CN106089863A - A kind of digital servo-hydraulic motor - Google Patents
A kind of digital servo-hydraulic motor Download PDFInfo
- Publication number
- CN106089863A CN106089863A CN201610706803.8A CN201610706803A CN106089863A CN 106089863 A CN106089863 A CN 106089863A CN 201610706803 A CN201610706803 A CN 201610706803A CN 106089863 A CN106089863 A CN 106089863A
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- Prior art keywords
- motor
- plunger
- oil
- hydraulic
- servo
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- 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)
- Hydraulic Motors (AREA)
Abstract
The present invention proposes a kind of digital hydraulic servo motor, it uses motor to drive cam mechanism to assemble the action successively of fluent valve, according to certain rules pressure oil is sequentially allocated the different plunger cavities of radial plunger piston motor, the hydraulic oil in other plunger cavities is sequentially communicated oil return line (fuel tank) simultaneously.Outfan integrated cycloidal planetary gear speed reducer structure realizes low speed output, reduces rotating speed further, reduces its step angle.Its ultimate principle is, utilizes motor to drive cam mechanism to rotate, promotes the oil distributing valve spool being in special angle, carries out switch operation, thus be controlled the pressure oil entering radial plunger piston motor plunger cavity.By the motion of each plunger is carried out on-off control, it is achieved stepping exports, realize low speed by cycloidal planetary gear speed reducer structure and export, and there is SERVO CONTROL function.
Description
Technical field
The present invention relates to a kind of by motor, radial spool oil distribution mechanism, radial plunger piston motor and reducing gear, numeral
The digital servo-hydraulic motor (hereinafter referred to as digital hydraulic motor) of control system composition.More precisely, the present invention relates to
A kind of by micro-step motor, cam structure, side valve type flow oil piping system, radial plunger type motor, cycloidal-pin wheel deceleration
The integrated form of the composition such as mechanism, controller, high-precision digital servo-hydraulic motor.
Background technology
Hydraulic energy, as a kind of hydraulic actuator, can be converted into mechanical energy and externally do work by hydraulic motor.There is power
Weight ratio is big, and the spinning movement being specially adapted under case of heavy load drives, and is now widely used for injection machine, boats and ships, rises and raise
Machine, engineering machinery, building machinery, coal mine machinery, mining machinery, metallurgical machinery, ship machinery, petrochemical industry, harbour machinery etc..
Driving for the spinning movement of low-speed big in realizing, the most all select radial piston hydraulic motor, it is main
Feature is that discharge capacity is big, rotating speed is low (sometimes up to several turns of even several turns of zero points per minute).Along with the continuous progress of industrial technology, right
The automatization of industrial processes and the requirement of intelligence degree are also improving constantly.The control of various actions on complicated production line
Requirement, it is also proposed higher requirement to the precision of executor, controllability, digitized, intellectuality.In actual application, increasingly
Many application scenarios require that the output angle to hydraulic motor and output speed can carry out accurate SERVO CONTROL, and require to control
Mode is simple, it is easy to and other control system fusion.
The output angle of existing hydraulic motor and rotating speed control, can only be by accurately controlling the liquid entering hydraulic motor
Force feed flow realizes, and therefore also needs to proportioning valve (servo valve), it is achieved servo-controlled difficulty is relatively big, it is inconvenient to install maintenance,
Price is the most costly.What is more important, the throttling loss of valve control system makes the energy consumption of system very greatly, thus system is whole
Physical ability effect is the lowest.By using Hydraulic Pump-Motor System, the overall efficiency of system can be greatly improved, but each motor needs singly to join
One hydraulic pump and motor, limit its application.
It addition, be used for industrial robot and the various execution units of automatic production line and unit, also require executive component
While there is power density height, high pulling torque output, there is high reliability, permanent protective property, compact, be easily installed maintenance
Etc. feature, and traditional hydraulic motor is difficult to meet the demand.
