CN105909624A - Electro-hydraulic hybrid servo system - Google Patents
Electro-hydraulic hybrid servo system Download PDFInfo
- Publication number
- CN105909624A CN105909624A CN201610482982.1A CN201610482982A CN105909624A CN 105909624 A CN105909624 A CN 105909624A CN 201610482982 A CN201610482982 A CN 201610482982A CN 105909624 A CN105909624 A CN 105909624A
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- hydraulic
- oil
- electro
- leading screw
- servosystem
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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
-
- 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
- F15B2211/00—Circuits for servomotor systems
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to an electro-hydraulic hybrid servo system. The electro-hydraulic hybrid servo system comprises a pusher oil cylinder unit executing specified actions, an electronic control unit used for detecting the actions and torque of the pusher oil cylinder unit in real time, and a hydraulic control unit used for controlling the oil pressure and oil circuit of the pusher oil cylinder unit. The servo system further comprises a controller used for acquiring detecting information of the electronic control unit and sending control instructions to the hydraulic control unit according to a preset program. By means of the electro-hydraulic hybrid servo system, the precision advantage of a servo motor and the high-load drive capability of a hydraulic system are combined; compared with a traditional electric servo pusher, larger drive capability can be achieved; and compared with a hydraulic servo system, low cost and maintenance cost are achieved.
Description
Technical field
The present invention relates to electrohydraulic servo system field, particularly relate to a kind of electronic mode and the servosystem of hydraulic way co-controlling.
Background technology
At present, in hydraulic test, the use of hydraulic cylinder is most commonly seen, and hydraulic energy is changed into mechanical energy, does the hydraulic actuator of straight reciprocating motion (or oscillating motion) by hydraulic cylinder.During use, if the travel position of piston can the most accurately be controlled, produce certain extension effect by hydraulic cylinder being used function.
Thus, it is necessary to provide a kind of hydraulic cylinder, can the most accurately control the travel position of piston, the function of extension cylinder pressure, to overcome above-mentioned technological deficiency.
China Patent Publication No.: 202985213U, discloses a kind of oil cylinder speed feed screw, to solve to position after leading screw palikinesia in prior art inaccurate problem；Oil cylinder speed feed screw in this programme, including the leading screw being connected with oil cylinder, leading screw is provided with and feeds that spacing, oil pressure is fast moves back that spacing corresponding leading screw feeds limitation travel switch, oil pressure speed moves back limitation travel switch respectively with leading screw, and oil pressure speed send spacing, leading screw to retreat the spacing oil pressure speed that is correspondingly provided with respectively and send limitation travel switch, leading screw to retreat limitation travel switch.
In technique scheme, by the stroke of leading screw and oil cylinder, position are detected, solving the problem that leading screw resetting is inaccurate, remain the feedback to whole fluid path of the mechanical parameter information realization by the element on detection oil circuit, this kind of detection mode precision is poor；The mixing to automatically controlled mode and hydraulic control mode does not controls to improve, and control accuracy only order of accuarcy by detecting ensures.
In view of drawbacks described above, creator of the present invention obtains this creation finally through research for a long time and practice.
Summary of the invention
It is an object of the invention to provide a kind of electro-hydraulic mixing servosystem, in order to overcome above-mentioned technological deficiency.
For achieving the above object, the present invention provides a kind of electro-hydraulic mixing servosystem, including:
Perform the push rod oil cylinder unit of required movement；
The ECU that action and the moment of torsion of described push rod oil cylinder unit are detected in real time；
The hydraulic control unit that oil pressure and the oil circuit of described push rod oil cylinder unit are controlled；
Also include obtaining the detection information of ECU and hydraulic control unit sending according to pre-set programs the controller of control instruction.
Further, described push rod oil cylinder unit includes leading screw, the feed screw nut being arranged on leading screw, the hollow ram being connected with leading screw；
Also include the piston being connected with feed screw nut；
Described leading screw passes feed screw nut and piston, drives feed screw nut to move together with piston.
Further, described push rod oil cylinder unit also includes that cylinder body, described piston, hollow ram and leading screw are arranged in cylinder body；
Upper and lower side at described cylinder body is respectively provided with the first hydraulic fluid port and the second hydraulic fluid port, and two hydraulic fluid ports can realize oil-feed and fuel-displaced.
