CN104976188A - Actuator assembly, engineering machine and boom control device and method of engineering machine - Google Patents
Actuator assembly, engineering machine and boom control device and method of engineering machine Download PDFInfo
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- CN104976188A CN104976188A CN201510299377.6A CN201510299377A CN104976188A CN 104976188 A CN104976188 A CN 104976188A CN 201510299377 A CN201510299377 A CN 201510299377A CN 104976188 A CN104976188 A CN 104976188A
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- actuator
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- spool
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
Abstract
The invention discloses an actuator assembly, an engineering machine and a boom control device and method of the engineering machine. The boom control device comprises a receiving device and a control device; the receiving device is used for receiving control information of each boom section provided with the actuator assembly, and the control device is connected with the receiving device and a motor. The control pulse number and the control pulse frequency needed by the motor are worked out according to the control information so as to drive a piston in the actuator to move to the set position and accurately control a boom to move to the excepted position.
Description
Technical field
The present invention relates to engineering machinery field, be specifically related to a kind of actuator, engineering machinery and jib control gear thereof and method.
Background technique
At present, the jib electrohydraulic control system major part of engineering machinery is open-loop control system.The rocking bar of operator's manually remote controller controls moving direction and the movement velocity of oil cylinder, and whether oil cylinder moves is put in place, is judged by the vision of operator.This Control system architecture is simple, but operator generally can only control a joint or two joint arm actions simultaneously simultaneously, and for the system of more piece jib (four ~ seven joint arm), want to control jib end movement to specified position, its operating process is loaded down with trivial details and the position regulation time is longer, and when operating distance is comparatively far away or when operating unsighted, be just more difficult to ensure completing smoothly of jib control, this will inevitably affect efficiency of construction.
In the prior art, fraction jib electrohydraulic control system is closed loop control system, and this is more common in intelligent arm support control system.On the basis of open system, detection and feedback element is added during this control system.In this control system, the general physical location adopting dip sensor or displacement transducer to detect each joint arm, realizes the closed loop control of arm support position.Owing to accurately can control the position of each joint arm, be easy to the function such as coordination, servo antrol, computer control automatic distributing, jib one key exhibition receipts realizing single oil cylinder, therefore in person, system is generally used in intelligent arm support control system.The servo-actuated operation of this closed loop control system normally a key operation or arm support tail end, simple to operate, greatly can improve efficiency of construction, promote the intellectually and automatically that boom system controls.But this system architecture is complicated, and due to the impact of many non-linear factors such as the long pipeline of boom system, Proportional valve dead band, oil cylinder friction, vibration of arm and jib distortion, electrical control programming, debugging and maintenance difficulties greatly, more difficult realization.Thus, the problems such as this jib closed loop control system ubiquity stability of a system is poor, control accuracy is not high.
Summary of the invention
The object of this invention is to provide a kind of actuator, engineering machinery and jib control gear thereof and method, described jib control gear can accurately control jib and move to desired locations.
To achieve these goals, the invention provides a kind of actuator, this actuator comprises actuator, and described actuator also comprises: motor; Control valve group, is connected to motor; And mechanical feedback mechanism, be connected with the piston of described control valve group and described actuator respectively, the action under the driving of described motor and described mechanical feedback mechanism of described control valve group is flowed between storage box and the cavity of described actuator to control driven medium, with make described actuator piston produce motion, and described piston movement to the oil circuit of closing during desired location between described storage box and described actuator to forbid that described driven medium flows between described storage box and the cavity of described actuator.
Correspondingly, the present invention also provides a kind of jib control gear for engineering machinery, and this jib control gear comprises: reception unit, and for receiving the control information saved about each arm, this arm joint is equipped with according to above-mentioned actuator; And control gear, be connected with described reception unit and described motor, draw control impuls quantity needed for described motor and control impuls frequency according to described control information, to drive piston movement in described actuator to desired location.
Correspondingly, the present invention also provides a kind of engineering machinery, and this project machinery comprises: above-mentioned actuator; And said arm rack control device.
Correspondingly, the present invention also provides a kind of arm support control method for engineering machinery, and this arm support control method comprises: receive the control information saved about each arm, and described arm joint is equipped with above-mentioned actuator; And draw control impuls quantity needed for described motor and control impuls frequency according to described control information, to drive piston movement in described actuator to desired location
Pass through technique scheme, the control information saved according to each arm draws control impuls quantity needed for motor and control impuls frequency, drive the piston movement had in the actuator of mechanical feedback mechanism to desired location, accurately move to desired location to make jib.
