CN113309755B - Low-speed large-torque combined hydraulic motor - Google Patents
Low-speed large-torque combined hydraulic motor Download PDFInfo
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- CN113309755B CN113309755B CN202110684613.1A CN202110684613A CN113309755B CN 113309755 B CN113309755 B CN 113309755B CN 202110684613 A CN202110684613 A CN 202110684613A CN 113309755 B CN113309755 B CN 113309755B
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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
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
- F15B15/063—Actuator having both linear and rotary output, i.e. dual action actuator
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one 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
- 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
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
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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
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
- F15B2013/0448—Actuation by solenoid and permanent magnet
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Hydraulic Motors (AREA)
Abstract
The invention discloses a low-speed large-torque composite hydraulic motor. The hydraulic control system comprises a mechanical transmission mechanism and a hydraulic control loop, wherein the mechanical transmission mechanism is connected with the hydraulic control loop; the mechanical transmission mechanism comprises an outer shell, a cylinder body, a plurality of transmission groups and an inner gear shaft, wherein the cylinder body, the transmission groups and the inner gear shaft are all positioned in the outer shell, the inner gear shaft is a hollow shaft, the cylinder body is arranged in the inner gear shaft, the peripheral surface of the cylinder body is provided with a plurality of cylindrical cavities along the circumference, and each cylindrical cavity is radially arranged along the cylinder body; each cylindrical cavity is connected to the inner gear shaft through a transmission set, and each cylindrical cavity is communicated with a respective hydraulic control circuit. The invention utilizes the reciprocating work of the hydraulic cylinder to drive the fixed shaft of the gear to rotate, utilizes the large reduction ratio driven by the internal gear to reduce the output rotating speed of the hydraulic motor to be extremely low, greatly improves the output torque, is suitable for driving the slewing mechanism with the working characteristics of ultra-low speed and large torque, and has simple and reliable hydraulic control principle and easy locking.
Description
Technical Field
The invention belongs to the technical field of hydraulic motor design and control, and particularly relates to a low-speed large-torque combined hydraulic motor jointly driven by a hydraulic cylinder and a gear mechanism.
Background
A hydraulic motor is a hydraulic actuator that outputs rotational motion. Hydraulic motors can be classified into high-speed and low-speed according to the rated rotation speed. The low-speed hydraulic motor has low rotating speed and large output torque, so that a corresponding speed reducer can be omitted and the low-speed hydraulic motor is directly connected with a working mechanism. The traditional low-speed hydraulic motor mainly adopts a radial plunger type structure and consists of a stator, a cylinder body, an oil distribution shaft, a plunger and other elements, and the working principle is as follows: when pressure oil enters the bottom of the plunger in the cylinder body, the plunger extends outwards to tightly prop against the inner wall of the stator, and the cylinder body is driven to rotate by the reaction force of the stator on the plunger.
The radial plunger hydraulic motor has reliable working characteristics, but has a complex structure and large volume and weight. In order to meet the requirement of ultra-low speed under specific working conditions, the hydraulic motor needs to further reduce the rotating speed by a speed reducer. Although the mode can reduce the output rotating speed and improve the output torque to a certain extent, the complexity of the driving system is increased, and the reliability and the practicability of the driving system are influenced.
Disclosure of Invention
In order to solve the problems described in the background art, the technical problems to be solved by the present invention are: a compound hydraulic motor is provided that is driven by a combination of a hydraulic cylinder and a gear reduction mechanism. The hydraulic motor integrates the hydraulic cylinder and the gear mechanism into the hydraulic motor, and the output rotating speed of the hydraulic motor is greatly reduced through the transmission of the inner gear shaft.
