CN110630577A

CN110630577A - Hydraulic servo mechanism

Info

Publication number: CN110630577A
Application number: CN201910962441.2A
Authority: CN
Inventors: 苑迪文
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-09-20
Filing date: 2019-09-20
Publication date: 2019-12-31

Abstract

The invention provides a hydraulic servo mechanism, comprising: the system comprises a first single-end pressure-resistant bidirectional pump, a second single-end pressure-resistant bidirectional pump, a first motor, a second motor, an execution element, a load state sensor and a first pressure sensor; the first single-end voltage-withstanding bidirectional pump is connected with the first motor, and the second single-end voltage-withstanding bidirectional pump is connected with the second motor; the low-voltage end of the first single-end pressure-resistant bidirectional pump is communicated with the low-voltage end of the second single-end pressure-resistant bidirectional pump, the high-voltage end of the first single-end pressure-resistant bidirectional pump and the high-voltage end of the second single-end pressure-resistant bidirectional pump are both communicated with an execution element, and the execution element is also connected with a load; the first pressure sensor is arranged between the low-pressure end of the first single-end pressure-resistant bidirectional pump and the low-pressure end of the second single-end pressure-resistant bidirectional pump. The first pressure sensor, the first motor, the second motor, the actuating element and the load sensor are all connected with an external controller. The hydraulic servo mechanism has the characteristics of better performance, lower cost, misoperation prevention and the like, and can be widely applied to hydraulic systems.

Description

Hydraulic servo mechanism

Technical Field

The invention relates to the technical field of hydraulic pressure, in particular to a hydraulic servo mechanism.

Background

Hydraulic systems are known which essentially vary the force by varying the pressure. The hydraulic system is widely applied to industry and daily life due to unique superior performance. The hydraulic system mainly comprises five parts, namely a power element, an execution element, a control element, an auxiliary element and a working medium; wherein, the power element comprises an oil pump, such as a gear pump, a vane pump, a plunger pump or a screw pump; the executive component comprises a hydraulic cylinder or a hydraulic motor; the control elements include various control valves, such as, for example, check valves, three-way valves, four-way valves, flow dividing valves, collecting valves, and the like; the auxiliary elements comprise an oil tank, an oil filter, a cooler, a heater, an energy accumulator, an oil pipe, a pipe joint, a sealing ring, a quick-change joint, a high-pressure ball valve, a rubber pipe assembly, a pressure measuring joint, a pressure gauge, an oil level gauge, an oil temperature gauge and the like; the working medium is typically hydraulic oil. In general, hydraulic systems can be divided into two categories: the hydraulic system mainly has the functions of transmitting power and moving, and the hydraulic control system mainly controls or adjusts the pressure, flow or direction of a medium. The hydraulic system has various compositions, particularly various valves with different characteristics, so that the response speed of the hydraulic system is low, the delay and the hysteresis characteristics are obvious, and the working performance of the whole hydraulic system is reduced. Meanwhile, the worker needs to spend a lot of time and experience familiarity with the functions and characteristics of various components, and the high-performance components are expensive, which makes the cost of the hydraulic system high. In addition, when the control element is switched in the working state, for example, a valve is closed or reversed, fluid may generate transient hydraulic shock due to inertia or insensitive element reaction, cause vibration and generate noise, and even may cause a malfunction of one or some of the components, resulting in damage to the components, the sealing device or the hydraulic pipeline.

At present, the hydraulic pump on the market is mainly a one-way pump. The one-way pump is provided with an oil inlet and an oil outlet, the pump shaft only rotates towards one direction, and the working medium always flows to the oil outlet from the oil inlet. In addition, the one-way pump has the characteristics that the oil outlet can bear larger pressure, and the oil inlet can not bear larger pressure. In practical application, the pump shaft of some one-way pumps can also realize rotation in two directions. When the pump shaft of the one-way pump rotates reversely, the flow direction of the working medium is changed to flow from the oil outlet to the oil inlet; however, the characteristics that the original oil outlet of the one-way pump can bear larger pressure and the original oil inlet can not bear larger pressure are still kept unchanged. Based on the above situation, the present invention refers to such a unidirectional pump capable of bidirectional rotation existing in the prior art as a single-ended pressure-resistant bidirectional pump. In practical application, if the pressure of the original oil inlet is too high when the single-end pressure-resistant bidirectional pump rotates reversely, the problems of oil seal collapse, working medium leakage, even pump body structure damage and the like of the single-end pressure-resistant bidirectional pump can be caused. For a bidirectional pump in the complete sense, an oil inlet and an oil outlet are not needed to be distinguished, the oil inlet and the oil outlet can bear larger pressure, and a working medium can flow bidirectionally between the two oil ports. However, bi-directional pumps are currently very rare and expensive.

