CN111649021A - Two-dimensional force feedback type electro-hydraulic servo valve - Google Patents

Two-dimensional force feedback type electro-hydraulic servo valve Download PDF

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Publication number
CN111649021A
CN111649021A CN202010572330.3A CN202010572330A CN111649021A CN 111649021 A CN111649021 A CN 111649021A CN 202010572330 A CN202010572330 A CN 202010572330A CN 111649021 A CN111649021 A CN 111649021A
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CN
China
Prior art keywords
armature
yoke
valve
valve core
iron
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Pending
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CN202010572330.3A
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Chinese (zh)
Inventor
孟彬
戴铭柱
刘备
徐豪
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Publication of CN111649021A publication Critical patent/CN111649021A/en
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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
    • F15B13/021—Valves for interconnecting the fluid chambers of an actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
    • F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
    • F16K11/06—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements
    • F16K11/065—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members
    • F16K11/07—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with cylindrical slides
    • F16K11/0716—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with cylindrical slides with fluid passages through the valve member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K15/00—Check valves
    • F16K15/02—Check valves with guided rigid valve members
    • F16K15/08—Check valves with guided rigid valve members shaped as rings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K15/00—Check valves
    • F16K15/20—Check valves specially designed for inflatable bodies, e.g. tyres
    • 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 two-dimensional force feedback type electro-hydraulic servo valve comprises a hydraulic amplifying mechanism and an electro-mechanical converter, wherein the electro-mechanical converter comprises an armature iron of which a rotating shaft is arranged along a horizontal plane, the armature iron comprises two side inclined wing surfaces, and the armature iron and the two side inclined wing surfaces are both in a 180-degree array characteristic with an axis which is vertical to the horizontal plane and is vertically upward as a central axis; the two sides of the armature are symmetrically provided with a first yoke iron and a second yoke iron, the inner sides of the two yoke irons are arc-shaped, the outer sides of the two yoke irons are respectively wound with a coil, and the inner side wall surfaces of the two yoke irons are respectively provided with an inclined groove which is the same as the inclined direction of the side end of the adjacent armature inclined wing surface relative to the rotating shaft; the oblique wing side end of the armature iron is an arc surface, spans the chute and forms four working air gaps with two arc surfaces of the first yoke iron, which are divided by the chute, and two arc surfaces of the second yoke iron, which are divided by the chute; the upper part and the lower part of the inner sides of the two yokes are respectively provided with a permanent magnet; the upper and lower back surfaces of the armature are connected with a spring rod, and the ball ends of the spring rod are respectively and movably inserted into ball sockets of the spring top plate.

Description

Two-dimensional force feedback type electro-hydraulic servo valve
Technical Field
The invention relates to the field of electro-hydraulic servo control elements, in particular to a two-dimensional force feedback type electro-hydraulic servo valve.
Background
Since the fortieth, the electro-hydraulic servo control technology occupies a high-end position in the electro-mechanical transmission and control technology due to the remarkable characteristics of high power-weight ratio, large output force (torque), excellent static and dynamic characteristics and the like, is regarded as the core competitiveness of various national industries, and has important application in various key occasions such as aerospace, military weapons, ships, large power stations, steel, material testing machines, vibrating tables and the like. In an electro-hydraulic servo control system, an electro-hydraulic servo valve plays the roles of mechanical-electrical conversion and signal amplification, and has decisive influence on the performance of the whole system to a great extent.
In order to obtain the desired static and dynamic characteristics, servo valves are usually designed in a multi-stage structure of pilot-controlled type. Ruan Jian et al put forward a two-dimensional flow amplification mechanism design idea based on two degrees of freedom of a valve core when attacking and reading doctor's academic ranks at Harbin industry university: the general spool valve has two degrees of freedom of radial rotation and axial movement, and does not interfere with each other, so that the two degrees of freedom can be used for respectively realizing the functions of a pilot stage and a power stage, the area gradient of the spool valve port can be made very large, the spool valve is also easy to be matched with an end cover and the like in a valve hole to form a sensitive cavity, the rotary motion of the spool valve can be used for realizing the function of the pilot stage, and the linear motion is used for realizing the opening of the power stage.
