CN113370202A - Double-blade hydraulic servo compliant driver - Google Patents
Double-blade hydraulic servo compliant driver Download PDFInfo
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- CN113370202A CN113370202A CN202110772661.6A CN202110772661A CN113370202A CN 113370202 A CN113370202 A CN 113370202A CN 202110772661 A CN202110772661 A CN 202110772661A CN 113370202 A CN113370202 A CN 113370202A
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- 238000007789 sealing Methods 0.000 claims abstract description 12
- 230000004323 axial length Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 7
- 241000282472 Canis lupus familiaris Species 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
- B25J9/148—Rotary actuators of the oscillating vane-type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention provides a double-blade hydraulic servo flexible driver, which belongs to the technical field of hydraulic joints and servo valves and comprises a cylinder body, a first end cover, a second end cover, a valve core, a valve sleeve, a valve body rotating shaft, two fixed stop blocks and two blades, wherein the first end cover and the second end cover are respectively sealed and arranged at two ends of the cylinder body to form a sealed cavity, and the valve core is concentrically and rotatably arranged in the cylinder body; the valve body is concentrically sleeved on the valve core through the valve sleeve, and one end of a rotating shaft of the valve body penetrates through the second end cover to extend into the sealing cavity and is connected with one end of the valve body; two fixed stop blocks are installed between valve body and the cylinder body and fixed on the cylinder body, the fixed mounting of two blade symmetries is at the valve body outer wall, two blades and two fixed stop block staggered arrangement. The driver has the advantages of stable transmission, simple structure, convenient processing and assembly, high response speed and high control precision, the output torque is larger than that of a hydraulic corner self-servo compliant driver with a single blade, and the rotating angle range of the blade on the valve body is smaller.
Description
Technical Field
The invention relates to the technical field of hydraulic joints and servo valves, in particular to a double-blade hydraulic servo compliant driver.
Background
The hydraulic corner self-servo technology is an important part of a hydraulic joint technology, and the core technology of the hydraulic corner self-servo technology is that the hydraulic technology is combined with an electromechanical technology to form a hydraulic servo control system with the characteristics of high power, quick response, accurate response and the like. The hydraulic corner self-servo valve designed based on the technology is a core element of a hydraulic servo control system, and the idea is to realize corner self-servo by utilizing internal feedback of a mechanical structure, namely, the output quantity can automatically, quickly and accurately reproduce the change rule of the input quantity. The operating principle is that the valve core is directly driven to rotate by the small torque of the steering engine through the coupler to open the valve port, and the high-pressure oil pushes the valve body to rotate, so that large output torque is obtained. The steering engine has the characteristics of stable transmission, large torque, simple structure, high load rigidity, high response speed, high precision and the like, and can amplify the power of small torque input by the steering engine, so that larger output torque is obtained. Therefore, the method is widely applied to occasions with high requirements on output quantity precision, such as aerospace machinery, robot systems, large-scale experimental equipment and the like, and the structural principle design of the method can attract the attention of scientific research personnel of all parties.
The hydraulic corner self-servo flexible driver is structurally improved on the basis of an easily-machined hydraulic corner self-servo flexible driver (CN 201822233651.1). compared with the prior art, the hydraulic corner self-servo flexible driver has the advantages that the processing and the assembly are convenient, the leakage oil is easy and convenient to guide, dead areas caused by the attachment of blades and fixed stop blocks can be overcome, the valve body valve core is balanced in stress and not easy to displace, the dynamic characteristic is good, the joint flexibility is high, the response speed is high, and the control precision is high; there is still much room for improvement in the range of the angle of rotation of the vanes and the output torque of the valve body.
Therefore, there is a need to design a dual-vane hydraulic servo compliant actuator to overcome the above problems.
Disclosure of Invention
In order to avoid the problems, the double-blade hydraulic servo compliant driver is provided, the transmission is stable, the structure is simple, the processing and the assembly are convenient, the response speed is high, the control precision is high, the output torque is larger than that of a single-blade hydraulic corner self-servo compliant driver, and the rotating angle range of the blades on the valve body is smaller.
