CN106958554A - Direct feedback digital wobble hydraulic cylinder is driven in a kind of - Google Patents
Direct feedback digital wobble hydraulic cylinder is driven in a kind of Download PDFInfo
- Publication number
- CN106958554A CN106958554A CN201710361745.4A CN201710361745A CN106958554A CN 106958554 A CN106958554 A CN 106958554A CN 201710361745 A CN201710361745 A CN 201710361745A CN 106958554 A CN106958554 A CN 106958554A
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- CN
- China
- Prior art keywords
- angular wheel
- hydraulic cylinder
- single blade
- oscillating motor
- direct feedback
- Prior art date
- 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
-
- 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
-
- 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
-
- 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
- F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
- F15B2215/30—Constructional details thereof
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Servomotors (AREA)
- Transmission Devices (AREA)
- Actuator (AREA)
Abstract
The invention belongs to hydraulic cylinder technical field, disclose and direct feedback digital wobble hydraulic cylinder is driven in one kind, including：PLC, servomotor, feed screw nut pair, three-position four-way valve, angular wheel group, encoder and single blade oscillating motor；Angular wheel group includes：First angular wheel, the second angular wheel and triconic gear；First angular wheel and triconic gear are engaged with the second angular wheel respectively；Servomotor is connected by feed screw nut pair with one end of the valve element of three-position four-way valve, and the other end of valve element is connected by the first angular wheel；Control valve element axial displacement；The rotating shaft of single blade oscillating motor is connected with triconic gear；Encoder is connected with the second angular wheel；The hydraulic fluid port of three-position four-way valve is connected respectively the hydraulic fluid port of single blade oscillating motor, controls it to swing.Present invention offer is a kind of can to lift the hydraulic cylinder of control and precision and reliability.
Description
Technical field
The present invention relates to hydraulic cylinder technical field, more particularly to a kind of interior drive direct feedback digital wobble hydraulic cylinder.
Background technology
In commercial Application, often need to obtain big torque reciprocating rotating motion.Conventional mode is to use transmission device at present
The linear reciprocating motion of linear oil cylinder is converted into reciprocating rotating motion, also had using vane hydraulic oscillating oil cylinder.Blade
Formula swing hydraulic pressure oil cylinder includes stator, rotor and rotating shaft；Oil pocket is formed between stator and rotor, hydraulic oil is acted on rotor and formed
Torque actuated rotor is rotated, and the reciprocally swinging of rotor is formed by controlling oil pressure direction.Due to that oil pressure directly can be converted into pendulum
Dynamic motion, without extra transmission mechanism, thus with compact conformation, mechanical efficiency be high, torque output it is steady, handling good etc.
Advantage, can additionally avoid the problem of linear oil cylinder exposed parts easily bring dust into hydraulic system, can be widely applied to warship use
The swing of transducer array on the driving of SAR Antenna Stabilization, sonar, the keying of torpedo-launching frame, the defeated bullet of large-scale cannon
The automatic assembly line of machine, various metallurgical machineries, petrochemical machinery, automobile and refrigerator, robot, and aircraft wing steering wheel and ship
Helmsman etc..
So-called digitlization oscillating motor is to be digitized the rotation amount of rotating shaft, and its rotation amount can be realized by changing
Digitlization, directly can complete to gather, while also providing the digitlization rotation amount of rotating shaft for microcomputer by controller.
The signal that can be provided of digitlization oscillating motor is digitized rotation amount, and the signal can by microcomputer or on
Position machine is directly gathered by communication interface.The achievable mechanism for digitizing oscillating motor is a lot, can typically use external driving
Acquisition method and interior drive-type acquisition method.But, often in order to realize that high-precision acquisition control causes system architecture
Complexity, Ability of Resisting Disturbance is poor, and control reliability is accordingly relatively low.
The content of the invention
The present invention, which is provided, drives direct feedback digital wobble hydraulic cylinder in a kind of, solve oscillating hydraulic cylinder in the prior art
System architecture is complicated, and Ability of Resisting Disturbance is poor, the low technical problem of reliability.
In order to solve the above technical problems, the invention provides drive direct feedback digital wobble hydraulic cylinder in one kind, including：
PLC, servomotor, feed screw nut pair, three-position four-way valve, angular wheel group, encoder and single blade pendulum
Hydrodynamic cylinder pressure；
The angular wheel group includes：First angular wheel, the second angular wheel and triconic gear；Described first
Angular wheel and the triconic gear are engaged with second angular wheel respectively, first angular wheel and described
The rotation trend of triconic gear is opposite；
The servomotor is connected by the feed screw nut pair with one end of the valve element of the three-position four-way valve, the valve
The other end of core is connected by first angular wheel；Control the valve element axial displacement；
The rotating shaft of the single blade oscillating motor is connected with the triconic gear；
The encoder is connected with second angular wheel；
The hydraulic fluid port of the three-position four-way valve is connected respectively the hydraulic fluid port of the single blade oscillating motor, controls it to put
It is dynamic.
