CN108798989A - A kind of integrated form rotary actuator and its operation method - Google Patents
A kind of integrated form rotary actuator and its operation method Download PDFInfo
- Publication number
- CN108798989A CN108798989A CN201810418332.XA CN201810418332A CN108798989A CN 108798989 A CN108798989 A CN 108798989A CN 201810418332 A CN201810418332 A CN 201810418332A CN 108798989 A CN108798989 A CN 108798989A
- Authority
- CN
- China
- Prior art keywords
- output shaft
- drive ram
- hydraulic cylinder
- connecting rod
- frame body
- 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.)
- Pending
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
- F03C1/0403—Details, component parts specially adapted of such engines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
- F03C1/053—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement the pistons co-operating with an actuated element at the inner ends of the cylinders
- F03C1/0535—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement the pistons co-operating with an actuated element at the inner ends of the cylinders with two or more radial piston/cylinder units in series
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/06—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis
- F03C1/0678—Control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/08—Distributing valve-gear peculiar thereto
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Actuator (AREA)
Abstract
A kind of integrated form rotary actuator, include frame body, the output shaft that is rotatably arranged on frame body and drive ram group for output shaft rotation is set on frame body, the drive ram group is including at least there are three the drive rams for being evenly distributed on output shaft side, the output shaft is provided with interconnecting piece, the interconnecting piece includes the connecting rod being connect with output eccentric shaft, and the drive ram is connect with connecting rod.Three and arrangement above drive ram ensure that the active force of at least one drive ram is applied to the tangential direction of output shaft, and output shaft is avoided to occur stuck phenomenon in rotation process；Drive ram group makes output shaft rotate by the connecting rod of eccentric setting, the movement of drive ram group is converted into the torque of output shaft, since drive ram group is connected with exporting axis by connecting rod, connection relation simply reduces the complexity of hydraulic motor technique, to reduce use, maintenance requirement.
Description
Technical field
The present invention relates to hydraulic motor technical fields, and in particular to a kind of integrated form rotary actuator and its operation method.
Background technology
Existing hydraulic motor is divided into gear, blade, plunger type three classes, and preceding two class is mostly small torque motor, third class plunger
Formula is divided into as axial type such as A2F/A6V/CM types, and radial such as five-pointed star radial motor, wherein five-pointed star Torque Performance of Hydraulic Motor are most
Greatly, speed is also low.
Plunger hydraulic motor internal breakup, which is exactly several groups of small-sized ram cylinder interactions in fact, makes output shaft generate
Torque output power, due to the characteristic of fluid so that the cooperation of large hydraulic motor is accurate, mechanical processing technique is complicated, makes
All very high with, maintenance requirement, there are improvements for the prior art.
Invention content
In order to solve the above technical problems, the present invention proposes a kind of integrated form rotary actuator, it is defeated by being arranged on frame body
Shaft and the drive ram group for pushing output shaft rotation, reduce large hydraulic motor process complexity, to reduce
Use, maintenance requirement.
In order to achieve the above objectives, technical scheme is as follows：A kind of integrated form rotary actuator includes frame body, turns
It moves the output shaft being arranged on frame body and the drive ram group for output shaft rotation is set on frame body, the driving is made
Dynamic device group is included at least there are three the drive ram for being evenly distributed on output shaft side, and the output shaft is provided with interconnecting piece,
The interconnecting piece includes the connecting rod being connect with output eccentric shaft, and the drive ram is connect with connecting rod, the driving
Side of the actuator far from connecting rod is rotatably arranged on the frame body and is swung along the output rotational axis direction, the driving
Actuator drives connecting rod to do reciprocal directly line movement.
By using above-mentioned technical proposal, output shaft is rotatably arranged on frame body, and drive ram is evenly distributed on output
On the side of axis, output shaft side is at least distributed there are three drive ram, ensure that the work of at least one drive ram
It is firmly applied to the tangential direction of output shaft, output shaft is avoided to occur stuck phenomenon in rotation process；Drive ram group is logical
Crossing the connecting rod of eccentric setting makes output shaft rotate, and the movement of drive ram group is converted into the torque of output shaft, due to driving
Dynamic actuator group is connected with exporting axis by connecting rod, and connection relation simply reduces the complexity of hydraulic motor technique, to
Reduce use, maintenance requirement.
The present invention is further arranged to：The interconnecting piece include with the integrally formed turntable of output shaft, the turntable with
Output shaft is coaxially disposed, and the connecting rod is fixed on the turntable, and the connecting rod is arranged on the side of output shaft.
