CN108916150A

CN108916150A - A kind of pilot-operated type hydraulic corner self-servo valve

Info

Publication number: CN108916150A
Application number: CN201811104950.3A
Authority: CN
Inventors: 蒋林; 任利胜; 潘孝越; 谢维; 向超; 王随阳
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE; Wuhan University of Science and Technology WHUST
Priority date: 2018-09-21
Filing date: 2018-09-21
Publication date: 2018-11-30

Abstract

The present invention provides a kind of pilot-operated type hydraulic corner self-servo valve, including tie-plate, steering engine cover, left end cap, cylinder body, steering engine, pilot valve, main valve and right end cap, the pilot valve includes guide's valve pocket, pilot valve, guide valve blocks, guide's fixed stop and first guide vane, the main valve includes main valve housing, main valve plug, main valve body, fixed stop and primary blades, the tie-plate is mounted on the left end of steering engine cover, it is intracavitary that guide valve blocks are concentrically mounted on the cylindrical empty opened up in left end cap, the right end of left end cap is mounted on the left end of cylinder body, right end cap is mounted on the right end of cylinder body, it is protruding that the output shaft of main valve body passes through right end cap；The present invention has the characteristics that structure is simple, easy to process, spool stress balance, output torque is big, transmission ratio is high-efficient, dynamic characteristics is good, flow gain is linear, fast response time and control are with high accuracy.

Description

A kind of pilot-operated type hydraulic corner self-servo valve

Technical field

The invention belongs to the technical fields of servo valve, and in particular to a kind of pilot-operated type hydraulic corner self-servo valve.

Background technique

Hydraulic corner servo techniques are to combine hydraulic with motor technology, using respective advantage, with the small power of motor Square, which directly drives spool, opens valve port, and high pressure oil is allowed to act on valve body, and then obtains big output torque.Hydraulic corner is watched certainly Taking valve is the core element in hydraulic control system, has the characteristics that precision is high, swift, in high-precision electromechanical integration It has a wide range of applications in the airborne drive system of system, aerospace, large-scale experiment equipment, thus obtains domestic and international scientific and technical personnel Concern.

Currently, associate professor Zhu Xinglong of domestic Yangzhou University et al. has been put forward for the first time liquid in research hydraulic servo-joint Corner servo concept is pressed, beneficial exploration has been done built in hydraulic servomechanism and in terms of reducing hydraulic knuckle size, has achieved Certain research achievement, but the hydraulic card clamping force that is subject to of spool and frictional force are larger, and spool dynamic characteristics degenerates, servo blind area It is larger.

Application No. is 201210033081.6 patent applications to disclose a kind of easily-controllable hydraulic corner self-servo valve, overcomes The problems of above-mentioned, which has convenient for preparation, spool force in radial and each self-balancing of axial force, moves The feature that force characteristic is good, servo blind area is small and easily controllable, but have that structure is complicated, especially exist inside spool and valve pocket compared with More complicated internal oil channels, it is difficult to guarantee machining accuracy, it is not big enough there is also output torque and use round valve port design, It is nonlinear for causing its flow gain, and then produces the not high enough problem of precision.

Application No. is 201710035559.1 patent applications to disclose a kind of corner from servo passive compliance hydraulic machine Person joint, the driving inside the joint of robot are directly operated the movement for realizing joint by steering engine with moving valve, this is passed for level-one It is dynamic, still seem insufficient in transmission specific efficiency and flexibility；Its spool valve pocket valve body is not succinct enough in the axial direction, annular groove mistake It will lead to that design of part easily deforms and response speed is not fast enough more；It is directly opened on four threaded holes of the arthrodesis block In the cambered surface of fixed stop, so being that plane is contacted with cambered surface between the fastening screw of fixed stop cooperation, it will necessarily match Conjunction is not close, and the screw service life can shorten.

Therefore, it is necessary to design, a kind of simple structure, easy to process, spool stress balance, output torque be big, transmission ratio Height, dynamic characteristics is good, flow gain is linear, fast response time, controls pilot-operated type hydraulic corner self-servo valve with high accuracy.

Summary of the invention

In view of the problems of the existing technology, the technical solution that the present invention uses to solve problems of the prior art It is as follows：

A kind of pilot-operated type hydraulic corner self-servo valve, including tie-plate 1, steering engine cover 2, left end cap 4, cylinder body 6, steering engine 17, Pilot valve, main valve and right end cap 7, it is characterised in that：The pilot valve includes guide's valve pocket 13, pilot valve 15, guide valve blocks 12, guide's fixed stop 19 and first guide vane 30, the main valve includes main valve housing 9, main valve plug 15, main valve body 8, fixed stop 22 With primary blades 26, the tie-plate 1 is mounted on the left end of steering engine cover 2, and guide valve blocks 12 are concentrically mounted in left end cap 4 and open If cylindrical cavity 33 in, the right end of left end cap 4 is mounted on the left end of cylinder body, and right end cap 7 is mounted on the right end of cylinder body 6, main It is protruding that the output shaft of valve body 8 passes through right end cap 7；

4 inner wall of left end cap is equipped with guide's fixed stop 19, guide's fixed stop 19 and pilot valve perpendicular to axis direction It is cooperation between body 12；The outer wall of guide valve blocks cylindrical cavity 41 is fixed equipped with a first guide vane 30, first guide vane 30 It is dynamic cooperation with left end cap 4；30 interlaced arrangement of guide's fixed stop 19 and first guide vane；

The upper part of 6 inner wall of cylinder body is equipped with fixed stop 22, and fixed stop 22 and main valve body 8 are dynamic cooperation；Main valve body circle The outer wall of cylindrical cavity 68 is fixed to be equipped with a primary blades 26, and primary blades 26 and cylinder body 6 are dynamic cooperation；Fixed stop 22 and main lobe 26 interlaced arrangement of piece；

Guide's valve pocket 13 is concentrically mounted in guide valve blocks cylindrical cavity 41, the left side of guide's valve pocket 13 and elder generation The left side of pilot valve body 12 is fixed together by straight pin, and 15 left end of pilot valve is concentrically mounted on 4 middle part of left end cap In the cylindrical hole of beginning, 15 right end of pilot valve passes through guide's valve pocket 13 and is concentrically mounted in guide valve blocks bearing groove 39, Steering engine 17 is fixed on left end cap 4, and the output shaft of steering engine 17 and the inner hole of 15 left end of pilot valve are the same as center key connecting；

Main valve housing 9 is concentrically mounted in main valve body cylindrical cavity 68, left side and the main valve body 8 of main valve housing 9 Left side is fixed together by straight pin, and 10 left end of main valve plug is concentrically mounted in the small cylindrical opening of cylinder body 6, main valve plug 10 right ends pass through main valve housing 9 and are concentrically mounted in main valve body bearing groove 64,12 right end of guide valve blocks and 10 left end of main valve plug Inner hole center is cooperatively connected；

The top of left end cap is provided with the radial low pressure oil duct 34 of left end cap first and the radial low pressure oil duct 35 of left end cap second, left The radial low pressure oil logical 34 of end cap first and the radial low pressure oil duct 35 of left end cap second communicate；The positive bottom of left end cap 4 is radially square To equipped with left end cap radial high-pressure oil duct 27；

The radial low pressure oil duct 35 of left end cap second is communicated with the radial low pressure oil duct 56 of cylinder body first, the high-pressure oil duct of left end cap It is communicated with the high-pressure oil duct of cylinder body, the entrance of the radial low pressure oil duct 34 of left end cap first passes through the radial low pressure oil of guide valve blocks first Hole 18 is communicated with the left T mouth 45 of guide's valve pocket, the left T mouth 45 of guide's valve pocket and the rectangular channel phase on the first annular boss of pilot valve 51 Logical, the rectangular channel on the first annular boss of pilot valve 51 is communicated with guide's valve pocket A mouth 46, and guide's valve pocket A mouth 46 passes through guide The first rectangle of valve body valve port 42 is communicated with corresponding the first working chamber of left end cap；