In order to solve the technical problems, the invention adopts the following technical scheme:
the hydraulic control system comprises a mechanical transmission mechanism and a hydraulic control loop, wherein the mechanical transmission mechanism is in oil connection with the hydraulic control loop through a joint, a hose and the like;
the mechanical transmission mechanism comprises an outer shell, a cylinder body, a plurality of transmission groups and an inner gear shaft, wherein the cylinder body, the transmission groups and the inner gear shaft are all positioned in the outer shell, the inner gear shaft is a hollow shaft with a hollow inner cavity, the cylinder body is coaxially and fixedly installed in the hollow inner cavity of the inner gear shaft, a plurality of cylindrical cavities are uniformly arranged on the outer peripheral surface of the cylinder body at intervals along the circumference, each cylindrical cavity is radially arranged along the cylinder body, the axis of each cylindrical cavity is vertical to the axis of the cylinder body, and the outer end of each cylindrical cavity penetrates through the outer peripheral surface of the cylinder body, so that a plunger 2 in the transmission groups can slide in the cylindrical cavities along the axial direction of the plunger; each cylindrical cavity is connected to the inner wall of the inner gear shaft through a transmission set, and each cylindrical cavity is communicated with a respective hydraulic control loop;
each transmission set comprises a plunger, a connecting rod and an outer gear shaft, the inner end of the plunger is positioned in the cylindrical cavity, the outer end of the plunger is hinged with the eccentric position of the outer gear shaft through the connecting rod, the outer peripheral surface of the outer gear shaft is processed into an outer gear ring, the inner peripheral surface of the hollow inner cavity of the inner gear shaft is processed into an inner gear ring, the outer gear ring of the outer gear shaft is meshed with the inner gear ring of the inner gear shaft to form a gear meshing transmission pair, the position of each outer gear shaft is fixed and can be installed in a self-rotating manner, and the inner gear shaft and the outer gear shaft always rotate in the same direction;
the inner bottom of each cylindrical cavity is communicated with a hydraulic control loop through an oil way in the cylinder body;
the hydraulic control loop comprises an oil pump, an oil tank, a plurality of two-position three-way electromagnetic valves and a control device, each cylindrical cavity is connected with one two-position three-way electromagnetic valve, and the number of the cylindrical cavities is the same as that of the two-position three-way electromagnetic valves;
and each two-position three-way electromagnetic valve is respectively connected with the oil pump and the oil tank, so that the hydraulic oil flows into the cylindrical cavity after sequentially passing through the oil path and the window from the oil pump through the two-position three-way electromagnetic valves, or the hydraulic oil flows into the oil tank through the two-position three-way electromagnetic valves after sequentially passing through the window and the oil path from the cylindrical cavity. Each two-position three-way electromagnetic valve is electrically connected with the control device and is also connected with the corresponding oil way; the control device coordinately switches the working position state of each two-position three-way electromagnetic valve according to a certain sequence, keeps the working position state of at least one two-position three-way electromagnetic valve different from the working position states of other two-position three-way electromagnetic valves, and then controls the oil inlet of only one cylindrical cavity and the oil outlet of other cylindrical cavities, and further controls each transmission set to move, so that the continuous fixed shaft of the inner gear shaft is driven to rotate through the tooth meshing transmission pair.
The inner gear shaft comprises an inner gear and a shaft of the inner gear shaft fixedly connected with one end of the inner gear, and the inner gear shaft is movably sleeved in a through hole in one end face of the outer shell; the outer gear shaft comprises an outer gear and a shaft of an outer gear shaft fixedly connected with one end of the outer gear, and the outer gear shaft is movably sleeved in a through hole in the other end face of the outer shell. The inner gear shaft is in non-contact with the outer shell and the cylinder body, and the fixed shaft rotating motion of the inner gear shaft cannot drive the outer shell and the cylinder body to rotate the inner gear shaft.
The eccentric position of the end face of the external gear shaft is provided with a pin, namely the axis of the pin is parallel to the axis of the external gear shaft and is not on the same axis, and one end of the connecting rod is hinged with the pin.
The inner gear shaft has a larger number of teeth than the outer gear shaft, the outer gear shaft and the inner gear shaft rotate in the same direction, and the inner gear shaft serves as an output element and provides an output rotating speed and an output torque to the outside according to a reduction ratio.
The reduction ratio is equal to the ratio of the number of teeth of the inner gear shaft to the number of teeth of the outer gear shaft.