Based on the principle, Ruan Jian and the like provide a position direct feedback type two-dimensional electro-hydraulic servo valve, the pressure of a sensitive cavity is controlled by a hydraulic resistance half bridge formed by the intersection area of a pair of spiral grooves formed in the inner surface of a valve sleeve and a pair of high-low pressure holes formed in the outer circle surface of a valve core, when an electro-mechanical converter drives the valve core to rotate, the area of an arch-shaped throttling port formed by the spiral grooves in the valve sleeve and the high-low pressure holes in the valve core is differentially changed, so that hydraulic pressure at two ends of the valve core loses balance and moves axially, in the process, the displacement of the valve core is fed back to the area of the arch-shaped throttling port formed by the spiral grooves and the high-low pressure holes, and finally the valve core. The main advantages of the valve are that the originally separated pilot control stage and power stage are combined into one and integrated on a single valve core, so that the valve not only has simple structure and fast dynamic response, but also greatly improves the anti-pollution capability. However, this valve also presents problems: the spatial spiral groove structure on the valve sleeve can be machined by an inlet electric spark machine tool with more than three shafts, the cost is high, the machining efficiency is low, and meanwhile, the machining precision is difficult to guarantee and the detection is difficult because the spatial spiral groove structure is positioned on the inner surface of the valve sleeve.
In order to reduce the processing cost, Benbin et al propose a two-dimensional force feedback type electro-hydraulic servo valve based on two degrees of freedom of the valve core, the feedback mode of which is changed from position direct feedback to displacement-torque feedback (generally referred to as displacement-force feedback or force feedback for short), so that the valve core is changed from a space spiral groove to a straight groove, the processing cost is greatly reduced, and meanwhile, the valve core loses the function of position direct feedback; the common torque motor is an electric-mechanical conversion element commonly used by a nozzle baffle servo valve and a jet pipe servo valve, the output torque of the common torque motor is large, the dynamic response is high, but an armature is of a flat wing structure, can only rotate around a rotating shaft and does not have a feedback function; the electro-mechanical converter of the electro-hydraulic servo valve adopts a paddle type torque motor, and integrates the feedback capacity of the straight groove loss of the valve core into the paddle type torque motor on the basis of keeping the advantages of the common torque motor, thereby realizing the displacement-force feedback control of the two-dimensional electro-hydraulic servo valve and reducing the processing difficulty.
The paddle wing type torque motor adopts a rectangular air gap, so that when the armature inclination angle is too large or the air gap distance is too small, the maximum positions of the axial displacement stroke and the rotation angle of the armature are limited; because the larger the inclination angle is, the smaller the air gap is, the larger the magnetic moment fed back by the torque motor is, and the existence of the rectangular air gap generates the contradiction between armature displacement and large inclination angle and small air gap, the optimal design can not be achieved. In order to solve the contradiction, a novel two-degree-of-freedom torque motor based on an annular air gap is provided.
Disclosure of Invention
The invention provides a two-dimensional force feedback type electro-hydraulic servo valve, aiming at overcoming the defects that the existing position direct feedback type two-dimensional electro-hydraulic servo valve has a spatial spiral groove structure on the inner surface of a valve sleeve, the processing cost is high, the precision is difficult to ensure, the processing efficiency is low, and the traditional torque motor cannot simultaneously meet the requirements of feedback, large inclination angle, small air gap and long stroke.