Summary of the invention
The present invention proposes a kind of digital hydraulic servo motor, and it uses motor to drive cam mechanism to control one
Assemble the action successively of fluent valve, according to certain rules pressure oil is sequentially allocated the different plunger cavities of radial plunger piston motor, simultaneously
Hydraulic oil in other plunger cavities is sequentially communicated oil return line (fuel tank).Outfan integrated cycloidal planetary gear speed reducer structure realizes low
Speed output, reduces rotating speed further, reduces its step angle.Its ultimate principle is, utilizes motor to drive cam mechanism to rotate,
Promote the oil distributing valve spool being in special angle, carry out switch operation, thus to entering the pressure of radial plunger piston motor plunger cavity
Oil is controlled.By the motion of each plunger is carried out on-off control, it is achieved stepping exports, by cycloidal planetary gear speed reducer structure
Realize low speed output, and there is SERVO CONTROL function.
In order to realize above-mentioned functions requirement, the present invention adopts the following technical scheme that:
The present invention is by one group of circumferential uniform side valve type oil distributing valve, motor, cam mechanism, radial plunger piston motor, cycloidal pin
The wheel composition such as reducing gear, digitial controller.
Micro-step motor, cam mechanism, one group of uniform side valve type oil distributing valve of circumference, join oil passage and constitute oil distribution casing.
Cam mechanism is along special angle interval, and radius of turn is big compared with other regions.Motor drives cam mechanism to rotate, in rotation
During Zhuaning, the part that in cam mechanism, radius of turn is bigger, by promoting the spool of corresponding oil distributing valve, carries out switch operation, will
Pressure oil introduces in corresponding plunger cavity.And the oil distributing valve spool corresponding to the part that in cam mechanism, radius is less, then multiple
It is adjacent to cam mechanism under the spring effect of position, correspondence plunger cavity is connected with fuel tank.By digital pulse signal to motor
Rotation direction, angle, rotating speed are controlled, it is possible to control the direction of motion and the speed of radial plunger piston motor.This is the present invention
Realize the key of step motion control.
Described radial plunger piston motor can have the uniform hydraulic plunger of multiple circumference (can be five, seven, nine
Deng), plunger head and eccentric are fitted, and under pressure oil promotes successively, plunger promotes eccentric to drive main axis.
The frequency that described plunger stretches out is controlled by motor, by digital pulse signal, and can be to output speed
SERVO CONTROL accurately is carried out with angle.
Described cycloidal planetary gear speed reducer structure is to be fixed gear wheel, bent axle, eccentric speed reduction wheel, output wheel four part by outer ring
Composition.When reducing gear works, the moment of input drives eccentric speed reduction wheel to rotate around fixing gear wheel by bent axle, subtracts simultaneously
Speed wheel rotation.Output wheel is done relative motion by multiple bearing pins (7 or more) and ratio wheel, and the rotary motion after slowing down carries
Take out realization output.
As preferably, this digital hydraulic motor uses custom-designed joins oil cam mechanism, by step motor control its
Action, handles side valve type oil distributing valve action.Processing and control are the simplest, and eliminate complexity joins oil system and control system,
Make hydraulic servo motor volume the least while reducing cost.
Hydraulic servo motor in the present invention is provided hydraulic oil by for hydraulic power unit, and same oil sources can supply multiple hydraulic pressure
Servo motor, it is easy to realize the linkage of multiple action, the most noiseless.
As preferably, the present invention uses cycloidal planetary gear speed reducer structure, can realize big retarding ratio under very small volume.
Power source in the present invention can use common pressure oil.More stably work for guarantee system, can be at numeral liquid
An integrated micro hydraulic accumulator in pressure motor.Owing to the stroke of each plunger is the least, therefore accumulator can also do
The least.During without public hydraulic oil source, then a miniature direct current generator can be used to drive a miniature hydraulic pump, come real
Now drive.
Advantages of the present invention:
1, the present invention uses hydraulic oil as power source, has the superiority that the power-weight ratio of hydraulic system is big.Identical weight
Time (volume), relative to servomotor, its output significantly improves.