Other features and advantages of the present invention are described in detail in embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is the structured flowchart of the arm support control system for engineering machinery provided by the invention;
Fig. 2 is the structural representation of the arm support control system for engineering machinery according to one embodiment of the present invention;
Fig. 3 is the structural representation of the oil cylinder according to one embodiment of the present invention;
Fig. 4 a, 4b, 4c are the enlarged views of change-over valve core part in the oil cylinder according to one embodiment of the present invention, wherein Fig. 4 a is the schematic diagram that change-over valve core is not moved, the second valve port A and the first valve port B is closed, 4b is when ball screw is two-way ball screw, the schematic diagram that change-over valve core moves to right, the second valve port A and the first valve port B opens, Fig. 4 c is the schematic diagram that change-over valve core moves to left when ball screw is in the same way to ball screw, the second valve port A and the first valve port B opens; And
Fig. 5 is the structural representation according to the equilibrium valve in the oil cylinder of one embodiment of the present invention.
Description of reference numerals
1 first arm joint 2 second arm joint
3 the 3rd arm joint 4 the 4th arm joints
10 jib control gear 20 actuators
21 oil cylinder 21 ' oil cylinders
110 reception unit 120 control gear
130 safety valve 140 high pressure filters
150 return filter 160 motors
170 variable displacement pump 210 motors
The valve body of 220 control valve group 221 selector valves
Spool 223 equilibrium valve of 222 selector valves
230 mechanical feedback mechanism 231 ball screws
232 first feed screw nut 233 second feed screw nuts
240 connect feather key 250 piston
260 rodless cavity 270 rod chambers
302 first spring 303 first relief valves
304 first one-way valve 308 second one-way valves
309 second relief valve 310 second springs
311 second spring chamber 312 first spring chambers
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, embodiment described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
Fig. 1 is the structured flowchart of the arm support control system for engineering machinery provided by the invention.As shown in Figure 1, described arm support control system can comprise actuator 20 and jib control gear 10.Wherein, actuator 20 can comprise actuator (not shown), and this actuator 20 can also comprise motor 210; Control valve group 220, is connected to motor 210; And mechanical feedback mechanism 230, be connected with the piston of described control valve group 220 and described actuator respectively, the action under the driving of described motor of described control valve group 220 is flowed between storage box and the cavity of described actuator to control driven medium, motion is produced to make the piston of described actuator, and when described piston movement is to desired location, close path between described storage box and described actuator to forbid that described driven medium flows between described storage box and the cavity of described actuator.Jib control gear 10 can comprise: reception unit 110, and for receiving the control information saved about each arm, this arm joint is equipped with above-mentioned actuator; And control gear 120, be connected with described reception unit 110 and described motor 210, draw control impuls quantity needed for described motor 210 and control impuls frequency according to described control information, to drive piston movement in described actuator to desired location.The present invention draws control impuls quantity needed for motor 210 and control impuls frequency by the control information saved according to each arm, drive the piston movement had in the actuator of mechanical feedback mechanism 230 to desired location, accurately move to desired location to make jib.
The spool 222 of described selector valve can move axially in valve body 221, described mechanical feedback mechanism 230 has the end be connected with the spool 222 of described selector valve, and passes axially through described piston from described end and extend to the cavity of the piston rod of described actuator.Such as, described mechanical feedback mechanism 230 with the poppet shaft of described control valve group 220 to being connected, and can axially extend in the cavity of the piston rod of described actuator.
Wherein, in order to meet the requirement accurately controlled, motor 20 can adopt stepper motor.Actuator can be the executive component such as oil cylinder or cylinder.Certain the present invention is not restricted to this, and those skilled in the art can adopt any suitable motor according to actual needs.
Below will describe the present invention in detail by embodiment.In the following specific embodiments, adopt oil cylinder to be used as actuator, correspondingly, fluid is as driven medium, and fuel tank is as storage box.Certain above-mentioned concrete assembly is exemplary, and the present invention can also be implemented by alternate manner.
Fig. 2 is the structural representation of the arm support control system for engineering machinery according to one embodiment of the present invention.As shown in Figure 2, one end of oil cylinder 21 is connected on the fulcrum C that is positioned on turntable, and the other end is connected on the fulcrum D of the first arm joint 1; One end of oil cylinder 21 ' is connected on the fulcrum E of the first arm joint 1, and the other end is connected to and saves on the 1 connecting rod La be connected with the first arm, and connecting rod La be connected to the connecting rod Lb that the second arm saves 2 and be connected.The control information that reception unit 110 each arm received from such as remote controller (not shown) saves (such as, the first arm joint 1, second arm joint the 2, the 3rd arm joint 3 and the 4th arm joint 4).The feedback parameter of the control information that control gear 120 saves according to each received arm and feedback mechanism, calculate the control impuls quantity required for motor and control impuls frequency that drive oil cylinder 21, then send corresponding command signal drive motor with the specific corner of specific rotary speed movement, thus control oil cylinder movement to desired locations.Because, when feedback parameter is determined, between motor and oil cylinder there is relation one to one in speed, displacement, the control impuls quantity of the motor determined based on this relation and control impuls frequency, the displacement of arm fuel-economizing cylinder can be made to reach given expected value, thus make jib move to position and the attitude of expectation.Wherein, described control information can comprise the displacement from the given arm fuel-economizing cylinder 21 of remote controller, the displacement from the given arm support tail end of other operation equipment or speed can also be comprised, and can also comprise and come from the given arm support tail end position of planning in advance of computer.In existing jib control procedure, based on arm joint control information determine drive oil cylinder motor required for control impuls quantity and control impuls frequency be known, and the present invention considers feedback parameter to control impuls quantity and control impuls frequency to revise in existing computational process, those skilled in the art can calculate suitable control impuls quantity according to prior art and to control valve group described during desired location, control impuls frequency can forbid that described driven medium flows between described storage box and the cavity of described actuator to make piston movement.
