CN111271333B

CN111271333B - Fault-tolerant hydraulic valve

Info

Publication number: CN111271333B
Application number: CN202010224224.6A
Authority: CN
Inventors: 刘毅; 陈德馨; 徐巧宁; 韩冬
Original assignee: Ningbo Institute of Technology of ZJU
Current assignee: Ningbo Institute of Technology of ZJU
Priority date: 2020-03-26
Filing date: 2020-03-26
Publication date: 2021-08-24
Anticipated expiration: 2040-03-26
Also published as: CN111271333A

Abstract

The invention discloses a fault-tolerant hydraulic valve, which comprises a main body valve, a servo motor and a linear motor, wherein the main body valve is provided with a valve seat; the main body valve comprises a valve body and a valve core, one end of the valve core is connected to the servo motor through a connecting shaft sleeve, and the other end of the valve core is abutted to a linear sliding block connected to the linear motor; the servo motor, the connecting shaft sleeve, the valve core, the linear sliding block and the linear motor are arranged on the same axis. The valve core is sequentially provided with a first oil retaining shoulder, a working shoulder and a second oil retaining shoulder; the valve body is provided with an oil inlet and an oil outlet, and oil paths communicated between the oil inlet and the valve core and between the oil outlet and the valve core are arranged in the valve body. The fault-tolerant hydraulic valve adopts a mode of direct matching of double-motor drive and a valve core and a valve body, and can continuously complete a hydraulic control function by means of a fault-tolerant drive part which can normally work after a main drive part breaks down. And an axial and circumferential position detection function.

Description

Fault-tolerant hydraulic valve

Technical Field

The invention belongs to the field of hydraulic control, and particularly relates to a fault-tolerant hydraulic valve.

Background

The electro-hydraulic valve realizes the functions of conduction, closing, reversing, flow/pressure control and the like of an oil flowing oil way by utilizing an electro-hydraulic technology, wherein the stop valve is mainly used for controlling the circulation and the stop of the oil way in a hydraulic pipeline. The fault-tolerant control of the hydraulic valve is that after part of driving elements are in fault, the hydraulic executing elements are controlled to continuously complete the control function by the driving elements which can still work normally.

Existing shut-off valves (including other hydraulic valves capable of achieving pressure and flow control, for example, shut-off valves) mainly include a manual control type and an electric control type. The manually controlled stop valve needs to be controlled by manpower, so that certain manpower cost is caused, and the requirement of future development cannot be met; the electric stop valve mainly comprises an electric actuator and a stop valve, and the stop valve cannot work continuously after the electric actuator fails.

The existing reversing rotary valve is mostly of a matching structure of a valve core, a valve sleeve and a valve body, is complex, cannot realize accurate positioning of the valve core, and does not have a fault-tolerant function.

Therefore, an electric stop valve with a fault-tolerant function is not available. I.e. the hydraulic valve cannot continue to operate after a failure of the drive part. Under the condition of no fault-tolerant function, for some large-scale equipment which is inconvenient to replace a hydraulic control device or occasions which need continuous long-time work, if a driving part of the hydraulic control device fails, the work must be stopped, and great loss is caused.

Disclosure of Invention

The invention aims to solve the technical problem of providing a fault-tolerant hydraulic valve which adopts a mode of double-motor driving and direct matching of a valve core and a valve body, and can continuously complete a hydraulic control function by depending on a fault-tolerant driving part (namely a linear motor driving part) which can still normally work after a main driving part (namely a servo motor driving part) breaks down. And an axial and circumferential position detection function.

In order to solve the technical problems, the invention adopts the following technical scheme:

a fault-tolerant hydraulic valve comprises a main body valve, a servo motor and a linear motor; the main body valve comprises a valve body and a valve core, one end of the valve core is connected to the servo motor through a connecting shaft sleeve, and the other end of the valve core is abutted to a linear sliding block connected to the linear motor; the servo motor, the connecting shaft sleeve, the valve core, the linear sliding block and the linear motor are arranged on the same axis;

the valve core is sequentially provided with a first oil retaining shoulder, a working shoulder and a second oil retaining shoulder; the valve body is provided with an oil inlet and an oil outlet, and an oil path communicated between the oil inlet and the valve core and between the oil outlet and the valve core is arranged inside the valve body; and the number of the first and second groups,

the fault-tolerant hydraulic valve further comprises a sensor, a circumferential detection bar code is arranged on the connecting shaft sleeve, an axial detection bar code is arranged on the linear sliding block, and the sensor is matched with the circumferential detection bar code and the axial detection bar code to detect the circumferential position and the axial position of the valve core and the valve core.