The entrance of the second low pressure of left end cap oil duct 35 is communicated with guide valve blocks low pressure oil annular groove 37, guide valve blocks low pressure oil Annular groove 37 is communicated with internal low-voltage oil channel by the radial low pressure oil duct 20 of pilot valve second, the radial low pressure oil of pilot valve second Road 20 is communicated with the right T mouth 50 of guide's valve pocket, the right T mouth 50 of guide's valve pocket and the rectangular channel phase on pilot valve third annular boss 53 It is logical；

Left end cap high pressure oil inlet 31 is communicated with guide valve blocks high pressure oil annular groove 38, guide valve blocks high pressure oil annular groove 38 It is communicated by left end cap radial high-pressure oil duct 27 with left end cap internal high pressure oil channel, left end cap internal high pressure oil channel and guide The left P mouth 47 of valve pocket and the right P mouth 48 of guide's valve pocket communicate respectively, and the left P mouth 47 of guide's valve pocket passes through pilot valve with guide's valve pocket A mouth 46 Left rectangular channel on the second annular boss of core 52 communicates, guide's valve pocket A mouth 46 by the first rectangle of pilot valve valve port 42 with it is corresponding The first working chamber of left end cap communicate；

The right P mouth 48 of guide's valve pocket passes through the right rectangular channel on the second annular boss of pilot valve 52 with guide's valve pocket B mouth 49 It communicates, guide's valve pocket B mouth 49 is communicated by the second rectangle of pilot valve valve port 43 with corresponding the second working chamber of left end cap；

The top of cylinder body radially offers the radial low pressure oil duct 56 of cylinder body first, is in axial direction equipped with the second diameter of cylinder body To low pressure oil duct 57, the radial low pressure oil of cylinder body first channel 56 and the radial low pressure oil of cylinder body second channel 57 are communicated；Cylinder body 6 is just Lower part is in axial direction equipped with cylinder body high-pressure oil passage 59；

The entrance in the radial low pressure oil of cylinder body first channel 56 directly passes through the radial low pressure oil duct 21 of main valve body first and main valve It covers left T mouth 71 to communicate, the left T mouth 71 of main valve housing is communicated with the rectangular channel on the first annular boss of main valve plug 78, the first ring of main valve plug Rectangular channel on shape boss 78 is communicated with main valve housing A mouth 72, main valve housing A mouth 72 by the first rectangle of main valve body valve port 69 with it is corresponding The first working chamber of cylinder body 82 communicate；

The entrance of the radial low pressure oil duct 57 of cylinder body second is communicated with main valve body low pressure oil annular groove 62, main valve body low pressure oil ring Shape slot 62 is communicated with cylinder interior low pressure oil channel by the radial low pressure oil duct 86 of main valve body second, the radial low pressure of main valve body second Oil duct 86 is communicated with the right T mouth 76 of main valve housing, and the right T mouth 76 of main valve housing is communicated with the rectangular channel on main valve plug third annular boss 80；

The outlet of cylinder body high-pressure oil passage 59 is communicated with main valve body high pressure oil annular groove 63, main valve body high pressure oil annular groove 63 It is communicated by primary blades broken line oil duct 25 with main valve body high-pressure radial oil duct 23, cylinder interior high-pressure oil passage and the left P of main valve housing Mouth 73 and the right P mouth 74 of main valve housing communicate respectively, and the left P mouth 73 of main valve housing passes through the second annular boss of main valve plug with main valve housing A mouth 72 Left rectangular channel on 79 communicates, and main valve housing A mouth 72 passes through the first rectangle of main valve body valve port 69 and corresponding the first working chamber of cylinder body 82 communicate；

The right P mouth 74 of main valve housing is communicated with main valve housing B mouth 75 by the right rectangular channel on the second annular boss of main valve plug 79, main Valve pocket B mouth 75 is communicated by the second rectangle of main valve body valve port 70 with corresponding the second working chamber of cylinder body 83.

The guide valve blocks 12 from left to right successively include guide valve blocks hollow cylinder, guide valve blocks cylindrical body boss and Guide valve blocks output shaft；

The outer diameter of guide valve blocks cylindrical body boss is identical as the nominal size of 33 internal diameter of left end cap cylindrical cavity, pilot valve The cylindrical surface of body cylindrical body boss is opened there are three valve seal slot, is provided with guide valve blocks low pressure oil between the valve seal slot of two, the left side Annular groove 37 is provided with the radial low pressure oil duct 20 of guide valve blocks second in guide valve blocks low pressure oil annular groove 37, and the right is provided with guide Valve body high pressure oil annular groove 38 is provided with guide valve blocks high-pressure radial oil duct 44, pilot valve in guide valve blocks high pressure oil annular groove 38 The radial low pressure oil duct 20 of body second and the two plain line phases corresponding on guide valve blocks 12 of guide valve blocks high-pressure radial oil duct 44 Poor 180 °；

Valve seal slot there are two being opened on the cylindrical surface at guide valve blocks hollow cylinder left end, two valve seals The radial low pressure oil hole 18 of guide valve blocks first, 41 internal diameter of guide valve blocks cylindrical cavity and 13 outer diameter of guide's valve pocket are provided between slot Nominal size is identical；The first square of guide valve blocks is equipped on the guide valve blocks hollow cylinder close to guide valve blocks cylindrical body boss Shape valve port 42 and the second rectangle of guide valve blocks valve port 43, the first rectangle of guide valve blocks valve port 42, guide valve blocks the second rectangle valve port 43 size is identical；

The plain line of left end cap high-pressure radial oilhole is located at the plain line and pilot valve at 42 center of the first rectangle of guide valve blocks valve port The middle of the plain line at 43 center of the second rectangle of body valve port, the plain line and guide valve blocks at 42 center of the first rectangle of guide valve blocks valve port The angle of the plain line at 43 center of the second rectangle valve port is θ₁, size is

In formula (1)：b₁₁For the arc length of first guide vane inner wall；

b₁₂For arc length of the rectangle valve port on guide valve blocks hollow cylinder；

r₁For the outer diameter of guide valve blocks hollow cylinder.

The main valve body 8 successively includes main valve body hollow cylinder, main valve body cylindrical body boss and main valve body from left to right Output shaft；

The outer diameter of main valve body cylindrical body boss is identical as the nominal size of 58 internal diameter of cylinder body cylindrical cavity, main valve body cylinder The cylindrical surface of body boss is opened there are three valve seal slot, is provided with main valve body low pressure oil annular groove between the valve seal slot of two, the left side 62, the radial low pressure oil duct 86 of main valve body second is provided in main valve body low pressure oil annular groove 62, the right is provided with main valve body high pressure oil ring Shape slot 63 is provided with main valve body high-pressure radial oil duct 23, the radial low pressure oil duct of main valve body second in main valve body high pressure oil annular groove 63 86 and the two plain lines corresponding on main valve body 8 of main valve body high-pressure radial oil duct 23 differ 180 °；

Valve seal slot there are two being opened on the cylindrical surface at main valve body hollow cylinder left end, two valve seal slots Between be provided with the radial low pressure oil duct 21 of main valve body first, the nominal size of 68 internal diameter of main valve body cylindrical cavity and 9 outer diameter of main valve housing It is identical；The first rectangle of main valve body valve port 69 and main valve are equipped on the main valve body hollow cylinder close to main valve body cylindrical body boss The second rectangle of body valve port 70, the first rectangle of main valve body valve port 69, the size of the second rectangle of main valve body valve port 70 are identical.

The plain line of cylinder body high-pressure radial oilhole is located at the plain line and main valve body second at 69 center of the first rectangle of main valve body valve port The middle of the plain line at 70 center of rectangle valve port, the plain line and main valve body the second rectangle valve at 69 center of the first rectangle of main valve body valve port The angle of the plain line at 70 centers of mouth is θ₂, size is

In formula (2)：b₂₁For the arc length of primary blades inner wall；

b₂₂For arc length of the rectangle valve port on main valve body hollow cylinder；

r₁For the outer diameter of main valve body hollow cylinder.

