CN113565811B - Self-adaptive electro-hydraulic actuator with energy recovery function - Google Patents
Self-adaptive electro-hydraulic actuator with energy recovery function Download PDFInfo
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- CN113565811B CN113565811B CN202110901291.1A CN202110901291A CN113565811B CN 113565811 B CN113565811 B CN 113565811B CN 202110901291 A CN202110901291 A CN 202110901291A CN 113565811 B CN113565811 B CN 113565811B
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- 238000011084 recovery Methods 0.000 title claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims abstract description 44
- 238000010248 power generation Methods 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims description 57
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 9
- 230000006870 function Effects 0.000 abstract description 16
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000017525 heat dissipation Effects 0.000 abstract description 4
- 230000007659 motor function Effects 0.000 abstract description 4
- 238000001816 cooling Methods 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 230000007423 decrease Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1447—Pistons; Piston to piston rod assemblies
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
Abstract
The invention discloses a self-adaptive electro-hydraulic actuator with an energy recovery function, which comprises a variable-displacement gear pump, an actuator cylinder assembly, an energy accumulator, a hydraulic control reversing valve, an electromagnetic reversing valve and a variable-frequency power generation/electric all-in-one machine; the variable-displacement gear pump and the actuator cylinder assembly form a closed circuit; the self-adaptive electro-hydraulic actuator with the energy recovery function has the characteristics of simple structure and good self-priming performance, meanwhile, the gear pump has the characteristic of forward and reverse rotation, so that a single piston rod is driven to extend or retract, the designed gear pump for the electro-hydraulic actuator has a variable displacement function and is used in combination with a variable frequency motor to realize the self-adaptive adjustment of flow, so that the energy consumption can be greatly reduced, on the other hand, the gear pump performs the motor function when in negative load, recovers the energy, reduces the cost of oil cooling and element heat dissipation, reduces the complexity of a system, and effectively solves the problems and the defects in the prior device.
Description
Technical Field
The invention relates to the technical field of electro-hydraulic actuators, in particular to a self-adaptive electro-hydraulic actuator with an energy recovery function.
Background
The electrohydraulic actuator integrates hydraulic elements such as a motor, a pump, a valve, a hydraulic cylinder and the like, is an integrated hydraulic power unit, has the advantages of large power ratio, high reliability, high efficiency, good installation and maintenance performance and the like, and is widely applied to the fields of aircraft power systems, automobile suspension systems, robots and the like.
The gear pump is a positive displacement pump, and has the advantages of simple structure, good self-priming performance and high-speed operation efficiency, and is often used as a power element of an electrohydraulic actuator. Because the displacement of the conventional gear pump is not variable, the variable frequency speed regulation dynamic characteristic of the motor is poor, and the condition that the supply flow of the pump exceeds the required flow can be generated. On the other hand, when the electro-hydraulic actuator works, negative load is unavoidable, and the traditional electro-hydraulic actuator often increases a heat dissipation element to realize energy consumption, so that the power-weight ratio of the system is reduced and the cost of the system is increased. Both of these cases result in waste of energy.
In view of the above, the present invention has been made in view of the above problems, and it is an object of the present invention to provide an adaptive electro-hydraulic actuator having an energy recovery function, which solves the problems and improves the practical value.