Further, described hydraulic control unit includes providing the fuel tank of hydraulic oil, oil pump and the oil circuit being connected；
In also including pressure-regulating valve that oil circuit oil pressure is adjusted and changing oil circuit hydraulic oil flow to reversal valve.
Further, described ECU includes the moment of torsion obtaining servomotor in real time and controls the motor servo driver of servomotor speed and displacement, the torque information obtained is transmitted to controller by described motor servo driver, and speed, displacement information are back in motor servo driver by described controller.
Further, described ECU also includes the sensor being arranged in hollow ram and detecting its kinestate.
Further, described push rod oil cylinder unit also includes housing, is provided with the drive mechanism being connected and driving screw turns with leading screw in described housing；
The upper surface of described housing is connected with the sealed end of cylinder body.
Further, arranging the second black box of leading screw at the second described oil port, the second described black box lower end contacts with housing；
Described leading screw sequentially passes through driven pulley at this end, leading screw supports seat and the second black box.
Further, described drive mechanism is connected with drive mechanism, and described drive mechanism includes that servomotor, the outfan of described servomotor are connected with reductor.
Compared with prior art the invention have the benefit that electric control part is allocated as the part into information gathering, due to higher to the accuracy of detection of servomotor, high compared to the element in detection fluid path, accuracy of detection and control accuracy；Meanwhile, oil circuit is controlled by hydraulic control unit as reactive end, the information surveyed according to electric control part go-on-go and the default parameter of controller, and then, control leading screw and the action of hollow ram.Realizing the most automatically controlled mixing with high capacity hydraulic pressure to control, load is big, and control accuracy is high.
The electro-hydraulic mixing servosystem of the present invention positional precision by Serve Motor Control hollow ram, provides main power output by oil hydraulic system.This kind of system combines the precision advantage of servomotor and the advantage of the high capacity driving force of hydraulic system.Compared with traditional electrical servo push rod, there is bigger driving force, there is compared with Hydrauservo System relatively low cost and relatively low maintenance cost.
Owing to the precision of electro-hydraulic mixing servosystem is mainly by Serve Motor Control, therefore the required precision to pressure-regulating valve is the highest, can carry out transforming with traditional Manual pressure regulation valve and i.e. can reach use requirement.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of the electro-hydraulic mixing servo push-rod control system of the embodiment of the present invention；
Fig. 2 is the overall structure schematic diagram of the electro-hydraulic mixing servo push-rod control system of the embodiment of the present invention；
Fig. 3 is the sectional structure schematic diagram of the electro-hydraulic mixing servo push-rod control system of the embodiment of the present invention；
Fig. 4 is the functional block diagram of the electro-hydraulic mixing servo push-rod control system of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, to the present invention, above-mentioned and other technical characteristic and advantage are described in more detail.
Referring to shown in Fig. 1, it is the functional block diagram of electro-hydraulic mixing servo push-rod control system of the embodiment of the present invention, performs the push rod oil cylinder unit of required movement；The ECU that action and the moment of torsion of described push rod oil cylinder unit are detected in real time；The hydraulic control unit that oil pressure and the oil circuit of described push rod oil cylinder unit are controlled；Also include obtaining the detection information of ECU and hydraulic control unit sending according to pre-set programs the controller of control instruction.
Incorporated by reference to Fig. 2, shown in 3, in embodiments of the present invention, ECU controls drive mechanism 1, and drive mechanism 2 applies torque to push rod oil cylinder unit 3.Described drive mechanism 1 includes that servomotor 11 and reductor 12, the outfan of described servomotor 11 are connected with reductor 12.Described drive mechanism 2 includes that driving pulley 13 and the driven pulley 15 being connected with the output shaft of reductor 12, described driving pulley 13 are connected with driven pulley 15 by belt 11.
Described push rod oil cylinder unit 3 includes the leading screw 31 being connected with drive mechanism 2, and in the present embodiment, one end of leading screw 31 is connected with driven pulley 15, and described leading screw 31 is under the drive of driven pulley 15, according to default rotating speed action.