Each the plunger along cylinder cavity axial motion in respective cylinder cavity, along inner gear axle direction of rotation through controlling each cylinder cavity oil feed, all the other cylinder cavity oil extraction and then control in proper order, specifically as follows:
1) when hydraulic oil flows into the current cylindrical cavity, namely when oil enters the current cylindrical cavity, the hydraulic oil pushes the plunger to move outwards from the current cylindrical cavity, the outer gear shaft is driven to do fixed-axis rotary motion around the axis of the outer gear shaft through the hinged connecting rod, and the inner gear shaft is driven to do fixed-axis rotary motion around the axis of the inner gear shaft and the outer gear shaft in the same direction through meshing transmission;
2) when the current cylinder cavity is full of hydraulic oil, namely when the current cylinder cavity is fed with oil, the plunger slides to the top of the current cylinder cavity, hydraulic oil begins to be injected into the next cylinder cavity, the next cylinder cavity is a cylinder cavity which is adjacent to the current cylinder cavity and is located at the downstream of the rotation direction of the inner gear shaft, so that the next cylinder cavity returns to 1) as the current cylinder cavity to work, the outer gear shaft and the inner gear shaft are further kept to rotate in the same direction all the time, the fixed-axis rotation of the outer gear shaft and the inner gear shaft reversely pushes the plunger located in the cylinder cavity which is not fed with oil to move from the outside to the inside, and the hydraulic oil is discharged from the cylinder cavity.
The inner diameter of the cylindrical cavity is the same as the outer diameter of the plunger.
The two-position three-way electromagnetic valve comprises an A port, a P port and a T port, wherein the P port and the T port are positioned on the same side of the two-position three-way electromagnetic valve, the A port is positioned on the other side of the two-position three-way electromagnetic valve, the P port and the T port of the two-position three-way electromagnetic valve are respectively connected with an oil pump and an oil tank through a connector, a hose and the like, the A port of the other side is connected with respective cylindrical cavity after passing through an oil circuit between the outer shell and the cylinder body, the two-position three-way electromagnetic valve is electrically connected with the control device, the working position states of the two-position three-way electromagnetic valves are coordinately switched under the regulation and control of the control device, and the motion of the plunger in the cylindrical cavity is further controlled, so that the fixed axis rotation of the outer gear shaft and the fixed axis rotation of the inner gear shaft are controlled.
The invention mainly utilizes the reciprocating work of the hydraulic cylinder to drive the fixed shaft of the gear to rotate, and greatly reduces the output rotating speed of the device and improves the output torque of the device through the transmission of the inner gear shaft. When pressure oil enters a cylinder barrel of the hydraulic cylinder, the plunger is pushed to extend outwards, linear motion of the plunger can be converted into fixed shaft rotary motion of the outer gear shaft through a transmission mechanism such as a link mechanism, the output rotating speed of the hydraulic motor can be reduced to be extremely low by further utilizing a large reduction ratio of transmission of the inner gear shaft, and meanwhile, the output torque can be greatly improved by means of the size characteristic of the inner gear shaft.
The invention has the following beneficial effects:
1. the invention integrates the inner gear shaft speed reducing mechanism and the single-acting hydraulic cylinder structure together. Compared with the eccentric wheel transmission working principle of the traditional radial plunger type hydraulic motor, the radial plunger type hydraulic motor has the advantages that the working characteristic of outputting ultralow rotating speed can be effectively realized by virtue of the large reduction ratio characteristic of the transmission of the inner gear shaft;
2. according to the invention, by means of the working characteristic of simultaneous transmission of a plurality of groups of outer gear shafts and inner gear shafts, ultrahigh output torque which is amplified by times can be obtained.
3. The hydraulic control mechanism utilizes the two-position three-way electromagnetic valve to control the work of the plurality of piston rods, and compared with other hydraulic motors, the hydraulic control mechanism is simple and reliable in hydraulic control principle and easy to lock.
In general, the invention mainly utilizes the reciprocating work of the hydraulic cylinder to drive the fixed shaft of the gear to rotate, utilizes the large reduction ratio of the internal gear transmission to reduce the output rotating speed of the hydraulic motor to be extremely low, greatly improves the output torque, is suitable for driving the slewing mechanism with the ultra-low speed and large torque working characteristics, and has simple and reliable hydraulic control principle and easy locking.
Drawings
FIG. 1 is a general schematic view of the transmission of the present invention;
FIG. 2 is a schematic cross-sectional view of a cylinder block and oil circuit according to the present invention;
FIG. 3 is a schematic cross-sectional view of the cylinder block and cylindrical cavity of the present invention;
FIG. 4 is an enlarged partial schematic view of an internal gear reduction mechanism of the present invention;
fig. 5 is a schematic diagram of the hydraulic control principle of the movement of the plunger 2 in the present invention.