Therefore, in the prior art, the hydraulic system has the problems of poor performance, high cost, misoperation and the like.

Disclosure of Invention

In view of the above, the main objective of the present invention is to provide a hydraulic servo mechanism with better performance and lower cost, and capable of preventing misoperation.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

a hydraulic servo comprising: the system comprises a first single-end pressure-resistant bidirectional pump, a second single-end pressure-resistant bidirectional pump, a first motor, a second motor, an execution element, a load state sensor and a first pressure sensor; wherein the content of the first and second substances,

the rotating shaft of the first single-end pressure-resistant bidirectional pump is fixedly connected with the output shaft of the first motor, and the rotating shaft of the second single-end pressure-resistant bidirectional pump is fixedly connected with the output shaft of the second motor; the low-pressure end of the first single-end pressure-resistant bidirectional pump is communicated with the low-pressure end of the second single-end pressure-resistant bidirectional pump through a pipeline, the high-pressure end of the first single-end pressure-resistant bidirectional pump is communicated with one end of an actuating element through a pipeline, the high-pressure end of the second single-end pressure-resistant bidirectional pump is communicated with the other end of the actuating element through a pipeline, and an output shaft of the actuating element is fixedly connected with a load; the first pressure sensor is arranged on a pipeline between the low-pressure end of the first single-end pressure-resistant bidirectional pump and the low-pressure end of the second single-end pressure-resistant bidirectional pump; the load state sensor is arranged on the same axis between the load and the actuating element.

The output end of the first pressure sensor is connected with the first input end of the external controller, the input control end of the first motor is connected with the first output end of the external controller, the input control end of the second motor is connected with the second output end of the external controller, and the output control end of the state sensor is connected with the second input end of the external controller.

In summary, in the hydraulic servo mechanism of the present invention, the external controller controls the rotation speeds of the first motor and the second motor according to the detection information from the state sensor and the pressure of the first pressure sensor; furthermore, the first motor controls the first single-end pressure-resistant bidirectional pump, and the second motor controls the second single-end pressure-resistant bidirectional pump, so as to adjust the pressure in a pipeline between the first single-end pressure-resistant bidirectional pump and the second single-end pressure-resistant bidirectional pump in a load state. And under the action of an external controller, the execution element drives the load to operate by the working medium pumped by the high-pressure end of the first single-end pressure-resistant bidirectional pump and the working medium pumped by the high-pressure end of the second single-end pressure-resistant bidirectional pump. It can be seen that the hydraulic servo mechanism comprises a power element, an actuating element, an auxiliary element and a working medium, and does not comprise a so-called control element in a conventional hydraulic system; therefore, the hydraulic servo mechanism of the invention avoids the defects of various elements with different characteristics in the control element, improves the performance of the hydraulic system and avoids the condition of misoperation of the control element. Meanwhile, the hydraulic servo mechanism has the characteristic of simple structure, and greatly saves the cost of a hydraulic system. In addition, the invention realizes the function of a complete bidirectional quantitative hydraulic pump by combining two single-end pressure-resistant bidirectional pumps and matching with a unique oil circuit design, so that the performance and the operability of the hydraulic servo mechanism are better.

Drawings

Fig. 1 is a schematic diagram of a first composition structure of the hydraulic servo mechanism of the invention.

Fig. 2 is a schematic diagram of a second structure of the hydraulic servo mechanism according to the present invention.

Fig. 3 is a schematic structural diagram of a hydraulic servo mechanism with a bidirectional swing motor as an actuating element according to the present invention.

Fig. 4 is a schematic structural diagram of a hydraulic servo mechanism with an actuating element being a double-piston-rod cylinder according to the present invention.

Fig. 5 is a schematic structural diagram of a hydraulic servo mechanism with an open oil tank, in which the actuator is a bidirectional swing motor.