Described drive mechanism 2 is arranged in housing 14, protects it, prevents dust from polluting and brings rotation error.Leading screw end in housing 14 is provided with leading screw and supports seat 16, and leading screw supports and is provided with bearing on seat 16.Housing 14 is set, had both protected the properly functioning of drive mechanism, additionally it is possible to leading screw is played and supports and the effect of location.
In embodiments of the present invention, drive mechanism 1 and push rod oil cylinder unit 3 are arranged on the same side of housing 14, compact conformation, save space.
Described push rod oil cylinder unit 3 also includes the feed screw nut 32 being arranged on leading screw 31, and described leading screw 31 is through feed screw nut 32, and is connected with hollow ram 35 in the one end away from drive mechanism；Described feed screw nut 32 be connected above piston 33.Feed screw nut 32 is fixing with piston 33 to be connected, and when leading screw 31 rotates, owing to feed screw nut 32 can not rotate, relatively rotates between leading screw 31 and feed screw nut 32, and feed screw nut 32 promotes hollow ram 35 to stretch out.
In the present embodiment, feed screw nut 32 and piston 33 entirety are equivalent to piston, when leading screw 31 rotates, promote piston to move；The external part of hollow ram connects load, completes the action to load.
The junction of described piston 33 with feed screw nut 32 is provided with the first black box 34.
In the present embodiment, piston 33, hollow ram 35 and leading screw 31 are arranged in cylinder body 37, and the upper and lower side at cylinder body 37 is respectively provided with the first hydraulic fluid port 36 and the second hydraulic fluid port 18, and two hydraulic fluid ports can realize oil-feed and fuel-displaced.
The sealed end of described cylinder body 37 contacts with housing 14, and housing 14 plays the effect of sealing；Arranging the second black box 17 sealing leading screw 31 at the second hydraulic fluid port 18, the second described black box 17 lower end contacts with housing 14.Leading screw 31 sequentially passes through driven pulley 15 at the sealed end of cylinder body 37, leading screw supports seat 16 and the second black box 17.
In the upper end of the first described hydraulic fluid port 36, the outside of the hollow ram 35 inside oil cylinder arranges the 3rd black box 38.
Under the driving of servomotor, leading screw 31 promotes hollow ram 35 to move, and by the oil-feed of first, second hydraulic fluid port with fuel-displaced, it is achieved oil cylinder and the default oil pressure of oil piping system.
Described hydraulic control unit includes providing the fuel tank of hydraulic oil, oil pump and the oil circuit that is connected, in also including the pressure-regulating valve that oil circuit oil pressure is adjusted and changing oil circuit hydraulic oil flow to reversal valve.
Described oil pump, pressure-regulating valve and reversal valve are electrically connected with the controller, and are controlled by the controller, according to the instruction action of controller.
Described ECU includes the moment of torsion obtaining servomotor 11 in real time and controls the motor servo driver of servomotor speed and displacement, the torque information obtained is transmitted to controller by described motor servo driver, and speed, displacement information are back in motor servo driver by described controller.Described servomotor 11 is also associated with encoder, motor is controlled.
Described ECU also includes the sensor being arranged in hollow ram 35 and detecting its kinestate, is grating scale or linear transducer in the present embodiment, the movable information of detection hollow ram, and transmits to controller, controller judge.
In the present invention, controller is host computer, its movable information simultaneously obtaining hollow ram 35 and the torque information of servomotor, and controls pressure-regulating valve and reversal valve and adjust pressure and the flow direction of oil circuit according to the torque information of servomotor.
In the present invention, electric control part is allocated as the part into information gathering, due to higher to the accuracy of detection of servomotor, high compared to the element in detection fluid path, accuracy of detection and control accuracy；Meanwhile, oil circuit is controlled by hydraulic control unit as reactive end, the information surveyed according to electric control part go-on-go and the default parameter of controller, and then, control leading screw and the action of hollow ram.Realizing the most automatically controlled mixing with high capacity hydraulic pressure to control, load is big, and control accuracy is high.