In a specific embodiment, the working shoulder is provided with a throttle valve port, and the throttle valve port radially penetrates through the working shoulder.

In a specific embodiment, a fault-tolerant oil port is disposed between the working shoulder and the second oil retaining portion of the valve core, and an oil path communicating the throttle valve port and the fault-tolerant oil port is disposed inside the valve core.

In a specific embodiment, a return spring is sleeved on the valve core on one side of the first oil blocking shoulder facing the servo motor.

In a specific embodiment, a gear is arranged between the connecting shaft sleeve and the servo motor, one end of a rotating shaft of the gear is connected to the servo motor, and the other end of the rotating shaft of the gear is connected to the connecting shaft sleeve.

In one embodiment, the sensor is a photosensor.

In a specific embodiment, the circumferential detection bar code comprises a plurality of bar codes with gradually increasing bar code widths extending along the axial direction.

In a specific embodiment, the axial detection barcode comprises a plurality of barcodes with sequentially increasing barcode widths along the circumferential direction.

In a specific embodiment, the opening directions of the oil inlet and the oil outlet are opposite.

In a specific embodiment, a diameter of an oil path in the valve body, the oil path communicating with the oil inlet, and a diameter of an oil path communicating with the oil outlet are equal to a width of an opening of the throttle valve port along an axial direction of the valve core.

The invention has the following beneficial effects:

1. the fault-tolerant hydraulic valve can continuously realize oil control by using the linear motor to control the axial movement of the valve core after the servo motor for controlling the rotation of the valve core fails, and can meet the requirements of certain occasions inconvenient to assemble and disassemble on the fault-tolerant performance of hydraulic control equipment.

2. The fault-tolerant hydraulic valve adopts the mode that the valve body is directly matched with the valve core, so that the rotary valve structure is simplified, the number of parts needing to be processed is reduced, and the manufacturing cost is reduced.

3. Compared with the existing rotary valve, the fault-tolerant hydraulic valve adopts the initial zero design, and effectively avoids the related problems of false start of a hydraulic execution element and the like caused by unclear starting position.

4. The fault-tolerant hydraulic valve can realize the real-time detection of the position of the valve core through the detection bar codes arranged on the connecting shaft sleeve and the linear slide block, and improves the control precision of the rotating valve.

Drawings

FIG. 1 is a schematic diagram of a fault tolerant hydraulic valve according to an embodiment of the present invention;

FIG. 2 is a cut-away perspective view of the valve body;

FIG. 3 is an assembled view of the valve cartridge and its exploded view;

FIG. 4 is a front view, a cross-sectional view and a partial perspective view of the valve cartridge;

FIG. 5 is a position view of the valve spool axially mated with the valve body;

FIG. 6 is a position view of the valve core circumferentially engaged with the valve body;

FIG. 7 is a view of the initial operating position of the valve spool;

FIG. 8 is a perspective view of the connecting bushing;

FIG. 9 is a perspective view of a linear slide;

FIG. 10 is the normal operating position I of the fault tolerant hydraulic valve;

FIG. 11 is the normal operating position II of the fault tolerant hydraulic valve;

FIG. 12 is a fault-tolerant operating position I of the fault-tolerant hydraulic valve;

fig. 13 is the fault-tolerant operating position II of the fault-tolerant hydraulic valve.

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 some, not all, embodiments of the present invention. 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.

Referring to fig. 1 to 13, the invention discloses a fault-tolerant hydraulic valve, which comprises a servo motor 1, a linear motor 4 and a main body valve, wherein the main body valve comprises a valve core 2 and a valve body 3 which are matched with each other. One end of the valve core 2 is connected to the servo motor 1 through a connecting shaft sleeve 212, and the other end of the valve core 2 abuts against a linear slide block 218 connected to the linear motor 4. The servo motor, the connecting shaft sleeve, the valve core, the linear sliding block and the linear motor are arranged on the same axis.

The valve body 3 is internally provided with a valve core mounting groove 311, an oil through groove 312 and working

oil ports

313 and 314, one of the working oil ports is an oil inlet, and the other working oil port is an oil outlet, for example, when the working oil port 313 is the oil outlet, the working oil port is connected with a hydraulic actuator through an internal channel, and at the moment, the working oil port 314 is the oil inlet and is connected with a pump station through the internal channel. In one embodiment, as shown in fig. 2, the diameter D1 of the oil passing groove is 6 mm.