By using above-mentioned technical proposal, drive ram group is connected by the connecting rod of eccentric setting on turntable with output shaft
It connects, is rotated together with output shaft in hydraulic motor operational process turntable, output shaft rotation is driven by the rotation of turntable, is ensured
Stability in output shaft motion process.
The present invention is further arranged to：The interconnecting piece is the bent axle being connected with exporting axis, and the connecting rod is along the song
The axis direction of axis extends.
By using above-mentioned technical proposal, drive ram is connected with exporting axis by the connecting rod on bent axle, bent axle knot
Structure is more small and exquisite, reduces the volume of hydraulic motor.
The present invention is further arranged to：The drive ram is rotatably arranged on far from connecting rod one end on the frame body,
The rotation axis parallel with output shaft axis direction is extended on the frame body, the drive ram is rotatably arranged on by shaft
Frame body.
By using above-mentioned technical proposal, drive ram is set by the rotation axis rotation parallel with rotation axis axis direction
It sets on frame body, drive ram is enable to be swung with connecting rod in the connecting rod rotation of eccentric setting.
The present invention is further arranged to：The drive ram group is hydraulic cylinder group, and the drive ram is hydraulic cylinder.
By using above-mentioned technical proposal, liquid that is that hydraulic energy is changed into mechanical energy by hydraulic cylinder and doing straight reciprocating motion
Press executive component, the structure of hydraulic cylinder is simple, reliable operation, when realizing reciprocating motion, can remove the dress that slows down from using hydraulic cylinder
The setting set, and hydraulic cylinder is very close to each other in transmission process, stable movement of the piston rod in cylinder body.
The present invention is further arranged to：The hydraulic cylinder group includes that there are four the hydraulic pressure for being evenly distributed on output shaft side
Cylinder.
By using above-mentioned technical proposal, the hydraulic energy of hydraulic cylinder is made full use of, hydraulic cylinder is improved and is converted to output shaft torsion
The conversion ratio of square.
The present invention is further arranged to：The hydraulic cylinder group includes the hydraulic pressure that odd number is evenly distributed on output shaft side
Cylinder.
By using above-mentioned technical proposal, the hydraulic cylinder of odd number setting is only located at there are one hydraulic cylinder in the process of running
At dead zone, the stability of integrated form rotary actuator operation is substantially increased.
A kind of operation method of integrated form rotary actuator is provided with commutation sensors, the commutation sensing on the frame body
Device includes travel switch, processor and solenoid directional control valve；The travel switch passes to the position of connecting rod described in processor
It sets, when connecting rod turns to the hydraulic cylinder perpendicular to the output shaft, the processor is made described by solenoid directional control valve
The traffic direction of hydraulic cylinder turns to.
The present invention is further arranged to：The controller is also associated with the flow control for controlling the hydraulic cylinder speed of service
The stretching speed of valve, the hydraulic cylinder meets sin a, a ∈ [0,2 π], when a is equal to 0 or π or 2 π, the operation of the hydraulic cylinder
Direction changes.
In conclusion the present invention has the following effects that：
1, in actual use, multiple high-torque hydraulic motors are cascaded, and disclosure satisfy that the demand of super large torque；
2, in actual production, rotation axis and hydraulic cylinder are set up on frame body, hydraulic cylinder is connected by connecting rod and rotation axis
It connects, greatly reduces the overall structure of hydraulic motor, manufacture easy to produce；
3, by rack instead of motor shell in the prior art, flow is replaced by travel switch and commutation sensors
Disk, simplifies hydraulic motor structure, and hydraulic cylinder, commutation sensors are all equivalent to the outside of hydraulic motor so that production, repair are all
It is very convenient, the threshold of maintenance technique greatly reduces；
4, during actual maintenance, rotation axis, hydraulic cylinder opening setting on frame body, convenient for user to hydraulic pressure
Cylinder, rotation axis and connecting rod repair.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described.
Fig. 1 is a kind of vertical view of large torque motor in embodiment 1；
Fig. 2 is a kind of side view of large torque motor in embodiment 1；
Fig. 3 is a kind of control system figure of large torque motor in embodiment 1；
Fig. 4 is a kind of vertical view of large torque motor in embodiment 2.
In figure：1, frame body；2, output shaft；3, hydraulic cylinder；4, interconnecting piece；41, connecting rod；42, turntable；5, rotation axis；6,
Travel switch；7, solenoid directional control valve；8, flow control valve；9, controller.
Specific implementation mode
The invention will now be described in further detail with reference to the accompanying drawings.