Disclosure of Invention
The invention aims to provide a self-adaptive electro-hydraulic actuator with an energy recovery function, so as to solve the problems in the prior art, and the self-adaptive electro-hydraulic actuator has the characteristics of simple structure and good self-priming performance, and meanwhile, a gear pump has the characteristic of forward and reverse rotation, so that a single piston rod is driven to extend or retract.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a self-adaptive electro-hydraulic actuator with an energy recovery function, which comprises a variable-displacement gear pump, an actuator cylinder assembly, an energy accumulator, a hydraulic control reversing valve, an electromagnetic reversing valve and a variable-frequency power generation/electric all-in-one machine, wherein the variable-frequency power generation/electric all-in-one machine comprises a hydraulic control reversing valve, a hydraulic control reversing valve and a hydraulic control reversing valve;
the variable-displacement gear pump and the actuator cylinder assembly form a closed circuit;
the actuator cylinder assembly comprises a single-rod piston, an actuator cylinder blank cap, a first actuator cylinder, a second actuator cylinder, a first adjusting spring, a first limiting block and a second limiting block; the inner hole of the first actuator cylinder is set as a rodless cavity, and the inner hole of the second actuator cylinder is set as a rod cavity; the rodless cavity and the rod cavity are respectively communicated with a liquid discharge port and a liquid inlet port of the variable-displacement gear pump; the first actuator cylinder is sleeved outside the second actuator cylinder, and the second actuator cylinder is in sliding fit with the first actuator cylinder; the left end of the first actuating cylinder is a cylinder bottom, the right end of the first actuating cylinder is provided with the actuating cylinder blank cap, and the single-rod piston is in sliding fit inside the second actuating cylinder; the first limiting block is arranged at the barrel bottom of the left end of the first actuating barrel, the second limiting block is in a circular ring shape, the second limiting block is arranged on the inner hole wall of the second actuating barrel, the right end of the single-rod piston penetrates through the actuating barrel blank cap, the limiting part arranged on the rod body of the left end of the single-rod piston is limited between the first limiting block and the second limiting block, the left end of the single-rod piston is sleeved with the right end of the first adjusting spring, and the left end of the first adjusting spring is sleeved with the first limiting block;
the variable displacement gear pump comprises a pump body; the pump body is internally provided with a first meshing gear, a second meshing gear, a transmission shaft, a connecting plate, a first sealing piston, a second sealing piston, a third sealing piston and a fourth sealing piston; the first meshing gear is embedded on the transmission shaft; the connecting plate is arranged on the left end face of the pump body; the first sealing piston and the second sealing piston are respectively arranged at the left side and the right side of the first meshing gear; the third sealing piston and the fourth sealing piston are respectively arranged at the left side and the right side of the second meshing gear; the second meshing gear is arranged below the first meshing gear; the pump body is provided with an oil inlet and an oil outlet, and the oil inlet and the oil outlet are respectively connected with the rod cavity and the rodless cavity through oil pipes;
the left end of the variable-displacement gear pump is provided with a variable-frequency power generation/electric integrated machine which is fixedly connected with a transmission shaft of the variable-displacement gear pump in a shaft way; the energy accumulator is arranged at the left end of the actuating cylinder assembly and is connected to the inlet of the rodless cavity, and the interior of the energy accumulator is communicated with the rodless cavity of the actuating cylinder assembly;
the hydraulic control reversing valve is arranged between the variable displacement gear pump and the actuating cylinder assembly, and the electromagnetic reversing valve is arranged between the actuating cylinder assembly and the hydraulic control reversing valve.
Preferably, the first actuator cylinder and the second actuator cylinder are both in a barrel shape.
Preferably, the connecting plate is fixed on the left end face of the pump body through bolts.
Preferably, the drive shaft is keyed to the first meshing gear.
Preferably, a protruding sliding ring is arranged on the outer wall of the second actuator cylinder, the second actuator cylinder is in sliding connection with the first actuator cylinder through the sliding ring, a sealing ring is arranged between the periphery of the sliding ring and the inner hole wall of the first actuator cylinder, and the sealing ring is sleeved on the sliding ring.
Preferably, a plurality of oil holes are formed in the cylinder walls of the first actuator cylinder and the second actuator cylinder in a surrounding mode, and the first actuator cylinder is communicated with the oil holes in the second actuator cylinder.
Preferably, the third sealing piston and the fourth sealing piston are set to move left and right, and the third sealing piston and the fourth sealing piston drive the second meshing gear to move left and right.
Preferably, the transmission shaft penetrates through the connecting plate, and a rotary sealing piece is arranged on the matching surface of the connecting plate and the transmission shaft.
Preferably, a sealing gasket is arranged on the connecting surface of the connecting plate and the pump body.