2, the present invention uses motor to drive cam mechanism, promotes spool that each plunger is individually joined oil, it is achieved
Gear steps exports, and the direction of stepping, angle and speed are all accurately controlled.Achieve in the case of not using proportioning valve
The SERVO CONTROL of output, and the control signal inputted is to input to digital signal or the pulse signal of motor.
3, in the present invention output shaft of hydraulic motor before reducing gear effect, the step angle of its step-by-step movement output angle
Depending on number of plungers, the final step angle after reducing gear is also relevant with speed reducing ratio.Such as, if number of plungers is n, then
Its step angle is 2 π/(2n).Use cycloidal planetary gear speed reducer structure, if its speed reducing ratio is 100, then digital hydraulic motor output angle
Step angle be 2 π/(200n).As a example by n=9, its step angle is 0.4 degree.
4, the digital hydraulic motor own vol that the present invention proposes is small and exquisite, and several digital hydraulic motor can use same
Oil sources fuel feeding, it is possible to individually fuel feeding, it is easy to realize integrated and linkage, the numeral of multiple action linkage can be conveniently used in
Control.
5, the digital hydraulic motor that the present invention proposes, in addition to the hydraulic oil being powered, it controls interface and is used for exactly
Controlling the digital pulse signal of motor, control mode is very simple, is highly convenient for being incorporated numerical control system.
6, the digital hydraulic motor that the present invention proposes, digitized based on ripe guiding valve oil-allocation type radial plunger piston motor changes
Making, the cycloidal planetary gear speed reducer structure of integrated maturation, process for machining and manufacturing is ripe, cheap.
7, the excellent combination property of the present invention, has power big, and volume is little, it is simple to SERVO CONTROL, can take the least
Volumetric spaces in the case of realize high-power servo output.
Accompanying drawing explanation
Fig. 1 is fluid motor-driven mechanism.
Fig. 2 is for being cycloidal planetary gear speed reducer structure schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1.Numerical control system 1, its outgoing signal is arrived after being amplified by power amplifier 2 and rotates oil distributing valve
The motor of 6, controls motor motion.Accumulator 3 is connected with oil feeding line, and oil scupper 7 is connected with oil return circuit 4.For
Making simple in construction, rotating oil distributing valve indoor design has oil supply tank 5, and pressure oil, in oil supply tank, joins oil piston whenever there being one
Motion makes oil supply pipe 8 and oil supply tank 5 UNICOM, then pressure oil flows to plunger 9.Equally, it is furnished with valve and is provided with oil scupper 7, work as cunning
Valve 6 motion makes oil supply pipe 8 and oil scupper UNICOM, then oil return line discharged by the hydraulic oil of plunger place intracavity.
Plunger A, B, C, D, E, F, G stretch out under pressure oil effect, and when plunger cavity connection oil return line at other plungers
Impetus under retract.The eccentric 10 connected firmly on impeller-hub when stretching out 11 of plunger produces and rotates, thus realizes output shaft
The rotation output of 11.
As in figure 2 it is shown, the shaft coupling that rotates through of Fig. 1 output is linked on bent axle 15, bent axle 15 drives little gear 13 edge
Gear wheel 16 to revolve round the sun, the least gear 13 does rotation around bent axle 15, and described gear wheel 16 is fixed in frame 12.Little gear
Have four circular holes (or more) on 13, output wheel 14 has four pins (changing with circular hole number change) and the hole of correspondence
Wall contacts.Four pin diameters, less than hole, can move in hole.Little gear 13 is driven by pin while doing plane motion
Output wheel 14 rotates, thus realizes output.