The invention provides a double-blade hydraulic servo compliant driver, which comprises: the valve comprises a cylinder body, a first end cover, a second end cover, a valve core, a valve sleeve, a valve body rotating shaft, two fixed stop blocks and two blades;
the first end cover and the second end cover are respectively sealed and arranged at two ends of the cylinder body to form a sealed cavity, the valve core is concentrically and rotatably arranged in the cylinder body, and one end of the valve core penetrates through the first end cover to extend out of the sealed cavity; the valve body is concentrically sleeved on the valve core through the valve sleeve, and one end of a rotating shaft of the valve body penetrates through the second end cover to extend into the sealing cavity and is connected with one end of the valve body;
the two fixed stop blocks are arranged between the valve body and the cylinder body and fixed on the cylinder body, the two fixed stop blocks are symmetrically arranged on two sides of the valve body, the two blades are symmetrically and fixedly arranged on the outer wall of the valve body, the two blades and the two fixed stop blocks are arranged in a staggered manner, the central connecting line of the two fixed stop blocks is perpendicular to the central connecting line of the two blades, and the two fixed stop blocks and the two blades divide the interior of the cylinder body to form four working cavities;
the cylinder body inner ring is also arranged in the cylinder body, the valve body boss is arranged on the outer diameter of the valve body, and the cylinder body inner ring and the valve body boss are respectively positioned at two ends of the blade along the axial direction of the cylinder body; the first end cover is provided with a leakage oil duct.
Preferably, the bearing arranged between the valve body and the cylinder block is a tapered roller bearing.
Preferably, the axial movement between the rotating shaft of the valve body and the valve body is limited by a screw, and the torque is transmitted by key connection.
Preferably, a cylindrical cavity of the valve body and a cavity of a rotating shaft of the valve body are arranged in the valve body, one end of the valve body, which is close to the first end cover, is provided with two first radial low-pressure oil channels of the valve body, which are symmetrically distributed at 180 degrees, one end of the valve body, which is close to the second end cover, is provided with two second radial low-pressure oil channels of the valve body, which are symmetrically distributed at 180 degrees, the first radial low-pressure oil channels of the valve body and the second radial low-pressure oil channels of the valve body are communicated with the cylindrical cavity of the valve body, which is close to the first radial low-pressure oil channels of the valve body, is provided with a first rectangular valve port, the valve body, which is close to the second radial low-pressure oil channels of the valve body, is provided with a second rectangular valve port, and the first rectangular valve port and the second rectangular valve port are respectively provided with a third rectangular valve port and a fourth rectangular valve port on the outer walls which are symmetric about the center of the valve body, the four rectangular valve ports have the same size and correspond to four working cavities formed by two fixed stoppers and two blades in staggered distribution respectively.
Preferably, the axial length of two fixed stop dogs is the difference between the length of the cylindrical cavity of cylinder body and the length of the boss of the valve body, the difference between the upper and lower cambered surfaces of the fixed stop dogs is half of the difference between the inner diameter of the cylindrical cavity of cylinder body and the outer diameter of the valve body, the upper cambered surface of the fixed stop dog is provided with a thin rectangular sealing groove along the axial direction, and the thin rectangular sealing groove is equal to the length of the fixed stop dog.
Preferably, the axial length and the difference between the upper cambered surface and the lower cambered surface of the two blades are the same as those of the two fixed stop blocks, rectangular grooves are formed in the middle positions of the rectangular surfaces on the two sides of the two blades, and arc grooves communicated with the rectangular grooves are formed in the two sides of the lower cambered surface of the blades and used for preventing the blades from being stuck to the fixed stop blocks.
Preferably, the valve sleeve is sequentially provided with a first valve sleeve T port, a first valve sleeve a port, a second valve sleeve a port, a first valve sleeve P port, a second valve sleeve P port, a first valve sleeve B port, a second valve sleeve B port and a second valve sleeve T port along the axial direction from the first end cover to the second end cover; when the first A port of the valve sleeve is communicated with the first working cavity and the third working cavity, and the first B port of the valve sleeve is communicated with the second working cavity and the fourth working cavity, the second A port of the valve sleeve and the second B port of the valve sleeve are not communicated with the four working cavities; when the second port A of the valve sleeve is communicated with the first working cavity and the third working cavity, and the second port B of the valve sleeve is communicated with the second working cavity and the fourth working cavity, the first port A of the valve sleeve and the first port B of the valve sleeve are not communicated with the four working cavities, and except the above condition, the valve port of the valve sleeve is not communicated with the four working cavities.
Preferably, one end of the valve core extending out of the sealing cavity is connected with a steering engine disc on a steering engine output shaft through a coupler.