Compared with the prior art, the invention has the following beneficial technical effects:
the self-adaptive electro-hydraulic actuator with the energy recovery function has the characteristics of simple structure and good self-priming performance, meanwhile, the gear pump has the characteristic of forward and reverse rotation, so that a single piston rod is driven to extend or retract, the designed gear pump for the electro-hydraulic actuator has a variable displacement function and is combined with a variable frequency motor to realize self-adaptive adjustment of flow, so that energy consumption can be greatly reduced, on the other hand, the gear pump performs a motor function in a negative load, energy is recovered, the cost of oil cooling and element heat dissipation is reduced, the complexity of a system is reduced, and the problems and the disadvantages of the invention in one background technology are effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a self-adaptive electro-hydraulic actuator with energy recovery in accordance with the present invention;
FIG. 2 is a schematic cross-sectional view of the actuator assembly of the present invention;
FIG. 3 is a schematic cross-sectional view of a variable displacement gear pump according to the present invention;
FIG. 4 is a schematic view of a ram assembly according to the present invention;
FIG. 5 is a schematic cross-sectional view of a second actuator according to the present invention;
FIG. 6 is a schematic diagram of embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of embodiment 2 of the present invention;
FIG. 8 is a schematic diagram of embodiment 3 of the present invention;
FIG. 9 is a schematic diagram of embodiment 4 of the present invention;
in the figure: 1-variable displacement gear pump, 2-actuator cylinder assembly, 3-accumulator, 4-hydraulically controlled reversing valve, 5-electromagnetic reversing valve, 6-variable frequency power generation/electric integrated machine, 7-single rod piston, 8-actuator cylinder blank cap, 9-first actuator cylinder, 10-second actuator cylinder, 11-first regulating spring, 12-first limiting block, 13-second limiting block, 14-pump body, 15-first meshing gear, 16-second meshing gear, 17-transmission shaft, 18-connecting plate, 19-first sealing piston, 20-second sealing piston, 21-third sealing piston, 22-fourth sealing piston, 23-sliding ring, 201-rodless cavity and 202-rod cavity.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a self-adaptive electro-hydraulic actuator with an energy recovery function, so as to solve the problems in the prior art.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The self-adaptive electro-hydraulic actuator with the energy recovery function in the embodiment comprises a variable displacement gear pump 1, an actuator cylinder assembly 2, an energy accumulator 3, a hydraulic control reversing valve 4, an electromagnetic reversing valve 5 and a variable frequency power generation/electric integrated machine 6 as shown in figures 1-5;
the variable-displacement gear pump 1 and the actuator cylinder assembly 2 form a closed circuit;
the actuator cylinder assembly 2 comprises a single-rod piston 7, an actuator cylinder blank cap 8, a first actuator cylinder 9, a second actuator cylinder 10, a first adjusting spring 11, a first limiting block 12 and a second limiting block 13; the first actuator cylinder 9 and the second actuator cylinder 10 are in a barrel shape, an inner hole of the first actuator cylinder 9 is provided with a rodless cavity 201, and an inner hole of the second actuator cylinder 10 is provided with a rod cavity 202; the rodless cavity 201 and the rod cavity 202 are respectively communicated with a liquid discharge port and a liquid inlet port of the variable displacement gear pump 1; the first actuator cylinder 9 is sleeved outside the second actuator cylinder 10, and the second actuator cylinder 10 is in sliding fit with the first actuator cylinder 9; the left end of the first actuator cylinder 9 is a cylinder bottom, the right end of the first actuator cylinder 9 is in threaded connection with an actuator cylinder blank cap 8, and the single-rod piston 7 is in sliding fit inside the second actuator cylinder 10; the first limiting block 12 is welded at the center of the cylinder bottom at the left end of the first actuating cylinder 9, the second limiting block 13 is in a ring shape, the second limiting block 13 is welded at the middle part of the inner hole wall of the second actuating cylinder 10, the right end of the single-rod piston 7 penetrates through the actuating cylinder blank cap 8, a limiting part arranged on a rod body at the left end of the single-rod piston 7 is limited between the first limiting block 12 and the second limiting block 13, the left end of the single-rod piston 7 is sleeved with the right end of the first adjusting spring 11, and the left end of the first adjusting spring 11 is sleeved with the first limiting block 12;
the variable displacement gear pump 1 comprises a pump body 14; the pump body 14 is internally provided with a first meshing gear 15, a second meshing gear 16, a transmission shaft 17, a connecting plate 18, a first sealing piston 19, a second sealing piston 20, a third sealing piston 21 and a fourth sealing piston 22; the first meshing gear 15 is embedded on the transmission shaft 17, and the first meshing gear 15 is connected with the transmission shaft 17 through a key; the connecting plate 18 is fixed on the left end face of the pump body 14 through bolts; the first sealing piston 19 and the second sealing piston 20 are respectively arranged at the left and right sides of the first meshing gear 15; the third seal piston 21 and the fourth seal piston 22 are provided on the left and right sides of the second meshing gear 16, respectively; the second meshing gear 16 is disposed below the first meshing gear; the pump body 14 is provided with an oil inlet and an oil outlet which are respectively connected with the rod cavity 202 and the rodless cavity 201 through oil pipes;
the left end of the variable-displacement gear pump 1 is fixedly provided with a variable-frequency power generation/electric integrated machine 6 through a bolt, and the variable-frequency power generation/electric integrated machine 6 is fixedly connected with a transmission shaft 17 of the variable-displacement gear pump 1 in a shaft way; the accumulator 3 is arranged at the left end of the actuator cylinder assembly 2 and is used for supplementing the lost flow of the rodless cavity 201 of the actuator cylinder assembly 2, the accumulator 3 is connected to the inlet of the rodless cavity 201 in a threaded manner, and the interior of the accumulator 3 is communicated with the rodless cavity 201 of the actuator cylinder assembly 2; the hydraulic control reversing valve 4 is arranged between the variable-displacement gear pump 1 and the actuating cylinder assembly 2, the electromagnetic reversing valve 5 is arranged between the actuating cylinder assembly 2 and the hydraulic control reversing valve 4, the gear engagement width can be adaptively increased or reduced according to load change, variable flow output is realized, the variable-displacement gear pump 1 has a motor function when in a negative load, and the variable-frequency power generation/electric integrated machine 6 is driven to rotate, so that energy recovery is realized.
