CN105804931A - Electrohydraulic servo driving 360 degree rotary hydraulic motor - Google Patents
Electrohydraulic servo driving 360 degree rotary hydraulic motor Download PDFInfo
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- CN105804931A CN105804931A CN201410834851.6A CN201410834851A CN105804931A CN 105804931 A CN105804931 A CN 105804931A CN 201410834851 A CN201410834851 A CN 201410834851A CN 105804931 A CN105804931 A CN 105804931A
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Abstract
The invention discloses an electrohydraulic servo driving 360 degree rotary hydraulic motor and belongs to the field of hydraulic motors. The rotary hydraulic motor is controlled through an electro-hydraulic servo valve and a reducing valve, can continuously rotate along forward and reverse directions, does not produce structural flow pulsation and torque pulsation, can smooth run at a low rate and has the advantages of good starting performances, small sizes, light weight and high revolution precision. Before starting, under the pressing action of a spring at the root of a blade, the blade is pushed out of a rotor slot and tightly clings to the inner surface of a housing so that an enclosed pressure cavity is formed. After starting, pressure oil fed through a hydraulic pump goes through an electro-hydraulic servo valve and then flows into oil feeding chambers radially and symmetrically arranged in an oil distribution disc, high pressure oil enters a work chamber of the servo motor and then acts blade in an oil feeding zone so that a moment of force is produced, the blades pushes a rotor to rotate and the rotor directly outputs a rotation rate and a torque. The rotary hydraulic motor is mainly used for engineering machinery such as robots, mechanical arms, spinning machines, cranes, carry-scrapers and excavators.
Description
One, technical field
The present invention relates to a kind of electro-hydraulic servo and drive hydraulic motor, especially 360 ° rotate electro-hydraulic servo-hydraulic motor, belong to hydraulic motor field.
Two, background technology
Fast development and economic rapid growth along with science and technology, hydraulic industry effect in national economy is also increasing, propelling along with industrialization and urbanization, hydraulic pump motor is also increasingly widely used in the process of industrialization and urbanization, and wherein the industry such as robot, agricultural machinery, engineering machinery, metallurgy, lathe and plastics machinery is particularly vigorous to the demand of hydraulic pump motor.Engineering machinery is the maximum user of hydraulic product, and the engineering machinery of current more than 95% all adopts hydraulic transmission technology, especially hoofing part and knuckle section, almost all relies on hydraulic pump/motor to realize.Along with the fast development of hydraulic drive and control technology, the needs rotating output mechanism in hydraulic system with particular characteristic requirement are more and more urgent, promote the fast development of hydraulic motor.
Hydraulic motor belongs to the dynamical element of hydraulic system, and it is directly connected to load, the static and dynamic performance of whole system is affected very big by its performance parameter, hydraulic motor is commonly divided at a high speed and the big class of low speed two, they have respective advantage and application scenario, high-speed hydraulic motor work moment is little, and low-speed stability own is bad, it is necessary to coordinate decelerator to use；Low speed hydraulic motor discharge capacity is big, rotating speed low to several turns per minute even zero point is several turn time remain to the moment of torsion that stable output is very big, low speed hydraulic motor has good low-speed stability, it is possible to directly and operating mechanism's connection, the kind of drive is flexible, compact, is widely used in lathe and injection machine etc..The employing pump control that the control device of application hydraulic motor has at present, more employing valve control, but mostly belong to on-off control, its major defect is not have feedback element, thus control accuracy is low, inconvenient operation, and can not realize automatically controlling, the development of hydraulic motor that therefore electro-hydraulic servo drives can solve that control accuracy is low, the insurmountable problem of on-off control.