The specific works principle of the present embodiment is as follows:
Time at digital hydraulic motor in working order, control system controls the rotation side of motor by digital pulse signal
To, angle and velocity of rotation, cam mechanism is driven to rotate.The part that in cam mechanism, radius is bigger overcomes the resistance of back-moving spring
The spool promoting side valve type oil distributing valve carries out commutation action, and pressure oil is incorporated into, by oil distributing valve, the plunger that radial plunger pump is corresponding
Chamber.Each plunger cavity is joined cunning valve by one respectively and is controlled its commutation, fits with outside gear wheel respectively in each plunger outer end.
When oil distributing valve is to plunger cavity A and B fuel feeding, the oil circuit of plunger cavity C, D, E, F, G turns on (oil sump tank) with oil return circuit, A and B post
Plug reaches extreme position, and C, D, E, F, G plunger is retracted, thus promotes the eccentric connected firmly on motor output shaft to rotate, it is achieved
Power exports.When motor drives cam mechanism mechanical rotation, corresponding side valve type oil distributing valve can action successively, pressure oil
Can be to plunger cavity B and C fuel feeding, plunger B and C is protruding, continues to keep output, and plunger cavity D, E, F, G, A connects oil return simultaneously
Pipeline, plunger D, E, F, G, A are pushed back plunger hole.So circulate successively, it is achieved stepping exports.
When motor drives cam mechanism to reversely rotate, suitable to each plunger cavity fuel feeding successively of radial plunger pump
Sequence also can invert, thus the direction of rotation of output shaft also can invert, it is achieved reversely exports.That is digital hydraulic motor
Outbound course can be controlled by the direction of rotation of motor.When motor drives the velocity of rotation of cam mechanism to become
During change, in radial plunger piston motor, the operating frequency of each plunger also can change, so that the output speed of output shaft is also
Change.It is to say, control the rotation direction of motor, angle and speed by pulse signal, it is possible to achieve defeated
The SERVO CONTROL of direction, angle and speed that shaft rotates.
When reducing gear works, hydraulic motor output shaft driving cycloidal planetary gear speed reducer structure to rotate, eccentric speed reduction is taken turns
Also around himself central shaft rotation while revolving round the sun, output wheel by multiple bearing pins and, eccentric speed reduction wheel does relative motion, will
Rotary motion after deceleration extracts realization output.
Hold mode is forwarded to from duty, then the letter sent according to control system when digital hydraulic motor receives order
Number, motor and cam mechanism are held at certain given angle, and the valve core of the spool valve that now this given angle is corresponding will be protected
Holding and allow the plunger cavity of correspondence communicate with high-pressure oil passage always, the most several plungers then join cunning valve and oil return line phase by respective
Connect.Now due to cam, to be shifted onto extreme position by corresponding plunger locked, thus realizes digital hydraulic motor arbitrarily angled
Position keep.
Technical scheme is not limited to the restriction of above-mentioned specific embodiment, every does according to technical scheme
The technology deformation gone out, within each falling within protection scope of the present invention.
Claims (4)
1. a digital servo-hydraulic motor, including the side valve type oil distributing valve that one group of circumference is uniform, motor, cam machine
Structure, radial plunger piston motor, cycloidal planetary gear speed reducer structure, digitial controller, it is characterised in that:
Motor drives cam mechanism to rotate, and in rotary course, it is right that the part that in cam mechanism, radius of turn is bigger promotes
The spool of the oil distributing valve answered, carries out switch operation, is introduced by pressure oil in the plunger cavity of corresponding radial plunger piston motor, cam machine
The spool of the oil distributing valve corresponding to part that in structure, radius of turn is less, then be adjacent to cam mechanism under action of reset spring, will
Corresponding plunger cavity connects with fuel tank；
Described radial plunger piston motor has the hydraulic plunger that multiple circumference is uniform, and plunger head is fitted with eccentric, at pressure oil
Under promoting successively, plunger promotes eccentric to drive main axis；
The frequency that described plunger stretches out is controlled by motor, and the digital pulse signal exported by digitial controller is realized
Output speed and angle are carried out SERVO CONTROL accurately；
Described cycloidal planetary gear speed reducer structure is fixed gear wheel, bent axle by outer ring, eccentric speed reduction is taken turns, output wheel four part forms；
When reducing gear works, eccentric speed reduction is driven to take turns around fixing canine tooth by the bent axle being connected with the main shaft in radial plunger piston motor
Wheel rotates, simultaneously the rotation of eccentric speed reduction wheel；Output wheel is done relative motion, after slowing down by multiple bearing pins and eccentric speed reduction wheel
Rotary motion extracts realization output.