In the figure, a cylinder body 1, a plunger 2, a connecting rod 3, an outer gear shaft 4, an inner gear shaft 5, an oil pump 6, an oil tank 7, a two-position three-way electromagnetic valve 8 and a control device 9 are arranged.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the present invention includes a mechanical transmission mechanism and a hydraulic control circuit, the mechanical transmission mechanism and the hydraulic control circuit are connected by oil through a joint, a hose, etc.;
the mechanical transmission mechanism comprises an outer shell, a cylinder body 1, a plurality of transmission groups and an inner gear shaft 5, wherein the cylinder body 1, the transmission groups and the inner gear shaft 5 are all positioned in the outer shell, the inner gear shaft 5 is a hollow shaft with a hollow inner cavity, the cylinder body 1 is coaxially and fixedly installed in the hollow inner cavity of the inner gear shaft 5, the peripheral surface of the cylinder body 1 is uniformly provided with a plurality of cylindrical cavities at intervals along the circumference, each cylindrical cavity is radially arranged along the cylinder body 1, the axis of each cylindrical cavity is vertical to the axis of the cylinder body 1, and the outer end of each cylindrical cavity penetrates through the peripheral surface of the cylinder body 1, so that a plunger 2 in the transmission groups can axially slide in the cylindrical cavities; each cylindrical cavity is connected to the inner wall of the inner gear shaft 5 through a transmission set, and each cylindrical cavity is communicated with a respective hydraulic control loop;
each transmission set comprises a plunger 2, a connecting rod 3 and an outer gear shaft 4, the inner end of the plunger 2 is positioned in a cylindrical cavity, the outer end of the plunger 2 is hinged with the eccentric position of the outer gear shaft 4 through the connecting rod 3, the outer peripheral surface of the outer gear shaft 4 is processed into an outer gear ring, the inner peripheral surface of the hollow inner cavity of the inner gear shaft 5 is processed into an inner gear ring, the outer gear ring of the outer gear shaft 4 is meshed with the inner gear ring of the inner gear shaft 5 to form a gear meshing transmission pair, the position of each outer gear shaft 4 is fixed and can be installed in a self-rotating manner, and the inner gear shaft 5 and the outer gear shaft 4 always keep rotating in the same direction; the inner diameter of the cylindrical cavity is the same as the outer diameter of the plunger 2.
As shown in fig. 2 and 3, the inner bottom of each cylindrical cavity is communicated to a hydraulic control circuit through an oil passage inside the cylinder body 1;
as shown in fig. 5, the hydraulic control circuit includes an oil pump 6, an oil tank 7, a plurality of two-position three-way electromagnetic valves 8 and a control device 9, each cylindrical cavity is connected with one two-position three-way electromagnetic valve 8, and the number of the cylindrical cavities is the same as that of the two-position three-way electromagnetic valves 8;
each two-position three-way electromagnetic valve 8 is respectively connected with the oil pump 6 and the oil tank 7, so that hydraulic oil flows into the cylindrical cavity from the oil pump 6 through the two-position three-way electromagnetic valve 8 and then sequentially flows through the oil path and the window, or hydraulic oil flows into the oil tank 7 from the cylindrical cavity sequentially through the window and the oil path and then flows through the two-position three-way electromagnetic valve 8. Each two-position three-way electromagnetic valve 8 is electrically connected with the control device 9, and the two-position three-way electromagnetic valves 8 are also connected with the corresponding oil passages; the control device 9 coordinately switches the working position state of each two-position three-way electromagnetic valve 8 according to a certain sequence, keeps the working position state of at least one two-position three-way electromagnetic valve 8 different from the working position states of other two-position three-way electromagnetic valves 8, and further controls oil feeding of only one of the cylindrical cavities and oil discharging of other cylindrical cavities, and further controls movement of each transmission set, so that the continuous fixed shaft rotation of the inner gear shaft 5 is driven by the tooth meshing transmission pair. The invention mainly utilizes the reciprocating work of the plunger 2 to drive the fixed shaft of the outer gear shaft 4 to rotate through the connecting rod 3, further drives the inner gear shaft 5 to rotate in the same direction with the inner gear shaft through meshing transmission, and then utilizes the large reduction ratio transmitted by the inner gear shaft 5 to reduce the output rotating speed of the hydraulic motor to be extremely low, and simultaneously greatly improves the output torque, and is suitable for driving the swing mechanism with the working characteristics of ultra-low speed and large torque.