The technical scheme adopted for solving the technical problems is as follows:
the two-dimensional force feedback type electro-hydraulic servo valve comprises a hydraulic amplification mechanism and an electro-mechanical converter, wherein the hydraulic amplification mechanism comprises a valve core 27, a valve sleeve 11, a valve body 6, a rear cover plate 1, a right plug ring 25, a concentric ring 13 and a plug 3; the valve core 27, the valve sleeve 11 and the rear cover plate 1 are matched to form a left sensitive cavity h, two pairs of axisymmetric low and high pressure grooves a and b are formed on the surface of a shoulder at the left end of the valve core 27 close to the left sensitive cavity h, the valve rod is also provided with overflowing holes c and d, the high pressure groove b, the overflowing hole c and the overflowing hole d are connected through an overflowing channel formed in the valve core, and the low pressure groove a is directly connected with an oil return port; the valve core 27 is arranged in the valve sleeve 11, and the valve sleeve 11 and the valve body 6 are sealed through an O-shaped sealing ring; the concentric ring 13 and the right plug ring 25 are arranged on the valve core 27 to ensure the positioning among the valve core 27, the valve sleeve 11 and the valve body 6; a pair of axisymmetric straight groove sensing channels f are formed in the inner surface of the valve sleeve 11, one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low and high pressure grooves a and b form a resistance half bridge, the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f, the pressure difference at two ends of the valve core is controlled, and the axial displacement of the valve core is realized;
the method is characterized in that: the electric-mechanical converter is a two-degree-of-freedom torque motor and comprises an armature 19 with a rotating shaft arranged along a horizontal plane, the armature 19 comprises two side inclined wing surfaces which are all in a 180-degree array characteristic with a shaft vertical to the horizontal plane and upward as a central shaft, and the two side inclined wing surfaces are equal to the inclined angles of the rotating shaft and have the same size and opposite directions; a first yoke 16 and a second yoke 22 are symmetrically arranged on two sides of the armature 19, the first yoke 16 and the second yoke 22 are in mirror image relation with the vertical plane of a rotating shaft passing through the armature 19, the direction close to the armature 19 is taken as the inner side, and the direction opposite to the direction close to the armature 19 is taken as the outer side, the inner sides of the first yoke 16 and the second yoke 22 are in a circular arc shape, the outer sides of the first yoke 16 and the second yoke 22 are respectively wound with a first coil 18 and a second coil 21, the inner side wall surfaces of the first yoke 16 and the second yoke 22 are respectively provided with an inclined groove which is the same as the inclined direction of the side end of the inclined wing surface of the adjacent armature 19 relative to the rotating shaft, and the inclined angle of the groove relative to the; the oblique wing side end of the armature 19 is an arc surface, the oblique wing side end of the armature 19 spans the oblique slot and forms four working air gaps with two arc surfaces of the first yoke 16 divided by the oblique slot and two arc surfaces of the second yoke 22 divided by the oblique slot, the radial distance of the four air gaps is constant all the time, and the area of the air gaps can be changed along with the rotation of the armature 19;
the upper and lower parts of the inner sides of the first yoke 16 and the second yoke 22 are respectively provided with a first permanent magnet 29 and a second permanent magnet 30; the first permanent magnet 29, the second permanent magnet 30, the first yoke 16 and the second yoke 22 enclose a rotary inner cavity of the armature 19;
the first spring rod 17 and the second spring rod 31 as elastic elements are respectively inserted into and fixedly connected with two small holes on the upper and lower back surfaces of the armature 19, the ball ends of the first spring rod and the second spring rod are respectively movably inserted into ball sockets of the first spring top plate 20 and the second spring top plate 23, and the first spring top plate 20 and the second spring top plate 23 are respectively tightly attached to the first permanent magnet 29 and the second permanent magnet 30.
Preferably, the armature 19 is directly connected to the spool 27 and is thus held in the neutral position of the motor.
The change of the areas of the four working air gaps is not only influenced by the rotation of the armature 19, but also influenced by the axial displacement of the valve core 27, so that the force feedback of the valve core displacement to the novel two-degree-of-freedom torque motor is realized. When the novel double-freedom-degree torque motor is not electrified, no torque is output, and the armature is positioned at the middle position; when the coils 18 and 21 are electrified, the polarized magnetic potentials of the permanent magnets 29 and 30 and the control magnetic potential of the coils are mutually and differentially superposed under four working air gaps, so that electromagnetic torque is generated to drive the armature 19 to rotate until the electromagnetic torque and the counter torque of the spring rods 17 and 31 are mutually balanced, the armature 19 stops rotating, at the moment, the output torque of the armature 19 is in positive correlation with the control current, and the rotation angle of the armature 19 can be controlled by adjusting the current. When the armature 19 has an axial displacement, the working air gap areas of the armature 19 and the first and second yokes 16 and 22 change again, so that the resultant torque acting on the armature 19 is unbalanced, and the armature 19 and the valve core 27 are driven to rotate reversely simultaneously in the moving process until the working air gap areas of the armature 19 and the first and second yokes 16 and 22 return to the original values. In the above process, the axial displacement of the valve core 27 is realized by changing the air gap of the armature 19 to change the electromagnetic torque output by the armature 19, so as to realize displacement-force feedback.