Preferably, one end face of the valve sleeve and one end face of the valve body are fixed together through a cylindrical pin, and thrust ball bearings are mounted at two ends of the valve core.
Compared with the prior art, the invention has the following beneficial effects: the double-vane double-fixed-stop-block hydraulic drive has the advantages that double vanes and double fixed stop blocks are adopted, the number of corresponding working chambers is increased to four, high-pressure oil can enter two symmetrical working chambers at the same time when the drive works at each time, and low-pressure oil can be discharged from the other two symmetrical working chambers at the same time; when the valve core rotates a certain angle to drive the valve body to rotate, and the valve body rotates the same angle, the displacement of the double-blade driver is basically twice that of the single-blade driver, and the output torque on the valve body output shaft of the corresponding double-blade driver is basically twice that of the single-blade driver; this increases the output torque of the drive based on the original patent, which can drive larger loads.
Drawings
FIG. 1 is a schematic structural view of the present patent and is a schematic sectional view A-A of FIG. 2;
FIG. 2 is a schematic cross-sectional view B-B of FIG. 1;
FIG. 3 is a left side view of the valve body;
FIG. 4 is a schematic cross-sectional view C-C of FIG. 3;
FIG. 5 is a schematic cross-sectional view D-D of FIG. 3;
FIG. 6 is a schematic cross-sectional view E-E of FIG. 3;
fig. 7 is a top view of the valve sleeve;
FIG. 8 is a schematic cross-sectional view F-F of FIG. 7;
FIG. 9 is a top view of the valve cartridge;
FIG. 10 is a top view of the fixed stop;
FIG. 11 is a left side view of the fixed stop;
FIG. 12 is a front view of the fixed stop;
FIG. 13 is a top view of the blade;
FIG. 14 is a front view of the blade;
FIG. 15 is a left side view of the blade;
FIG. 16 is a front view of the structure of this patent;
FIG. 17 is a schematic sectional view G-G of FIG. 16;
FIG. 18 is a schematic sectional view H-H of FIG. 16;
detailed description of the embodiments reference is made to the accompanying drawings in which:
1. the steering engine comprises a steering engine, 2, a steering engine disc, 3, a coupler, 4, a first end cover, 5, a first fixed stop, 6, a valve body boss, 7, a cylinder body, 8, a second end cover, 9, a flange plate, 10, a valve body rotating shaft, 11, a valve body, 12, a second fixed stop, 13, a valve sleeve, 14, a valve core, 15, a steering engine seat, 16, a cylinder body inner ring, 17, a first blade, 18, a thrust ball bearing, 19, a conical roller bearing, 20, a second blade, 21, a valve body first radial low-pressure oil channel, 22, a valve body second radial low-pressure oil channel, 23, a valve body rotating shaft cavity, 24, a valve body cylindrical cavity, 25, a first rectangular valve port, 26, a valve body fold line-shaped high-pressure oil channel, 27, a valve body shaft shoulder 27, 28, a second rectangular valve port, 29, a fourth rectangular valve port, 30, a third rectangular valve port, 31, a valve sleeve first T port, 32, a valve sleeve first A port, 33, a valve sleeve second rectangular valve sleeve opening, a valve sleeve second valve shaft cavity, a valve shaft, a second valve shaft, a second shaft, the valve sleeve second port A, 34, the valve sleeve first port P, 35, the valve sleeve second port P, 36, the valve sleeve first port B, 37, the valve sleeve second port B, 38, the valve sleeve second port T, 39, the valve core first annular boss, 40, the valve core second annular boss, 41, the valve core third annular boss, 42, the valve core fourth annular boss, 43, the valve core fifth annular boss, 44, the rectangular groove, 45, the circular arc groove, 46, the first working chamber, 47, the second working chamber, 48, the third working chamber, 49 and the fourth working chamber.
Detailed Description
The technical scheme of the invention is clear and completely described in the following with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "first", "second", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 18, the present embodiment provides a dual-blade hydraulic servo compliant actuator, including: the valve comprises a cylinder body 7, a first end cover 4, a second end cover 8, a valve core 14, a valve sleeve 13, a valve body 11, a valve body rotating shaft 10, two fixed stop blocks and two blades.