Further, the servomotor is connected by spline with the feed screw nut pair.
Further, the rotating shaft of the single blade oscillating motor connects turning for the triconic gear by shaft coupling
Axle.
The one or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The interior drive direct feedback digital wobble hydraulic cylinder provided in the embodiment of the present application, passes through servomotor and screw mandrel
Pair of nut pulls the valve element of three-position four-way valve, opens hydraulic fluid port, by oil transportation path to single blade oscillating motor, driving hydraulic cylinder
Swing；And by rotating shaft output torque, the triconic gear, second angular wheel, first cone are driven successively
Shape pinion rotation, so as to export reactive torque, so as to pull valve core reset, is gradually reduced hydraulic fluid port until closing.So as to realize base
In the direct feedback closed-loop control of machine feedback process.During, gather the rotation of the second angular wheel in real time by encoder
Information, so as to obtain the angle of feed screw nut pair rotation and the pivot angle of oscillating motor, this signal is transmitted to PLC PLC technologies
Device is the control system of core, and control system carries out closed-loop control according to operation displacement and rate request to servomotor, so that
Realize high-precision control operation.Meanwhile, coordinate further lifting control accuracy and and reliable with direct feedback closed-loop control
Property.Also based on this, it can significantly simplify feedback control structure, it is to avoid the complex hydraulic system being made up of multiple hydraulic components
The defect of caused Ability of Resisting Disturbance difference.
Brief description of the drawings
The interior drive direct feedback digital wobble hydraulic cylinder structure schematic diagram that Fig. 1 provides for the present invention；
Fig. 2 is schematic diagram of the interior drive direct feedback digital wobble hydraulic cylinder of the invention provided to guiding valve closed-loop control.
Embodiment
The embodiment of the present application drives direct feedback digital wobble hydraulic cylinder by providing in a kind of, solution is put in the prior art
Hydraulic cylinder system architecture is complicated, and Ability of Resisting Disturbance is poor, the low technical problem of reliability.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application skill
The detailed description of art scheme, rather than the restriction to technical scheme, in the case where not conflicting, the embodiment of the present application
And the technical characteristic in embodiment can be mutually combined.
Referring to Fig. 1, a kind of interior drive direct feedback digital wobble hydraulic cylinder, including：PLC, servo electricity
Machine 1, feed screw nut pair 3, three-position four-way valve 5, angular wheel group, encoder 10 and single blade oscillating motor 9.
The angular wheel group includes：First angular wheel 6, the second angular wheel 7 and triconic gear 8；It is described
First angular wheel 6 and the triconic gear 8 are engaged with second angular wheel 7 respectively, first angular wheel 6
It is opposite with the rotation trend of the triconic gear 8.
The servomotor 1 is connected by the feed screw nut pair 3 with one end of the valve element 4 of the three-position four-way valve 5, institute
The other end for stating valve element 4 is connected by first angular wheel 6；Control the axial displacement of valve element 4.
The rotating shaft 14 of the single blade oscillating motor 9 is connected with the triconic gear 8；
The encoder 10 is connected with second angular wheel 7；
The hydraulic fluid port of the three-position four-way valve 5 is connected respectively the hydraulic fluid port of the single blade oscillating motor 9, controls it to put
It is dynamic.
The servomotor 1 is connected by spline 2 with the feed screw nut pair 3.
The rotating shaft 14 of the single blade oscillating motor 9 connects the rotating shaft of the triconic gear 8 by shaft coupling 11.
In general, a support is set on the three-position four-way valve 5, for fixing taper gear train；Specifically,
Two angular wheels 7 are fixed by the first ball bearing 13 being arranged on support, and triconic gear 8 is by being arranged on support
The second ball bearing 12 fix.
Referring to Fig. 2, servomotor l is connected to electric signal, and its output shaft turns clockwise certain angle, and rotation torque passes through
Spline 2, feed screw nut pair 3 are transmitted to valve element 4；Because the right-hand member of angular wheel group passes through shaft coupling 11 and single blade oscillating motor 9
It is connected, the power of the rotation of driving force ratio driving tie rod nuts pair 3 of the rotation of driving single blade oscillating motor 9 is much bigger, therefore
Axial movement occurs with movable valve plug 4 for feed screw nut pair 3 under turning effort.