Fig. 6 is a schematic structural diagram of another hydraulic servo mechanism with an open oil tank and an actuator being a bidirectional swing motor according to the present invention.

Fig. 7 is a schematic structural diagram of a hydraulic servo mechanism in which the actuating element is a hydraulic motor according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic diagram of a first composition structure of the hydraulic servo mechanism of the invention. As shown in fig. 1, a hydraulic servo mechanism according to the present invention includes: a first single-end pressure-resistant two-way pump D1, a second single-end pressure-resistant two-way pump D2, a first motor M1, a second motor M2, an actuator Z, a load F, a load state sensor S and a first pressure sensor P1; wherein the content of the first and second substances,

the rotating shaft of the first single-end voltage-resistant bidirectional pump D1 is fixedly connected with the output shaft of the first motor M1, and the rotating shaft of the second single-end voltage-resistant bidirectional pump D2 is fixedly connected with the output shaft of the second motor M2; the low-pressure end s1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with the low-pressure end s2 of the second single-end pressure-resistant bidirectional pump D2 through a pipeline, the high-pressure end h1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with one end of an actuating element Z through a pipeline, the high-pressure end h2 of the second single-end pressure-resistant bidirectional pump D2 is communicated with the other end of the actuating element Z through a pipeline, and an output shaft of the actuating element Z is fixedly connected with a load F; a first pressure sensor P1 is disposed on the pipeline between the low-pressure end of the first single-ended pressure-resistant bidirectional pump D1 and the low-pressure end of the second single-ended pressure-resistant bidirectional pump D2; the load state sensor is arranged on the same axis between the load and the actuating element.

In the invention, the pressure of the low-pressure end s1 of the first single-end pressure-resistant bidirectional pump D1 and the pressure of the low-pressure end s2 of the second single-end pressure-resistant bidirectional pump D2 are both 0.01 MPa to 3 MPa; the pressure of the high-pressure end h1 of the first single-end pressure-resistant bidirectional pump D1 and the pressure of the high-pressure end h2 of the second single-end pressure-resistant bidirectional pump D2 are both 0.01 MPa to 50 MPa.

The output end of the first pressure sensor P1 is connected with the first input end of the external controller C, the input control end of the first motor M1 is connected with the first output end of the external controller C, the input control end of the second motor M2 is connected with the second output end of the external controller C, and the output control end of the state sensor S is connected with the second input end of the external controller C.

In summary, in the hydraulic servo mechanism according to the present invention, the external controller controls the rotation speeds of the first motor and the second motor based on the detection information from the state sensor and the pressure of the first pressure sensor; furthermore, the first motor controls the first single-end pressure-resistant bidirectional pump, and the second motor controls the second single-end pressure-resistant bidirectional pump, so as to adjust the pressure in a pipeline between the first single-end pressure-resistant bidirectional pump and the second single-end pressure-resistant bidirectional pump in a load state. Under the action of the intermediate medium pumped by the high-pressure end of the first single-end pressure-resistant bidirectional pump and the intermediate medium pumped by the high-pressure end of the second single-end pressure-resistant bidirectional pump, the executing element drives the load to operate under the action of the external controller. It can be seen that the hydraulic servo mechanism comprises a power element, an actuating element, an auxiliary element and a working medium, and does not comprise a so-called control element in a conventional hydraulic system; therefore, the hydraulic servo mechanism of the invention avoids the defects of various elements with different characteristics in the control element, improves the performance of the hydraulic system and avoids the condition of misoperation of the control element. Meanwhile, the hydraulic servo mechanism has the characteristic of simple structure, and greatly saves the cost of a hydraulic system. In addition, the invention realizes the function of a complete bidirectional quantitative hydraulic pump by combining two single-end pressure-resistant bidirectional pumps and matching with a unique oil circuit design, so that the performance and the operability of the hydraulic servo mechanism are better.

