CN105545864A - Novel electro-hydraulic servo oscillating motor - Google Patents
Novel electro-hydraulic servo oscillating motor Download PDFInfo
- Publication number
- CN105545864A CN105545864A CN201610116724.1A CN201610116724A CN105545864A CN 105545864 A CN105545864 A CN 105545864A CN 201610116724 A CN201610116724 A CN 201610116724A CN 105545864 A CN105545864 A CN 105545864A
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- CN
- China
- Prior art keywords
- motor
- hydraulic servo
- oil pocket
- oscillating motor
- hydraulic
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/202—Externally-operated valves mounted in or on the actuator
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B2015/206—Combined actuation, e.g. electric and fluid actuated
Abstract
The invention relates to a novel electro-hydraulic servo oscillating motor. According to the novel electro-hydraulic servo oscillating motor, a follow-up oscillating hydraulic motor is mainly utilized to be mounted on a heavy robot or a mechanical arm, pressure oil is introduced, a servo motor is utilized to conduct pilot control to control the novel electro-hydraulic servo motor to swing, a rotating valve core on the novel electro-hydraulic servo oscillating motor device is rotated under control of small strength of an external servo motor, the controlled servo oscillating motor is rotated along with the rotating valve core, and the purposes of controlling and outputting force are achieved through mechanical feedback carried on the hydraulic servo oscillating motor. The novel electro-hydraulic servo oscillating motor has the advantages that a small-size servo motor conducts pilot stage direct control for the electro-hydraulic servo oscillating motor, the purpose that the heavy robot, the mechanical arm and other intelligent equipment maintain high precision and automation is achieved, and the purposes that more force is output, and simplification is controlled are further achieved; due to the fact that in the control process, an expensive and precise electro-hydraulic servo valve is omitted, the requirement for an external hydraulic source is further lowered, reliability is higher, economical efficiency is better, and the novel electro-hydraulic servo oscillating motor is applied and popularized to all fields in need of the motor.
Description
Technical field
The present invention relates to a kind of novel motor, particularly relate to the intelligent assist motor of a kind of electro-hydraulic servo control device and servo oscillating.
Background technique
First, along with the fast development of the automation equipment such as robot, mechanism hand, requiring large occasion of exerting oneself, the demand of heavy robot, mechanism hand also constantly expands, but along with it exerts oneself larger, the cost of actuating motor and controller rises at double, and time greatly to certain force value, existing servocontrol cannot meet its requirement, at this moment will use hydraulic pressure, the equipment such as pneumatic carrys out power-assisted, and reach large requirement of exerting oneself.But, there is following defect in existing electro-hydraulic servo control device:
(1) apparatus expensive, increase the components and parts such as electrohydraulic control, displacement transducer, the special amplifier of servovalve, Hydraulic servo system, oil cylinder;
(2) be inconvenient to apply, the increase of these components and parts above-mentioned, not only involves great expense, and it is very large that volume becomes, the narrow limitation of its application of having had obstacles;
(3) strongly professional, and the professional laser hybrid welding that application technology is complicated, needs machinery, electronics, hydraulic pressure, control is all proficient in, cause it can only cannot spread to general general field in the application of high-end field, pole.
Therefore, for above aspect, the current subject matter faced is, how while the smart machine such as heavy robot, mechanism hand keeps highi degree of accuracy, automation, also to solve exert oneself larger, control the correlative technology field that simplifies.