One the most according to claim 1 digital servo-hydraulic motor, it is characterised in that: servo-hydraulic motor is by hydraulic pressure
Pumping plant provides hydraulic oil, and same oil sources can supply multiple servo-hydraulic motor, it is achieved the linkage of multiple actions, each other without dry
Disturb.
One the most according to claim 1 digital servo-hydraulic motor, it is characterised in that: power source can use public pressure
Power oil；More stably work for guarantee system, can in digital hydraulic motor an integrated micro hydraulic accumulator.
One the most according to claim 3 digital servo-hydraulic motor, it is characterised in that: during without common pressure oil, then
A direct current generator can be used to drive a hydraulic pump, realize driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610706803.8A CN106089863A (en) | 2016-08-23 | 2016-08-23 | A kind of digital servo-hydraulic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610706803.8A CN106089863A (en) | 2016-08-23 | 2016-08-23 | A kind of digital servo-hydraulic motor |
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| Publication Number | Publication Date |
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| CN106089863A true CN106089863A (en) | 2016-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610706803.8A Pending CN106089863A (en) | 2016-08-23 | 2016-08-23 | A kind of digital servo-hydraulic motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109281883A (en) * | 2018-11-08 | 2019-01-29 | 浙江大学 | A kind of electro-hydraulic executive device of harmonic wave step-by-step movement using rotation oil distributing valve |
| CN109458383A (en) * | 2018-12-03 | 2019-03-12 | 浙江大学 | A kind of combined type stepping executing agency of heavy duty |
| CN109505941A (en) * | 2018-12-03 | 2019-03-22 | 浙江大学 | A kind of low-speed big step-by-step movement execution system |
| CN111502904A (en) * | 2020-05-18 | 2020-08-07 | 何作勇 | Oil distribution mechanism of radial plunger hydraulic motor |
| CN113309755A (en) * | 2021-06-21 | 2021-08-27 | 浙江大学 | Low-speed large-torque combined hydraulic motor |
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| CN105134573A (en) * | 2015-08-12 | 2015-12-09 | 王林翔 | Plunger piston combined type digital variable pump |
| CN105715606A (en) * | 2016-04-06 | 2016-06-29 | 浙江大学 | Compound digital servo actuator |
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| CN102072079A (en) * | 2010-12-18 | 2011-05-25 | 上海交通大学 | Speed regulation type hydraulic motor based on digital distribution |
| CN202520475U (en) * | 2012-05-03 | 2012-11-07 | 肇庆市志成气动有限公司 | Hydraulic motor based on digital flow distribution and speed regulation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109281883A (en) * | 2018-11-08 | 2019-01-29 | 浙江大学 | A kind of electro-hydraulic executive device of harmonic wave step-by-step movement using rotation oil distributing valve |
| CN109458383A (en) * | 2018-12-03 | 2019-03-12 | 浙江大学 | A kind of combined type stepping executing agency of heavy duty |
| CN109505941A (en) * | 2018-12-03 | 2019-03-22 | 浙江大学 | A kind of low-speed big step-by-step movement execution system |
| CN111502904A (en) * | 2020-05-18 | 2020-08-07 | 何作勇 | Oil distribution mechanism of radial plunger hydraulic motor |
| CN113309755A (en) * | 2021-06-21 | 2021-08-27 | 浙江大学 | Low-speed large-torque combined hydraulic motor |
| CN113309755B (en) * | 2021-06-21 | 2022-03-25 | 浙江大学 | Low-speed large-torque combined hydraulic motor |
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Application publication date: 20161109 |