The hydraulic amplification mechanism comprises a valve core 27, a valve sleeve 11, a valve body 6, a rear cover plate 1, a right plug ring 25, a concentric ring 13 and a plug 3; the valve core 27, the valve sleeve 11 and the rear cover plate 1 are matched to form a left sensitive cavity h, two pairs of axisymmetric low and high pressure grooves a and b are formed on the surface of a shoulder at the left end of the valve core 27 close to the left sensitive cavity h, the valve rod is also provided with overflowing holes c and d, the high pressure groove b, the overflowing hole c and the overflowing hole d are connected through an overflowing channel formed in the valve core, and the low pressure groove a is directly connected with an oil return port; the valve core 27 is arranged in the valve sleeve 11, and the valve sleeve 11 and the valve body 6 are sealed through an O-shaped sealing ring; the concentric ring 13 and the right plug ring 25 are arranged on the valve core 27 to ensure the positioning among the valve core 27, the valve sleeve 11 and the valve body 6; the inner surface of the valve sleeve 11 is provided with a pair of axisymmetric straight groove sensing channels f, one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low and high pressure grooves a and b form a resistance half bridge, and the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f and controls the pressure difference at the two ends of the valve core so as to realize the axial displacement of the valve core. The novel two-degree-of-freedom torque motor is connected to one end of the valve body 6, and the central axis of the armature 19 and the central axis of the valve core 27 are located on the same straight line.
The invention has the following beneficial effects:
1. simple structure and low processing cost. The invention designs the armature inclined wing surface and the yoke arc chute into a novel two-degree-of-freedom torque motor with the axial 180-degree array characteristic as an electro-mechanical converter, and can drive the valve core to rotate and feed back the displacement of the valve core to the armature torque, thereby forming a displacement-force feedback mechanism. Compared with the space spiral groove structure on the inner surface of the valve sleeve of the existing position direct feedback type two-dimensional servo valve, the structure of the two-dimensional force feedback type electro-hydraulic servo valve is obviously easier to process.
2. The feedback torque is large. The novel torque motor adopts an annular air gap structure, and compared with a rectangular air gap, the annular air gap can reduce the air gap distance and increase the inclination angle under the condition of ensuring the displacement stroke of the armature, so that the novel torque motor has larger feedback torque and theoretically larger corner.
Drawings
Fig. 1 is a side view of the structure of the present invention.
Fig. 2 is a rear view of the structure of the present invention.
Fig. 3 is a schematic view of the structure of the armature of the present invention.
Fig. 4(a) is a schematic structural view of a first yoke according to the present invention; and 4(b) is a schematic diagram of another angle of the first yoke.
Fig. 5(a) is a schematic view showing a structure of the second yoke according to the present invention, and fig. 5(b) is a schematic view showing another angle of the second yoke.
FIG. 6 is a schematic view of a first spring beam of the present invention; the second spring beam is identical in structure thereto.
Fig. 7 is a schematic structural diagram of a valve housing of a two-dimensional force feedback electro-hydraulic servo valve according to the present invention.
Fig. 8 is a schematic structural diagram of a valve core of a two-dimensional force feedback type electro-hydraulic servo valve according to the present invention.
Fig. 9 is a schematic structural diagram of the present invention.
Fig. 10(a) -10 (c) are schematic views illustrating the operation of the present invention, fig. 10(a) is a schematic view illustrating an initial armature rotation state of the present invention, fig. 10(b) is a schematic view illustrating a displacement state of a rotationally driven valve element of the present invention, and fig. 10(c) is a schematic view illustrating a feedback reset state of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 10, a two-dimensional force feedback type electro-hydraulic servo valve includes a novel two-degree-of-freedom torque motor and a hydraulic amplifying portion. The novel two-degree-of-freedom torque motor comprises a first yoke 16, a second yoke 22, an armature 19, a first permanent magnet 29, a second permanent magnet 30, a first spring rod 17, a second spring rod 31, a first coil 18, a second coil 21, a first spring top plate 20, a second spring top plate 23, a fixing screw and the like.
The armature 19 is symmetrically provided with a first yoke 16 and a second yoke 22 on both sides, and the first yoke 16 and the second yoke 22 are in mirror image relation with a vertical plane passing through a rotating shaft of the armature 19, and are inward in a direction approaching the armature 19, and are outward in the opposite direction.