A lot of hydraulic control system is had to be driven by swing-type electric hydraulic servo motor at present, such as the rotary actuator new structure of manipulator elbow joint, there is overall dimensions less, the features such as lighter in weight, additionally rotating hydraulic cylinder is also widely used in robot, mechanical arm, hydraulic drill rig, rock drill, tunnel multi-arm chassis, crane, in the big-and-middle-sized engineering machinery such as scraper and excavator, the L10 of Helac company of the current U.S., 20, 30 series oscillating motors, Haenchen company of Germany, the oscillating motor that the ScanaSkarpenordAS company of Norway and TAKEDA company of Japan produce, it is widely used in all kinds machinery.Spiral oscillating hydraulic cylinder utilizes the spiral of king bolt lift angle to realize the special oil cylinder of one of rotary motion, relative to traditional rack-and-pinion oscillating oil cylinder and blade oscillating motor, have compact conformation, safe and reliable, footprint is little, it is easy to the advantages such as design, output moment of torsion and pendulum angle are big.When load one timing, increase the output swing angle of oil cylinder, all will increase the impulse stroke of oil cylinder piston, so that the size of oil cylinder increases.Harbour machinery, engineering machinery, building machinery, prestowage planning and equipment operation, underground work, work high above the ground, sea floor exploration device and offshore platform, specialized robot, logistics and transportation, agriculture and forestry machinery and equipment, food industry, tobacco machine, pharmaceuticals industry and field of petrochemical industry extensive use.In recent years, a kind of novel reciprocating type oscillating oil cylinder of development, in order to realize the rotation of hydraulic machinery.Its advantage is that volume is little, lightweight, compact conformation, be easy to complete machine and arrange, compared with vane type oscillating oil cylinder, its moment of torsion is big, and volumetric efficiency is high, and compared with the swing mechanism being made up of reciprocating oil cylinder, it has higher mechanical efficiency.At present, all kinds of drill jumboes and the drill arm mechanism of rig, hydraulic efficiency manipulator, torpedo-launching frame opening device etc. all have employing, achieve good effect.Since 1984, Harbin Institute of Technology's computer MSR Information system headed by Liu Qinghe teaches is through storming strongholds in defiance of difficulties, successively succeed in developing a series of swing electrohydraulic servo motor with features such as wide range speed control, Ultra-Low Speed, high pulling torque, high accuracy, owing to have employed structural design and good lubrication, the sealing means of advanced person, the minimum speed making Novel swing electrohydraulic servo motor reaches 0.0004 °/s, dynamic speed ratio reaches 750,000 times, precision reaches 0.001 °, and other performance indications also all meet or exceed the level of same kind of products at abroad.
It it is no matter rotary actuator or oscillating oil cylinder can only swing certain angle, and some application scenario, as robot, injection machine, crane rotation mechanism, artificial rotary table, load simulator etc. need to realize continuous 360 ° of motions rotated, therefore adopt merely swing-type electric hydraulic servo motor or oscillating oil cylinder to drive and can not meet requirement.
When little load, electrical servo type of drive can be adopted to realize continuous rotary, but the low-speed performance of servomotor and capacity of resisting disturbance are all not satisfactory.When heavy load, the lifting used by autocrane of current China production, slew gear, mostly adopt plunger hydraulic motor to drive gear reduction unit or worm type of reduction gearing.Though these type of belt drive have lot of advantages than mechanical transmission, but also there is also the shortcomings such as mechanism cumbersome, efficiency is low, noise is bigger.Foreign Automobile crane is then widely used is driven planetary reducer the driving type with friction disk type liquid braking device by vane motor.This mode reducing gear transmission is complicated, and mechanical stiffness is poor, and the output of conventional project hydraulic motor still has torque pulsation, and positional precision is not high, it is impossible to realize Ultra-Low Speed, is generally constant load and frequency response index request is not high.And electro-hydraulic servo drives 360 ° of rotary hydraulic motors to be capable of continuous rotation, making servo motion, namely forward and reverse unanimously Ultra-Low Speed performance is good, and its minimum speed, at 0.01 °/below s, has higher frequency response.Therefore carrying out electro-hydraulic servo drives 360 ° of researchs rotating low speed hydraulic motor to have great importance.