In addition, due to travelling speed and the Electric Machine Control pulse frequency proportional (that is, oil cylinder speed=pulse equivalency × control impuls frequency) of oil cylinder 21, and the speed of oil cylinder 21 corresponds to the demand volume of fluid in oil cylinder 21.Control gear 120 is according to the control impuls frequency exporting to each motor, the flow that each oil cylinder needs can be calculated, comprehensively show that jib moves required traffic conditions, thus adjust the discharge capacity of oil hydraulic pump (such as variable displacement pump 170) in real time, consistent to make the output flow of variable displacement pump 170 and jib move required flow, and then system overflow and restriction loss can be reduced, realize energy-conservation.
Jib control gear 10 also comprises safety valve 130, be installed between variable displacement pump 170 and fuel tank, and be parallel to from the oil circuit of variable displacement pump 170 through arm fuel-economizing cylinder 21 to fuel tank, when the pressure of the fluid that variable displacement pump 170 exports exceedes default safety pressure, fluid flows back into described fuel tank through this safety valve.In addition, jib control gear 10 can also comprise high pressure filter 140, is connected to variable displacement pump 170 and leads on the oil circuit of arm fuel-economizing cylinder 21; And return filter 150, be connected to described arm fuel-economizing cylinder 21 and lead on the oil return circuit of described fuel tank, and be positioned at the downstream of safety valve 130.As shown in Figure 2, within the scope of safe-working pressure, variable displacement pump 170 exports high pressure oil under the driving of motor 160, this high pressure oil directly enters each arm fuel-economizing cylinder 21 after high pressure filter 140, think that the motion of arm fuel-economizing cylinder 21 provides power, and flow back to fuel tank from the low pressure oil of oil cylinder through low-pressure filter 150; If oil liquid pressure exceedes safety pressure, then from the high pressure oil of variable displacement pump 170 after high pressure filter 140 carries out contaminant filter, be then converted to low pressure oil through safety valve 130, this low pressure oil flows back into fuel tank after return filter 150 carries out contaminant filter.Wherein, high pressure oil is the fluid for doing work, and low pressure oil has been the fluid needing to be back to fuel tank after acting.
When the action simultaneously of multiple arm fuel-economizing cylinder, if jib moves required total discharge when being greater than the peak rate of flow that variable displacement pump 170 can provide, control gear 120 also will synchronously reduce the control impuls frequency of each arm fuel-economizing cylinder 21 in proportion, thus make system still have good manipulation characteristic, realize the saturated function of anti-current amount of system.
Below with reference to Fig. 3 and 4a, 4b, 4c, oil cylinder provided by the present invention is described in detail.
Fig. 3 is the structural representation of the oil cylinder according to one embodiment of the present invention.In this embodiment, control valve group 220 in oil cylinder 21 can comprise selector valve (comprising the valve body 221 of selector valve and the spool 222 of selector valve), this selector valve can be the servo reversing valve with servo function, to improve the accuracy of selector valve action.The valve body 221 of selector valve has the first undercut groove, the second undercut groove, the 3rd undercut groove, described first undercut groove and described 3rd undercut groove are by oil circuit UNICOM, described first undercut groove is communicated with oil outlet to be connected to fuel tank T, described second undercut groove is communicated with oil inlet P, wherein, described spool can also have first protruding, the second protruding, the 3rd projection, described first undercut groove is arranged in the first projection, described second undercut groove is arranged in the second projection, and described 3rd undercut groove is arranged in the 3rd projection.When the spool is in the first position, described filler opening is by the rodless cavity conducting of described second undercut groove and described actuator, described oil outlet is by the rod chamber conducting of described 3rd undercut groove and described actuator, and when the spool is in the second position, described filler opening is by the rod chamber conducting of described second undercut groove and described actuator, and described oil outlet is by the rodless cavity conducting of described first undercut groove and described actuator.The below of valve body 221 has the first valve port A and the second valve port B, and to be connected to rod chamber and rodless cavity, but not limit which valve port and be connected to rodless cavity, which valve port is connected to rod chamber, and it connects depending on actual conditions.The spool 222 of selector valve is connected with motor 210 and mechanical feedback mechanism 230 (being such as mechanically connected) respectively, and it is mobile in the valve body 221 of selector valve under the driving of motor 210 and mechanical feedback mechanism 230, open or close with the valve port of described selector valve, and then control described fluid and flow between described fuel tank and the cavity of described oil cylinder.It should be noted, above-mentioned " first ", " second ", " the 3rd " mentioned etc. is only convenient for statement and is convenient to the consideration of the aspects such as understanding, and it is also not used in and specifically limits front and back position, sequencing and movement direction,
Described mechanical feedback mechanism 230 can be ball screw, and this ball screw can have: the first feed screw nut, such as, be axially fixedly attached to the spool of described selector valve; Second feed screw nut, is connected with the piston of described actuator; And ball screw, axially extend to the cavity of described piston rod from the spool of described selector valve, and can rotate, such as, in described spool and described piston rod, be provided with the cavity arranging described ball screw.This ball screw has the first screw portion and the second screw portion, described first feed screw nut can move axially on described first screw portion, described second feed screw nut can move axially on described second screw portion, and the helical pitch of described first screw portion is less than the helical pitch of described second screw portion.Wherein said motor drives the Spool rotating of described selector valve to rotate to make described first feed screw nut, and the rotation of described first feed screw nut impels described spool to produce moving axially of first direction, when described piston moves, described second feed screw nut is produced move axially, and moving axially of described second feed screw nut drives described ball screw to rotate, and then impel described first feed screw nut to drive described spool to produce opposite to the first direction moving axially, so that in described actuator running, what described spool produced under described motor effect move axially with produce under described piston action to move axially equal and opposite in direction direction contrary.