The first end cover 4 and the second end cover 8 are respectively sealed and arranged at the left end and the right end of the cylinder body 7 to form a sealed cavity, the valve core 14 is concentrically and rotatably arranged in the cylinder body 7, and the left end of the valve core passes through the first end cover 4 and extends out of the sealed cavity; the left end of the valve core 14 extending out of the sealing cavity is connected with a steering engine disk 2 on an output shaft of a steering engine 1 through a coupler 3, the steering engine 1 is fixed on a first end cover 4 through two steering engine bases 15, the steering engine 1 drives the valve core 14 to rotate, and a leakage oil duct is arranged on the first end cover 4.
The valve body 11 is concentrically sleeved on the valve core 14 through the valve sleeve 13, the left end face of the valve sleeve 13 and the left end face of the valve body 11 are fixed together through a cylindrical pin, and the two ends of the valve core 14 are both provided with thrust ball bearings 18. Meanwhile, the valve body 11 is coaxially installed inside the cylinder body 7 such that the left and right end surfaces thereof are aligned with the left and right end surfaces of the cylinder body 7, respectively. Two tapered roller bearings 19 are concentrically arranged at the left end and the right end of the valve body 11, the tapered roller bearing 19 at the left end is fixed in a left bearing groove of the cylinder body 7, and the tapered roller bearing 19 at the right end is fixed in a right bearing groove of the cylinder body 7. A cylinder body inner ring 16 is further arranged in the cylinder body 7, a valve body boss 6 is arranged on the outer diameter of the valve body 11, and the cylinder body inner ring 16 and the valve body boss 6 are respectively located at two ends of the blade along the axial direction of the cylinder body 7. The cylinder body inner ring 16 is installed to the inner spigot from the left end of the cylinder body 7, and the valve body boss 6 is pressed in from the right end of the cylinder body 7 to enable the right end face of the valve body boss to be flush with the left end face of the right bearing groove of the cylinder body 7. The gasket is put into from the left and right ends of cylinder body 7 respectively, and left end gasket hugs closely the left end face of cylinder body inner circle 16, and right end gasket hugs closely the right-hand member face of valve body boss 6, ensures whole leakproofness.
One end of the valve body rotating shaft 10 penetrates through the second end cover 8 to extend into the sealed cavity and is connected with one end of the valve body 11. The valve body rotating shaft 10 is concentrically pressed into the valve body rotating shaft cavity 23 from the right end to the valve body shaft shoulder 27 of the valve body rotating shaft 10, the axial movement between the valve body rotating shaft 10 and the valve body 11 is limited through two screws, and the torque is transmitted through key connection. And the flange 9 is concentrically arranged at the right end of the valve body rotating shaft 10, the axial movement is limited between the valve body rotating shaft 10 and the flange 9 through a cylindrical pin, and the torque is transmitted through key connection.
As shown in fig. 1 to 18, two fixed stoppers, namely a first fixed stopper 5 and a second fixed stopper 12, are installed between the valve body 11 and the cylinder body 7 and fixed on the cylinder body 7, the two fixed stoppers are symmetrically distributed at two sides of the valve body 11 by 180 degrees, two blades, namely a first blade 17 and a second blade 20, are also fixedly installed on the outer wall of the valve body 11 by 180 degrees, the two blades and the two fixed stoppers are arranged in a staggered manner, a central connecting line of the two fixed stoppers is perpendicular to a central connecting line of the two blades, and the two fixed stoppers and the two blades are distributed in a staggered manner to divide the inside of the cylinder body 7 into four working chambers.
The axial length of two fixed stop blocks is the difference between the length of the cylindrical cavity of the cylinder body and the length of the boss 6 of the valve body, the difference of the upper and lower cambered surfaces of the fixed stop blocks is half of the difference between the inner diameter of the cylindrical cavity of the cylinder body and the outer diameter of the valve body 11, the upper cambered surface of the fixed stop block is provided with a thin rectangular sealing groove along the axis direction, and the thin rectangular sealing groove is equal to the length of the fixed stop block. Simultaneously, two blade axial length and upper and lower cambered surface difference are the same with two fixed stop blocks, and the last cambered surface of two blades is equipped with thin rectangle seal groove along the axis direction, and thin rectangle seal groove equals with the length of blade, and open at the both sides rectangular surface intermediate position of two blades has rectangular channel 44, and blade cambered surface both sides are equipped with the communicating arc groove 45 with rectangular channel 44 under the blade for prevent that blade and fixed stop block from sticking to death.