The first yoke iron 16, the second yoke iron 22 and the armature iron 19 are all magnetizers; the first permanent magnet 29 and the second permanent magnet 30 are symmetrically arranged at the upper part and the lower part of the inner side of the first yoke and the second yoke respectively and are used for providing polarized magnetic potential; the first coil 18 and the second coil 21 are symmetrically wound on the outer sides of the first yoke and the second yoke respectively and used for providing control magnetic potential; the first spring rod 17 and the second spring rod 31 are used as elastic elements to penetrate through and be fixedly connected with two small holes on the upper and lower ridge surfaces of the armature 19, the ball ends of the first spring rod and the second spring rod are movably inserted into ball sockets of the first spring top plate 20 and the second spring top plate 23 respectively, the first spring top plate 20 and the second spring top plate 23 are tightly attached to the first permanent magnet 29 and the second permanent magnet 30 respectively and are also symmetrically placed on two sides of the first yoke 16 and the second yoke 22, and the armature 19 is directly and fixedly connected with the valve core 27 and is kept in the middle position of the motor. After the whole two-freedom-degree torque motor is assembled, the two-freedom-degree torque motor is fixedly connected to one end of the valve body through a screw.
As shown in fig. 3, 4 and 5. Different from the common novel two-degree-of-freedom torque motor used as a nozzle baffle valve and a jet pipe valve electro-mechanical converter, for the novel two-degree-of-freedom torque motor, the armature 19 consists of a central shaft and two inclined wing surfaces which are horizontally arranged, wherein the two inclined wing surfaces are both in a 180-degree array characteristic with an axis which is vertical to the horizontal plane and is vertically upward as the central shaft, namely, one inclined wing on one side is superposed with the inclined wing on the other side after rotating for 180 degrees along the axial direction, and the inclined wing surfaces on the two sides have the same inclination angle and opposite directions with the axial direction;
the first yoke 16 and the second yoke 22 are completely consistent in shape and size and are symmetrically arranged at an angle of 180 degrees along the axial center, and grooves inclined at a certain angle with the axial direction are formed in the cambered surfaces of the first yoke 16 and the second yoke 22 and used for dividing a magnetic circuit; the inclined angles of the inclined wings of the first yoke iron 16, the second yoke iron 22 and the armature 19 are the same; the side end of the oblique wing of the armature 19 is an arc surface, and forms four working air gaps with two arc surfaces of the first yoke 16 divided by the oblique groove and two arc surfaces of the second yoke 22 divided by the oblique groove, the radial distance of the four air gaps is constant all the time, and the area of the air gaps can change along with the rotation of the armature 19.
The change of the areas of the four working air gaps is not only influenced by the rotation of the armature 19, but also influenced by the axial displacement of the valve core 27, so that the force feedback of the valve core displacement to the novel two-degree-of-freedom torque motor is realized. When the novel double-freedom-degree torque motor is not electrified, no torque is output, and the armature is positioned at the middle position; when the coils 18 and 21 are electrified, the polarized magnetic potentials of the permanent magnets 29 and 30 and the control magnetic potential of the coils are mutually and differentially superposed under four working air gaps, so that electromagnetic torque is generated to drive the armature 19 to rotate until the electromagnetic torque and the counter torque of the spring rods 17 and 31 are mutually balanced, the armature 19 stops rotating, at the moment, the output torque of the armature 19 is in positive correlation with the control current, and the rotation angle of the armature 19 can be controlled by adjusting the current. When the armature 19 has an axial displacement, the working air gap areas of the armature 19 and the first and second yokes 16 and 22 change again, so that the resultant torque acting on the armature 19 is unbalanced, and the armature 19 and the valve core 27 are driven to rotate reversely simultaneously in the moving process until the working air gap areas of the armature 19 and the first and second yokes 16 and 22 return to the original values. In the above process, the axial displacement of the valve core 27 is realized by changing the air gap of the armature 19 to change the electromagnetic torque output by the armature 19, so as to realize displacement-force feedback.
As shown in fig. 1, 2, 7, 8 and 9, the hydraulic amplifying portion includes a valve core 27, a valve housing 11, a valve body 6, a back cover plate 1, a right plug ring 25, a concentric ring 13, a plug 3, O- rings 4, 5, 7, 8, 9, 10, 12, 15, 26, a plurality of screws, and the like. The valve core 27, the valve sleeve 11 and the rear cover plate 1 are matched to form a left sensitive cavity h, two pairs of axisymmetric low and high pressure grooves a and b are formed on the surface of a shoulder at the left end of the valve core 27 close to the left sensitive cavity h, the valve rod is also provided with overflowing holes c and d, the high pressure groove b, the overflowing hole c and the overflowing hole d are connected through an overflowing channel formed in the valve core, and the low pressure groove a is directly connected with an oil return port; the valve core 27 is arranged in the valve sleeve 11, and the valve sleeve 11 and the valve body 6 are sealed through O-shaped sealing rings 5, 7, 8, 9 and 10; the concentric ring 13 and the right plug ring 25 are arranged on the valve core 27 to ensure the positioning among the valve core 27, the valve sleeve 11 and the valve body 6; the inner surface of the valve sleeve 11 is provided with a pair of axisymmetric straight groove sensing channels f, one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low and high pressure grooves a and b form a resistance half bridge, and the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f and controls the pressure difference at the two ends of the valve core so as to realize the axial displacement of the valve core.