Wherein, described ball screw can be two-way ball screw or ball screw in the same way, when described ball screw is two-way ball screw, the rodless cavity of described actuator is communicated with the valve port of described selector valve away from described piston, when described spool moves to open valve port towards described piston under described motor drives, described driven medium flow in the rodless cavity of described break, when described ball screw be in the same way ball screw, the rodless cavity of described actuator is communicated with the valve port of described selector valve near described piston, described spool is when under described motor drives, described piston moves to open valve port dorsad, described driven medium flow in the rodless cavity of described break.
As shown in Figure 3, spool 222 left end of selector valve is connected to motor 210 by such as connecting feather key 240, and right-hand member is connected to the first feed screw nut 232.Described control valve group 220 can also comprise equilibrium valve 223, this equilibrium valve 223 is between described selector valve and described oil cylinder, fluid for controlling to flow out from selector valve flow to rodless cavity 260 or the rod chamber 270 of described oil cylinder, and control fluid and flow out to described fuel tank from described rod chamber 270 or described rodless cavity 260, make when not having fluid to flow in the cavity of described oil cylinder, can guarantee that described oil cylinder is locked, and flow back at fluid the oil port that described fuel tank passes through and maintain back pressure.Equilibrium valve 223 possesses the function of load control, load maintenance and payload security.Described equilibrium valve 223 can be Bidirectional balanced valve.
In one embodiment, mechanical feedback mechanism 230 is two-way ball screw (left-right rotary ball screw), this two-way ball screw has: the first feed screw nut 232, is fixedly connected on the spool 222 of selector valve, is connected to the right-hand member of spool 222 as shown in the figure; Second feed screw nut 233, is connected with the piston 250 of oil cylinder 21; And ball screw 231, this ball screw 231 has the first screw portion and the second screw portion, described first feed screw nut 232 can move axially on described first screw portion, described second feed screw nut 233 can move axially on described second screw portion, and the helical pitch of described first screw portion is less than the helical pitch of described second screw portion, and described first screw portion is different from the screw thread rotation direction of described second screw portion.Wherein said motor drives the spool 222 of described selector valve to rotate described first feed screw nut 232 is rotated, and the aperture of the valve port of selector valve that moves axially to make that the rotation of described first feed screw nut 232 impels described spool 222 to produce first direction increases, when described piston 250 moves, described second feed screw nut 233 is produced move axially, and moving axially of described second feed screw nut 233 drives described ball screw 231 to rotate, and then impel described first feed screw nut 232 to drive described spool 222 to produce the opposite to the first direction aperture of the valve port of selector valve that moves axially to make to reduce, so that in described oil cylinder running, what described spool 222 produced under described motor effect move axially with act at described piston 250 under produce to move axially equal and opposite in direction direction contrary, namely make just to close to the valve port of selector valve during desired location at piston movement.In this embodiment, the feedback parameter i.e. helical pitch ratio of the first screw portion and the second screw portion.The control information saved based on each arm and helical pitch ratio can determine control impuls quantity and the control impuls frequency of motor, to make to drive the valve port of selector valve just to close when piston moves to desired location.Wherein, can calculate required control impuls quantity and control impuls frequency according to existing computational methods, those skilled in the art can select suitable existing means to calculate it, therefore repeat no more.
Can not come off when moving axially on screw mandrel in order to ensure the second feed screw nut 233, screw mandrel can be extended in piston rod, and can rotate in piston rod (such as connecting with thread forms); Simultaneously in order to ensure the accuracy of the reliability that screw mandrel rotates and feedback thereof, screw mandrel and piston rod can be the parallel or coaxial relation of axle.