Fig. 2 is a schematic diagram of a second structure of the hydraulic servo mechanism according to the present invention. As shown in fig. 2, the hydraulic servo mechanism further includes in practical application: a second pressure sensor P2, a third pressure sensor P3; the second pressure sensor P2 is disposed on the pipeline between the high-pressure end h1 of the first single-ended pressure-resistant bidirectional pump D1 and the actuator Z, and the third pressure sensor P3 is disposed on the pipeline between the high-pressure end h2 of the second single-ended pressure-resistant bidirectional pump D2 and the actuator Z. The output end of the second pressure sensor P2 is connected with the third input end of the external controller C, and the output end of the third pressure sensor P3 is connected with the fourth input end of the external controller C.

In the present invention, the load state sensor S is an angle sensor, an angular velocity sensor, a displacement sensor, or a torque sensor. For the different types of sensors, the detection information correspondingly acquired by the load sensor is the coaxial rotation angle, the angular velocity, the displacement or the moment between the load and the actuator.

In the invention, the hydraulic servo mechanism also comprises a first oil drain valve and a second oil drain valve; the first oil drain valve is arranged between the high-pressure end of the first single-end pressure-resistant bidirectional pump D1 and the pipeline, and the second oil drain valve is arranged between the high-pressure end of the second single-end pressure-resistant bidirectional pump D2 and the pipeline.

In the invention, an actuating element Z is a bidirectional swing motor T, a double-piston-rod cylinder J or a hydraulic motor Y; the output shaft of the bidirectional swing motor T is fixedly connected with the load F, the output shaft of the double-piston-rod cylinder J is fixedly connected with the load F, or the output shaft of the hydraulic motor Y is fixedly connected with the load F.

In the invention, the hydraulic servo mechanism also comprises an open oil tank G; the open oil tank G is communicated with a pipeline between the low-pressure end of the first single-end pressure-resistant bidirectional pump D1 and the low-pressure end of the second single-end pressure-resistant bidirectional pump D2; the first pressure sensor P1 is also in communication with the open tank G. In practical application, the open oil tank G is also communicated with an oil drainage port of the bidirectional swing motor T.

In practical applications, the bi-directional swing motor T is an external-leakage bi-directional swing motor.

Example 1

Fig. 3 is a schematic structural diagram of a hydraulic servo mechanism with a bidirectional swing motor as an actuating element according to the present invention. As shown in fig. 3, according to embodiment 1 of the present invention, the hydraulic servo mechanism includes: a first single-end pressure-resistant two-way pump D1, a second single-end pressure-resistant two-way pump D2, a first motor M1, a second motor M2, a two-way swing motor T, a load F, a load state sensor S, a first pressure sensor P1, a second pressure sensor P2 and a third pressure sensor P3; wherein the content of the first and second substances,

the rotating shaft of the first single end withstand voltage bidirectional pump D1 is fixedly connected to the output shaft of the first motor M1, and the rotating shaft of the second single end withstand voltage bidirectional pump D2 is fixedly connected to the output shaft of the second motor M2. The low-pressure end s1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with the low-pressure end s2 of the second single-end pressure-resistant bidirectional pump D2 through a pipeline, the high-pressure end h1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with one end of the bidirectional swing motor T through a pipeline, the high-pressure end h2 of the second single-end pressure-resistant bidirectional pump D2 is communicated with the other end of the bidirectional swing motor T through a pipeline, and the output shaft of the bidirectional swing motor T is fixedly connected with a load F. The first pressure sensor P1 is disposed on the line between the low-pressure side of the first single-ended pressure-resistant bidirectional pump D1 and the low-pressure side of the second single-ended pressure-resistant bidirectional pump D2, the second pressure sensor P2 is disposed on the line between the high-pressure side h1 of the first single-ended pressure-resistant bidirectional pump D1 and the bidirectional swing motor T, and the third pressure sensor P3 is disposed on the line between the high-pressure side h2 of the second single-ended pressure-resistant bidirectional pump D2 and the bidirectional swing motor T. (ii) a The load condition sensor S is mounted on a common axis between the load F and the actuator Z.

The output end of the first pressure sensor P1 is connected with the first input end of the external controller C, the output control end of the state sensor S is connected with the second input end of the controller C, the output end of the second pressure sensor P2 is connected with the third input end of the external controller C, and the output end of the third pressure sensor P3 is connected with the fourth input end of the external controller C. The input control end of the first motor M1 is connected with the first output end of the external controller C, and the input control end of the second motor M2 is connected with the second output end of the external controller C.