Three, summary of the invention
The heavy construction machine of domestic production is in order to realize some parts low speed big angle rotary under heavy loads, it is typically all the straight line piston cylinder adopted with tooth bar and drives the mode of gear, or the mode of hydraulic motor connection reducer, the problem such as have that structure is big, low-response, backlass big and precision is not high, therefore, the invention provides a kind of 360 ° and rotate electro-hydraulic servo-drive hydraulic motor.
Electro-hydraulic servo drives 360 ° of rotary hydraulic motors, it is characterized in that designing a kind of new servo control element, this new servo control element, integrated by hydraulic motor, electrohydraulic servo valve and air relief valve, input is the signal of telecommunication, it is capable of stable continuous rotary low-speed motion, decreases mechanical deceleration device, be one typically mechanical, electrical, liquid composite component；
Electro-hydraulic servo drives 360 ° of rotary hydraulic motors, it is characterized in that adopting the new packing formula combination movable sealing structure formed by O, rigid support ring and ptfe composite, based on friction orthogonal thought, to reduce moment of friction for target, determine one group of coefficient of friction politef composite seal little, anti abrasive and best proportioning components thereof, thus improving frictional behavior and leakage rate；
Electro-hydraulic servo drives 360 ° of rotary hydraulic motors, it is characterized in that considering the leakage rate that the deformation under oil pressure effect of the motor oil distribution casing end face causes, adopt ADINA finite element analysis software, based on Fluid structure interaction, under different minim gaps, analyze the impact on its low-speed performance of the electrohydraulic servo motor leakage rate, obtain best clearance value；
Electro-hydraulic servo drives 360 ° of rotary hydraulic motors, it is characterized in that the smooth transition of pressure is for principle with between motor high-low pressure chamber, by to different structure and various sizes of dashpot analysis, set up fluid mechanics equation and carry out simulation study, and carry out flow field analysis by finite element simulation, determine pressure buffer groove structure and the size of the best, reduce motor pressure reversing impact.
Four, accompanying drawing explanation
The electro-hydraulic servo that Fig. 1 is the present invention drives 360 ° of rotary hydraulic motor fundamental diagrams.
The electro-hydraulic servo that Fig. 2 is the present invention drives 360 ° of rotary hydraulic motor three-dimensional appearance illustratons of model.
Five, detailed description of the invention
Electro-hydraulic servo drives 360 ° of rotary hydraulic motors to belong to hydraulic motor field.It is controlled by electrohydraulic servo valve and air relief valve, it is possible to forward and reverse continuous rotation, amorphousness flow pulsation and torque pulsation, and low-speed running is steady, has that startability is good, size is little, lightweight, rotating accuracy advantages of higher.Before not actuated, blade, under the spring pressure effect of its root, ejects from rotor slot and is adjacent to shell inner surface, forms airtight pressure chamber；After startup, the oil suction chamber that the pressure oil of hydraulic pump supply is arranged through electrohydraulic servo valve stream to oil distribution casing radial symmetric, after hydraulic oil enters servo motor working volumes, acts on generation moment on oil-feed district blade, and rotated by blade drive rotor, and rotating speed and torque are directly exported by rotor.It is mainly used in the engineering machinery such as robot, mechanical arm, spinning machine, crane, scraper and excavator.
Claims (4)
1. electro-hydraulic servo drives 360 ° of rotary hydraulic motors, it is characterized in that designing a kind of new servo control element, this new servo control element, integrated by hydraulic motor, electrohydraulic servo valve and air relief valve, input is the signal of telecommunication, it is capable of stable continuous rotary low-speed motion, decreases mechanical deceleration device, be one typically mechanical, electrical, liquid composite component.