Fig. 5 is the structural representation according to the Bidirectional balanced valve in the oil cylinder of one embodiment of the present invention.This Bidirectional balanced valve can comprise: the first one-way valve 308, between the hydraulic fluid port being arranged on the first valve port of described selector valve and the rodless cavity 260 of described oil cylinder; First relief valve 309, is connected to the side of described first one-way valve near the hydraulic fluid port of the rodless cavity 260 of described oil cylinder; Second one-way valve 304, between the hydraulic fluid port being arranged on the second valve port of described selector valve and the rod chamber 270 of described oil cylinder; And second relief valve 303, be connected to the side of described second one-way valve near the hydraulic fluid port of the rodless cavity 270 of described oil cylinder; Wherein, described first one-way valve 308 and described second one-way valve 304 control rodless cavity and the rod chamber that described fluid flow to described oil cylinder respectively. when described spool 222 is in primary importance, described second undercut groove and described first valve port conducting, described 3rd undercut groove and described second valve port conducting, when described spool 222 is in the second place, described second undercut groove and described second valve port conducting, described first undercut groove and described first valve port conducting.Described first relief valve 309 and described second relief valve 303 are provided with spring respectively in respective overflow spool spring chamber, can in fluid flow process, and fluid is flow back into, and oil port that described fuel tank passes through maintains back pressure.
The working procedure of oil cylinder 21 is described below with reference to Fig. 3 and Fig. 4 a, 4b.Fig. 4 a and 4b shows the state that ball screw is the situation lower valve core of two-way ball screw.Motor 210 rotates under the pulse signal that control gear 120 sends drives, and drives the spool 222 of selector valve to rotate by connecting feather key 240.Rotate on screw portion and produce move axially because spool 222 right-hand member is fixedly connected with the first feed screw nut 232, first feed screw nut 232, and then can realize moving axially at the effect lower valve core 222 of the first feed screw nut 232.As shown in Figure 4 b, when motor 210 rotate impel spool 222 move to right (moving towards piston) time, the rotary actuation valve port of motor 210 is opened gradually, pressure oil enters the first valve port A from P mouth after spool 222 throttling, first valve port A communicates with hydraulic fluid port V2, high pressure oil backs down the first one-way valve 304 in equilibrium valve 223 and enters the hydraulic fluid port C2 of rodless cavity after entering hydraulic fluid port V2, then enter the rodless cavity 260 of oil cylinder through hydraulic fluid port C2, make piston 250 overhanging.Simultaneously, fluid in rod chamber 270 acts on to the second relief valve 309 in equilibrium valve 232 after the hydraulic fluid port C1 of rod chamber, the second spring 310 in compression equilibrium valve, to realize the connection of hydraulic fluid port C1 and V1, fluid is by hydraulic fluid port V1, get back to fuel tank T through the second valve port B of selector valve again.When piston 250 is protruding, the second feed screw nut 233 be connected with piston 250 also together moves, due to ball screw 231 axial restraint, under the effect of the second feed screw nut 233, ball screw 231 rotates, and the rotation of ball screw 231 simultaneously makes the first feed screw nut 232 be with movable valve plug 222 axially to move to left, thus realizes the direct position reverse feedback of spool, valve port is turned down gradually, until close.
When pressure oil enters from V1 mouth, the second one-way valve 308 be connected with V1 is opened, and makes fluid enter the rod chamber 270 of oil cylinder through the hydraulic fluid port C1 of rod chamber, piston 250 is inside contracted.Simultaneously, fluid in rodless cavity 260 acts on to the first relief valve 303 in equilibrium valve 232 after the hydraulic fluid port C2 of rodless cavity, the first spring 302 in compression equilibrium valve, to realize the connection of hydraulic fluid port C2 and V2, fluid is by hydraulic fluid port V2, get back to fuel tank T through the first valve port A again.
Oil cylinder oil return liquid flows to oiler C1 or hydraulic fluid port C2 and acts on the second overflow spool 309 or the first relief valve 303, overflow spool is driven to move together with the control oil introduced from V2 or V1 by cross line, due to the existence of the pressure of the second spring 310 in the second spring chamber 311 of overflow spool or the first spring 302 in the first spring chamber 312, hydraulic fluid port C1 or hydraulic fluid port C2 is made to remain certain back pressure, thus can prevent oil cylinder from occurring stall and hypervelocity, even if when load appears in jib, still there is good speed control characteristic.And when hydraulic fluid port V1, hydraulic fluid port V2 all enter without pressure oil, arm fuel-economizing cylinder can be locked reliably under the effect of two one-way valves, make arm joint be locked in certain position and remain unchanged.
Exemplarily, when inputting direct impulse signal, motor 210 rotates forward and under the effect of the first feed screw nut, impels rotation limit, spool limit to move to left, and the screw thread rotation direction of the first screw portion is clockwise, it should be noted that the movement of the first feed screw nut can not drive the rotation of screw mandrel simultaneously, fluid flow in rodless cavity, now piston 250 is overhanging, the movement of piston impels the second feed screw nut be fixedly connected with it to produce to move axially (moving to right), because the first screw portion is contrary with the screw thread rotation of the second screw portion, drive second screw portion that moves axially of the second feed screw nut is rotated counterclockwise, first screw portion also produces and is rotated counterclockwise simultaneously, ball screw is as active body, first feed screw nut to be changed into according to the helical pitch of corresponding specification with the rotation angle of screw mandrel move axially (moving to right), and then drive passive workpiece spool to move to right, otherwise, input reverse impulse signal, motor 210 reverses, and piston 250 inside contracts, its process and said process similar, repeat no more in this.Certain above-mentioned setting is only exemplary, and those skilled in the art can modify to it and realize the present invention.
