CN111237280A - Rigidity-adjustable corner self-servo valve control hydraulic joint - Google Patents
Rigidity-adjustable corner self-servo valve control hydraulic joint Download PDFInfo
- Publication number
- CN111237280A CN111237280A CN202010219778.7A CN202010219778A CN111237280A CN 111237280 A CN111237280 A CN 111237280A CN 202010219778 A CN202010219778 A CN 202010219778A CN 111237280 A CN111237280 A CN 111237280A
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- China
- Prior art keywords
- valve core
- flow passage
- cavity
- pressure relief
- cylinder body
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
- F15B2215/30—Constructional details thereof
Abstract
The invention relates to a rigidity-adjustable corner self-servo valve control hydraulic joint, wherein when the pressure in a first working cavity/a second working cavity is greater than a threshold value, a floating valve core descends and enables a first pressure relief flow passage to be communicated with a second pressure relief flow passage through a third pressure relief flow passage, and high hydraulic pressure in the first working cavity/the second working cavity flows into the second working cavity/the first working cavity; when the pressure in the first working cavity/the second working cavity is reduced and recovered to the threshold value, the floating valve core moves upwards and resets, and high-pressure oil in the first working cavity/the second working cavity stops flowing into the second working cavity/the first working cavity. According to the invention, the first pressure relief flow passage and the second pressure relief flow passage are switched on/off by floating of the floating valve core, so that whether pressure oil in the high-pressure cavity is unloaded to the low-pressure cavity or not is controlled, and the rigidity of the joint is changed.
Description
Technical Field
The invention relates to a hydraulic joint, in particular to a rigidity-adjustable corner self-servo valve control hydraulic joint.
Background
The working principle of the hydraulic corner servo technology is that a valve core is directly driven by a small torque of a motor to open a valve port, so that high-pressure oil pushes the valve body to rotate, and then a large output torque is obtained.
The hydraulic corner self-servo valve is a core element in a hydraulic control system, has the characteristics of high precision and quick response, and is widely applied to high-precision electromechanical integrated systems, aerospace vehicle-mounted driving systems and large-scale test equipment, so that the hydraulic corner self-servo valve is concerned by scientific and technical personnel at home and abroad.
At present, hydraulic mechanical arm robots with large output torque are widely applied to industrial production, but the robots have poor safety of human-computer contact and do not have the capacity of processing contact in an accidental contact moment, which is a difficult problem to be solved urgently.
Disclosure of Invention
Aiming at the problems, the corner self-servo valve control hydraulic joint with adjustable rigidity and capable of realizing overload protection is provided.
The specific technical scheme is as follows:
the utility model provides a rigidity adjustable corner is from servo valve accuse hydraulic pressure joint, including the cylinder body, the left end lid, the right-hand member lid, the drive steering wheel, the cylinder body inner circle, the outer valve body, fixed dog, the blade, the inner valve body, the case, valve body pivot and ring flange, the both ends of cylinder body are sealed by left end lid and right-hand member lid respectively and form sealed cavity, cylinder body and outer valve body all locate in above-mentioned sealed cavity, the inner valve body wears to locate between cylinder body inner circle and the outer valve body, the case is located in the inner valve body, and the one end of case passes the left end lid and is connected with the steering wheel dish of drive steering wheel, the one end of valve body pivot is connected on the inner valve body, the other end of valve body pivot passes the right-hand member lid and is connected with the ring flange, blade and fixed dog are located between cylinder body inner circle and the outer, The floating valve comprises an inner valve body, a cylinder body inner ring and an outer valve body, wherein a sealing cavity formed by enclosing the inner valve body, the cylinder body inner ring and the outer valve body is divided into a first working cavity and a second working cavity;
when the pressure in the first working cavity/the second working cavity is greater than a threshold value, the floating valve core moves downwards and enables the first pressure relief flow passage to be communicated with the second pressure relief flow passage through the third pressure relief flow passage, and high hydraulic pressure in the first working cavity/the second working cavity flows into the second working cavity/the first working cavity; when the pressure in the first working cavity/the second working cavity is reduced and recovered to the threshold value, the floating valve core moves upwards and resets, and high-pressure oil in the first working cavity/the second working cavity stops flowing into the second working cavity/the first working cavity.