15 left end of pilot valve is coaxially equipped with the inner hole coupled with 17 output shaft of steering engine, and pilot valve 15 is certainly It is left-to-right to be equipped with the first annular boss of pilot valve 51, the second annular boss of pilot valve 52, pilot valve third annular boss 53, open that there are two the identical rectangular channel of size, the second annular boss of pilot valve 52 on the right of the first annular boss of pilot valve 51 The right and left has two rectangular channels, and 53 left side of pilot valve third annular boss opens that there are two the identical rectangles of size Slot, the corresponding rectangular channel of every two are located on the respective same circumference in 180 ° of distributions, every two rectangular channel；Pilot valve Two rectangle groove centers on 52 the right of two rectangle groove center lines and the second annular boss of pilot valve of the first annular boss 51 Line is located at axle center and is symmetrically located on two plain lines, two, the left side rectangle groove center of the second annular boss of pilot valve 52 Two rectangle groove center lines of line and pilot valve third annular boss 53 are located on the symmetrical two other element line in axle center, Every plain line differs 90 °.

The main valve plug 10 is equipped with the first annular boss of main valve plug 78, the second annular boss of main valve plug 79, master from left to right Spool third annular boss 80 is opened on the right of the first annular boss of main valve plug 78 there are two the identical rectangular channel of size, main valve plug the Two annular boss, 79 the right and left has two rectangular channels, and 80 left side of main valve plug third annular boss opens that there are two size phases With rectangular channel, the corresponding rectangular channel of every two in 180 ° distribution, two rectangle groove center lines of main valve plug first boss 78 and Axle center is symmetrically located on two plain lines two rectangle groove center lines on 79 the right of the second annular boss of main valve plug respectively, main valve plug Two, the left side rectangle groove center line of second annular boss 79 and two rectangle groove center lines of main valve plug third annular boss 80 It is located on the plain line in symmetrical another two of axle center, every plain line differs 90 °.

Guide's valve pocket 13 is made of six annular boss and five annular grooves, and annular boss and annular groove replace cloth It sets；Two rectangular openings are had on two annular grooves of Far Left and rightmost, two rectangular openings are in 180 ° of arrangements, Far Left Two rectangular openings on annular groove are the left T mouth 45 of guide's valve pocket, and two rectangular openings on rightmost annular groove are the right T of guide's valve pocket Mouth 50；Second and the 4th annular groove has one group of rectangular opening to guide's valve pocket 13 from left to right, is A mouthfuls of guide's valve pocket respectively 46 and guide's valve pocket B mouth 49, two rectangular openings of third annular groove or so Ge Kai, every group of rectangular opening are mutually in by two from left to right The rectangular opening composition of 180 ° of arrangements；Rectangular opening center line on five annular grooves is respectively positioned on corresponding same plain line, and five The size of rectangular opening on a annular groove is identical as the rectangular channel size of three boss of pilot valve 15；Intermediate three annular grooves On every group of rectangular opening left and right side and adjacent annular boss left and right side be same plane；Six groups of squares of guide's valve pocket 13 It is P mouthfuls right that shape mouth is from left to right followed successively by the left T mouth 45 of guide's valve pocket, guide's valve pocket A mouth 46, the left P mouth 47 of guide's valve pocket, guide's valve pocket 48, guide's valve pocket B mouth 49 and the right T mouth 50 of guide's valve pocket.

The main valve housing 9 is made of six annular boss and five annular grooves, and annular boss and annular groove are alternately arranged；Most Have two rectangular openings on two annular grooves on the left side and the right, two rectangular openings are in 180 ° of arrangements, main valve housing from left to right the Two rectangular openings on one annular groove are the left T mouth 71 of main valve housing, and two rectangular openings on the 6th annular groove are main valve housing from left to right Right T mouth 76；Second and the 4th annular groove has one group of rectangular opening to main valve housing 9 from left to right, is main valve housing A mouth 72 respectively With main valve housing B mouth 75, two rectangular openings of third annular groove or so Ge Kai, every group of rectangular opening is mutually in 180 ° of arrangements by two Rectangular opening composition；Rectangular opening center line on five annular grooves is respectively positioned on corresponding same plain line, on five annular grooves Rectangular opening size it is identical as the rectangular channel size of three boss of main valve plug 10；It is every on three annular grooves among main valve housing The left and right side of group rectangular opening and the right side of adjacent annular boss are same plane；Six groups of rectangular openings of main valve housing 9 from a left side to The right side is followed successively by the left T mouth 71 of main valve housing, main valve housing A mouth 72, the left P mouth 73 of main valve housing, the right P mouth 74 of main valve housing, main valve housing B mouth 75 and master The right T mouth 76 of valve pocket.

Guide's fixed stop 19 is strip, and the upper lower camber side difference of guide's fixed stop 19 is left end cap circular cylindrical cavity The half of 33 internal diameter and the hollow cylinder outer diameter difference of guide valve blocks 12；Along axis at the lower camber side center of guide's fixed stop 19 Line direction is equipped with strip gasket slot, the equal length of strip gasket slot and guide's fixed stop 19, and strip gasket slot is embedded with block Sealing strip.

The fixed stop 22 is strip, the upper lower camber side difference of fixed stop 22 be cylinder body circular cylindrical cavity 58 internal diameter with The half of the hollow cylinder outer diameter difference of main valve body 8；It is close that it is equipped with strip in the axial direction at the lower camber side center of fixed stop 22 Sealing groove, the equal length of strip gasket slot and fixed stop 22, strip gasket slot are embedded with block sealing strip.

Elder generation's guide vane 30 is strip, and the upper lower camber side difference of first guide vane 30 is the internal diameter 33 of left end cap circular cylindrical cavity With the half of the hollow cylinder outer diameter difference of guide valve blocks 12；It is equipped with item in the axial direction at the lower camber side center of first guide vane 30 Shape seal groove, the equal length of strip gasket slot and first guide vane 30, strip gasket slot are embedded with runner sealing item；

The primary blades 26 are strip, and the upper lower camber side difference of primary blades 26 is the internal diameter and main valve of cylinder body circular cylindrical cavity 58 The half of the hollow cylinder outer diameter difference of body 8；It is equipped with strip gasket slot, item in the axial direction at the lower camber side center of primary blades 26 The equal length of shape seal groove and primary blades 26, strip gasket slot are embedded with runner sealing item.

High pressure oil inlet P of the invention is logical by the high pressure oil that the high pressure oil nozzle of left end cap enters left end cap and cylinder body simultaneously Then road respectively enters the high pressure oil annular groove of guide valve blocks and main valve body, then enters two by respective high-pressure radial oil duct The internal high pressure oil channel of a valve body, then into P mouthfuls and main valve housing P mouthfuls of guide's valve pocket, at this point, pilot valve is straight with motor It connects in succession, guide valve blocks output shaft is connect with main valve plug, and pilot valve controls the steering of valve port under the action of motor first, high After pressure oil liquid enters the working chamber that guide valve blocks and left end cap inner wall are formed, first guide vane is pushed to operate guide valve blocks, guide Valve body output shaft and then drive main valve plug operating, high-voltage oil liquid pass through rectangular channel from P mouthfuls of main valve housing and enter by main valve body and cylinder body The working chamber of composition, so that main valve body operating is pushed with movable vane piece, it is final to realize the power for amplifying small electric machine by pilot valve It is bright that the transmission ratio of the purpose that square drives large scale output mechanism to operate, steering engine and output mechanism main valve body increases effect than before It is aobvious.