The present embodiment is using negative opening three-position four-way valve flow control, and flow control has certain dead band, several pulses production of beginning
Raw a bit of displacement can not connect the hydraulic oil at P mouthfuls with A mouthfuls or B mouthfuls.After dead band, servomotor rotates necessarily again
Angle, occurs certain axial displacement again in turning effort bottom spool 4.If valve element 4 is moved to the left, P mouthfuls connect with B mouthfuls, A
Mouth is connected with T mouthfuls.Hydraulic oil at P mouthfuls, passes through the cavity of resorption of B mouthfuls and C mouthfuls inflow oil cylinders.Cavity of resorption is pressurized, turn of driving hydraulic cylinder
The rotate counterclockwise of axle 14, the rotating shaft 14 of hydraulic cylinder drives angular wheel group to rotate by shaft coupling, and the oil of epicoele passes through A mouthfuls, T mouthfuls
Flow back to fuel tank.During angular wheel group rotate counterclockwise, the nut (position is relatively fixed) with movable valve plug 4 and the left end of valve element 5 occurs
The oppositely oriented rotation with stepper motor, band movable valve plug 4 is moved right in the presence of feed screw nut pair 3, and valve port is closed, one
Stepping process terminates.
The angle that feed screw nut pair 3 rotates is detected by the encoder 10 in angular wheel group, this anglec of rotation and single leaf
The pivot angle of piece oscillating motor 9 is corresponding, and this signal is transmitted to the control system using PLC as core, control system
System carries out closed-loop control according to operation displacement and rate request to servomotor 1.The hydraulic cylinder that the present embodiment is related to is in motion
Continuous close port, forms a servo-control system simultaneously.
The one or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The interior drive direct feedback digital wobble hydraulic cylinder provided in the embodiment of the present application, passes through servomotor and screw mandrel
Pair of nut pulls the valve element of three-position four-way valve, opens hydraulic fluid port, by oil transportation path to single blade oscillating motor, driving hydraulic cylinder
Swing；And by rotating shaft output torque, the triconic gear, second angular wheel, first cone are driven successively
Shape pinion rotation, so as to export reactive torque, so as to pull valve core reset, is gradually reduced hydraulic fluid port until closing.So as to realize base
In the direct feedback closed-loop control of machine feedback process.During, gather the rotation of the second angular wheel in real time by encoder
Information, so as to obtain the angle of feed screw nut pair rotation and the pivot angle of oscillating motor, this signal is transmitted to PLC PLC technologies
Device is the control system of core, and control system carries out closed-loop control according to operation displacement and rate request to servomotor, so that
Realize high-precision control operation.Meanwhile, coordinate further lifting control accuracy and and reliable with direct feedback closed-loop control
Property.Also based on this, it can significantly simplify feedback control structure, it is to avoid the complex hydraulic system being made up of multiple hydraulic components
The defect of caused Ability of Resisting Disturbance difference.
It should be noted last that, above embodiment is merely illustrative of the technical solution of the present invention and unrestricted,
Although the present invention is described in detail with reference to example, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent, without departing from the spirit and scope of technical solution of the present invention, it all should cover
Among scope of the presently claimed invention.
Claims (3)
1. direct feedback digital wobble hydraulic cylinder is driven in a kind of, it is characterised in that including：PLC, servo electricity
Machine, feed screw nut pair, three-position four-way valve, angular wheel group, encoder and single blade oscillating motor；
The angular wheel group includes：First angular wheel, the second angular wheel and triconic gear；First taper
Gear and the triconic gear are engaged with second angular wheel respectively, first angular wheel and the third hand tap
The rotation trend of shape gear is opposite；
The servomotor is connected by the feed screw nut pair with one end of the valve element of the three-position four-way valve, the valve element
The other end is connected by first angular wheel；Control the valve element axial displacement；
The rotating shaft of the single blade oscillating motor is connected with the triconic gear；
The encoder is connected with second angular wheel；
The hydraulic fluid port of the three-position four-way valve is connected respectively the hydraulic fluid port of the single blade oscillating motor, controls it to swing.
2. direct feedback digital wobble hydraulic cylinder is driven in as claimed in claim 1, it is characterised in that：The servomotor leads to
Spline is crossed with the feed screw nut pair to be connected.