The corner self-servo valve control hydraulic joint is characterized by further comprising a first reset spring, a second reset spring and an external connector arranged on the cylinder body, wherein an oil flow channel is arranged in the external connector, the external connector is communicated with the floating valve core cavity through the oil flow channel, the first reset spring and the second reset spring are arranged in the floating valve core cavity, one end of the floating valve core is connected onto the external connector through the first reset spring, and the other end of the floating valve core is connected onto the fixed stop block through the second reset spring.
The corner self-servo valve-controlled hydraulic joint is characterized in that a fourth pressure relief flow channel with one end communicated with the floating valve core cavity is further arranged in the fixed stop block, and the other end of the fourth pressure relief flow channel is communicated with a first oil discharge joint on the left end cover through a connecting flow channel in the cylinder body.
The corner self-servo valve control hydraulic joint is characterized in that a mounting through hole is formed in the contact surface of the fixed stop block and the inner wall of the cylinder body, a counter bore matched with a fixing screw mounted in the mounting through hole is formed in the cylinder body, and the fixed stop block is mounted on the cylinder body in a matched mode through the fixing screw.
The beneficial effect of above-mentioned scheme is:
according to the invention, the first pressure relief flow passage and the second pressure relief flow passage are switched on/off by floating of the floating valve core, so that whether pressure oil in the high-pressure cavity is unloaded to the low-pressure cavity or not is controlled, and the rigidity of the joint is changed.
Drawings
FIG. 1 is a schematic cross-sectional structural view of a rotary angle self-servo valve-controlled hydraulic joint provided in an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view taken along the line A-A in FIG. 1;
FIG. 3 is a schematic partially exploded view of a rotary angle self-servo valve controlled hydraulic joint provided in an embodiment of the present invention;
fig. 4 is a partially enlarged view of a corresponding portion of the letter a in fig. 3.
In the drawings: 1. a cylinder body; 2. a left end cap; 3. a right end cap; 4. driving a steering engine; 5. an inner ring of the cylinder body; 6. an outer valve body; 7. fixing a stop block; 8. a blade; 9. an inner valve body; 10. a valve core; 11. a valve body rotating shaft; 12. a flange plate; 13. a floating spool cavity; 14. a first pressure relief flow passage; 15. a second pressure relief flow passage; 16. a floating spool; 17. a third pressure relief flow passage; 18. a first return spring; 19. a second reset spring; 20. an external connector; 21. a fourth pressure relief flow passage; 22. connecting the flow channel; 23. a first oil drain joint; 24. a set screw; 25. a first working chamber; 26. a second working chamber.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1 to 4, the corner self-servo valve-controlled hydraulic joint provided in the embodiment of the present invention includes a cylinder body 1, a left end cap 2, a right end cap 3, a driving steering engine 4, a cylinder body inner ring 5, an outer valve body 6, a fixed stop 7, a blade 8, an inner valve body 9, a valve core 10, a valve body rotating shaft 11 and a flange 12, two ends of the cylinder body 1 are respectively sealed by the left end cap 2 and the right end cap 3 to form a sealed cavity, the cylinder body inner ring 5 and the outer valve body 6 are both disposed in the sealed cavity, the inner valve body 9 is inserted between the cylinder body inner ring 5 and the outer valve body 6, the valve core 10 is disposed in the inner valve body 9, one end of the valve core 10 passes through the left end cap 2 and is connected with the steering engine disk of the driving steering engine 4, one end of the valve body rotating shaft 11 is connected to the inner valve body 9, the other end of the valve body, the blade 8 is fixedly connected to the outer wall of the inner valve body 9, the fixed stop block 7 is connected to the inner wall of the cylinder body 1, and the fixed stop block 7 and the blade 8 divide an annular sealed cavity formed by surrounding the cylinder body 1, the inner valve body 9, the cylinder body inner ring 5 and the outer valve body 6 into a first working cavity 25 and a second working cavity 26, a floating valve core cavity 13, a first pressure relief flow channel 14 and a second pressure relief flow channel 15 are arranged in the fixed stop block 7, one end of each of the first pressure relief flow channel 14 and the second pressure relief flow channel 15 is communicated with the floating valve core cavity 13, the other end of each of the first pressure relief flow channel 14 and the second pressure relief flow channel 15 is correspondingly communicated with the first working cavity 25 and the second working cavity 26 respectively, a floating valve core 16 is arranged in the floating valve core cavity 13, the floating valve core 16 is sealed in the floating valve core cavity 13 in a sliding mode.