Specific work process is：When pilot valve rotates counterclockwise relative to guide's valve pocket, high pressure oil is by guide's valve pocket The left P mouthfuls left rectangular channel entered on the second annular boss of pilot valve, subsequently enters A mouthfuls of guide's valve pocket, finally by pilot valve Body the first rectangle valve port enters the first working chamber of left end cap, pushes first guide vane to rotate counterclockwise, guide valve blocks is made to follow guide Valve core movement, the low pressure oil of the second working chamber of left end cap then pass through guide valve blocks the second rectangle valve port and enter B mouthfuls of guide's valve pocket, then Rectangular channel on pilot valve third annular boss finally enters the right T cause for gossip of guide's valve pocket and shows oil return.At the same time, main Spool will keep identical with guide valve blocks and follow movement, and the progress of work is completely the same, i.e., high pressure oil enters from left P mouthfuls of main valve housing Left rectangular channel on the second annular boss of main valve plug subsequently enters A mouthfuls of main valve housing, finally by main valve body the first rectangle valve port into Enter the first working chamber of cylinder body, push blade to rotate counterclockwise, make main valve body that main valve plug be followed to move, the second working chamber of cylinder body it is low Pressure oil then passes through main valve body the second rectangle valve port and enters B mouthfuls of main valve housing, enters back into the rectangular channel on main valve plug third annular boss, It is T mouthfuls right to finally enter main valve housing；

When pilot valve is rotated clockwise relative to guide's valve pocket, high pressure oil enters pilot valve from right P mouthfuls of guide's valve pocket Right rectangular channel on the second annular boss of core subsequently enters B mouthfuls of guide's valve pocket, finally by guide valve blocks the second rectangle valve port into Enter the second working chamber of left end cap, pushes the rotation of guide's vane clockwise, make guide valve blocks that pilot valve be followed to move, left end cap the The low pressure oil of one working chamber then passes through guide valve blocks the first rectangle valve port and enters A mouthfuls of guide's valve pocket, enters back into pilot valve first It is T mouthfuls left to finally enter guide's valve pocket for rectangular channel on annular boss.At the same time, main valve plug will be kept identical as guide valve blocks Follow movement, the progress of work is completely the same, i.e., when main valve plug is rotated clockwise relative to main valve housing, high pressure oil is by main valve housing The right P mouthfuls right rectangular channel entered on the second annular boss of main valve plug, subsequently enters B mouthfuls of main valve housing, finally by main valve body second Rectangle valve port enters the second working chamber of cylinder body, pushes vane clockwise rotation, makes main valve body that main valve plug be followed to move, cylinder body first The low pressure oil of working chamber then passes through main valve body the first rectangle valve port and enters A mouthfuls of main valve housing, enters back into the first annular boss of main valve plug On rectangular channel, it is T mouthfuls left to finally enter main valve housing.

Left T mouthfuls of the low pressure oil of guide's valve pocket is directly entered the first diameter of left end cap by the radial low pressure oil duct of guide valve blocks first To low pressure oil channel, eventually enters into low pressure oil export T and gradually flow back；Right T mouthfuls of the low pressure oil of guide's valve pocket then passes through guide valve blocks Second radial low pressure oil duct enters guide valve blocks low pressure oil annular groove, enters left end using the radial low pressure oil duct of left end cap second Lid low pressure oil export T gradually flows back.

Left T mouthfuls of the low pressure oil of main valve housing is directly entered the radial low pressure of cylinder body first by the radial low pressure oil duct of main valve body first Oil duct eventually enters into low pressure oil export T and gradually flows back；Right T mouthfuls of the low pressure oil of main valve housing then passes through the radial low pressure of main valve body second Oil duct enters main valve body low pressure oil annular groove, enters cylinder body low pressure oil passage outlet using the radial low pressure oil duct of cylinder body second, most It is gradually flowed back by cylinder body low pressure oil export T afterwards.

Guide valve bushing A mouthfuls when being communicated with the first working chamber of left end cap in the ban, B mouthfuls of guide's valve pocket then with the second working chamber of left end cap Communicate, and A mouthfuls of guide's valve pocket is not communicated with the second working chamber of left end cap, B mouthfuls of guide's valve pocket not with left end cap the first working chamber phase It is logical；Guide valve bushing A mouthfuls when communicating with the second working chamber of left end cap in the ban, B mouthfuls of guide's valve pocket communicate with the first working chamber of left end cap, and A mouthfuls of guide's valve pocket is not communicated with the first working chamber of left end cap, B mouthfuls of guide's valve pocket is not communicated with the second working chamber of left end cap, except upper It states outside situation, valve port and the first working chamber of left end cap, the second working chamber of left end cap of guide's valve pocket are not communicated with.

When communicating with the first working chamber of cylinder body for A mouthfuls of main valve housing, B mouthfuls of main valve housing is then communicated with the second working chamber of cylinder body, and A mouthfuls of main valve housing is not communicated with the second working chamber of cylinder body, B mouthfuls of main valve housing is not communicated with the first working chamber of cylinder body；When A mouthfuls of main valve housing with When the second working chamber of cylinder body communicates, B mouthfuls of main valve housing communicate with the first working chamber of cylinder body, and A mouthfuls of main valve housing not with the first work of cylinder body Communicated as chamber, B mouthfuls of main valve housing is not communicated with the second working chamber of cylinder body, in addition to the conditions already mentioned, main valve housing valve port and the first work of cylinder body Make chamber, the second working chamber of cylinder body is not communicated with.

The invention has the advantages that：

(1) servo valve of the present invention by increase a pilot valve so that steering engine do not connect with the main valve plug of output mechanism and It is directly connected to pilot valve, then is connect by guide valve blocks output shaft with main valve plug, pilot valve is controlled under the action of motor first The steering of valve port processed after oil liquid enters the working chamber that guide valve blocks and left end cap inner wall are formed, and then pushes first guide vane to make elder generation The operating of pilot valve body, guide valve blocks output shaft and then drive main valve plug operating, main valve plug high-voltage oil liquid pass through rectangle from p mouthfuls of main valve housing Slot enters the working chamber being made of main valve body and cylinder body, so that primary blades be driven to push main valve body operating, final realize passes through elder generation The torque that guide valve core amplifies small electric machine drives the purpose of large scale output mechanism operating, the transmission ratio increasing of steering engine and output mechanism Big significant effect；

(2) present invention, by opening up the two pairs of rectangular channels in left and right in spool second boss, is in the design of spool and valve pocket 90 degree of distributions, eliminate second boss in the prior art and the 4th boss, therefore, in the case where meeting identical requirement, valve Faster, structure more concision and compact, axial dimension greatly reduces while decreasing the processing work of the part response speed of core Sequence；

(3) it is directly opened in the cambered surface of fixed stop on four threaded holes of fixed stop in the prior art, so that with solid Determine between the fastening screw of block cooperation to be that plane is contacted with cambered surface, will necessarily cooperate not closely, and the screw service life is short, the present invention Cambered surface opens four counterbores down on four threaded holes, formed four planar annulars just with the plane contact of head of screw so that Cooperation more fastens, and the service life is longer.

Therefore, servo valve of the present invention has that simple and compact for structure, easy to process, spool stress balance, output torque are big, pass Dynamic specific efficiency is high, flexibility is good, and dynamic characteristics is good, flow gain is linear, fast response time and controls feature with high accuracy.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of the invention；

Fig. 2 is the A-A diagrammatic cross-section of Fig. 1；

Fig. 3 is the structural schematic diagram of left end cap 4 in Fig. 1；

Fig. 4 is the B-B diagrammatic cross-section of Fig. 3；

Fig. 5 is 12 structural schematic diagram of guide valve blocks；

Fig. 6 is the C-C diagrammatic cross-section of Fig. 5；

Fig. 7 is the top view of Fig. 5；

Fig. 8 is the structural schematic diagram of guide's valve pocket 13 in Fig. 1；

Fig. 9 is the D-D diagrammatic cross-section of Fig. 8；

Figure 10 is the structural schematic diagram of pilot valve 15 in Fig. 1；

Figure 11 is the E-E diagrammatic cross-section of Figure 10；

Figure 12 is the structural schematic diagram of the cylinder body 6 of Fig. 1；

Figure 13 is the F-F diagrammatic cross-section of Figure 12；

Figure 14 is the structural schematic diagram of the main valve body 8 of Fig. 1；

Figure 15 is the G-G diagrammatic cross-section of Figure 14.