The inner gear shaft 5 comprises an inner gear and a shaft of the inner gear shaft 5 fixedly connected with one end of the inner gear, and the inner gear shaft 5 is movably sleeved in a through hole in one end face of the outer shell; the outer gear shaft 4 comprises an outer gear and a shaft of the outer gear shaft 4 fixedly connected with one end of the outer gear, and the outer gear shaft 4 is movably sleeved in a through hole in the other end face of the outer shell. The inner gear shaft 5 is not in contact with the outer shell and the cylinder body 1, and the fixed-shaft rotating motion of the inner gear shaft 5 cannot drive the outer shell and the cylinder body 1 to rotate.
As shown in fig. 4, a pin is provided at an eccentric position of the end surface of the external gear shaft 4, that is, the axis of the pin is parallel to and not on the same axis as the axis of the external gear shaft 4, and one end of the connecting rod 3 is hinged to the pin. The inner gear shaft 5 has a larger number of teeth than the outer gear shaft 4, the outer gear shaft 4 and the inner gear shaft 5 are rotated in the same direction, and the inner gear shaft 5 serves as an output member for providing an output rotational speed and an output torque to the outside according to a reduction ratio. The reduction ratio is equal to the ratio of the number of teeth of the inner gear shaft 5 to the number of teeth of the outer gear shaft 4.
In the specific implementation, the cavities of the cylinder 1 are cylindrical, and each cavity is internally provided with a plunger 2. The plunger 2 is cylindrical as a whole and coaxial with the cavity on the cylinder body 1, the inner wall of the cavity forms a shaft hole matching relation, and the plunger 2 can slide in the cavity along the axial direction of the plunger. When hydraulic oil enters or leaves the cavity, the plunger 2 will correspondingly extend or retract from the cavity into the cavity. One end of the plunger 2 is hinged with one end of the connecting rod 3. The end face of one end of the outer gear shaft 4 is provided with a short pin, and the axis of the short pin and the axis of the outer gear shaft 4 have certain eccentricity and are hinged with the other end of the connecting rod 3. The outer gear shaft 4, the inner gear shaft 5 and the fixed outer shell form a rotating pair, and the axes of the rotating pair and the outer shell are static relatively and can only rotate with a fixed shaft. The inner gear shaft 5 and the outer gear shaft 4 form an inner gearing relationship, and the ratio of the number of teeth of the two gears is the reduction ratio. The inner gear shaft 5 and the outer gear shaft 4 rotate in the same direction, and the inner gear shaft 5 outputs a rotational motion at a certain reduction ratio. The internal gear shaft 5 serves as an output element, and provides the output rotation speed and the output torque for the invention.
The cylinder body 1 and the outer shell are kept relatively static, the plunger 2 can only do reciprocating linear motion along the radial direction of the cylinder body 1, two ends of the connecting rod 3 respectively form a rotating pair with the plunger 2 and the outer gear shaft 4, the outer gear shaft 4 and the inner gear shaft 5 can only do fixed-axis rotation, the outer gear shaft 4 and the inner gear shaft 5 form an inner meshing relationship, and the connecting rod 3 converts the linear motion of the plunger 2 into the rotary motion of the outer gear shaft 4. The inner gear shaft 5 reduces the output rotating speed to be extremely low according to a certain reduction ratio, and effectively improves the output torque.
The two-position three-way electromagnetic valve 8 comprises an A port, a P port and a T port, the P port and the T port are positioned on the same side of the two-position three-way electromagnetic valve 8, the A port is positioned on the other side of the two-position three-way electromagnetic valve 8, the P port and the T port of the two-position three-way electromagnetic valve 8 are respectively connected with the oil pump 6 and the oil tank 7 through joints, hoses and the like, the A port on the other side is connected with respective cylindrical cavities after passing through an oil circuit between the outer shell and the cylinder body 1, the two-position three-way electromagnetic valve 8 is electrically connected with the control device 9, the working position states of the two-position three-way electromagnetic valves 8 are coordinately switched under the regulation and control of the control device 9, the motion of the plunger 2 in the cylindrical cavities is further controlled, and therefore the fixed axis rotation of the outer gear shaft 4 and the inner gear shaft 5 is controlled.