Different from the prior art, in the invention, when the pressure in the first working chamber 25/the second working chamber 26 is greater than the threshold value, the floating valve core 16 descends and enables the first pressure relief flow passage 14 to be communicated with the second pressure relief flow passage 15 through the third pressure relief flow passage 17, and high hydraulic pressure in the first working chamber 25/the second working chamber 26 flows into the second working chamber 26/the first working chamber 25, so that the pressure oil in the high-pressure chamber is unloaded to the low-pressure chamber, and the joint rigidity is further changed; when the pressure in the first working chamber 25/the second working chamber 26 drops and returns to the threshold value, the floating valve core 16 moves upwards and resets, and the high-pressure oil in the first working chamber 25/the second working chamber 26 stops flowing into the second working chamber 26/the first working chamber 25, and the hydraulic joint normally operates as the hydraulic joint provided in the prior art.
The working principle of the hydraulic joint provided by the invention during normal operation is the same as that of the hydraulic joint (such as the utility model with the application number of CN201822233651.1 and the name of 'an easily processed hydraulic corner self-servo compliant driver'), which is especially researched and provided by the subject group in the prior art, so that the working principle of the hydraulic joint provided by the invention is not further described in the application.
Specifically, the hydraulic joint provided by the invention further comprises a first return spring 18, a second return spring 19 and an external connector 20 arranged on the cylinder body 1, wherein an oil flow passage is arranged in the external connector 20, the external connector 20 is communicated with the floating valve core cavity 13 through the oil flow passage, the first return spring 18 and the second return spring 19 are both arranged in the floating valve core cavity 13, one end of the floating valve core 16 is connected to the external connector 20 through the first return spring 18, the other end of the floating valve core 16 is connected to the fixed stop 7 through the second return spring 19, when the pressure in the first working cavity 25/the second working cavity 26 is greater than a threshold value, high-pressure oil can flow into the floating valve core cavity 13 through the external connector 20, at the moment, the floating valve core 16 can descend under the action of the high-pressure oil, and the first pressure relief flow passage 14 is communicated with the second pressure relief flow passage 15 through the third pressure relief flow passage 17, thereby causing high hydraulic pressure in first working chamber 25/second working chamber 26 to flow into second working chamber 26/first working chamber 25; when the pressure in the first working chamber 25/the second working chamber 26 is reduced and restored to the threshold value, high-pressure oil can be pumped out from the floating valve core chamber 13, at the moment, the floating valve core 16 can move upwards and reset under the action of the first reset spring 18 and the second reset spring 19, so that the first pressure relief flow passage 14 is separated from the second pressure relief flow passage 15, high hydraulic pressure in the first working chamber 25/the second working chamber 26 stops flowing into the second working chamber 26/the first working chamber 25, and at the moment, the hydraulic joint can normally operate.