The angular displacement of the moving displacement of oil cylinder 21 and speed and motor 210 and rotating speed one_to_one corresponding.In this, the present invention relies on this Hydraulic Servo-mechanism just, oil cylinder can be made to be issued to higher opened loop control precision there is no the situation of sensor, make to drive the displacement of lower valve core movement contrary with driving the displacement equal and opposite in direction direction of lower valve core movement at two-way ball screw at motor 210, and the rotation of two-way ball screw is associated with the moving displacement of oil cylinder, therefore, it is possible to realize the accurate control of displacement.
In addition, described mechanical feedback mechanism 230 can be ball screw in the same way, this in the same way ball can have: the first feed screw nut, is fixedly connected on the spool of described selector valve; Second feed screw nut, is connected with the piston of described oil cylinder; And ball screw, this ball screw has the first screw portion and the second screw portion, described first feed screw nut can move axially on described first screw portion, described second feed screw nut can move axially on described second screw portion, and the helical pitch of described first screw portion is less than the helical pitch of described second screw portion, and described first screw portion is identical with the screw thread rotation direction of described second screw portion.Wherein said motor drives the Spool rotating of described selector valve to rotate to make described first feed screw nut, and the aperture of the valve port of selector valve that moves axially to make that the rotation of described first feed screw nut impels described spool to produce first direction increases, when described piston moves, described second feed screw nut is produced move axially, and moving axially of described second feed screw nut drives described ball screw to rotate, and then impel described first feed screw nut to drive the opposite to the first direction aperture of the valve port of selector valve that moves axially to make of described spool generation to reduce, so that in described oil cylinder running, what described spool produced under described motor effect move axially with produce under described piston action to move axially equal and opposite in direction direction contrary, namely make just to close to the valve port of selector valve during desired location at piston movement.In this case, feedback parameter is the helical pitch ratio of the first screw portion and the second screw portion.In this embodiment, the structure of oil cylinder changes, but be only that the cavity that hydraulic fluid port C1 and C2 of equilibrium valve 232 is connected to changes, namely the above-mentioned hydraulic fluid port C2 being connected to rodless cavity 260 is connected to rod chamber 270, and the hydraulic fluid port C1 being connected to rod chamber 270 is connected to rodless cavity 260.
The working procedure that mechanical feedback mechanism 230 is the oil cylinder 21 of ball screw in the same way will be specifically described below.Motor 210 rotates under the pulse signal that control gear 120 sends drives, and drives the spool 222 of selector valve to rotate by connecting feather key 240.Rotate on screw portion and produce move axially because spool 222 right-hand member is fixedly connected with the first feed screw nut 232, first feed screw nut 232, and then can realize moving axially at the effect lower valve core 222 of the first feed screw nut 232.As illustrated in fig. 4 c, when motor 210 rotate impel spool 222 move to left (piston moves dorsad) time, the rotary actuation valve port of motor 210 is opened gradually, pressure oil enters the second valve port B from P mouth after spool 222 throttling, second valve port B communicates with hydraulic fluid port V1, high pressure oil backs down the second one-way valve 308 in equilibrium valve 232 and enters hydraulic fluid port C1 after entering hydraulic fluid port V1, then enter the rodless cavity 260 of oil cylinder through hydraulic fluid port C1, make piston 250 overhanging.Meanwhile, the fluid in rod chamber 270 acts on to the first relief valve 303 in equilibrium valve 223 after hydraulic fluid port C2, and the first spring 302 in compression equilibrium valve, to realize the connection of hydraulic fluid port C2 and V2, fluid is by hydraulic fluid port V2, get back to fuel tank T through the first valve port A again.When piston 250 is protruding, the second feed screw nut 233 be connected with piston 250 also together moves, due to ball screw 231 axial restraint, under the effect of the second feed screw nut 233, ball screw 231 rotates, and the rotation of ball screw 231 simultaneously makes the first feed screw nut 232 be with movable valve plug 222 axially to move to right, thus realizes the direct position reverse feedback of spool, valve port is turned down gradually, until close.According to describing above, those skilled in the art have the ability to realize other working procedure of oil cylinder in this mode of execution, therefore repeat no more.
It should be noted, be no matter two-way ball screw or ball screw in the same way, its first screw portion had and the second screw portion both can be integrally formed single screw mandrels, also can be formed by fixedly connecting by two screw mandrels.