Summary of the invention
For above defect, patent of the present invention provides a kind of Novel electrohydraulic servo rotary actuator, when being applied on heavy robot, mechanism hand, can be used for replacing traditional electrohydraulic control, servo-cylinder, servoamplifier, greatly simplifie its structural principle, do not need original complicated electro-hydraulic servo control device, but actuating motor is joined by couple axle on the rotary spool of electrohydraulic servo oscillating motor, also inductor is joined accordingly, when heavy mechanical hand does not need motion, oil circuit is in off state; When mechanism hand needs to move, rotary spool on electrohydraulic servo oscillating motor first rotates under the control of the little strength of actuating motor, open hydraulic circuit, hydraulic high-pressure oil promotes oscillating vane and and then will rotate with larger exerting oneself, when actuating motor stops, oscillating vane, after rotation equal angular, has cut off oil circuit, has stopped accordingly;
Novel electrohydraulic servo oscillating motor does not need original complexity, expensive electrohydraulic control, and reaching control object with the accompany movement of the rotary spool on servo oscillating motor and oscillating vane, oscillating vane is exert oneself actuator and mechanical feedback mechanism; This mechanical reverse feedback just, can control novel electrohydraulic servo oscillating motor with very little actuating motor, reach the object controlling highi degree of accuracy can also be kept to control while electrohydraulic servo motor exports very energetically.
For achieving the above object, the present invention is by the following technical solutions:
A kind of Novel electrohydraulic servo rotary actuator that patent of the present invention relates to, comprise housing, rotary spool, oil pocket partition baffle plate, swing axis, oscillating vane, A oil circuit, A oil pocket, B oil circuit, B oil pocket, filler opening, return opening, couple axle, actuating motor, inductor, in described housing, center position is provided with rotary spool, oscillating vane is provided with, swing axis that oscillating vane is ined succession again between described rotary spool and housing;
The termination of described rotary spool is connected with couple axle, and the other end of its couple axle joins actuating motor, and its actuating motor joins inductor accordingly;
Described rotary spool be also provided with filler opening and return opening, be also provided with A oil circuit and B oil circuit simultaneously, with rotary spool with the use of oscillating vane on also relative set filler opening, return opening and A oil circuit, B oil circuit;
Described swing axis is provided with oscillating vane, and between swing axis and housing, is provided with oil pocket partition baffle plate, by oil pocket partition baffle plate and oscillating vane, the remaining space between swing axis and housing is divided into A oil pocket and B oil pocket;
Described rotary spool is connected to actuating motor.
The beneficial effect of a kind of Novel electrohydraulic servo rotary actuator of the present invention is: be provided with one by the directly actuated hydraulic servo rotary actuator of Miniature servo-motors, successfully solve while the smart machine such as heavy robot, mechanism hand keeps highi degree of accuracy, automation, also solve problem that is larger, that control simplification of exerting oneself, not only cost-saving, be also convenient to install and popularization and application to field needed for each.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
Fig. 1 is the cross section structure figure of a kind of Novel electrohydraulic servo rotary actuator device described in embodiment of the present invention.
Fig. 2 is the sectional structure chart of a kind of Novel electrohydraulic servo rotary actuator device described in embodiment of the present invention.
In figure:
1, housing; 2, rotary spool; 3, oil pocket cuts off baffle plate; 4, swing axis; 5, oscillating vane; 6, A oil circuit; 7, A oil pocket; 8, B oil circuit; 9, B oil pocket; 10, filler opening; 11, return opening; 12, couple axle; 13, actuating motor; 14, inductor.