On the basis of the above technical solution, further, in the hydraulic joint provided in this embodiment, a fourth pressure relief flow passage 21 having one end communicated with the floating valve core cavity 13 is further provided in the fixed stopper 7, and in this embodiment, the other end of the fourth pressure relief flow passage 21 is communicated with a first oil discharge joint 23 located on the left end cover 2 through a connection flow passage 22 located in the cylinder body 1, and in this embodiment, it is considered that the sealing performance of the floating valve core 16 slidably sealed in the floating valve core cavity 13 is reduced with the increase of the operation time, so that the oil permeating into the bottom of the floating valve core cavity 13 can be pumped out in time by providing the fourth pressure relief flow passage 21 and the correspondingly provided connection flow passage.
On the basis of the above technical solution, further, the hydraulic joint provided in this embodiment has a mounting through hole on the contact surface between the fixed stopper 7 and the inner wall of the cylinder body 1, and the cylinder body 1 is provided with a counter bore matched with a fixing screw arranged in the mounting through hole, the fixing stop block 7 is arranged on the cylinder body 1 through the fixing screw 24 in a matching way, which is different from the hydraulic joint provided before the subject group, the fixing screw 24 penetrates out of the fixing stop block 7 and then is driven into the counter bore on the cylinder body 1, the fixed stop 7 can be effectively fastened on the cylinder body 1 by means of the contact action between the screw head of the fixing screw 24 and the counter bore, and the structural change can also avoid the technical problem that in the prior art, because the installation through hole is arranged on the cylinder body 1, the space is limited, and the connecting flow channel matched with the external connector 20 and the floating valve core cavity 13 is difficult to mill on the cylinder body 1.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (4)
1. A rigidity-adjustable corner self-servo valve-controlled hydraulic joint comprises a cylinder body (1), a left end cover (2), a right end cover (3), a driving steering engine (4), a cylinder body inner ring (5), an outer valve body (6), a fixed stop block (7), blades (8), an inner valve body (9), a valve core (10), a valve body rotating shaft (11) and a flange plate (12), wherein two ends of the cylinder body (1) are respectively sealed by the left end cover (2) and the right end cover (3) to form a sealed cavity, the cylinder body inner ring (5) and the outer valve body (6) are arranged in the sealed cavity, the inner valve body (9) is arranged between the cylinder body inner ring (5) and the outer valve body (6) in a penetrating manner, the valve core (10) is arranged in the inner valve body (9), and one end of the valve core (10) penetrates through the left end cover (2) and is connected with the steering engine plate of the driving steering engine, one end of the valve body rotating shaft (11) is connected to the inner valve body (9), the other end of the valve body rotating shaft (11) penetrates through the right end cover (3) and is connected with the flange plate (12), the blade (8) and the fixed stop block (7) are arranged on the inner cylinder body ring (5) and between the outer valve bodies (6), the blade (8) is fixedly connected to the outer wall of the inner valve body (9), the fixed stop block (7) is connected to the inner wall of the cylinder body (1), the fixed stop block (7) and the blade (8) divide a sealed cavity formed by surrounding the inner cylinder body (1), the inner valve body ring (9), the inner cylinder body ring (5) and the outer valve body (6) into a first working cavity (25) and a second working cavity (26), and the valve core sealing structure is characterized in that a floating stop cavity (13) and a floating valve core cavity (26) are arranged in the fixed stop block (7), A first pressure relief flow passage (14) and a second pressure relief flow passage (15), wherein one end of each of the first pressure relief flow passage (14) and the second pressure relief flow passage (15) is communicated with the floating valve core cavity (13), the other end of each of the first pressure relief flow passage (14) and the second pressure relief flow passage (15) is correspondingly communicated with the first working cavity (25) and the second working cavity (26), a floating valve core (16) is arranged in the floating valve core cavity (13), the floating valve core (16) is sealed in the floating valve core cavity (13) in a sliding manner, and a third pressure relief flow passage (17) is arranged in the floating valve core (16);
wherein when the pressure in the first working chamber (25)/the second working chamber (26) is greater than a threshold value, the float valve spool (16) descends and connects the first pressure relief flow passage (14) to the second pressure relief flow passage (15) through the third pressure relief flow passage (17), and high hydraulic pressure in the first working chamber (25)/the second working chamber (26) flows into the second working chamber (26)/the first working chamber (25); when the pressure in the first working chamber (25)/the second working chamber (26) is reduced and is recovered to a threshold value, the floating valve core (16) moves upwards and is reset, and high-pressure oil in the first working chamber (25)/the second working chamber (26) stops flowing into the second working chamber (26)/the first working chamber (25).