As shown in fig. 3 to 6, a cylindrical valve body cavity 24 and a rotating shaft valve body cavity 23 are formed in the valve body 11, and two first radial low-pressure oil passages 21 of the valve body are formed at the left end of the valve body 11 and are symmetrically distributed at 180 degrees; two valve body second radial low-pressure oil channels 22 which are symmetrically distributed at 180 degrees are formed at the right end of the valve body 11. The first radial low-pressure oil channel 21 and the second radial low-pressure oil channel 22 of the valve body are communicated with the cylindrical cavity 24 of the valve body, a first rectangular valve port 25 is arranged on the valve body 11 close to the first radial low-pressure oil channel 21 of the valve body, a second rectangular valve port 28 is arranged on the valve body 11 close to the second radial low-pressure oil channel 22 of the valve body, a third rectangular valve port 30 and a fourth rectangular valve port 29 are respectively arranged on the outer walls of the first rectangular valve port 25 and the second rectangular valve port 28 which are centrosymmetric about the valve body 11, and the four rectangular valve ports have the same size and respectively correspond to four working cavities formed by two fixed stoppers and two blades in a staggered distribution mode.
As shown in fig. 7 to 9, the valve housing 13 is provided with a valve housing first T port 31, a valve housing first a port 32, a valve housing second a port 33, a valve housing first P port 34, a valve housing second P port 35, a valve housing first B port 36, a valve housing second B port 37 and a valve housing second T port 38 from left to right in sequence; when the first valve housing a port 32 communicates with the first working chamber 46 and the third working chamber 48, and the first valve housing B port 36 communicates with the second working chamber 47 and the fourth working chamber 49, the second valve housing a port 33 and the second valve housing B port 37 do not communicate with the four working chambers; when the valve housing second a port 33 communicates with the first working chamber 46 and the third working chamber 48, and the valve housing second B port 37 communicates with the second working chamber 47 and the fourth working chamber 49, the valve housing first a port 32 and the valve housing first B port 36 do not communicate with the four working chambers, except as described above, the valve housing 13 port does not communicate with the four working chambers.
A low-pressure oil channel and a high-pressure oil channel are correspondingly arranged above and below the first end cover 4, an outlet of the low-pressure oil channel is a low-pressure oil outlet T, an inlet of the high-pressure oil channel is a high-pressure oil inlet P, and the high-pressure oil inlet P of the device finally enters the first P port 34 of the valve sleeve and the second P port 35 of the valve sleeve through oil channels on the first end cover 4, the cylinder body 7 and the valve body boss 6 and a zigzag high-pressure oil channel on the valve body 11.
The upper part of the cylinder body 7 is provided with a first low-pressure oil channel of the cylinder body 7 along the radial direction, a second low-pressure oil channel of the cylinder body 7 along the axial direction, the first low-pressure oil channel of the cylinder body 7 is communicated with the second low-pressure oil channel of the cylinder body 7, and the second low-pressure oil channel of the cylinder body 7 is communicated with the low-pressure oil channel on the first end cover 4. The lower part of the cylinder body 7 is provided with a cylinder body 7 high-pressure oil channel along the axial direction, and the cylinder body 7 high-pressure oil channel is communicated with the high-pressure oil channel on the first end cover 4.
As shown in fig. 9, the spool 14 is provided with a spool first annular land 39, a spool second annular land 40, a spool third annular land 41, a spool fourth annular land 42, a spool fifth annular land 43, and a spool 14 shoulder from left to right. Two rectangular grooves with the same size are formed in the right side edges of the first valve core annular boss 39, the second valve core annular boss 40, the third valve core annular boss 41 and the fourth valve core annular boss 42 respectively, and the two rectangular grooves are distributed in an angle of 180 degrees. Every two rectangular grooves are located on the same circumferential line, the two rectangular groove center lines of the first annular boss 39 of the valve core and the two rectangular groove center lines of the third annular boss 41 of the valve core are respectively located on two plain lines in axial symmetry, the two rectangular groove center lines of the second annular boss 40 of the valve core and the two rectangular groove center lines of the fourth annular boss 42 of the valve core are respectively located on the other two plain lines in axial symmetry, and the difference of each plain line is 90 degrees.
The left side of the valve core 14 close to the first annular boss 39 of the valve core is provided with a radial oil duct of the valve core 14, the center of the right side of the valve core 14 is provided with an axial oil duct of the valve core 14, the radial oil duct of the valve core 14 is communicated with the axial oil duct of the valve core 14, and the two oil ducts are distributed at 90 degrees.