Embodiment
As shown in Figure 1, 2, a kind of Novel electrohydraulic servo rotary actuator device described in patent working mode of the present invention, comprise: housing 1, rotary spool 2, oil pocket cut off baffle plate 3, swing axis 4, oscillating vane 5, A oil circuit 6, A oil pocket 7, B oil circuit 8, B oil pocket 9, filler opening 10, return opening 11, couple axle 12, actuating motor 13, inductor 14, the inside of described housing 1 is provided with rotary spool 2, the termination of described rotary spool 2 connects with couple axle 12, the other end of its couple axle 12 joins actuating motor 13, and its actuating motor 13 joins inductor 14 accordingly;
Swing axis 4 is provided with between described rotary spool 2 and housing 1, its swing axis 4 is provided with oscillating vane 5, a position between swing axis 4 and housing 1 is provided with oil pocket and cuts off baffle plate 3, its oil pocket cuts off the oscillating vane 5 that baffle plate 3 and swing axis 4 are arranged, and is split by the remaining space between swing axis 4 and housing 1 and defines A oil pocket 7 and B oil pocket 9;
Described A oil pocket 7 is connected with return opening 11 with the filler opening 10 that rotary spool 2 is arranged by A oil circuit 6;
Described B oil pocket 9 is connected with return opening 11 with the filler opening 10 that rotary spool 2 is arranged by A oil circuit 8;
Described oil pocket cuts off baffle plate 3 and is fixed on housing 1, and belongs to state of rest;
Described Novel electrohydraulic servo rotary actuator device, when needs power-assisted, inductor 14 sends instruction to actuating motor 13, actuating motor 13 starts operation, and the effect that rotary spool 2 accepts very little actuating motor 13 control force by couple axle 12 starts operation, when rotary spool 2 rotates clockwise by actuating motor 13, when A oil circuit 6 enters pressure oil, swing axis 4 drives oscillating vane 5 clockwise oscillation, rotate clockwise with rotary spool 2, until catch up with the angle of swing of rotary spool 2, A oil pocket 7 is closed; Otherwise B oil circuit 8 enters pressure oil, swing axis 4 drives oscillating vane 5 counter-clockwise swing, and equally to the angle of swing catching up with rotary spool 2, B oil pocket 9 is closed; And oscillating vane 4 rotates maximum angle reaches 320 degree.
By the swivel joint of outer installment, pressure oil circuit and oil circuit are accessed rotary spool 2, rotary spool and with the use of valve pocket on have corresponding filler opening 10, return opening 11, A oil circuit and B oil circuit, when rotary spool 2 accepts the effect of actuating motor 13 power by couple axle 12, pressure oil controllably can enter A oil circuit 6 or B oil circuit 8, and A oil circuit 6, B oil circuit 8 is left with oscillating vane respectively again, A oil pocket and the B oil pocket on right both sides communicate, oscillating vane 5 on swing axis 4 be stressed oil effect, also can rotate, until catch up with the angle of swing of spool, A oil circuit or B oil circuit are in again new closed condition, thus achieve Novel electrohydraulic servo rotary actuator device and follow rotary spool 2 rotary motion, where the oscillating vane 5 that rotary spool 2 forwards where Novel electrohydraulic servo rotary actuator device to just swings to.
As long as actuating motor 13 control force that rotary spool 2 is very little can drive, and Novel electrohydraulic servo rotary actuator is by oil pressure actuated, it is very large that oscillatory forces can be done, thus achieve and power can be amplified hundred times, the even effect of several thousand times, meanwhile, the oscillating vane in Novel electrohydraulic servo rotary actuator device, the motion of swing axis be the equal of rotary spool 2 move reverse feedback, so can be stable follow swing.
Therefore, rotary spool 2 utilizes the oscillating vane 5 in this Novel electrohydraulic servo rotary actuator to realize mechanical reverse feedback and oil pressure actuated power, achieve while the smart machine such as heavy robot, mechanism hand keeps highi degree of accuracy, automation, also solve object that is larger, that control simplification of exerting oneself.
The above-mentioned description to mode of execution can understand and apply this case technology for the ease of those skilled in the art, person skilled in the art obviously can make various amendment to these examples easily, and General Principle described herein is applied in other embodiment and need not through performing creative labour.Therefore, this case is not limited to above embodiment, and those skilled in the art is according to the announcement of this case, and the improvement made for this case and amendment all should in the protection domains of this case.