Example 2

Fig. 4 is a schematic structural diagram of a hydraulic servo mechanism with an actuating element being a double-piston-rod cylinder according to the present invention. As shown in fig. 4, according to embodiment 2 of the present invention, the hydraulic servo mechanism includes: a first single-end pressure-resistant two-way pump D1, a second single-end pressure-resistant two-way pump D2, a first motor M1, a second motor M2, a double-piston rod cylinder J, a load F, a load state sensor S, a first pressure sensor P1, a second pressure sensor P2 and a third pressure sensor P3; wherein the content of the first and second substances,

the rotating shaft of the first single end withstand voltage bidirectional pump D1 is fixedly connected to the output shaft of the first motor M1, and the rotating shaft of the second single end withstand voltage bidirectional pump D2 is fixedly connected to the output shaft of the second motor M2. The low-pressure end s1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with the low-pressure end s2 of the second single-end pressure-resistant bidirectional pump D2 through a pipeline, the high-pressure end h1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with one end of the double-piston rod cylinder J through a pipeline, the high-pressure end h2 of the second single-end pressure-resistant bidirectional pump D2 is communicated with the other end of the double-piston rod cylinder J through a pipeline, and an output shaft of the double-piston rod cylinder J is fixedly connected with a load F. The first pressure sensor P1 is disposed on the line between the low-pressure end of the first single-ended pressure-resistant bidirectional pump D1 and the low-pressure end of the second single-ended pressure-resistant bidirectional pump D2, the second pressure sensor P2 is disposed on the line between the high-pressure end h1 of the first single-ended pressure-resistant bidirectional pump D1 and the double-piston rod cylinder J, and the third pressure sensor P3 is disposed on the line between the high-pressure end h2 of the second single-ended pressure-resistant bidirectional pump D2 and the double-piston rod cylinder J. The load condition sensor S is mounted on a common axis between the load F and the actuator Z.

Example 3

Fig. 5 is a schematic structural diagram of a hydraulic servo mechanism with an open oil tank, in which the actuator is a bidirectional swing motor. As shown in fig. 5, in embodiment 3 of the present invention, the hydraulic servo mechanism includes: a first single-end pressure-resistant two-way pump D1, a second single-end pressure-resistant two-way pump D2, a first motor M1, a second motor M2, a two-way swing motor T, a load F, a load state sensor S, a first pressure sensor P1, a second pressure sensor P2, a third pressure sensor P3 and an open oil tank G; wherein the content of the first and second substances,

the rotating shaft of the first single end withstand voltage bidirectional pump D1 is fixedly connected to the output shaft of the first motor M1, and the rotating shaft of the second single end withstand voltage bidirectional pump D2 is fixedly connected to the output shaft of the second motor M2. The low-pressure end s1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with the low-pressure end s2 of the second single-end pressure-resistant bidirectional pump D2, the high-pressure end h1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with one end of the bidirectional swing motor T, the high-pressure end h2 of the second single-end pressure-resistant bidirectional pump D2 is communicated with the other end of the bidirectional swing motor T, and the output shaft of the bidirectional swing motor T is fixedly connected with a load F. The first pressure sensor P1 is disposed on the line between the low-pressure side of the first single-ended pressure-resistant bidirectional pump D1 and the low-pressure side of the second single-ended pressure-resistant bidirectional pump D2, the second pressure sensor P2 is disposed on the line between the high-pressure side h1 of the first single-ended pressure-resistant bidirectional pump D1 and the bidirectional swing motor T, and the third pressure sensor P3 is disposed on the line between the high-pressure side h2 of the second single-ended pressure-resistant bidirectional pump D2 and the bidirectional swing motor T. The open type oil tank G is communicated with a pipe between the low-pressure end of the first single-end pressure-resistant bidirectional pump D1 and the low-pressure end of the second single-end pressure-resistant bidirectional pump D2. The load condition sensor S is mounted on a common axis between the load F and the actuator Z.

The output end of the first pressure sensor P1 is connected with the first input end of the external controller C, the output control end of the state sensor S is connected with the second input end of the controller C, the output end of the second pressure sensor P2 is connected with the second input end of the external controller C, and the output end of the third pressure sensor P3 is connected with the third input end of the external controller C. The input control end of the first motor M1 is connected with the first output end of the external controller C, the input control end of the second motor M2 is connected with the second output end of the external controller C, and the input control end of the bidirectional swinging motor T is connected with the third output end of the controller C. The first pressure sensor P1 is also in communication with the open tank G.

