback motor shaft is inserted in the D type groove of the second coupling 6, and second described coupling 3 the other end has tapped hole, described
firstmale end is provided with on the left of pilot valve spool 5, described
firstthe male end of pilot valve spool 5 is threaded with tapped hole, and 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 to signal, when pilot valve core 5 is in meta, pilot valve first hydraulic fluid port A is communicated with pilot valve the 4th hydraulic fluid port T hydraulic fluid port with pilot valve second hydraulic fluid port B simultaneously, lower valve core of the spool valve about 11 pressure at two ends is equal, lower valve core of the spool valve 11 is in meta by the acting in conjunction of left spring 12 and right spring 10, pilot valve first hydraulic fluid port A, pilot valve second hydraulic fluid port B are all without the flowing of pressure oil, and oil hydraulic cylinder does not move.
When control module sends positive rotaring signal to active motor 7, initiatively motor 7 drives pilot valve core 5 to rotate forward by the first coupling 6, because the first coupling 6, second coupling 3 all can not move, and feedback motor is not when obtaining feedback signal, because feedback motor static torque, second coupling 3 also can not rotate, and pilot valve core 5 is moved to the left by screw thread.Pilot valve 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 second hydraulic fluid port P by lower guiding valve second hydraulic fluid port P, and the left spring entering 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 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 oil hydraulic cylinder 13 right-hand member through the 3rd hydraulic fluid port B by oil pipe by lower guiding valve second hydraulic fluid port P, and hydraulic cylinder piston is moved to the left, and oil hydraulic cylinder large chamber oil, then to be flowed out by the 4th hydraulic fluid port T from oil pipe through the first hydraulic fluid port A.Oil hydraulic cylinder built-in sensors gathers displacement signal and passes to control module 14, signal transacting is sent to feedback motor 2 by control module 14, control the movement of feedback motor 2 rotation compensation pilot valve core 5, control lower valve core of the spool valve 11 and move, and then hydraulic control cylinder steadily accurately moves.
When control module sends reverse signal to active motor 7, principle is the same.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings 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; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (5)
1. the electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder, it comprises oil hydraulic cylinder, it is characterized in that: it also comprises pilot valve and lower guiding valve, described pilot valve comprises pilot valve body, at described pilot valve body built with pilot valve core, described pilot valve core is provided with four pilot valve boss, the left chamber of pilot valve is formed between two the pilot valve boss in left side, the right chamber of pilot valve is formed between two the pilot valve boss in right side, described pilot valve body has pilot valve first hydraulic fluid port from left to right successively, pilot valve second hydraulic fluid port, pilot valve the 3rd hydraulic fluid port and pilot valve the 4th hydraulic fluid port, two, centre in four boss boss can close pilot valve first hydraulic fluid port and pilot valve the 3rd hydraulic fluid port simultaneously, described pilot valve body is provided with built-in first perforation channels being 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 be arranged on pilot valve body, described pilot valve core right-hand member is connected with the active motor be arranged on pilot valve body, described pilot valve core can be moved left and right along pilot valve core axial direction by slipping mechanism under active motor and the driving of feeding back motor, described lower guiding valve comprises downslide valve body, be assemblied in the lower valve core of the spool valve in downslide valve body, the left valve gap be connected is coordinated with downslide valve body left end, the right valve gap be connected is coordinated with downslide valve body right-hand member, be arranged on the left spring of lower valve core of the spool valve left end and be arranged on the right spring of lower valve core of the spool valve right-hand member, described lower valve core of the spool valve is provided with four lower guiding valve boss, the lower left chamber of guiding valve is formed between two the lower guiding valve boss in left side, the lower right chamber of guiding valve is formed between two the lower guiding valve boss in right side, left side spring chamber is formed between lower valve core of the spool valve left end and left valve gap inwall, right side spring chamber is formed between lower valve core of the spool valve right-hand member and right valve gap inwall, described downslide valve body is provided with built-in second perforation channels in the left chamber of guiding valve and the lower right chamber of guiding valve under connection, described downslide valve body has lower guiding valve the 4th hydraulic fluid port from left to right successively, lower guiding valve first hydraulic fluid port, lower guiding valve 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 close lower guiding valve first hydraulic fluid port and lower guiding valve the 3rd hydraulic fluid port simultaneously, left side spring chamber and pilot valve first hydraulic fluid port are by opening the A mouth flow passage on downslide valve body, right side spring chamber is communicated with pilot valve the 3rd hydraulic fluid port by the B mouth runner opened on downslide valve body, lower guiding valve second hydraulic fluid port is communicated with pilot valve second hydraulic fluid port by the P mouth runner opened 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 first hydraulic fluid port is connected with hydraulic fluid port on the left of oil hydraulic cylinder by A mouth oil pipe, lower guiding valve the 3rd hydraulic fluid port is connected with hydraulic fluid port on the right side of oil hydraulic cylinder by B mouth oil pipe, built-in sensors is arranged on hydraulic cylinder piston, control module and active motor, feedback motor and built-in sensors are connected, built-in sensors gathers hydraulic cylinder piston displacement signal and passes to control module, control module sends signal transacting to feedback motor, feedback motor produces the rotation contrary with initiatively motor.
2. the electricity of Dual-motors Driving according to claim 1 feeds back large-scale servo hydraulic cylinder, it is characterized in that: described slipping mechanism comprises the first coupling that one end is connected with the motor shaft grafting of active motor, the first described coupling the other end is inserted in the fluting on the right side of pilot valve core; One end of the axle of described feedback motor is connected with the second coupling grafting, and the second described coupling the other end has tapped hole, and on the left of described pilot valve core, be provided with male end, the male end of described pilot valve core is threaded with tapped hole.
3. the electricity of Dual-motors Driving according to claim 2 feeds back large-scale servo hydraulic cylinder, it is characterized in that: the fluting on the right side of described pilot valve core is D type, the first described coupling the other end is D type end, the first coupling D type end be inserted in D type fluting in and D type end can D type fluting in move.
4. the electricity of Dual-motors Driving according to claim 3 feeds back large-scale servo hydraulic cylinder, it 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 electricity of Dual-motors Driving according to claim 3 feeds back large-scale servo hydraulic cylinder, it 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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| CN201410037636.3A CN103775441B (en) | 2014-01-26 | 2014-01-26 | The electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder |
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| CN201410037636.3A CN103775441B (en) | 2014-01-26 | 2014-01-26 | The electricity of Dual-motors Driving feeds back large-scale servo hydraulic cylinder |
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| CN103775441B true CN103775441B (en) | 2015-11-18 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104074818A (en) * | 2014-07-07 | 2014-10-01 | 武汉海力威机电科技有限公司 | Direct valve feedback hydraulic synchronization device |
| CN106224320A (en) * | 2016-09-12 | 2016-12-14 | 天津大学 | Inbuilt displacement sensor integrated form list rod symmetrical hydraulic cylinder |
| CN106321544B (en) * | 2016-11-03 | 2018-03-13 | 杭州欧盾机电有限公司 | Switching valve |
| CN106762959B (en) * | 2017-02-13 | 2018-04-17 | 杭州欧盾机电有限公司 | Flow direction conversion equipment |
| CN107013525B (en) * | 2017-04-11 | 2018-08-17 | 欧盾科技有限公司 | Hydraulic device and bending straightener with hydraulic device |
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| US4031813A (en) * | 1973-10-10 | 1977-06-28 | Sperry Rand Limited | Hydraulic actuator controls |
| CN85108167A (en) * | 1985-11-08 | 1986-09-03 | 冶金工业部北京钢铁设计研究总院 | Digital pulse-valve system |
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