The outlet of the first low-pressure oil channel of the cylinder body 7 is communicated with the low-pressure oil ring groove of the cylinder body 7, the low-pressure oil ring groove of the cylinder body 7 is communicated with the upper part and the lower part of the radial low-pressure oil channel of the cylinder body inner ring 16, and the radial low-pressure oil channel of the cylinder body inner ring 16 is communicated with the low-pressure oil ring groove of the cylinder body inner ring 16. The low-pressure oil ring groove of the cylinder inner ring 16 is communicated with the upper part and the lower part of the first radial low-pressure oil channel 21 of the valve body, meanwhile, the first radial low-pressure oil channel 21 of the valve body is communicated with the first T-shaped port 31 of the valve sleeve, the first T-shaped port 31 of the valve sleeve is communicated with the rectangular groove on the first annular boss 39 of the valve core, the rectangular groove on the first annular boss 39 of the valve core is communicated with the first A-shaped port 32 of the valve sleeve, the first A-shaped port 32 of the valve sleeve is communicated with the corresponding first working cavity 46 through the first rectangular valve port 25 of the valve body 11, and is communicated with the corresponding third working cavity 48 through the third rectangular port 30 of the valve body 11.
The outlet of the second low-pressure oil channel of the cylinder body 7 is communicated with the low-pressure oil annular groove outside the valve body boss 6, and the upper part and the lower part of the radial low-pressure oil channel of the valve body boss 6 are communicated with the low-pressure oil annular groove outside the valve body boss 6 and the low-pressure oil annular groove inside the valve body boss 6. The low-pressure oil ring groove in the valve body boss 6 is communicated with the upper part and the lower part of the valve body second radial low-pressure oil channel 22, meanwhile, the valve body second radial low-pressure oil channel 22 is communicated with the valve sleeve second T-shaped port 38, the valve sleeve second T-shaped port 38 is communicated with the rectangular groove on the valve core fourth annular boss 42 of the valve core 14, the rectangular groove on the valve core fourth annular boss 42 is communicated with the valve sleeve second B-shaped port 37, the valve sleeve second B-shaped port 37 is communicated with the corresponding second working cavity 47 through the second rectangular valve port 28 of the valve body 11, and is communicated with the corresponding fourth working cavity 49 through the fourth rectangular port 29 of the valve body 11. The cylinder inner ring 16 and the valve body boss 6 limit the positions of the cylinder inner ring and the valve body boss through the inner wall of the cylinder 7, the left first end cover 4, the right first end cover 8, the second end cover 8, the fixed stop block and the blades.
The outlet of the high-pressure oil channel of the cylinder body 7 is communicated with the high-pressure oil annular groove outside the valve body boss 6, and the upper part and the lower part of the radial high-pressure oil channel of the valve body boss 6 are communicated with the high-pressure oil annular groove outside the valve body boss 6 and the high-pressure oil annular groove inside the valve body boss 6. The high-pressure oil ring groove in the valve body boss 6 is communicated with two valve body fold line-shaped high-pressure oil channels 26 which are symmetrically distributed along the axis of the valve body 11 at an angle of 180 degrees, the valve body fold line-shaped high-pressure oil channels 26 are respectively communicated with a valve sleeve first P port 34 and a valve sleeve second P port 35, the valve sleeve first P port 34 is communicated with a rectangular groove on the valve core second annular boss 40, the rectangular groove on the valve core second annular boss 40 is communicated with a valve sleeve second A port 33, the valve sleeve second A port 33 is communicated with a corresponding first working cavity 46 through a first rectangular valve port 25 of the valve body 11, and is communicated with a corresponding third working cavity 48 through a third rectangular port 30 of the valve body 11.
Meanwhile, the valve sleeve second P port 35 is communicated with the rectangular groove on the valve core third annular boss 41, the rectangular groove on the valve core third annular boss 41 is communicated with the valve sleeve first B port 36, and the valve sleeve first B port 36 is communicated with the corresponding second working chamber 47 through the second rectangular valve port 28 of the valve body 11, and is communicated with the corresponding fourth working chamber 49 through the fourth rectangular valve port 29 of the valve body 11.