In this embodiment, a two-dimensional force feedback type electro-hydraulic servo valve with a valve core diameter of 12.5mm and a flow rate of 120L/min is taken as an example, and the invention is further described with reference to the accompanying drawings.
The working principle of the two-dimensional force feedback type electro-hydraulic servo valve is as follows: as shown in fig. 9, when the hydraulic pump is turned on and the novel two-degree-of-freedom torque motor is not energized, the armature 19 is in the neutral position under the support of the first spring rod 17 and the second spring rod 31, the areas of the upper and lower working air gaps of the oblique wing arc surfaces on both sides of the armature are equal, the areas can be approximately regarded as the multiplication of the bottom of a parallelogram and the height (the middle bottom is the same, and the height is g at this time), the right cavity k of the two-dimensional force feedback type electro-hydraulic servo valve is communicated with the oil inlet P (system pressure) through the through hole d via the small hole c and the channel in the valve core 27 rod, and the pressure-bearing area of the right cavity k; the pressure of the left sensitive cavity h is controlled by a hydraulic resistance half bridge formed by connecting a pair of low-high pressure grooves a and b arranged on a shoulder at the left end of the valve core 27 and two tiny rectangular windows intersected by a pair of straight groove sensing channels f arranged on the inner surface of the valve sleeve 11 in series. In a static state, if the influence of friction force and hydrodynamic force is not considered, the pressure of the left sensitive cavity h is half of the pressure of the port P (system pressure), the valve core 27 axially keeps static pressure balance, and the covering areas of the two sides of the low-pressure and high-pressure grooves intersected with the straight groove sensing channel f are equal.
As shown in fig. 10(a), 10(b) and 10(c), when the novel two-degree-of-freedom torque motor is energized, the armature 19 drives the valve plug 27 to rotate counterclockwise (as viewed from left to right) to an equilibrium position where the output torque is equal to the resisting torque of the first spring bar 17 and the second spring bar 31, as shown in fig. 10 (a); the height of the upper and lower working air gaps of the armature 19 changes (g)1And g2，g1>g，g2<g) The area of a throttle opening formed by the valve core low-pressure groove a and the straight groove sensing channel f is reduced, the area of a throttle opening formed by the high-pressure groove b and the sensing channel f is increased, the pressure in the sensitive cavity h is increased, and the valve core 27 moves rightwards after losing the axial balance; due to the inclined wing structure of the novel double-freedom-degree torque motor, the axial movement of the valve core 27 causes the height of the upper and lower working air gaps of the armature 19 to change again (g)3And g4，g3<g1，g4>g2) As shown in fig. 10(b), the driving torque acting on the armature 19 is reduced to be smaller than the counter torque of the spring rod, the resultant torque is unbalanced, the armature 19 and the valve core 27 rotate in opposite directions while moving axially until the areas of the two orifices between the sensing passage f and the low-high pressure groove return to be equal, at which time the armature 19 stops rotating, the valve core 27 stops moving axially and is in a new equilibrium position, and the pressure in the sensitive chamber h is restored to be half of the system pressure, as shown in fig. 10 (c). In the above process, the axial displacement of the spool 27 realizes the displacement-force feedback by changing the electromagnetic torque output by the armature 19 through the air gap change of the armature 19, so that the valve is a two-stage force feedback type electro-hydraulic servo valve in nature.
The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.