In an embodiment, the assembly structure of the valve core 2 is shown in fig. 3, and specifically includes a connecting boss 212, a shaft end retainer 213,

spring sleeves

214a and 214b, a return spring 215, a thrust bearing 216, a steel ball 217, and a linear slider 218. The valve core 2 can be directly matched with the valve body 3 (namely, a valve sleeve is omitted), so that the corresponding oil way is communicated and closed. The connecting shaft sleeve 212 is connected with the servo motor 1, and can transmit the torque of the servo motor to the valve core, so as to drive the valve core to rotate. The linear slider 218 is connected to the linear motor 4 so as to drive the valve element to move axially. The valve core is sleeved with the return spring 215, which can be used for returning the axial position of the valve core and also can be used for preventing the interference of hydraulic force so as to ensure the stability of the valve in the working process.

The valve core 2 is provided with a connecting key slot 411, a first oil retaining shoulder 412, a second oil retaining shoulder 415, a working shoulder 413, a throttle valve port 414a and a fault-tolerant oil port 414 b. The throttle valve port 414a is opened on the working shoulder 413 and penetrates the working shoulder to form a through hole, the fault-tolerant oil port 414b is opened on the valve core between the working shoulder and the second oil retaining shoulder, and an oil path is arranged between the throttle valve port and the fault-tolerant oil port and communicated with each other inside the valve core.

The matching structure of the working shoulder of the valve core and the oil through groove of the valve body is shown in fig. 5, in a specific embodiment, the diameter D1 of the oil through groove on the designed valve body is 6mm, and the structural size of the designed working shoulder satisfies the following relation that L1 is L3 is 8mm, and L2 is 6 mm. According to the matched structural parameters and the valve core structure, when the throttle valve port of the working shoulder of the valve core and the oil through groove of the valve body are at the same axial position (as shown in figure 5 a), the oil circuit can realize the mutual alternation of connection and disconnection in the rotation process of the valve core; when the throttle opening of the working shoulder of the valve core and the oil through groove of the valve body are not overlapped in the axial direction (as shown in fig. 5b and c), the oil path is kept in a closed state all the time during the rotation of the valve core (which can be used as the axial initial working position of the rotary valve core).

Similarly, when the valve core rotates in the circumferential direction, the initial position of the valve core in the circumferential direction can be determined according to the relative position relationship between the throttle port of the working shoulder of the valve core and the oil through groove of the valve body, as shown in fig. 6.

In the initial working state, in order to prevent the problems of the false start of the hydraulic actuator and the like caused by the problem of the position of the valve core, the initial working position of the fault-tolerant hydraulic valve is drawn according to the axial and circumferential zero positions of the valve core, as shown in fig. 7. Before starting oil supply and after finishing oil supply, the servo motor 1 and the linear motor 4 drive the valve core to move to the position shown in fig. 7 according to the detection result of the position of the valve core. At the moment, the throttle valve port of the working shoulder of the valve core is not overlapped with the oil through groove of the valve body along the axial direction and the circumferential direction, the working shoulder of the valve core cuts off the oil way, the problems of error starting of a hydraulic actuating element and the like can be effectively avoided, and the hydraulic actuating element is protected.

In order to realize the position detection of the valve core, including the axial position detection and the circumferential position detection, detection barcodes for detecting the position by a sensor (such as a photoelectric sensor) are respectively arranged on the connecting shaft sleeve and the linear sliding block, as shown in fig. 8 and 9. Circumferential detection bar codes with different widths are arranged along the circumferential direction of the connecting shaft sleeve, and circumferential position detection of the valve core can be realized by matching with a sensor; the linear sliding block is provided with axial detection bar codes with different widths along the axial direction, and can be matched with a sensor to realize the axial position detection of the valve core. The real-time detection of the position of the valve core can be realized through the two groups of detection bar codes.

The normal working condition and the fault-tolerant working condition of the fault-tolerant hydraulic valve are respectively as follows (in the embodiment, an oil inlet is marked as P, and an oil outlet is marked as A):

(1) under the normal working condition, when the valve core is in the normal working position I as shown in fig. 10, oil flows from the oil inlet P to the oil outlet a through the 214a of the valve core and the fault-tolerant oil port 214 b; when the valve core is in the normal working position II as shown in fig. 11, the oil path is closed, and oil cannot flow from the oil inlet P to the oil outlet A. Therefore, the servo motor 1 drives the valve core to rotate, and the on-off of oil can be realized. In addition, by controlling the axial and circumferential positions of the valve core, the overlapping area of a throttle valve port of a working shoulder of the valve body and an oil through groove of the valve body can be adjusted, and the flow rate of oil flowing through the valve core can be adjusted.