Embodiment 1
As depicted in figs. 1 and 2, a kind of integrated form rotary actuator includes the frame body being used to support, and is turned at frame body center
Dynamic to be provided with output shaft, the side of output shaft is provided with the drive ram group being fixed on frame body for output shaft rotation,
In design, drive ram group should be including at least there are three be evenly distributed on the drive ram of output shaft side to avoid defeated
Shaft the phenomenon that there are stuck in rotation process, output shaft are provided with interconnecting piece, and interconnecting piece includes and output eccentric shaft
The connecting rod of connection, drive ram are connected with exporting axis by the connecting rod of eccentric setting.
Drive ram group is the hydraulic cylinder group being arranged on frame body, and drive ram is the hydraulic pressure being arranged on frame body
Cylinder, the rotation axis parallel with output shaft axis direction is extended on frame body, and the one end of hydraulic cylinder far from output shaft passes through shaft and turns
Dynamic to be arranged on frame body, interconnecting piece includes to be coaxially disposed with output shaft with the integrally formed turntable of output shaft, turntable, connecting rod
It is fixed on turntable, connecting rod is arranged on the side of output shaft.In actual design, in order to be further reduced large torque
The submission of hydraulic motor, interconnecting piece are also an option that the bent axle to be connected with exporting axis, connecting rod prolong along the axis direction of bent axle
It stretches.
In conjunction with shown in Fig. 3, in order to improve the efficiency of hydraulic cylinder conversion in this programme, the side of output shaft is evenly distributed with four
A hydraulic cylinder is provided with the commutation sensing for extending (or contraction) successively for making to be distributed in output shaft side hydraulic cylinder on frame body
Device, commutation sensors include that the travel switch for being used to detect connecting rod position, processing travel switch information is arranged on frame body
Processor and control hydraulic cylinder commutation solenoid directional control valve；Travel switch passes to the position of connecting rod described in processor,
When connecting rod turns to hydraulic cylinder perpendicular to output shaft, processor makes the traffic direction of hydraulic cylinder turn by solenoid directional control valve
To；In the operational process of integrated form rotary actuator, when hydraulic cylinder will be approximately perpendicular to the vertical point of output shaft tangential direction
When, controller makes hydraulic cylinder be stopped in advance, and vertical point of the hydraulic cylinder perpendicular to output shaft tangential direction is turned in connecting rod
Afterwards, controller makes hydraulic cylinder change the direction of motion by solenoid directional control valve；Controller can also be by between coordination hydraulic cylinder
The direction of motion controls the stop position of connecting rod, convenient for output shaft is stopped at designated position, same time control in use
The signal that device processed can also be transmitted according to travel switch judges the number of turns of output shaft rotation, to according to actual use situation control
The number of turns of output shaft rotation.
In order to further increase the stationarity in output shaft rotation process, controller is also associated with for controlling hydraulic cylinder fortune
The flow control valve of scanning frequency degree makes the speed of service of hydraulic cylinder meet sin a, a ∈ [0,2 π], when a is equal to 0 or π or 2 π, liquid
The traffic direction of cylinder pressure changes.
Specific implementation process：
In hydraulic motor start-up course, the location information of connecting rod is transferred to processor by travel switch, and processor is logical
Cross adjustment solenoid directional control valve and flow control valve make the hydraulic cylinder works of output shaft side, hydraulic motor in the process of running, when
Hydraulic cylinder run to output shaft when vertical controller control solenoid directional control valve so that the traffic direction of hydraulic cylinder is changed, work as hydraulic cylinder
Extend to distal end and output shaft vertical point, hydraulic cylinder change traffic direction open up contraction, when hydraulic cylinder be contracted to proximal end with it is defeated
The vertical point of shaft, hydraulic cylinder change traffic direction and open up elongation, are distributed in the hydraulic cylinder of output shaft side according to output shaft
Action makes output shaft continue output torque successively for rotation.
Embodiment 2：
As shown in figure 4, embodiment 2 and the distinctive points of embodiment 1 are, the side of output shaft is provided with eight hydraulic cylinders.
Eight hydraulic cylinder groups greatly improve the torque of rotation axis, substantially increase the load capacity of hydraulic cylinder.
It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the premise of the invention,
Various modifications and improvements can be made, these are all within the scope of protection of the present invention.