Figure 16 is the top view of Figure 15；

Figure 17 is the structural schematic diagram of the main valve housing 13 of Fig. 1；

Figure 18 is the H-H diagrammatic cross-section of Figure 17；

Figure 19 is the structural schematic diagram of the main valve plug 10 of Fig. 1；

Figure 20 is the I-I diagrammatic cross-section of Figure 19；

Figure 21 is the left view of Figure 19；

Figure 22 is the k-k diagrammatic cross-section of Fig. 1；

Figure 23 is the l-l diagrammatic cross-section of Fig. 1；

Figure 24 is the left view of right end cap；

Figure 25 is the M-M diagrammatic cross-section of Figure 24；

Wherein：1- tie-plate, 2- steering engine cover, 3- support frame, 4- left end cap, 5- deep groove ball bearing, 6- cylinder body, 7- right end Lid, 8- main valve body, 9- main valve housing, 10- main valve plug, 11- thrust ball bearing A, 12- guide valve blocks, 13- guide's valve pocket, 14- thrust Ball bearing B, 15- pilot valve, 16- steering engine disk, 17- steering engine, the radial low pressure oil duct of 18- guide valve blocks first, 19- guide fix Block, the radial low pressure oil duct of 20- guide valve blocks second, the radial low pressure oil duct of 21- main valve body first, 22- fixed stop, 23- master Valve body high-pressure radial oil duct, 24- cylinder body low pressure oil duct, 25- primary blades broken line oil duct, 26- primary blades, 27- left end cap are radial high Pressure oil road, 28- high pressure oil nozzle, 29- elder generation guide vane broken line oil duct, 30- elder generation guide vane, 31- left end cap high pressure oil inlet, 32- are left End cap low pressure oil annular groove, 33- left end cap circular cylindrical cavity, the radial low pressure oil duct of 34- left end cap first, 35- left end cap second Radial low pressure oil duct, 36- left end cap low pressure oil inlet, 37- guide valve blocks low pressure oil annular groove, 38- guide valve blocks high pressure oil ring Shape slot, 39- guide valve blocks bearing groove, 40- guide valve blocks output shaft end flat key, 41- guide valve blocks circular cylindrical cavity, 42- guide Valve the first rectangle valve port, 43- pilot valve the second rectangle valve port, 44- guide valve blocks high-pressure radial oil duct, the left T of 45- guide's valve pocket Mouthful, A mouthfuls of 46- guide's valve pocket, 47- guide's valve pocket is P mouthfuls left, and 48- guide's valve pocket is P mouthfuls right, and B mouthfuls of 49- guide's valve pocket, 50- pilot valve Cover T mouthfuls right, the first annular boss of 51- pilot valve, the second annular boss of 52- pilot valve, 53- pilot valve third ring-type Boss, 54- pilot valve right bearing boss, 55- cylinder body bearing groove, the radial low pressure oil duct of 56- cylinder body first, 57- cylinder body second Radial low pressure oil duct, 58- cylinder body circular cylindrical cavity, 59- cylinder body high-pressure oil passage, 60- cylinder body cylindrical hole, 61- cylinder body low pressure oil Annular groove, 62- main valve body low pressure oil annular groove, 63- main valve body high pressure oil annular groove, 64- main valve body bearing groove, 65- main valve body Output shaft, second shaft shoulder of 66- main valve body, first shaft shoulder of 67- main valve body, 68- main valve body circular cylindrical cavity, 69- main valve body first Rectangle valve port, 70- main valve body the second rectangle valve port, 71- main valve housing is T mouthfuls left, and A mouthfuls of 72- main valve housing, 73- main valve housing is P mouthfuls left, 74- Main valve housing is P mouthfuls right, and B mouthfuls of 75- main valve housing, 76- main valve housing is T mouthfuls right, 77- main valve body bearing boss, and 78- main valve plug first is cyclic annular convex Platform, the second annular boss of 79- main valve plug, 80- main valve plug third annular boss, 81- main valve plug concave key slot, the first work of 82- cylinder body Make chamber, the second working chamber of 83- cylinder body, 84- right end cap circular cylindrical cavity, 85- right end cap cylinder output shaft hole, 86- main valve body Second radial low pressure oil duct.

Specific embodiment

Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described, such as Fig. 1- Shown in 2, a kind of pilot-operated type hydraulic corner self-servo valve, including tie-plate 1, steering engine cover 2, left end cap 4, cylinder body 6, steering engine 17, elder generation Pilot valve, main valve and right end cap 7, it is characterised in that：The pilot valve include guide's valve pocket 13, pilot valve 15, guide valve blocks 12, Guide's fixed stop 19 and first guide vane 30, the main valve includes main valve housing 9, main valve plug 15, main valve body 8,22 and of fixed stop Primary blades 26, the tie-plate 1 are mounted on the left end of steering engine cover 2, and guide valve blocks 12 are concentrically mounted in left end cap 4 and open up Cylindrical cavity 33 in, the right end of left end cap 4 is mounted on the left end of cylinder body, and right end cap 7 is mounted on the right end of cylinder body 6, main valve It is protruding that the output shaft of body 8 passes through right end cap 7；

As shown in Figure 8 and Figure 9, guide's valve pocket 13 is concentrically mounted in guide valve blocks cylindrical cavity 41, pilot valve The left side of set 13 and the left side of guide valve blocks 12 are fixed together by straight pin, and 15 left end of pilot valve is concentrically pacified In the cylindrical hole started in the middle part of left end cap 4,15 right end of pilot valve passes through guide's valve pocket 13 and is concentrically mounted on guide In valve body bearing groove 39, steering engine 17 is fixed on left end cap 4, and the output shaft of steering engine 17 and the inner hole of 15 left end of pilot valve are in Heart key connecting；

The top of left end cap is in axial direction provided with the radial low pressure oil duct 34 of left end cap first, is radially equipped with left end The radial low pressure oil duct 35 of lid second, the radial low pressure oil logical 34 of left end cap first and the radial low pressure oil duct 35 of left end cap second communicate； The positive bottom of left end cap 4 is radially equipped with left end cap radial high-pressure oil duct 27；

As shown in Figure 3 and Figure 4, the radial low pressure oil duct 35 of left end cap second is communicated with the radial low pressure oil duct 56 of cylinder body first, The high-pressure oil duct of left end cap is communicated with the high-pressure oil duct of cylinder body, and the entrance of the radial low pressure oil duct 34 of left end cap first passes through pilot valve The radial low pressure oil hole 18 of body first is communicated with the left T mouth 45 of guide's valve pocket, and the left T mouth 45 of guide's valve pocket is cyclic annular convex with pilot valve first Rectangular channel on platform 51 communicates, and the rectangular channel on the first annular boss of pilot valve 51 is communicated with guide's valve pocket A mouth 46, pilot valve Set A mouth 46 is communicated by the first rectangle of guide valve blocks valve port 42 with corresponding the first working chamber of left end cap；

As shown in Figure 12 and Figure 13, the top of cylinder body radially offers the radial low pressure oil duct 56 of cylinder body first, along axial direction Direction is equipped with the radial low pressure oil duct 57 of cylinder body second, and the radial low pressure oil of cylinder body first channel 56 and the radial low pressure oil of cylinder body second are logical Road 57 communicates；The positive bottom of cylinder body 6 is in axial direction equipped with cylinder body high-pressure oil passage 59；

As shown in Figure 17 and Figure 18, the right P mouth 74 of main valve housing passes through on the second annular boss of main valve plug 79 with main valve housing B mouth 75 Right rectangular channel communicate, main valve housing B mouth 75 passes through the second rectangle of main valve body valve port 70 and corresponding 83 phase of the second working chamber of cylinder body It is logical.

As illustrated in figs. 5-7, guide valve blocks 12 successively include guide valve blocks hollow cylinder, guide valve blocks cylinder from left to right Body boss and guide valve blocks output shaft；

In formula (1)：b₁₁For the arc length of first guide vane inner wall；

r₁For the outer diameter of guide valve blocks hollow cylinder.

As illustrated in figures 14-16, main valve body 8 is successively convex including main valve body hollow cylinder, main valve body cylindrical body from left to right Platform and main valve body output shaft；

In formula (2)：b₂₁For the arc length of primary blades inner wall；

r₁For the outer diameter of main valve body hollow cylinder.

As shown in figs. 10-11,15 left end of pilot valve is coaxially equipped with the inner hole coupled with 17 output shaft of steering engine, guide Spool 15 is equipped with the first annular boss of pilot valve 51, the second annular boss of pilot valve 52, pilot valve third from left to right Annular boss 53, opens that there are two the identical rectangular channel of size, the second rings of pilot valve on the right of the first annular boss of pilot valve 51 52 the right and left of shape boss has two rectangular channels, and 53 left side of pilot valve third annular boss opens that there are two size is identical Rectangular channel, in 180 ° of distributions, every two rectangular channel is located on the respective same circumference the corresponding rectangular channel of every two；First Two rectangles on 52 the right of two rectangle groove center lines and the second annular boss of pilot valve of the first annular boss of guide valve core 51 Groove center line is located at axle center and is symmetrically located on two plain lines, two, the left side rectangle of the second annular boss of pilot valve 52 Groove center line and two rectangle groove center lines of pilot valve third annular boss 53 are located at the symmetrical two other in axle center On plain line, every plain line differs 90 °.