The present invention has the ball screw of different lead part by adopting or has two ball screws of different lead, achieves the speed ratio of piston stroke and spool stroke.The design of helical pitch ratio is based on piston stroke and spool stroke, such as, be 390mm at the stroke of piston, the stroke of spool is in the embodiment of 10mm, namely the maximum displacement that piston can produce is 390mm, the maximum displacement that spool can produce is 10mm, and valve port reaches maximum opening during spool generation maximum displacement, movement in order to avoid spool exceeds range and occurs dropping situations, can be 1:40 by the helical pitch Proportionality design of spool end and piston end screw mandrel, but should notice that the present invention is not restricted to this, those skilled in the art can design suitable helical pitch ratio according to actual needs.By adopting above-mentioned mechanical feedback mechanism can improve jib displacement accuracy and reliability, and for Multi-cylinder system, control wiring and feedback line all can be saved greatly, for the engineering machinery that operating environment is severe, obviously can reduce rate of fault.
In addition, the present invention also provides a kind of engineering machinery, and this project machinery comprises above-mentioned actuator and said arm rack control device.
Correspondingly, the present invention also provides a kind of arm support control method of engineering machinery, and this arm support control method comprises: receive the control information saved about each arm, and this arm joint is equipped with above-mentioned actuator group; And draw control impuls quantity needed for described motor and control impuls frequency according to described control information, to drive piston movement in described actuator to desired location.About the detail of the method and benefit identical with the above-mentioned details for arm support control system and benefit, repeat no more in this.
Arm support control system proposed by the invention, structure is simple, and not complicated, the expensive proportional multi-way valve of Structure of need, thus can reduce costs; Wherein control gear can calculate jib according to the control signal of received arm joint and move required flow, to adjust variable pump delivery in real time, makes the output flow of variable displacement pump consistent with flow needed for system, and then realizes energy saving of system; Jib electrohydraulic control system proposed by the invention has the open-loop control system of oil cylinder internal mechanical servo feedback, can realize the high control of precision by simple control algorithm; Because oil cylinder self has displacement mechanical feedback, the closed loop control algorithm thus without the need to increasing extra displacement transducer and complexity can realize accurate control and the response fast of oil cylinder velocity of displacement, and electrical control program is simple, easily realizes; This oil cylinder is integrated with motor, selector valve and hydraulic jack, compact structure, enormously simplify the formation of hydraulic system, saves installing space simultaneously; Oil cylinder is also integrated with equilibrium valve, makes arm fuel-economizing cylinder have load maintenance, payload security function, greatly adds the safety and reliability of system; Left and right two-part of ball screw of oil cylinder inside have different lead respectively and left and rightly revolve two kinds of different rotation directions, greatly simplify cylinder structure, save inner space.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned mode of execution; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technological scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each concrete technical characteristics described in above-mentioned embodiment, in reconcilable situation, can be combined by any suitable mode, in order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible compound mode.
In addition, also can carry out combination in any between various different mode of execution of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (16)
1. an actuator, this actuator comprises actuator, it is characterized in that, described actuator also comprises:
Motor;
Control valve group, is connected to motor; And
Mechanical feedback mechanism, is connected with the piston of described control valve group and described actuator respectively,
The action under the driving of described motor and described mechanical feedback mechanism of described control valve group is flowed between storage box and the cavity of described actuator to control driven medium, with make described actuator piston produce motion, and described piston movement to the path of closing during desired location between described storage box and described actuator to forbid that described driven medium flows between described storage box and the cavity of described actuator.
2. actuator according to claim 1, it is characterized in that, described control valve group comprises selector valve, the spool of this selector valve is connected with described motor and described mechanical feedback mechanism respectively and moves in the valve body of this selector valve under the driving of described motor and described mechanical feedback mechanism, open or close with the valve port controlling described selector valve, and then control described driven medium and flow between described storage box and the cavity of described actuator.
3. actuator according to claim 2, it is characterized in that, the spool of described selector valve can move axially in valve body, described mechanical feedback mechanism has the end be connected with the spool of described selector valve, and passes axially through described piston from described end and extend to the cavity of the piston rod of described actuator.
4. actuator according to claim 3, it is characterized in that, described valve body has the first undercut groove, the second undercut groove, the 3rd undercut groove, described first undercut groove and described 3rd undercut groove are by oil circuit UNICOM, described first undercut groove is communicated with oil outlet, described second undercut groove is communicated with filler opening
Wherein, when the spool is in the first position, described filler opening is by the rodless cavity conducting of described second undercut groove and described actuator, described oil outlet is by the rod chamber conducting of described 3rd undercut groove and described actuator, and when the spool is in the second position, described filler opening is by the rod chamber conducting of described second undercut groove and described actuator, and described oil outlet is by the rodless cavity conducting of described first undercut groove and described actuator.
5. actuator according to claim 4, it is characterized in that, described control valve group also comprises equilibrium valve, this equilibrium valve is connected between described selector valve and described actuator, driven medium for controlling to flow out from selector valve flow to rodless cavity or the rod chamber of described actuator, and control driven medium and flow out to described storage box from described rod chamber or described rodless cavity, to make when not having driven medium to flow in the cavity of described actuator, can guarantee that described actuator is locked, and flow back in driven medium the oil port that described storage box passes through and maintain back pressure.