Claims (9)
1. a kind of integrated form rotary actuator, which is characterized in that include frame body, the output shaft that is rotatably arranged on frame body and set
The drive ram group for output shaft rotation on frame body is set, the drive ram group is including at least there are three be uniformly distributed
Drive ram in output shaft side, the output shaft are provided with interconnecting piece, and the interconnecting piece includes and output eccentric shaft
The connecting rod of connection, the drive ram are connect with connecting rod, and side rotation of the drive ram far from connecting rod is set
It sets on the frame body and is swung along the output rotational axis direction, the drive ram drives connecting rod to make reciprocal direct line
Movement.
2. a kind of integrated form rotary actuator according to claim 1, which is characterized in that the interconnecting piece includes and exports
The integrally formed turntable of axis, the turntable are coaxially disposed with output shaft, and the connecting rod is fixed on the turntable, described
Connecting rod is arranged on the side of output shaft.
3. a kind of integrated form rotary actuator according to claim 1, which is characterized in that the interconnecting piece is to connect with output shaft
The bent axle connect, the connecting rod extend along the axis direction of the bent axle.
4. a kind of integrated form rotary actuator according to claim 2, which is characterized in that the drive ram is far from connection
Bar one end is rotatably arranged on the frame body, and the rotation axis parallel with output shaft axis direction is extended on the frame body, described
Drive ram is rotatably arranged on frame body by shaft.
5. a kind of integrated form rotary actuator according to claim 2 or 3, which is characterized in that the drive ram group is
Hydraulic cylinder group, the drive ram are hydraulic cylinder.
6. a kind of integrated form rotary actuator according to claim 4, which is characterized in that there are four the hydraulic cylinder group includes
It is evenly distributed on the hydraulic cylinder of output shaft side.
7. a kind of integrated form rotary actuator according to claim 4, which is characterized in that the hydraulic cylinder group includes odd number
A hydraulic cylinder for being evenly distributed on output shaft side.
8. a kind of a kind of operation method of integrated form rotary actuator as claimed in claim 6, which is characterized in that on the frame body
Commutation sensors are provided with, the commutation sensors include travel switch, processor and solenoid directional control valve；The stroke is opened
Close the position for passing to connecting rod described in processor, when connecting rod turns to the hydraulic cylinder perpendicular to the output shaft, institute
State processor makes the traffic direction of the hydraulic cylinder turn to by solenoid directional control valve.
9. a kind of operation method of integrated form rotary actuator according to claim 8, which is characterized in that the controller is also
It is connected with the flow control valve for controlling the hydraulic cylinder speed of service, the stretching speed of the hydraulic cylinder meets sin a, a ∈ [0,
2 π], when a is equal to 0 or π or 2 π, the traffic direction of the hydraulic cylinder changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418332.XA CN108798989A (en) | 2018-05-04 | 2018-05-04 | A kind of integrated form rotary actuator and its operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418332.XA CN108798989A (en) | 2018-05-04 | 2018-05-04 | A kind of integrated form rotary actuator and its operation method |
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| Publication Number | Publication Date |
|---|---|
| CN108798989A true CN108798989A (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810418332.XA Pending CN108798989A (en) | 2018-05-04 | 2018-05-04 | A kind of integrated form rotary actuator and its operation method |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111219289A (en) * | 2020-02-27 | 2020-06-02 | 唐山行者机器人有限公司 | Radial multi-cylinder hydraulic motor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2217703Y (en) * | 1994-12-30 | 1996-01-17 | 刘莹 | Radical-piston type low-speed large-torque hydraulic motor |
| CN1740557A (en) * | 2005-09-07 | 2006-03-01 | 周沛凝 | Low speed great torque hydraulic drive mechanism |
| CN104088751A (en) * | 2014-06-27 | 2014-10-08 | 吴家集 | Electrohydraulic motor |
| CN104196811A (en) * | 2014-08-29 | 2014-12-10 | 唐山市丰南区双义饲料机械有限公司 | Low-speed rotating driving mechanism |
-
2018
- 2018-05-04 CN CN201810418332.XA patent/CN108798989A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2217703Y (en) * | 1994-12-30 | 1996-01-17 | 刘莹 | Radical-piston type low-speed large-torque hydraulic motor |
| CN1740557A (en) * | 2005-09-07 | 2006-03-01 | 周沛凝 | Low speed great torque hydraulic drive mechanism |
| CN104088751A (en) * | 2014-06-27 | 2014-10-08 | 吴家集 | Electrohydraulic motor |
| CN104196811A (en) * | 2014-08-29 | 2014-12-10 | 唐山市丰南区双义饲料机械有限公司 | Low-speed rotating driving mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111219289A (en) * | 2020-02-27 | 2020-06-02 | 唐山行者机器人有限公司 | Radial multi-cylinder hydraulic motor |
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Application publication date: 20181113 |