The specific works process of the embodiment of the present invention is as follows;
When controller receives the signal stretching out hollow ram, start Hydraulic Station, pressure in oil circuit is adjusted to initial value by electric pressure-regulating valve, and (initial value is less, generally zero), controller sends order to reversal valve afterwards, reversal valve obtains action after order, make the second hydraulic fluid port fuel-displaced, first hydraulic fluid port oil-feed, controlling servomotor afterwards to rotate, servomotor drives leading screw to rotate, owing to feed screw nut can not rotate by Timing Belt system, relatively rotating between leading screw and feed screw nut, feed screw nut promotes hollow ram to stretch out.
Meanwhile the moment of torsion exported of servomotor monitored in real time by servo controller, when the output moment of torsion of servomotor exceedes its specified output moment of torsion, electric pressure-regulating valve increases the oil pressure in oil piping system, until the output moment of torsion of servomotor is less than the nominal torque (now the oil pressure in oil piping system is P1) of servomotor.
When hollow ram arrives and specifies position, servomotor stops operating, and motor shaft embraced by servomotor band-type brake.Now when the order of retraction push rod received by controller, controller controls servomotor and rotates backward, detect the output moment of torsion of servomotor simultaneously, when the output moment of torsion of motor is more than nominal load, the oil pressure in electric pressure-regulating valve regulation oil circuit is until the output moment of torsion of servomotor arrives below rated value.
When hollow pusher retracted stops operating to servomotor when specifying position.When pusher retracted there is not action in reversal valve, the second hydraulic fluid port oil-feed now, and the oil that the first hydraulic fluid port flows out enters fuel tank by overflow valve.
Above-mentioned detailed description is illustrating for one of them possible embodiments of the present invention, and this embodiment is also not used to limit the scope of the claims of the present invention, and all equivalences done without departing from the present invention are implemented or change, are intended to be limited solely by the range of technical solution of the present invention.
Claims (8)
1. an electro-hydraulic mixing servosystem, it is characterised in that including:
Perform the push rod oil cylinder unit of required movement；
The ECU that action and the moment of torsion of described push rod oil cylinder unit are detected in real time；
The hydraulic control unit that oil pressure and the oil circuit of described push rod oil cylinder unit are controlled；
Also include obtaining the detection information of ECU and hydraulic control unit sending according to pre-set programs the controller of control instruction；
Described push rod oil cylinder unit includes leading screw, the feed screw nut being arranged on leading screw, the hollow ram being connected with leading screw；
Also include the piston being connected with feed screw nut；
Described leading screw passes feed screw nut and piston, drives feed screw nut to move together with piston.
Electro-hydraulic mixing servosystem the most according to claim 1, it is characterised in that described push rod oil cylinder unit also includes that cylinder body, described piston, hollow ram and leading screw are arranged in cylinder body；
Upper and lower side at described cylinder body is respectively provided with the first hydraulic fluid port and the second hydraulic fluid port, and two hydraulic fluid ports can realize oil-feed and fuel-displaced.
Electro-hydraulic mixing servosystem the most according to claim 1, it is characterised in that described hydraulic control unit includes providing the fuel tank of hydraulic oil, oil pump and the oil circuit being connected；
In also including pressure-regulating valve that oil circuit oil pressure is adjusted and changing oil circuit hydraulic oil flow to reversal valve.
Electro-hydraulic mixing servosystem the most according to claim 1, it is characterized in that, described ECU includes the moment of torsion obtaining servomotor in real time and controls the motor servo driver of servomotor speed and displacement, the torque information obtained is transmitted to controller by described motor servo driver, and speed, displacement information are back in motor servo driver by described controller.
Electro-hydraulic mixing servosystem the most according to claim 4, it is characterised in that described ECU also includes the sensor being arranged in hollow ram and detecting its kinestate.
Electro-hydraulic mixing servosystem the most according to claim 1, it is characterised in that described push rod oil cylinder unit also includes housing, is provided with the drive mechanism being connected and driving screw turns with leading screw in described housing；
The upper surface of described housing is connected with the sealed end of cylinder body.
Electro-hydraulic mixing servosystem the most according to claim 2, it is characterised in that arrange the second black box of leading screw at the second described oil port, the second described black box lower end contacts with housing；
Described leading screw sequentially passes through driven pulley at this end, leading screw supports seat and the second black box.