In embodiment 3, the bidirectional swing motor T is an internal-leakage bidirectional swing motor.

Example 4

Fig. 6 is a schematic structural diagram of another hydraulic servo mechanism with an open oil tank and an actuator being a bidirectional swing motor according to the present invention. As shown in fig. 6, in embodiment 4 of the present invention, the hydraulic servo mechanism includes: a first single-end pressure-resistant two-way pump D1, a second single-end pressure-resistant two-way pump D2, a first motor M1, a second motor M2, a two-way swing motor T, a load F, a load state sensor S, a first pressure sensor P1, a second pressure sensor P2, a third pressure sensor P3 and an open oil tank G; wherein the content of the first and second substances,

the rotating shaft of the first single end withstand voltage bidirectional pump D1 is fixedly connected to the output shaft of the first motor M1, and the rotating shaft of the second single end withstand voltage bidirectional pump D2 is fixedly connected to the output shaft of the second motor M2. The low-pressure end s1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with the low-pressure end s2 of the second single-end pressure-resistant bidirectional pump D2 through a pipeline, the high-pressure end h1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with one end of the bidirectional swing motor T through a pipeline, the high-pressure end h2 of the second single-end pressure-resistant bidirectional pump D2 is communicated with the other end of the bidirectional swing motor T through a pipeline, and the output shaft of the bidirectional swing motor T is fixedly connected with a load F. The first pressure sensor P1 is disposed on the line between the low-pressure side of the first single-ended pressure-resistant bidirectional pump D1 and the low-pressure side of the second single-ended pressure-resistant bidirectional pump D2, the second pressure sensor P2 is disposed on the line between the high-pressure side h1 of the first single-ended pressure-resistant bidirectional pump D1 and the bidirectional swing motor T, and the third pressure sensor P3 is disposed on the line between the high-pressure side h2 of the second single-ended pressure-resistant bidirectional pump D2 and the bidirectional swing motor T. The open oil tank G is communicated with a pipeline between the low-pressure end of the first single-end pressure-resistant bidirectional pump D1 and the low-pressure end of the second single-end pressure-resistant bidirectional pump D2, and is also communicated with an oil drainage port of the bidirectional swing motor T. The load condition sensor S is mounted on a common axis between the load F and the actuator Z.

The output end of the first pressure sensor P1 is connected with the first input end of the external controller C, the output control end of the state sensor S is connected with the second input end of the controller C, the output end of the second pressure sensor P2 is connected with the third input end of the external controller C, and the output end of the third pressure sensor P3 is connected with the fourth input end of the external controller C. The input control end of the first motor M1 is connected with the first output end of the external controller C, and the input control end of the second motor M2 is connected with the second output end of the external controller C. The first pressure sensor P1 is also in communication with the open tank G.

In embodiment 4, the bidirectional swing motor T is an external-leakage bidirectional swing motor.

Example 5

Fig. 7 is a schematic structural diagram of a hydraulic servo mechanism in which the actuating element is a hydraulic motor according to the present invention. As shown in fig. 7, in embodiment 5 of the present invention, the hydraulic servo mechanism includes: a first single-end pressure-resistant two-way pump D1, a second single-end pressure-resistant two-way pump D2, a first motor M1, a second motor M2, a hydraulic motor Y, a load F, a load state sensor S, a first pressure sensor P1, a second pressure sensor P2 and a third pressure sensor P3; wherein the content of the first and second substances,