Claims (3)
1. the present invention relates to a kind of Novel electrohydraulic servo rotary actuator, comprise housing (1), rotary spool (2), oil pocket cuts off baffle plate (3), swing axis (4), oscillating vane (5), A oil circuit (6), A oil pocket (7), B oil circuit (8), B oil pocket (9), filler opening (10), return opening (11) couple axle (12), actuating motor (13), inductor (14), it is characterized in that: the inside of housing (1) is provided with rotary spool (2), swing axis (4) is provided with between its rotary spool (2) and housing (1),
The termination of described rotary spool (2) connects with couple axle (12), the other end of its couple axle (12) joins actuating motor (13), and its actuating motor (13) joins inductor (14) accordingly;
Described swing axis (4) is provided with oscillating vane (5), and a position between swing axis (4) and housing (1) is provided with oil pocket and cuts off baffle plate (3);
Described oil pocket cuts off the oscillating vane (5) that baffle plate (3) and swing axis 4 are arranged, and is split by the remaining space between swing axis (4) and housing (1) and defines A oil pocket (7) and B oil pocket (9);
Described A oil pocket (7) is connected with return opening (11) by the upper filler opening (10) arranged of A oil circuit (6) and rotary spool (2);
Described B oil pocket (9) is connected with return opening (11) by the upper filler opening (10) arranged of A oil circuit (8) and rotary spool (2).
2. a kind of Novel electrohydraulic servo rotary actuator according to claim 1, is characterized in that: described oil pocket cuts off baffle plate (3) and is fixed on housing (1), and belongs to state of rest.
3. a kind of Novel electrohydraulic servo rotary actuator according to claim 1, is characterized in that: described oscillating vane (4) rotates maximum angle and reaches 320 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610116724.1A CN105545864A (en) | 2016-02-23 | 2016-02-23 | Novel electro-hydraulic servo oscillating motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610116724.1A CN105545864A (en) | 2016-02-23 | 2016-02-23 | Novel electro-hydraulic servo oscillating motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105545864A true CN105545864A (en) | 2016-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610116724.1A Pending CN105545864A (en) | 2016-02-23 | 2016-02-23 | Novel electro-hydraulic servo oscillating motor |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105822619A (en) * | 2016-05-18 | 2016-08-03 | 鞍山紫竹工程设备制造有限公司 | Rotary hydraulic cylinder mechanism |
| CN108591152A (en) * | 2018-04-13 | 2018-09-28 | 浙江大学 | A kind of hydraulic motor rotary valve all-in-one machine independently coupled |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2620121Y (en) * | 2003-03-21 | 2004-06-09 | 朱兴龙 | Hydraulic servo-joint |
| CN201125901Y (en) * | 2007-11-10 | 2008-10-01 | 夏从安 | Robot articular driver |
| CN104179746A (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | Self-servo hydraulic robot joint capable of continuously rotating |
| CN104675787A (en) * | 2013-11-29 | 2015-06-03 | 大耐泵业有限公司 | Single-blade oscillating cylinder |
| CN105264263A (en) * | 2013-04-05 | 2016-01-20 | 费斯托股份有限两合公司 | Electrically actuated rotary drive device |
-
2016
- 2016-02-23 CN CN201610116724.1A patent/CN105545864A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2620121Y (en) * | 2003-03-21 | 2004-06-09 | 朱兴龙 | Hydraulic servo-joint |
| CN201125901Y (en) * | 2007-11-10 | 2008-10-01 | 夏从安 | Robot articular driver |
| CN105264263A (en) * | 2013-04-05 | 2016-01-20 | 费斯托股份有限两合公司 | Electrically actuated rotary drive device |
| CN104675787A (en) * | 2013-11-29 | 2015-06-03 | 大耐泵业有限公司 | Single-blade oscillating cylinder |
| CN104179746A (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | Self-servo hydraulic robot joint capable of continuously rotating |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105822619A (en) * | 2016-05-18 | 2016-08-03 | 鞍山紫竹工程设备制造有限公司 | Rotary hydraulic cylinder mechanism |
| CN108591152A (en) * | 2018-04-13 | 2018-09-28 | 浙江大学 | A kind of hydraulic motor rotary valve all-in-one machine independently coupled |
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Application publication date: 20160504 |
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