The working method of the low-speed large-torque compound hydraulic motor comprises the following specific steps:
each plunger 2 along cylinder cavity axial motion in respective cylinder cavity, along 5 direction of rotation of inner gear shaft through controlling each cylinder cavity oil feed, all the other cylinder cavity oil extraction and then control in proper order, specifically as follows:
1) when hydraulic oil flows into the current cylindrical cavity, namely when oil enters the current cylindrical cavity, the hydraulic oil pushes the plunger 2 to move outwards from the current cylindrical cavity, the outer gear shaft 4 is driven to do fixed-axis rotary motion around the axis of the outer gear shaft through the hinged connecting rod 3, and then the inner gear shaft 5 is driven to do fixed-axis rotary motion around the axis of the inner gear shaft 5 and the outer gear shaft 4 in the same direction through meshing transmission;
2) when the current cylinder cavity is filled with hydraulic oil, namely the oil feeding of the current cylinder cavity is completed, the plunger 2 slides to the top of the current cylinder cavity, hydraulic oil starts to be injected into the next cylinder cavity, the next cylinder cavity is a cylinder cavity which is adjacent to the current cylinder cavity and is downstream along the rotating direction of the inner gear shaft 5, so that the next cylinder cavity returns to 1) as the current cylinder cavity to work, the outer gear shaft 4 and the inner gear shaft 5 are further kept to rotate in the same direction all the time, the fixed-axis rotation of the outer gear shaft 4 and the inner gear shaft 5 reversely pushes the plunger 2 in the cylinder cavity which is not fed with oil to move from outside to inside, and the hydraulic oil is discharged from the cylinder cavity.
In actual operation, when the plurality of outer gear shafts 4 are operated in coordination, the output torque of the present invention can be further increased. As mentioned above, the linear reciprocating movement of the plunger 2 in its axial direction needs to be achieved by feeding or discharging hydraulic oil into or from a cavity in the cylinder 1.
The specific implementation of the invention relates to the cooperative action of a plurality of plungers 2, a control device 9 is used for regulating and controlling a plurality of two-position three-way electromagnetic valves 8, and pressure oil is sequentially distributed into different oil cavities on a cylinder body 1 according to a certain sequence to push the plungers 2 to extend and retract in order. The output end adopts an inner gear shaft transmission mode, the output rotating speed can be greatly reduced by utilizing a large reduction ratio, and the output torque is improved.
The invention mainly utilizes the reciprocating work of the plunger 2 to drive the fixed shaft of the outer gear shaft 4 to rotate through the connecting rod 3, further drives the inner gear shaft 5 to rotate in the same direction with the inner gear shaft through meshing transmission, and then utilizes the large reduction ratio transmitted by the inner gear shaft 5 to reduce the output rotating speed of the hydraulic motor to be extremely low, and simultaneously greatly improves the output torque, and is suitable for driving the swing mechanism with the working characteristics of ultra-low speed and large torque.
The technical solution of the present invention is not limited to the above-mentioned specific embodiments, and all technical modifications made according to the present invention fall within the scope of protection of the present invention.