2. the electro-hydraulic servo according to claims 1 drives 360 ° of rotary hydraulic motors, it is characterized in that: adopt the new packing formula combination movable sealing structure formed by O, rigid support ring and ptfe composite, based on friction orthogonal thought, to reduce moment of friction for target, determine one group of coefficient of friction politef composite seal little, anti abrasive and best proportioning components thereof, thus improving frictional behavior and leakage rate.
3. the electro-hydraulic servo according to claims 1 drives 360 ° of rotary hydraulic motors, it is characterized in that: consider the leakage rate that the deformation under oil pressure effect of the motor oil distribution casing end face causes, adopt ADINA finite element analysis software, based on Fluid structure interaction, under different minim gaps, analyze the impact on its low-speed performance of the electrohydraulic servo motor leakage rate, obtain best clearance value.
4. the electro-hydraulic servo according to claims 1 drives 360 ° of rotary hydraulic motors, it is characterized in that: with the smooth transition of pressure between motor high-low pressure chamber for principle, by to different structure and various sizes of dashpot analysis, set up fluid mechanics equation and carry out simulation study, and carry out flow field analysis by finite element simulation, determine pressure buffer groove structure and the size of the best, reduce motor pressure reversing impact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410834851.6A CN105804931A (en) | 2014-12-29 | 2014-12-29 | Electrohydraulic servo driving 360 degree rotary hydraulic motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410834851.6A CN105804931A (en) | 2014-12-29 | 2014-12-29 | Electrohydraulic servo driving 360 degree rotary hydraulic motor |
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| CN105804931A true CN105804931A (en) | 2016-07-27 |
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| CN201410834851.6A Pending CN105804931A (en) | 2014-12-29 | 2014-12-29 | Electrohydraulic servo driving 360 degree rotary hydraulic motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641731A (en) * | 2017-01-20 | 2017-05-10 | 荆州嘉华科技有限公司 | Pressure regulation and energy saving device and method of fluid transportation and distribution system |
| CN108612697A (en) * | 2018-06-07 | 2018-10-02 | 江苏钧微动力科技有限公司 | Piece-shape type Spool rotating directly drives electrohydraulic servo valve |
| CN109884887A (en) * | 2019-04-03 | 2019-06-14 | 哈尔滨理工大学 | A kind of Continuous rotary electrohydraulic servomotor control method based on self-correcting wavelet neural network |
| CN110962156A (en) * | 2019-12-25 | 2020-04-07 | 哈尔滨工业大学 | Oil-feeding swing cylinder integrated joint |
| CN114611360A (en) * | 2022-03-16 | 2022-06-10 | 北京建筑大学 | Optimization method for sealing structure of continuous rotary electrohydraulic servo motor |
-
2014
- 2014-12-29 CN CN201410834851.6A patent/CN105804931A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641731A (en) * | 2017-01-20 | 2017-05-10 | 荆州嘉华科技有限公司 | Pressure regulation and energy saving device and method of fluid transportation and distribution system |
| CN108612697A (en) * | 2018-06-07 | 2018-10-02 | 江苏钧微动力科技有限公司 | Piece-shape type Spool rotating directly drives electrohydraulic servo valve |
| CN109884887A (en) * | 2019-04-03 | 2019-06-14 | 哈尔滨理工大学 | A kind of Continuous rotary electrohydraulic servomotor control method based on self-correcting wavelet neural network |
| CN109884887B (en) * | 2019-04-03 | 2022-03-22 | 哈尔滨理工大学 | Continuous rotary motor control method based on self-correcting wavelet neural network |
| CN110962156A (en) * | 2019-12-25 | 2020-04-07 | 哈尔滨工业大学 | Oil-feeding swing cylinder integrated joint |
| CN114611360A (en) * | 2022-03-16 | 2022-06-10 | 北京建筑大学 | Optimization method for sealing structure of continuous rotary electrohydraulic servo motor |
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Application publication date: 20160727 |
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| WD01 | Invention patent application deemed withdrawn after publication |