the rotating shaft of the first single end withstand voltage bidirectional pump D1 is fixedly connected to the output shaft of the first motor M1, and the rotating shaft of the second single end withstand voltage bidirectional pump D2 is fixedly connected to the output shaft of the second motor M2. The low-pressure end s1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with the low-pressure end s2 of the second single-end pressure-resistant bidirectional pump D2 through a pipeline, the high-pressure end h1 of the first single-end pressure-resistant bidirectional pump D1 is communicated with one end of the hydraulic motor Y through a pipeline, the high-pressure end h2 of the second single-end pressure-resistant bidirectional pump D2 is communicated with the other end of the hydraulic motor Y through a pipeline, and the output shaft of the hydraulic motor Y is fixedly connected with a load F. The first pressure sensor P1 is disposed on the line between the low-pressure end of the first single-ended pressure-resistant bidirectional pump D1 and the low-pressure end of the second single-ended pressure-resistant bidirectional pump D2, the second pressure sensor P2 is disposed on the line between the high-pressure end h1 of the first single-ended pressure-resistant bidirectional pump D1 and the hydraulic motor Y, and the third pressure sensor P3 is disposed on the line between the high-pressure end h2 of the second single-ended pressure-resistant bidirectional pump D2 and the hydraulic motor Y. The open oil tank G is communicated with a pipeline between the low-pressure end of the first single-end pressure-resistant two-way pump D1 and the low-pressure end of the second single-end pressure-resistant two-way pump D2, and is also communicated with an oil drainage port of the hydraulic motor Y. The load condition sensor S is mounted on a common axis between the load F and the actuator Z.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hydraulic servo, comprising: the system comprises a first single-end pressure-resistant bidirectional pump, a second single-end pressure-resistant bidirectional pump, a first motor, a second motor, an execution element, a load state sensor and a first pressure sensor; wherein the content of the first and second substances,

the rotating shaft of the first single-end pressure-resistant bidirectional pump is fixedly connected with the output shaft of the first motor, and the rotating shaft of the second single-end pressure-resistant bidirectional pump is fixedly connected with the output shaft of the second motor; the low-pressure end of the first single-end pressure-resistant bidirectional pump is communicated with the low-pressure end of the second single-end pressure-resistant bidirectional pump through a pipeline, the high-pressure end of the first single-end pressure-resistant bidirectional pump is communicated with one end of an actuating element through a pipeline, the high-pressure end of the second single-end pressure-resistant bidirectional pump is communicated with the other end of the actuating element through a pipeline, and an output shaft of the actuating element is fixedly connected with a load; the first pressure sensor is arranged on a pipeline between the low-pressure end of the first single-end pressure-resistant bidirectional pump and the low-pressure end of the second single-end pressure-resistant bidirectional pump; the load state sensor is arranged on a common axis between the load and the executive element;

2. The hydraulic servo of claim 1, further comprising: a second pressure sensor, a third pressure sensor; the second pressure sensor is arranged on a pipeline between the high-pressure end of the first single-end pressure-resistant bidirectional pump and the execution element, and the third pressure sensor is arranged on a pipeline between the high-pressure end of the second single-end pressure-resistant bidirectional pump and the execution element;

the output end of the second pressure sensor is connected with the third input end of the external controller, and the output end of the third pressure sensor is connected with the fourth input end of the external controller.

3. The hydraulic servo of claim 1, wherein the actuator is a bi-directional swing motor; wherein, the output shaft of the bidirectional swing motor is fixedly connected with the load.

4. The hydraulic servo of claim 1, wherein the actuator is a dual piston rod cylinder or a hydraulic motor; wherein, the output shaft of the double-piston rod cylinder or the hydraulic motor is fixedly connected with the load.

5. The hydraulic servo of claim 3, further comprising an open tank; the open oil tank is communicated with a pipeline between the low-pressure end of the first single-end pressure-resistant bidirectional pump and the low-pressure end of the second single-end pressure-resistant bidirectional pump;

the first pressure sensor is also in communication with the open tank.

6. The hydraulic servo of claim 5 wherein the open oil tank is further in communication with an oil drain port of the bi-directional swing motor.

7. The hydraulic servo of claim 3, 5 or 6, wherein the bi-directional swing motor is a vented bi-directional swing motor.

8. The hydraulic servo mechanism according to claim 1, wherein the pressure of the low-pressure side of the first single-end pressure-resistant bidirectional pump and the pressure of the low-pressure side of the second single-end pressure-resistant bidirectional pump are both 0.01 mpa to 3 mpa; the pressure of the high-pressure end of the first single-end pressure-resistant bidirectional pump and the pressure of the high-pressure end of the second single-end pressure-resistant bidirectional pump are both 0.01 MPa to 50 MPa.

9. The hydraulic servo of claim 1, wherein the load condition sensor is an angle sensor, an angular velocity sensor, a displacement sensor, or a torque sensor.