Claims (6)
1. A low-speed large-torque composite hydraulic motor is characterized in that: the hydraulic control system comprises a mechanical transmission mechanism and a hydraulic control loop, wherein the mechanical transmission mechanism is connected with the hydraulic control loop;
the mechanical transmission mechanism comprises an outer shell, a cylinder body (1), a plurality of transmission groups and an inner gear shaft (5), wherein the cylinder body (1), the transmission groups and the inner gear shaft (5) are all positioned in the outer shell, the inner gear shaft (5) is a hollow shaft with a hollow inner cavity, the cylinder body (1) is coaxially and fixedly installed in the hollow inner cavity of the inner gear shaft (5), a plurality of cylindrical cavities are uniformly arranged on the outer peripheral surface of the cylinder body (1) at intervals along the circumference, and each cylindrical cavity is radially arranged along the cylinder body (1); each cylindrical cavity is connected to the inner wall of the inner gear shaft (5) through a transmission set, and each cylindrical cavity is communicated with a respective hydraulic control loop;
each transmission set comprises a plunger (2), a connecting rod (3) and an outer gear shaft (4), the inner end of the plunger (2) is positioned in the cylindrical cavity, the outer end of the plunger (2) is hinged with the eccentric position of the outer gear shaft (4) through the connecting rod (3), the outer peripheral surface of the outer gear shaft (4) is processed into an outer gear ring, the inner peripheral surface of the hollow inner cavity of the inner gear shaft (5) is processed into an inner gear ring, the outer gear ring of the outer gear shaft (4) is meshed with the inner gear ring of the inner gear shaft (5) to form a tooth meshing transmission pair, and the inner gear shaft (5) and the outer gear shaft (4) always keep rotating in the same direction;
the inner bottom of each cylindrical cavity is communicated with a hydraulic control loop through an oil way in the cylinder body (1);
the hydraulic control loop comprises an oil pump (6), an oil tank (7), a plurality of two-position three-way electromagnetic valves (8) and a control device (9), each cylindrical cavity is connected with one two-position three-way electromagnetic valve (8), and the number of the cylindrical cavities is the same as that of the two-position three-way electromagnetic valves (8);
each two-position three-way electromagnetic valve (8) is respectively connected with the oil pump (6) and the oil tank (7), and each two-position three-way electromagnetic valve (8) is electrically connected with the control device (9); the control device (9) coordinately switches the working position state of each two-position three-way electromagnetic valve (8), keeps the working position state of at least one two-position three-way electromagnetic valve (8) different from the working position states of other two-position three-way electromagnetic valves (8), and then controls oil inlet of only one of the cylindrical cavities, and the plungers (2) in other cylindrical cavities follow up to control the motion of each transmission set, so that the continuous fixed-axis rotation of the inner gear shaft (5) is driven by the tooth meshing transmission pair.
2. A low-speed high-torque compound hydraulic motor as defined in claim 1, wherein:
the inner gear shaft (5) comprises an inner gear and a shaft fixedly connected with one end of the inner gear, and the inner gear shaft (5) is movably sleeved in a through hole in one end face of the outer shell; the outer gear shaft (4) comprises an outer gear and a shaft fixedly connected with one end of the outer gear, and the outer gear shaft (4) is movably sleeved in a through hole in the other end face of the outer shell.
3. A low-speed high-torque compound hydraulic motor as defined in claim 1, wherein:
and a pin is arranged at the eccentric position of the end surface of the outer gear shaft (4), and one end of the connecting rod (3) is hinged with the pin.
4. A low-speed high-torque compound hydraulic motor as defined in claim 1, wherein:
the gear number of the inner gear shaft (5) is larger than that of the outer gear shaft (4), the outer gear shaft (4) and the inner gear shaft (5) keep rotating in the same direction, and the inner gear shaft (5) serves as an output element and provides output rotating speed and output torque to the outside according to the reduction ratio.
5. The low-speed high-torque compound hydraulic motor according to claim 4, wherein: the reduction ratio is equal to the ratio of the number of teeth of the inner gear shaft (5) to the number of teeth of the outer gear shaft (4).
6. A method of operating a low-speed high-torque compound hydraulic motor as claimed in any one of claims 1 to 5, wherein:
each plunger (2) along cylinder cavity axial motion in respective cylinder cavity, follow up and then control through controlling plunger (2) in each cylinder cavity oil feed, all the other cylinder cavities in proper order along inner gear axle (5) direction of rotation, specifically as follows:
1) when hydraulic oil flows into the current cylindrical cavity, namely when oil enters the current cylindrical cavity, the hydraulic oil pushes the plunger (2) to move outwards from the current cylindrical cavity, the hinged connecting rod (3) drives the outer gear shaft (4) to do fixed-axis rotary motion around the axis of the outer gear shaft, and then the meshing transmission drives the inner gear shaft (5) to do fixed-axis rotary motion;
2) when hydraulic oil is full of the current cylindrical cavity, namely when the oil feeding of the current cylindrical cavity is completed, the plunger (2) slides to the top of the current cylindrical cavity, hydraulic oil is injected into the next cylindrical cavity, so that the next cylindrical cavity works as the current cylindrical cavity to return to the cylinder (1), the outer gear shaft (4) and the inner gear shaft (5) are kept to rotate along the same direction all the time, the fixed-axis rotation of the outer gear shaft (4) and the inner gear shaft (5) can push the plunger (2) which is located in the cylindrical cavity without the oil feeding to move from outside to inside, and the hydraulic oil is discharged from the cylindrical cavity.
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