(2) Under normal working conditions, compared with the linear motor 4, the servo motor 1 has longer working time and is more prone to failure. When the servo motor 1 fails and cannot rotate, the linear motor 4 can drive the valve core to do linear reciprocating movement, and the corresponding oil circuit is continuously switched on and off. When the servo motor 1 fails, the circumferential position of the valve body is unclear. Therefore, according to the position of the valve core when the servo motor 1 breaks down, the fault-tolerant working control mode can be divided into two conditions:

2.1) throttle opening position

If the servo motor 1 has a fault, the throttle valve port is in an open position, and the oil can still flow along a path from the oil inlet P to the oil outlet A through the throttle valve port and the fault-tolerant valve port. The linear motor 4 only needs to drive the valve core to axially move to the fault-tolerant working position I shown in fig. 12, so that the oil path is closed, and the cut-off function can be realized. Therefore, the linear motor 4 drives the valve core to axially move between the normal working position I and the fault-tolerant working position I, and the oil circuit can be switched on and off.

2.2) in throttle valve opening-closing position

If the servo motor 1 breaks down, the throttle valve port is in a closed position, and the oil way is disconnected. The linear motor 4 only needs to drive the valve core to move axially to the fault-tolerant working position II as shown in fig. 13, so that the oil path is opened, and oil flows from the oil inlet P to the oil outlet a through the right area of the working shoulder of the valve core, and the oil path conduction can be realized. Therefore, the linear motor 4 drives the two valve cores to axially move between the normal working position II and the fault-tolerant working position II, and the oil circuit can be switched on and off.

It is to be understood that the exemplary embodiments described herein are illustrative and not restrictive. Although one or more embodiments of the present invention have been described with reference to the accompanying drawings, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.

Claims

1. A fault-tolerant hydraulic valve is characterized by comprising a main body valve, a servo motor and a linear motor; the main body valve comprises a valve body and a valve core, one end of the valve core is connected to the servo motor through a connecting shaft sleeve, and the other end of the valve core is abutted to a linear sliding block connected to the linear motor; the servo motor, the connecting shaft sleeve, the valve core, the linear sliding block and the linear motor are arranged on the same axis;

the fault-tolerant hydraulic valve also comprises a sensor, wherein the connecting shaft sleeve is provided with a circumferential detection bar code, the linear sliding block is provided with an axial detection bar code, and the sensor is matched with the circumferential detection bar code and the axial detection bar code to detect the circumferential and axial positions of the valve core and the valve core;

the working shoulder is provided with a throttle valve port, and the throttle valve port radially penetrates through the working shoulder;

the valve core is provided with a fault-tolerant oil port between the working shoulder and the second oil retaining shoulder, and an oil path for communicating the throttling valve port and the fault-tolerant oil port is arranged in the valve core.

2. The fault-tolerant hydraulic valve of claim 1, wherein a return spring is sleeved on the spool on a side of the first oil stop land facing the servo motor.

3. The fault-tolerant hydraulic valve according to claim 1, wherein a gear is arranged between the connecting bushing and the servo motor, and a rotating shaft of the gear is connected to the servo motor at one end and connected to the connecting bushing at the other end.

4. The fault-tolerant hydraulic valve of claim 1, wherein the sensor is an electro-optical sensor.

5. The fault-tolerant hydraulic valve of claim 1 or 4, wherein the circumferential detection barcode comprises a plurality of barcodes of sequentially increasing barcode width extending in the axial direction.

6. The fault-tolerant hydraulic valve of claim 5, wherein the axial detection barcode comprises a plurality of barcodes of sequentially increasing barcode width in a circumferential direction.

7. The fault-tolerant hydraulic valve of claim 1, wherein the oil inlet and the oil outlet are open in opposite directions.

8. The fault-tolerant hydraulic valve of claim 1, wherein a diameter of an oil path in the valve body communicating with the oil inlet and a diameter of an oil path in the valve body communicating with the oil outlet are equal to a width of an opening of the throttle valve port in a direction of an axis of the valve spool.