As shown in figs. 19-21, it is cyclic annular to be equipped with the first annular boss of main valve plug 78, main valve plug second from left to right for main valve plug 10 Boss 79, main valve plug third annular boss 80 are opened on the right of the first annular boss of main valve plug 78 there are two the identical rectangular channel of size, 79 the right and left of the second annular boss of main valve plug has two rectangular channels, and 80 left side of main valve plug third annular boss is provided with two The identical rectangular channel of a size, the corresponding rectangular channel of every two is in 180 ° of distributions, two rectangular channels of main valve plug first boss 78 Axle center is symmetrically located in two plain lines to two rectangle groove center lines on 79 the right of center line and the second annular boss of main valve plug respectively On, two, the left side rectangle groove center line of the second annular boss of main valve plug 79 and two rectangles of main valve plug third annular boss 80 Groove center line is located on the plain line in symmetrical another two of axle center, and every plain line differs 90 °.

As shown in Figure 8 and Figure 9, guide's valve pocket 13 is made of six annular boss and five annular grooves, annular boss and ring Shape slot is alternately arranged；Two rectangular openings are had on two annular grooves of Far Left and rightmost, two rectangular openings are in 180 ° It arranges, two rectangular openings on Far Left annular groove are the left T mouth 45 of guide's valve pocket, and two rectangular openings on rightmost annular groove are The right T mouth 50 of guide's valve pocket；Second and the 4th annular groove has one group of rectangular opening to guide's valve pocket 13 from left to right, is respectively Guide's valve pocket A mouth 46 and guide's valve pocket B mouth 49, two rectangular openings of third annular groove or so Ge Kai from left to right, every group of rectangular opening by Two mutually in the rectangular opening composition of 180 ° of arrangements；Rectangular opening center line on five annular grooves is respectively positioned on corresponding same On plain line, the size of the rectangular opening on five annular grooves and the rectangular channel size of three boss of pilot valve 15 are identical；It is intermediate The left and right side of every group of rectangular opening on three annular grooves and the left and right side of adjacent annular boss are same plane；Guide's valve pocket 13 six groups of rectangular openings are from left to right followed successively by the left T mouth 45 of guide's valve pocket, guide's valve pocket A mouth 46, the left P mouth 47 of guide's valve pocket, elder generation The right P mouth 48 of guide valve bushing, guide's valve pocket B mouth 49 and the right T mouth 50 of guide's valve pocket.

As shown in figure 17, main valve housing 9 is made of six annular boss and five annular grooves, annular boss and annular groove alternating Arrangement；Two rectangular openings are had on Far Left and two annular grooves on the right, two rectangular openings are in 180 ° of arrangements, main valve housing Two rectangular openings on first annular groove are the left T mouth 71 of main valve housing from left to right, and two rectangular openings on the 6th annular groove are from left to right The right T mouth 76 of main valve housing；Second and the 4th annular groove has one group of rectangular opening to main valve housing 9 from left to right, is main valve respectively Set A mouth 72 and main valve housing B mouth 75, two rectangular openings of third annular groove or so Ge Kai, every group of rectangular opening are mutually in by two The rectangular opening composition of 180 ° of arrangements；Rectangular opening center line on five annular grooves is respectively positioned on corresponding same plain line, and five The size of rectangular opening on a annular groove is identical as the rectangular channel size of three boss of main valve plug 10；Three rings among main valve housing The left and right side of every group of rectangular opening on shape slot and the right side of adjacent annular boss are same plane；Six groups of squares of main valve housing 9 Shape mouth is from left to right followed successively by the left T mouth 71 of main valve housing, main valve housing A mouth 72, the left P mouth 73 of main valve housing, the right P mouth 74 of main valve housing, main valve Cover B mouth 75 and the right T mouth 76 of main valve housing.

Guide's fixed stop 19 is strip, and the upper lower camber side difference of guide's fixed stop 19 is left end cap circular cylindrical cavity 33 The half of the hollow cylinder outer diameter difference of internal diameter and guide valve blocks 12；Along axis side at the lower camber side center of guide's fixed stop 19 To strip gasket slot, the equal length of strip gasket slot and guide's fixed stop 19 is equipped with, strip gasket slot is sealed embedded with block Item.

Fixed stop 22 is strip, and the upper lower camber side difference of fixed stop 22 is the internal diameter and main valve of cylinder body circular cylindrical cavity 58 The half of the hollow cylinder outer diameter difference of body 8；It is equipped with strip gasket slot in the axial direction at the lower camber side center of fixed stop 22, The equal length of strip gasket slot and fixed stop 22, strip gasket slot are embedded with block sealing strip.

First guide vane 30 is strip, and the upper lower camber side difference of first guide vane 30 is internal diameter 33 and the elder generation of left end cap circular cylindrical cavity The half of the hollow cylinder outer diameter difference of pilot valve body 12；It is close that it is equipped with strip in the axial direction at the lower camber side center of first guide vane 30 Sealing groove, the equal length of strip gasket slot and first guide vane 30, strip gasket slot are embedded with runner sealing item；

Primary blades 26 are strip, and the upper lower camber side difference of primary blades 26 is the internal diameter and main valve body 8 of cylinder body circular cylindrical cavity 58 Hollow cylinder outer diameter difference half；It is equipped with strip gasket slot, strip in the axial direction at the lower camber side center of primary blades 26 The equal length of seal groove and primary blades 26, strip gasket slot are embedded with runner sealing item.

Protection scope of the present invention is not limited to the above embodiments, it is clear that those skilled in the art can be to this hair It is bright to carry out various changes and deformation without departing from scope and spirit of the present invention.If these changes and deformation belong to power of the present invention In the range of benefit requirement and its equivalent technologies, then including the intent of the present invention also includes these changes and deforms.

Claims

1. a kind of pilot-operated type hydraulic corner self-servo valve, including tie-plate (1), steering engine cover (2), left end cap (4), cylinder body (6), rudder Machine (17), pilot valve, main valve and right end cap (7), it is characterised in that：The pilot valve includes guide's valve pocket (13), pilot valve (15), guide valve blocks (12), guide's fixed stop (19) and first guide vane (30), the main valve includes main valve housing (9), main valve plug (15), main valve body (8), fixed stop (22) and primary blades (26), the tie-plate (1) are mounted on the left end of steering engine cover (2), first Pilot valve body (12) is concentrically mounted in the cylindrical cavity (33) opened up in left end cap (4), the right end installation of left end cap (4) In the left end of cylinder body, right end cap (7) is mounted on the right end of cylinder body (6), and it is outside that the output shaft of main valve body (8) passes through right end cap (7) It stretches out；

Left end cap (4) inner wall is equipped with guide's fixed stop (19) perpendicular to axis direction, guide's fixed stop (19) and guide Valve body is cooperation between (12)；The outer wall of guide valve blocks cylindrical cavity (41) is fixed equipped with a first guide vane (30), first Guide vane (30) and left end cap (4) are dynamic cooperation；Guide's fixed stop (19) and first guide vane (30) interlaced arrangement；

The upper part of cylinder body (6) inner wall is equipped with fixed stop (22), and fixed stop (22) and main valve body (8) are dynamic cooperation；Main valve The outer wall of body cylindrical cavity (68) is fixed to be equipped with a primary blades (26), and primary blades (26) and cylinder body (6) are dynamic cooperation；It is fixed Block (22) and primary blades (26) interlaced arrangement；

Guide's valve pocket (13) is concentrically mounted in guide valve blocks cylindrical cavity (41), the left side of guide's valve pocket (13) with The left side of guide valve blocks (12) is fixed together by straight pin, and pilot valve (15) left end is concentrically mounted on left end cap (4) in the cylindrical hole that middle part starts, pilot valve (15) right end passes through guide's valve pocket (13) and is concentrically mounted on guide valve blocks In bearing groove (39), steering engine (17) is fixed on left end cap (4), and the output shaft of steering engine (17) is interior with pilot valve (15) left end Hole is the same as center key connecting；