Claims (1)

1. The two-dimensional force feedback type electro-hydraulic servo valve comprises a hydraulic amplification mechanism and an electro-mechanical converter, wherein the hydraulic amplification mechanism comprises a valve core (27), a valve sleeve (11), a valve body (6), a rear cover plate (1), a right plug ring (25), a concentric ring (13) and a plug (3); the valve core (27), the valve sleeve (11) and the rear cover plate (1) are matched to form a left sensitive cavity h, two pairs of axisymmetric low and high pressure grooves a and b are formed on the surface of a shoulder at the left end of the valve core (27) close to the left sensitive cavity h, the valve rod is also provided with overflowing holes c and d, the high pressure groove b, the overflowing holes c and the overflowing holes d are connected through an overflowing channel arranged in the valve core, and the low pressure groove a is directly connected with an oil return opening; the valve core (27) is arranged in the valve sleeve (11), and the valve sleeve (11) and the valve body (6) are sealed through an O-shaped sealing ring; the valve core (27) is provided with a concentric ring (13) and a right plug ring (25) to ensure the positioning among the valve core (27), the valve sleeve (11) and the valve body (6); a pair of axisymmetric straight groove sensing channels f are formed in the inner surface of the valve sleeve (11), one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low and high pressure grooves a and b form a resistance half bridge, the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f, the pressure difference at two ends of the valve core is controlled, and the axial displacement of the valve core is realized;
the method is characterized in that: the electric-mechanical converter is a two-degree-of-freedom torque motor and comprises an armature (19) with a rotating shaft arranged along a horizontal plane, the armature (19) comprises two side inclined wing surfaces which are in a 180-degree array characteristic by taking an axis vertical to the horizontal plane and vertical upwards as a central axis, and the two side inclined wing surfaces are equal to the inclined angles of the rotating shaft and have the same size and opposite directions; the armature (19) is symmetrically provided with a first yoke (16) and a second yoke (22) at two sides, the first yoke (16) and the second yoke (22) are in a mirror image relationship with a vertical plane passing through a rotating shaft of the armature (19), the direction close to the armature (19) is taken as the inner side, and the direction opposite to the armature is taken as the outer side, the inner sides of the first yoke (16) and the second yoke (22) are in a circular arc shape, the outer sides of the first yoke (16) and the second yoke (22) are respectively wound with a first coil (18) and a second coil (21), the inner side wall surfaces of the first yoke (16) and the second yoke (22) are respectively provided with inclined grooves which are the same as the inclined directions of the side ends of inclined wing surfaces of the adjacent armature (19) relative to the rotating shaft, and the inclined angles of the grooves relative to the; the side end of the inclined wing of the armature (19) is an arc surface, the side end of the inclined wing of the armature (19) spans the inclined groove and forms four working air gaps with two arc surfaces of the first yoke iron (16) divided by the inclined groove and two arc surfaces of the second yoke iron (22) divided by the inclined groove, the radial distance of the four air gaps is constant all the time, and the area of the air gaps can be changed along with the rotation of the armature (19); the armature (19) and the valve core (27) are fixedly connected and are kept in the neutral position of the motor;
the upper part and the lower part of the inner sides of the first yoke iron (16) and the second yoke iron (22) are respectively provided with a first permanent magnet (29) and a second permanent magnet (30); the first permanent magnet (29), the second permanent magnet (30), the first yoke iron (16) and the second yoke iron (22) enclose a rotating inner cavity of the armature iron (19);
the first spring rod (17) and the second spring rod (31) are used as elastic elements and respectively penetrate into two small holes in the upper and lower ridge surfaces of the armature iron (19) and are fixedly connected with the small holes, the ball head ends of the first spring rod and the second spring rod are respectively movably inserted into ball sockets of the first spring top plate (20) and the second spring top plate (23), and the first spring top plate (20) and the second spring top plate (23) are respectively tightly attached to the first permanent magnet (29) and the second permanent magnet (30).
CN202010572330.3A 2020-03-10 2020-06-22 Two-dimensional force feedback type electro-hydraulic servo valve Pending CN111649021A (en)

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CN2020101618187 2020-03-10
CN202010161818.7A CN111396385A (en) 2020-03-10 2020-03-10 Two-dimensional force feedback type electro-hydraulic servo valve

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CN202010572330.3A Pending CN111649021A (en) 2020-03-10 2020-06-22 Two-dimensional force feedback type electro-hydraulic servo valve

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CN112377481B (en) * 2021-01-18 2021-03-30 烟台大学 High-frequency-response electro-hydraulic servo valve
CN114198531A (en) * 2021-11-20 2022-03-18 河南航天液压气动技术有限公司 Low-leakage tubular electro-hydraulic proportional reversing valve and reversing method

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