When the valve core 14 rotates counterclockwise relative to the valve sleeve 13, the high-pressure oil enters the rectangular groove on the valve core second annular boss 40 from the valve sleeve first P port 34, then enters the valve sleeve second a port 33, finally enters the first working chamber 46 through the first rectangular valve port 25 of the valve body 11, and enters the third working chamber 48 through the third rectangular valve port 30 of the valve body 11. The first vane 17 and the second vane 20 are pushed to rotate counterclockwise, so that the valve body 11 and the valve body rotating shaft 10 move along with the valve core 14, and the low-pressure oil in the second working chamber 47 and the fourth working chamber 49 respectively enters the valve sleeve second B port 37 through the second rectangular valve port 28 and the fourth rectangular valve port 29 of the valve body 11, then enters the rectangular groove on the fourth annular boss 42 of the valve core, and finally enters the valve sleeve second T port 38.
When the valve core 14 rotates clockwise relative to the valve sleeve 13, high-pressure oil enters the rectangular groove on the third annular boss 41 of the valve core from the second P port 35 of the valve sleeve, then enters the first B port 36 of the valve sleeve, finally enters the second working chamber 47 through the second rectangular valve port 28 of the valve body 11, and simultaneously enters the fourth working chamber 49 through the fourth rectangular valve port 29 of the valve body 11, so as to push the first vane 17 and the second vane 20 to rotate clockwise, so that the valve body 11 and the rotating shaft 10 of the valve body move along with the valve core 14, and low-pressure oil in the first working chamber 46 and the third working chamber 48 respectively enters the first a port 32 of the valve sleeve through the first rectangular valve port 25 and the third rectangular valve port 30 of the valve body 11, then enters the rectangular groove on the first annular boss 39 of the valve core 14, and finally enters the first T port 31 of the valve sleeve.
The low-pressure oil in the first T port 31 of the valve sleeve enters the low-pressure oil outlet T to gradually flow back through the oil passages on the valve body 11, the cylinder inner ring 16, the cylinder 7 and the left end cover. The low-pressure oil in the second T port 38 of the valve sleeve enters the low-pressure oil outlet T to flow back gradually through the valve body 11, the valve body boss 6, the cylinder body 7 and the oil passages on the left end cover.
The double-vane double-fixed-stop-block hydraulic drive has the advantages that double vanes and double fixed stop blocks are adopted, the number of corresponding working chambers is increased to four, high-pressure oil can enter two symmetrical working chambers at the same time when the drive works at each time, and low-pressure oil can be discharged from the other two symmetrical working chambers at the same time; when the valve core 14 rotates a certain angle to drive the valve body 11 to rotate, and the valve body 11 rotates the same angle, the displacement of the double-blade driver is basically twice that of the single-blade driver, and the output torque on the output shaft of the valve body 11 of the corresponding double-blade driver is also basically twice that of the single-blade driver; this increases the output torque of the drive based on the original patent, which can drive larger loads.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A double-blade hydraulic servo compliant driver is characterized by comprising a cylinder body, a first end cover, a second end cover, a valve core, a valve sleeve, a valve body rotating shaft, two fixed stop blocks and two blades;
the first end cover and the second end cover are respectively sealed and arranged at two ends of the cylinder body to form a sealed cavity, the valve core is concentrically and rotatably arranged in the cylinder body, and one end of the valve core penetrates through the first end cover to extend out of the sealed cavity; the valve body is concentrically sleeved on the valve core through the valve sleeve, and one end of a rotating shaft of the valve body penetrates through the second end cover to extend into the sealing cavity and is connected with one end of the valve body;
the two fixed stop blocks are arranged between the valve body and the cylinder body and fixed on the cylinder body, the two fixed stop blocks are symmetrically arranged on two sides of the valve body, the two blades are symmetrically and fixedly arranged on the outer wall of the valve body, the two blades and the two fixed stop blocks are arranged in a staggered manner, the central connecting line of the two fixed stop blocks is perpendicular to the central connecting line of the two blades, and the two fixed stop blocks and the two blades divide the interior of the cylinder body to form four working cavities;
the cylinder body inner ring is also arranged in the cylinder body, the valve body boss is arranged on the outer diameter of the valve body, and the cylinder body inner ring and the valve body boss are respectively positioned at two ends of the blade along the axial direction of the cylinder body; the first end cover is provided with a leakage oil duct.
2. The dual-vane hydraulic servo compliant drive of claim 1, wherein: the bearing arranged between the valve body and the cylinder body is a tapered roller bearing.