Main valve housing (9) is concentrically mounted in main valve body cylindrical cavity (68), the left side of main valve housing (9) and main valve body (8) left side is fixed together by straight pin, and main valve plug (10) left end is concentrically mounted on the small cylindrical opening of cylinder body (6) Interior, main valve plug (10) right end passes through main valve housing (9) and is concentrically mounted in main valve body bearing groove (64), and guide valve blocks (12) are right End is cooperatively connected with main valve plug (10) left end inner hole center；

The top of left end cap is provided with the radial low pressure oil duct (34) of left end cap first and the radial low pressure oil duct (35) of left end cap second, left The radial low pressure oil duct (34) of end cap first and the radial low pressure oil duct (35) of left end cap second communicate；The positive bottom edge of left end cap (4) Radial direction is equipped with left end cap radial high-pressure oil duct (27)；

The radial low pressure oil duct (35) of left end cap second communicates with the radial low pressure oil duct (56) of cylinder body first, the high-pressure oil duct of left end cap It is communicated with the high-pressure oil duct of cylinder body, the entrance of the radial low pressure oil duct (34) of left end cap first passes through the radial low pressure of guide valve blocks first Oilhole (18) is communicated with guide's valve pocket T mouthfuls left (45), on guide's valve pocket T mouthfuls left (45) and the first annular boss of pilot valve (51) Rectangular channel communicate, the rectangular channel on the first annular boss of pilot valve (51) is communicated with A mouthfuls of guide's valve pocket (46), guide's valve pocket It is communicated by guide valve blocks the first rectangle valve port (42) with corresponding the first working chamber of left end cap for A mouthfuls (46)；

The entrance of left end cap the second low pressure oil duct (35) is communicated with guide valve blocks low pressure oil annular groove (37), guide valve blocks low pressure oil Annular groove (37) is communicated with internal low-voltage oil channel by the radial low pressure oil duct (20) of pilot valve second, and pilot valve second is radial low Pressure oil road (20) is communicated with guide's valve pocket T mouthfuls right (50), guide's valve pocket T mouthfuls right (50) and pilot valve third annular boss (53) On rectangular channel communicate；

Left end cap high pressure oil inlet (31) is communicated with guide valve blocks high pressure oil annular groove (38), guide valve blocks high pressure oil annular groove (38) it is communicated by left end cap radial high-pressure oil duct (27) with left end cap internal high pressure oil channel, left end cap internal high pressure oil channel Communicated respectively with guide's valve pocket P mouthfuls left (47) and guide's valve pocket P mouthfuls right (48), guide's valve pocket P mouthfuls left (47) with A mouthfuls of guide's valve pocket (46) it is communicated by the left rectangular channel on the second annular boss of pilot valve (52), A mouthfuls of guide's valve pocket (46) pass through pilot valve the One rectangle valve port (42) is communicated with corresponding the first working chamber of left end cap；

Guide's valve pocket P mouthfuls right (48) passes through the right rectangle on the second annular boss of pilot valve (52) with B mouthfuls of guide's valve pocket (49) Slot communicates, and B mouthfuls of guide's valve pocket (49) are communicated by pilot valve the second rectangle valve port (43) with corresponding the second working chamber of left end cap；

The top of cylinder body radially offers the radial low pressure oil duct (56) of cylinder body first, and it is radial to be in axial direction equipped with cylinder body second Low pressure oil channel (57), the radial low pressure oil channel (56) of cylinder body first and the radial low pressure oil channel (57) of cylinder body second communicate；Cylinder The positive bottom of body (6) is in axial direction equipped with cylinder body high-pressure oil passage (59)；

The entrance of the radial low pressure oil channel (56) of cylinder body first directly passes through the radial low pressure oil duct (21) of main valve body first and main valve It covers T mouthfuls left (71) to communicate, main valve housing T mouthfuls left (71) is communicated with the rectangular channel on the first annular boss of main valve plug (78), main valve plug Rectangular channel on first annular boss (78) is communicated with A mouthfuls of main valve housing (72), and A mouthfuls of main valve housing (72) pass through the first rectangle of main valve body Valve port (69) is communicated with corresponding the first working chamber of cylinder body (82)；

The entrance of the radial low pressure oil duct (57) of cylinder body second is communicated with main valve body low pressure oil annular groove (62), main valve body low pressure oil ring Shape slot (62) is communicated with internal low-voltage oil channel by the radial low pressure oil duct (86) of main valve body second, the radial low pressure of main valve body second Oil duct (86) is communicated with main valve housing T mouthfuls right (76), the rectangle on main valve housing T mouthfuls right (76) and main valve plug third annular boss (80) Slot communicates；

The outlet of cylinder body high-pressure oil passage (59) is communicated with main valve body high pressure oil annular groove (63), main valve body high pressure oil annular groove (63) it is communicated by primary blades broken line oil duct (25) with main valve body high-pressure radial oil duct (23), cylinder interior high-pressure oil passage and master Valve pocket P mouthfuls left (73) and main valve housing P mouthfuls right (74) communicate respectively, and main valve housing P mouthfuls left (73) passes through main valve with main valve housing A mouthfuls (72) Left rectangular channel on the second annular boss of core (79) communicates, A mouthfuls of main valve housing (72) by the first rectangle of main valve body valve port (69) with Corresponding the first working chamber of cylinder body (82) communicates；

Main valve housing P mouthfuls right (74) is communicated with B mouthfuls of main valve housing (75) by the right rectangular channel on the second annular boss of main valve plug (79), It is communicated by the second rectangle of main valve body valve port (70) with corresponding the second working chamber of cylinder body (83) for B mouthfuls of main valve housing (75).

2. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：The guide valve blocks (12) It from left to right successively include guide valve blocks hollow cylinder, guide valve blocks cylindrical body boss and guide valve blocks output shaft；

The outer diameter of guide valve blocks cylindrical body boss is identical as the nominal size of left end cap cylindrical cavity (33) internal diameter, guide valve blocks The cylindrical surface of cylindrical body boss is opened there are three valve seal slot, is provided with guide valve blocks low pressure oil ring between the valve seal slot of two, the left side Shape slot (37) is provided with the radial low pressure oil duct (20) of guide valve blocks second in guide valve blocks low pressure oil annular groove (37), and the right is provided with Guide valve blocks high pressure oil annular groove (38) is provided with guide valve blocks high-pressure radial oil duct in guide valve blocks high pressure oil annular groove (38) (44), the radial low pressure oil duct (20) of guide valve blocks second and guide valve blocks high-pressure radial oil duct (44) institute on guide valve blocks (12) Corresponding two plain lines differ 180 °；

It is opened on cylindrical surface at the guide valve blocks hollow cylinder left end there are two valve seal slot, between two valve seal slots It is provided with the radial low pressure oil hole (18) of guide valve blocks first, guide valve blocks cylindrical cavity (41) internal diameter and guide's valve pocket (13) outer diameter Nominal size it is identical；Guide valve blocks first are equipped on the guide valve blocks hollow cylinder close to guide valve blocks cylindrical body boss Rectangle valve port (42) and guide valve blocks the second rectangle valve port (43), guide valve blocks the first rectangle valve port (42), guide valve blocks second The size of rectangle valve port (43) is identical；

The plain line of left end cap high-pressure radial oilhole is located at the plain line and guide valve blocks at guide valve blocks the first rectangle valve port (42) center The middle of the plain line at second rectangle valve port (43) center, the plain line and pilot valve at guide valve blocks the first rectangle valve port (42) center The angle of the plain line at body the second rectangle valve port (43) center is θ₁, size is：

In formula (1)：b₁₁For the arc length of first guide vane inner wall；

r₁For the outer diameter of guide valve blocks hollow cylinder.

3. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：The main valve body (8) is certainly Left-to-right successively includes main valve body hollow cylinder, main valve body cylindrical body boss and main valve body output shaft；

The outer diameter of main valve body cylindrical body boss is identical as the nominal size of cylinder body cylindrical cavity (58) internal diameter, main valve body cylindrical body The cylindrical surface of boss is opened there are three valve seal slot, is provided with main valve body low pressure oil annular groove between the valve seal slot of two, the left side (62), the radial low pressure oil duct (86) of main valve body second is provided in main valve body low pressure oil annular groove (62), the right is provided with main valve body height Pressure oil annular groove (63) is provided with main valve body high-pressure radial oil duct (23), main valve body second in main valve body high pressure oil annular groove (63) Radial low pressure oil duct (86) and main valve body high-pressure radial oil duct (23) two plain lines differences corresponding on main valve body (8) 180°；

It is opened on cylindrical surface at the main valve body hollow cylinder left end there are two valve seal slot, is opened between two valve seal slots There are the radial low pressure oil duct (21) of main valve body first, the nominal ruler of main valve body cylindrical cavity (68) internal diameter and main valve housing (9) outer diameter It is very little identical；Close to main valve body cylindrical body boss main valve body hollow cylinder on be equipped with the first rectangle of main valve body valve port (69) and Main valve body the second rectangle valve port (70), the size phase of main valve body the first rectangle valve port (69), main valve body the second rectangle valve port (70) Together；

The plain line of cylinder body high-pressure radial oilhole is located at second square of plain line and main valve body at main valve body the first rectangle valve port (69) center The middle of the plain line at shape valve port (70) center, second rectangle of plain line and main valve body at main valve body the first rectangle valve port (69) center The angle of the plain line at valve port (70) center is θ₂, size is：

In formula (2)：b₂₁For the arc length of primary blades inner wall；

r₁For the outer diameter of main valve body hollow cylinder.

4. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：The pilot valve (15) Left end is coaxially equipped with the inner hole coupled with steering engine (17) output shaft, and pilot valve (15) is equipped with pilot valve the from left to right One annular boss (51), the second annular boss of pilot valve (52), pilot valve third annular boss (53), pilot valve first It is opened on the right of annular boss (51) there are two the identical rectangular channel of size, pilot valve the second annular boss (52) the right and left is distinguished It opens there are two rectangular channel, pilot valve third annular boss (53) left side opens that there are two the identical rectangular channel of size, every two pair The rectangular channel answered is located on the respective same circumference in 180 ° of distributions, every two rectangular channel；Pilot valve first is cyclic annular convex Two rectangle groove center lines of platform (51) and two rectangle groove center lines difference on the right of the second annular boss of pilot valve (52) Be symmetrically located on two plain lines positioned at axle center, two, the left side rectangle groove center line of the second annular boss of pilot valve (52) and Two rectangle groove center lines of pilot valve third annular boss (53) are located on the symmetrical two other element line in axle center, often Item element line differs 90 °.

5. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：The main valve plug (10) is certainly It is left-to-right to be equipped with the first annular boss of main valve plug (78), the second annular boss of main valve plug (79), main valve plug third annular boss (80), the identical rectangular channel of size there are two being opened on the right of the first annular boss of main valve plug (78), the second annular boss of main valve plug (79) the right and left has two rectangular channels, and main valve plug third annular boss (80) left side opens that there are two the identical squares of size Shape slot, the corresponding rectangular channel of every two is in 180 ° of distributions, the two rectangle groove center lines and main valve of main valve plug first boss (78) Axle center is symmetrically located on two plain lines respectively for two rectangle groove center lines on the right of the second annular boss of core (79), main valve plug the Two, the left side rectangle groove center line of two annular boss (79) and two rectangle groove centers of main valve plug third annular boss (80) Line is located on the plain line in symmetrical another two of axle center, and every plain line differs 90 °.

6. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：Guide's valve pocket (13) It is made of six annular boss and five annular grooves, annular boss and annular groove are alternately arranged；Two of Far Left and rightmost Two rectangular openings are had on annular groove, two rectangular openings are arranged in 180 °, and two rectangular openings on Far Left annular groove are Guide's valve pocket is T mouthfuls left (45), and two rectangular openings on rightmost annular groove are that guide's valve pocket is T mouthfuls right (50)；Guide's valve pocket (13) Second and the 4th annular groove has one group of rectangular opening from left to right, is A mouthfuls of guide's valve pocket (46) and guide's valve pocket B respectively Mouth (49), two rectangular openings of third annular groove or so Ge Kai, every group of rectangular opening are mutually in 180 ° of squares arranged by two from left to right Shape mouth composition；Rectangular opening center line on five annular grooves is respectively positioned on corresponding same plain line, on five annular grooves The size of rectangular opening is identical as the rectangular channel size of three boss of pilot valve (15)；Every group of square on intermediate three annular grooves The left and right side of shape mouth and the left and right side of adjacent annular boss are same plane；Six groups of rectangular openings of guide's valve pocket (13) are from a left side To the right side be followed successively by guide's valve pocket T mouthfuls left (45), A mouthfuls of guide's valve pocket (46), guide's valve pocket P mouthfuls left (47), guide's valve pocket it is P mouthfuls right (48), guide's valve pocket B mouthfuls (49) and guide's valve pocket are T mouthfuls right (50).

7. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：The main valve housing (9) by Six annular boss and five annular groove compositions, annular boss and annular groove are alternately arranged；Two annulars of Far Left and the right Have two rectangular openings on slot, two rectangular openings are in 180 ° of arrangements, main valve housing two squares on first annular groove from left to right Shape mouth is that main valve housing is T mouthfuls left (71), and two rectangular openings on the 6th annular groove are that main valve housing is T mouthfuls right (76) from left to right；Main valve housing (9) Second and the 4th annular groove has one group of rectangular opening from left to right, is A mouthfuls of main valve housing (72) and B mouthfuls of main valve housing respectively (75), two rectangular openings of third annular groove or so Ge Kai, every group of rectangular opening is by two mutually in the rectangular opening group of 180 ° of arrangements At；Rectangular opening center line on five annular grooves is respectively positioned on corresponding same plain line, the rectangular opening on five annular grooves Size it is identical as the rectangular channel size of three boss of main valve plug (10)；Every group of rectangle among main valve housing on three annular grooves The left and right side of mouth and the right side of adjacent annular boss are same plane；Six groups of rectangular openings of main valve housing (9) from left to right according to Secondary is main valve housing T mouthfuls left (71), A mouthfuls of main valve housing (72), main valve housing P mouthfuls left (73), main valve housing P mouthfuls right (74), B mouthfuls of main valve housing (75) and main valve housing is T mouthfuls right (76).

8. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：Guide's fixed stop It (19) is strip, the upper lower camber side difference of guide's fixed stop (19) is the internal diameter and guide valve blocks of left end cap circular cylindrical cavity (33) (12) half of hollow cylinder outer diameter difference；It is equipped with strip in the axial direction at the lower camber side center of guide's fixed stop (19) Seal groove, the equal length of strip gasket slot and guide's fixed stop (19), strip gasket slot are embedded with block sealing strip.

9. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：The fixed stop (22) For strip, the upper lower camber side difference of fixed stop (22) is the internal diameter of cylinder body circular cylindrical cavity (58) and the open circles of main valve body (8) The half of cylinder outer diameter difference；It is equipped with strip gasket slot, strip gasket in the axial direction at the lower camber side center of fixed stop (22) The equal length of slot and fixed stop (22), strip gasket slot are embedded with block sealing strip.

10. a kind of pilot-operated type hydraulic corner self-servo valve as described in claim 1, it is characterised in that：Elder generation's guide vane It (30) is strip, the upper lower camber side difference of first guide vane (30) is internal diameter (33) and guide valve blocks (12) of left end cap circular cylindrical cavity Hollow cylinder outer diameter difference half；It is equipped with strip gasket slot in the axial direction at the lower camber side center of first guide vane (30), The equal length of strip gasket slot and first guide vane (30), strip gasket slot are embedded with runner sealing item；

The primary blades (26) are strip, and the upper lower camber side difference of primary blades (26) is internal diameter and the master of cylinder body circular cylindrical cavity (58) The half of the hollow cylinder outer diameter difference of valve body (8)；It is close that it is equipped with strip in the axial direction at the lower camber side center of primary blades (26) Sealing groove, the equal length of strip gasket slot and primary blades (26), strip gasket slot are embedded with runner sealing item.