3. direct feedback digital wobble hydraulic cylinder is driven in as claimed in claim 1, it is characterised in that：The single blade is swung
The rotating shaft of hydraulic cylinder connects the rotating shaft of the triconic gear by shaft coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710361745.4A CN106958554B (en) | 2017-05-22 | 2017-05-22 | Direct feedback digital wobble hydraulic cylinder is driven in a kind of |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710361745.4A CN106958554B (en) | 2017-05-22 | 2017-05-22 | Direct feedback digital wobble hydraulic cylinder is driven in a kind of |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106958554A true CN106958554A (en) | 2017-07-18 |
| CN106958554B CN106958554B (en) | 2018-05-08 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710361745.4A Expired - Fee Related CN106958554B (en) | 2017-05-22 | 2017-05-22 | Direct feedback digital wobble hydraulic cylinder is driven in a kind of |
Country Status (1)
| Country | Link |
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| CN (1) | CN106958554B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533561A (en) * | 2018-04-13 | 2018-09-14 | 东北大学 | Internal indirect feedback formula digital hydraulic cylinder structure is driven in a kind of |
| CN110374952A (en) * | 2018-04-13 | 2019-10-25 | 波音公司 | Aircraft hydraulic system and application method with double slide valve |
| CN112112864A (en) * | 2020-10-12 | 2020-12-22 | 辽宁工程技术大学 | Load pressure control type digital fluid cylinder |
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| CN2427664Y (en) * | 2000-07-07 | 2001-04-25 | 周泰经 | Microcomputerized speed regulator directed linkage type hydraulic arrangement |
| CN1724882A (en) * | 2004-07-22 | 2006-01-25 | 杨世祥 | Two-stage screw internal foodback digital fluid cylinder |
| CN1837626A (en) * | 2006-04-21 | 2006-09-27 | 孙勇 | Four-edge control valve adaptable for digital oil cylinder or digital oil motor |
| CN1971069A (en) * | 2006-10-27 | 2007-05-30 | 成都电子机械高等专科学校 | Ratio-variable feedback type digital fluid cylinder |
| US7493935B2 (en) * | 2006-06-23 | 2009-02-24 | Nambu Co., Ltd | Cylinder device for screw core removal |
| CN203176055U (en) * | 2013-02-05 | 2013-09-04 | 焦作市华科液压机械制造有限公司 | Digital oscillating cylinder |
| CN104930014A (en) * | 2015-06-05 | 2015-09-23 | 上海美西为机电设备有限公司 | Digital servo hydraulic cylinder |
| CN106369011A (en) * | 2016-11-25 | 2017-02-01 | 天津尚吉液压设备有限公司 | Swing cylinder with detection feedback function |
| CN206770311U (en) * | 2017-05-22 | 2017-12-19 | 武汉科技大学 | Direct feedback digital wobble hydraulic cylinder is driven in a kind of |
-
2017
- 2017-05-22 CN CN201710361745.4A patent/CN106958554B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1251884A (en) * | 1998-10-21 | 2000-05-03 | 杨世祥 | Digital fluid cylinder with self-feedback of torsional helicoid |
| CN2427664Y (en) * | 2000-07-07 | 2001-04-25 | 周泰经 | Microcomputerized speed regulator directed linkage type hydraulic arrangement |
| CN1724882A (en) * | 2004-07-22 | 2006-01-25 | 杨世祥 | Two-stage screw internal foodback digital fluid cylinder |
| CN1837626A (en) * | 2006-04-21 | 2006-09-27 | 孙勇 | Four-edge control valve adaptable for digital oil cylinder or digital oil motor |
| US7493935B2 (en) * | 2006-06-23 | 2009-02-24 | Nambu Co., Ltd | Cylinder device for screw core removal |
| CN1971069A (en) * | 2006-10-27 | 2007-05-30 | 成都电子机械高等专科学校 | Ratio-variable feedback type digital fluid cylinder |
| CN203176055U (en) * | 2013-02-05 | 2013-09-04 | 焦作市华科液压机械制造有限公司 | Digital oscillating cylinder |
| CN104930014A (en) * | 2015-06-05 | 2015-09-23 | 上海美西为机电设备有限公司 | Digital servo hydraulic cylinder |
| CN106369011A (en) * | 2016-11-25 | 2017-02-01 | 天津尚吉液压设备有限公司 | Swing cylinder with detection feedback function |
| CN206770311U (en) * | 2017-05-22 | 2017-12-19 | 武汉科技大学 | Direct feedback digital wobble hydraulic cylinder is driven in a kind of |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533561A (en) * | 2018-04-13 | 2018-09-14 | 东北大学 | Internal indirect feedback formula digital hydraulic cylinder structure is driven in a kind of |
| CN110374952A (en) * | 2018-04-13 | 2019-10-25 | 波音公司 | Aircraft hydraulic system and application method with double slide valve |
| CN112112864A (en) * | 2020-10-12 | 2020-12-22 | 辽宁工程技术大学 | Load pressure control type digital fluid cylinder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106958554B (en) | 2018-05-08 |
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Granted publication date: 20180508 Termination date: 20200522 |