Electro-hydraulic mixing servosystem the most according to claim 6, it is characterised in that described drive mechanism is connected with drive mechanism, described drive mechanism includes that servomotor, the outfan of described servomotor are connected with reductor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610482982.1A CN105909624B (en) | 2016-06-28 | 2016-06-28 | A kind of electro-hydraulic mixing servo-drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610482982.1A CN105909624B (en) | 2016-06-28 | 2016-06-28 | A kind of electro-hydraulic mixing servo-drive system |
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| Publication Number | Publication Date |
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| CN105909624A true CN105909624A (en) | 2016-08-31 |
| CN105909624B CN105909624B (en) | 2017-12-05 |
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| CN201610482982.1A Expired - Fee Related CN105909624B (en) | 2016-06-28 | 2016-06-28 | A kind of electro-hydraulic mixing servo-drive system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108757879A (en) * | 2018-05-25 | 2018-11-06 | 太原理工大学 | A kind of hydraulic-machinery combined driving device |
| CN108750125A (en) * | 2018-05-25 | 2018-11-06 | 太原理工大学 | A kind of plane lease of liquid electricity combination drive |
| CN108869446A (en) * | 2018-08-24 | 2018-11-23 | 中建投（绍兴）机械科技有限公司 | A kind of electro-hydraulic combination synchronized cylinder |
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| JP2008220175A (en) * | 2007-03-08 | 2008-09-25 | Ochiai Cutlery Mfg Co Ltd | Pruning machine |
| CN101649851A (en) * | 2009-09-04 | 2010-02-17 | 无锡智航控制技术有限公司 | Force balance type electric cylinder featuring fluid circulation |
| CN102588392A (en) * | 2011-12-26 | 2012-07-18 | 重庆大学 | Electric-hydraulic hybrid driving device |
| CN103727094A (en) * | 2014-01-26 | 2014-04-16 | 重庆市巴山液压附件厂有限公司 | Electro-hydraulic servo numerical control push rod device |
| CN104632794A (en) * | 2015-03-05 | 2015-05-20 | 河海大学常州校区 | Electro-hydraulic servo system of direct drive type hydraulic hoist |
| CN205977915U (en) * | 2016-06-28 | 2017-02-22 | 河北工业大学 | Mixed servo of electricity liquid |
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2016
- 2016-06-28 CN CN201610482982.1A patent/CN105909624B/en not_active Expired - Fee Related
Patent Citations (6)
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| JP2008220175A (en) * | 2007-03-08 | 2008-09-25 | Ochiai Cutlery Mfg Co Ltd | Pruning machine |
| CN101649851A (en) * | 2009-09-04 | 2010-02-17 | 无锡智航控制技术有限公司 | Force balance type electric cylinder featuring fluid circulation |
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| CN103727094A (en) * | 2014-01-26 | 2014-04-16 | 重庆市巴山液压附件厂有限公司 | Electro-hydraulic servo numerical control push rod device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108757879A (en) * | 2018-05-25 | 2018-11-06 | 太原理工大学 | A kind of hydraulic-machinery combined driving device |
| CN108750125A (en) * | 2018-05-25 | 2018-11-06 | 太原理工大学 | A kind of plane lease of liquid electricity combination drive |
| CN108750125B (en) * | 2018-05-25 | 2021-05-28 | 太原理工大学 | Hydraulic-electric hybrid driven aircraft actuation system |
| CN108757879B (en) * | 2018-05-25 | 2021-07-23 | 太原理工大学 | Hydraulic-mechanical composite driving device |
| CN108869446A (en) * | 2018-08-24 | 2018-11-23 | 中建投（绍兴）机械科技有限公司 | A kind of electro-hydraulic combination synchronized cylinder |
| CN108869446B (en) * | 2018-08-24 | 2024-05-10 | 中建投（绍兴）机械科技有限公司 | Electrohydraulic combined synchronous cylinder |
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| CN105909624B (en) | 2017-12-05 |
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Granted publication date: 20171205 Termination date: 20200628 |