2. The corner self-servo valve-controlled hydraulic joint according to claim 1, further comprising a first return spring (18), a second return spring (19) and an external connector (20) arranged on the cylinder body (1), wherein an oil flow channel is arranged in the external connector (20), the external connector (20) is communicated with the floating valve core cavity (13) through the oil flow channel, the first return spring (18) and the second return spring (19) are both arranged in the floating valve core cavity (13), one end of the floating valve core (16) is connected to the external connector (20) through the first return spring (18), and the other end of the floating valve core (16) is connected to the fixed stop block (7) through the second return spring (19).
3. The corner self-servo valve-controlled hydraulic joint according to claim 1 or 2, wherein a fourth pressure relief flow passage (21) with one end communicated with the floating valve core cavity (13) is further arranged in the fixed stop block (7), and the other end of the fourth pressure relief flow passage (21) is communicated with a first oil discharge joint (23) on the left end cover (2) through a connecting flow passage (22) in the cylinder body (1).
4. The corner self-servo valve-controlled hydraulic joint according to claim 3, wherein a mounting through hole is formed in a contact surface between the fixed stop block (7) and the inner wall of the cylinder body (1), a counter bore matched with a fixing screw (24) mounted in the mounting through hole is formed in the cylinder body (1), and the fixed stop block (7) is mounted on the cylinder body (1) in a matched manner through the fixing screw (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010219778.7A CN111237280B (en) | 2020-03-25 | 2020-03-25 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010219778.7A CN111237280B (en) | 2020-03-25 | 2020-03-25 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111237280A true CN111237280A (en) | 2020-06-05 |
| CN111237280B CN111237280B (en) | 2021-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010219778.7A Active CN111237280B (en) | 2020-03-25 | 2020-03-25 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
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| Country | Link |
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| CN (1) | CN111237280B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113263521A (en) * | 2021-06-28 | 2021-08-17 | 武汉科技大学 | Multi-stage rigidity-adjustable passive flexible swing joint |
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| CN108161979A (en) * | 2018-02-12 | 2018-06-15 | 西安正安环境技术有限公司 | Robot hydraulic knuckle |
| CN109483589A (en) * | 2018-12-28 | 2019-03-19 | 武汉科技大学 | A kind of hydraulic corner easy to process is from the submissive driver of servo |
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2020
- 2020-03-25 CN CN202010219778.7A patent/CN111237280B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08295136A (en) * | 1994-07-20 | 1996-11-12 | Applied Power Inc | Liquid circuit |
| JPH0930267A (en) * | 1994-07-20 | 1997-02-04 | Applied Power Inc | Liquid circuit |
| CN102078228A (en) * | 2010-12-30 | 2011-06-01 | 霍启英 | Intelligent mechanical leg |
| CN103552089A (en) * | 2013-10-22 | 2014-02-05 | 北京航空航天大学 | Series-parallel connection ball joint device |
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| CN105067465A (en) * | 2015-08-04 | 2015-11-18 | 中国矿业大学 | Double-mobile platform parallel bionic hip joint testing machine and testing method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113263521A (en) * | 2021-06-28 | 2021-08-17 | 武汉科技大学 | Multi-stage rigidity-adjustable passive flexible swing joint |
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| CN111237280B (en) | 2021-09-24 |
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