6. actuator according to claim 5, is characterized in that, described equilibrium valve is Bidirectional balanced valve, comprising:
First one-way valve, between the hydraulic fluid port being arranged on the first valve port of described selector valve and the rodless cavity of described actuator;
First relief valve, is connected to described first one-way valve near the side of the hydraulic fluid port of the rodless cavity of described actuator;
Second one-way valve, between the hydraulic fluid port being arranged on the second valve port of described selector valve and the rod chamber of described actuator; And
Second relief valve, is connected to described second one-way valve near the side of the hydraulic fluid port of the rodless cavity of described actuator;
Wherein, when the spool is in the first position, described second undercut groove and described first valve port conducting, described 3rd undercut groove and described second valve port conducting, when the spool is in the second position, described second undercut groove and described second valve port conducting, described first undercut groove and described first valve port conducting, and described first relief valve and described second relief valve are provided with spring respectively in respective overflow spool spring chamber, can in driven medium flow process, driven medium is flow back into, and mouthful place that has that described storage box passes through maintains back pressure.
7. actuator according to claim 3, is characterized in that, described mechanical feedback mechanism is ball screw, and this ball screw has:
First feed screw nut, is fixedly attached to the spool of described selector valve;
Second feed screw nut, is connected with the piston of described actuator; And
Ball screw, this ball screw has the first screw portion and the second screw portion, described first feed screw nut can move axially on described first screw portion, described second feed screw nut can move axially on described second screw portion, and the helical pitch of described first screw portion is less than the helical pitch of described second screw portion.
8. actuator according to claim 6, is characterized in that, described ball screw is two-way ball screw or ball screw in the same way,
Wherein when described ball screw is two-way ball screw, the rodless cavity of described actuator is communicated with the valve port of described selector valve away from described piston, when described spool moves to open valve port towards described piston under described motor drives, described driven medium flow in the rodless cavity of described break, when described ball screw be in the same way ball screw, the rodless cavity of described actuator is communicated with the valve port of described selector valve near described piston, described spool is when under described motor drives, described piston moves to open valve port dorsad, described driven medium flow in the rodless cavity of described break.
9. the actuator any one of claim 1-8 described in claim, is characterized in that, described actuator is oil cylinder, and described driven medium is fluid, and described storage box is fuel tank.
10. for a jib control gear for engineering machinery, it is characterized in that, this jib control gear comprises:
Reception unit, for receiving the control information saved about each arm, this arm saves the actuator be equipped with any one of claim 1-9 described in claim; And
Control gear, is connected with described reception unit and described motor, calculates control impuls quantity needed for described motor and control impuls frequency according to described control information, to drive piston movement in described actuator to desired location.
11. jib control gear according to claim 10, it is characterized in that, described actuator is oil cylinder, described control gear also controls the flow needed for each arm joint cylinder movement according to described control impuls frequency computation part, and the flow of oil hydraulic pump is adjusted according to the flow controlled needed for all arms joint cylinder movement, the flow needed for the flow exported to make this oil hydraulic pump moves with the described jib of control is consistent.
12. jib control gear according to claim 11, is characterized in that, described jib control gear also comprises:
Safety valve, be installed between described oil hydraulic pump and fuel tank, and to be parallel to from described oil hydraulic pump through described arm fuel-economizing cylinder to the oil circuit of described fuel tank, when the pressure of the fluid that described oil hydraulic pump exports exceedes default safety pressure, fluid flows back into described fuel tank through this safety valve.
13. jib control gear any one of claim 10-12 described in claim, is characterized in that, described control information comprises the displacement of the displacement of described arm fuel-economizing cylinder or arm support tail end, speed or movement locus.
14. 1 kinds of engineering machinery, is characterized in that, this project machinery comprises:
Actuator any one of claim 1-9 described in claim; And
Jib control gear any one of claim 10-13 described in claim.
15. 1 kinds, for the arm support control method of engineering machinery, is characterized in that, this arm support control method comprises:
Receive the control information saved about each arm, described arm saves the actuator be equipped with any one of claim 1-9 described in claim; And
Control impuls quantity needed for described motor and control impuls frequency is drawn, to drive piston movement in described actuator to desired location according to described control information.
16. arm support control method according to claim 15, is characterized in that, described actuator is oil cylinder, and described method also comprises:
The flow needed for each arm joint cylinder movement is controlled according to described control impuls frequency computation part, and the flow of oil hydraulic pump is adjusted according to the flow controlled needed for all arms joint cylinder movement, the flow needed for the flow exported to make this oil hydraulic pump moves with the described jib of control is consistent.
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| CN109578674A (en) * | 2017-09-28 | 2019-04-05 | 费希尔控制产品国际有限公司 | For controlling the position in double-acting actuator and the optimization method of crossover pressure |
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| CN104976188B (en) | 2016-12-07 |
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