3. The dual-vane hydraulic servo compliant drive of claim 1, wherein: the axial movement is limited between the valve body rotating shaft and the valve body through screws, and torque is transmitted through key connection.
4. The dual-vane hydraulic servo compliant drive of claim 1, wherein: a cylindrical cavity of the valve body and a cavity of a rotating shaft of the valve body are arranged in the valve body, one end of the valve body close to the first end cover is provided with two first radial low-pressure oil channels of the valve body which are symmetrically distributed for 180 degrees, one end of the valve body close to the second end cover is provided with two second radial low-pressure oil channels of the valve body which are symmetrically distributed for 180 degrees, the first radial low-pressure oil channels of the valve body and the second radial low-pressure oil channels of the valve body are communicated with the cylindrical cavity of the valve body, a first rectangular valve port is arranged on the valve body close to the first radial low-pressure oil channels of the valve body, a second rectangular valve port is arranged on the valve body close to the second radial low-pressure oil channels of the valve body, and a third rectangular valve port and a fourth rectangular valve port are respectively arranged on the outer walls which are symmetrical about the center of the valve body, the four rectangular valve ports have the same size and correspond to four working cavities formed by two fixed stoppers and two blades in staggered distribution respectively.
5. The dual-vane hydraulic servo compliant drive of claim 4, wherein: the axial length of two fixed stop blocks is the difference between the length of the cylindrical cavity of the cylinder body and the length of the boss of the valve body, the difference between the upper cambered surface and the lower cambered surface of the fixed stop block is half of the difference between the inner diameter of the cylindrical cavity of the cylinder body and the outer diameter of the valve body, the upper cambered surface of the fixed stop block is provided with a thin rectangular sealing groove along the axis direction, and the thin rectangular sealing groove is equal to the length of the fixed stop block.
6. The dual-vane hydraulic servo compliant drive of claim 5, wherein: the axial length and the difference of the upper cambered surface and the lower cambered surface of the two blades are the same as those of the two fixed stop blocks, rectangular grooves are formed in the middle positions of the rectangular surfaces on the two sides of the two blades, and arc grooves communicated with the rectangular grooves are formed in the two sides of the lower cambered surface of the blades and used for preventing the blades from being stuck to the fixed stop blocks.
7. The dual-vane hydraulic servo compliant drive of claim 1, wherein: the valve sleeve is sequentially provided with a first valve sleeve T port, a first valve sleeve A port, a second valve sleeve A port, a first valve sleeve P port, a second valve sleeve P port, a first valve sleeve B port, a second valve sleeve B port and a second valve sleeve T port along the axial direction from the first end cover to the second end cover; when the first A port of the valve sleeve is communicated with the first working cavity and the third working cavity, and the first B port of the valve sleeve is communicated with the second working cavity and the fourth working cavity, the second A port of the valve sleeve and the second B port of the valve sleeve are not communicated with the four working cavities; when the second port A of the valve sleeve is communicated with the first working cavity and the third working cavity, and the second port B of the valve sleeve is communicated with the second working cavity and the fourth working cavity, the first port A of the valve sleeve and the first port B of the valve sleeve are not communicated with the four working cavities, and except the above condition, the valve port of the valve sleeve is not communicated with the four working cavities.
8. The dual-vane hydraulic servo compliant drive of claim 1, wherein: one end of the valve core extending out of the sealing cavity is connected with a steering engine disk on a steering engine output shaft through a coupler.
9. The dual-vane hydraulic servo compliant drive of claim 1, wherein: the end face of one end of the valve sleeve is fixed with the end face of one end of the valve body through a cylindrical pin, and thrust ball bearings are arranged at the two ends of the valve core.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110772661.6A CN113370202A (en) | 2021-07-08 | 2021-07-08 | Double-blade hydraulic servo compliant driver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110772661.6A CN113370202A (en) | 2021-07-08 | 2021-07-08 | Double-blade hydraulic servo compliant driver |
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| US20200206960A1 (en) * | 2018-08-09 | 2020-07-02 | Jiangsu Dreamwell Dynamics Technology Co., Ltd | Hydraulically driven joint for robot |
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| CN102979777A (en) * | 2012-12-03 | 2013-03-20 | 武汉科技大学 | Rotary valve type large torque hydraulic corner self-servo valve |
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Application publication date: 20210910 |
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