As shown in fig. 2, an outer wall of the second actuator cylinder 10 is provided with a convex sliding ring 23, the second actuator cylinder 10 is slidably connected with the first actuator cylinder 9 through the sliding ring 23, a sealing ring is arranged between the outer periphery of the sliding ring 23 and the inner hole wall of the first actuator cylinder 9, and the sealing ring is sleeved on the sliding ring 23.
As shown in fig. 2 and 5, a plurality of oil holes are formed around the side portions of the first actuator cylinder 9 and the second actuator cylinder 10, and the first actuator cylinder 9 is communicated with the oil holes on the second actuator cylinder 10.
As shown in fig. 3, the third sealing piston 21 and the fourth sealing piston 22 are set to move left and right, and the third sealing piston 21 and the fourth sealing piston 22 drive the second meshing gear 16 to move left and right.
In this embodiment, screw holes are formed around the connection plate 18, and screw holes are formed corresponding to corresponding positions on the pump body 14 for connecting the connection plate 18 and the pump body 14.
As shown in fig. 3, the transmission shaft 17 penetrates the connection plate 18, and the mating surface of the connection plate 18 and the transmission shaft 17 is provided with a rotary seal.
As shown in fig. 3, a gasket is provided on the connection surface of the connection plate 18 and the pump body 14.
The working principle of the variable gear pump in the invention is as follows: the two ends of the control cavity of the variable gear pump are respectively connected with the load port of the hydraulic control reversing valve 4, when the pressure of the control port of the hydraulic control reversing valve 4 is larger than the spring set pressure of the valve, the sealing piston drives the second meshing gear 16 to move left so as to realize the increase of the displacement of the pump, and when the pressure of the control port of the hydraulic control reversing valve 4 is smaller than the spring set pressure of the valve, the sealing piston drives the second meshing gear 16 to move right so as to realize the decrease of the displacement of the pump.
Energy recovery theory of operation:
four working conditions exist when the electro-hydraulic actuator works: (1) the piston moves rightwards, and the load direction is leftwards; (2) the piston moves rightwards, and the load direction is rightwards; (3) the piston moves leftwards, and the load direction is leftwards; (4) the piston moves to the left and the load direction to the right. Working condition 2 and working condition 3 all belong to the condition of load, and when being the load working condition, variable gear pump becomes variable motor, and the high pressure oil liquid that comes out from the actuator cylinder drives the motor and rotates to drive the motor and rotate and carry out the energy recuperation. Since the high pressure port and the low pressure port are mutually switched, the electromagnetic directional valve 5 is needed to be arranged, the pressure values of the rodless cavity 201 and the rod cavity 202 are transmitted to the electric control system through the pressure sensor, and a cavity with higher pressure is selected through electromagnetic control to be connected with the oil inlet of the electric control directional valve. When the energy is recovered, the variable mechanism of the motor still works, and the variable mechanism is matched with the variable frequency motor to maximize the energy transmitted by the recovery motor and improve the energy recovery efficiency.
Specifically, as shown in fig. 6, condition 1: the piston moves to the right and the load to the left. In the case of positive load, the variable gear pump becomes the variable gear pump, the rodless chamber 201 of the first actuator 9 is at high pressure, the rod chamber 202 of the second actuator 10 is at low pressure, the variable gear pump absorbs oil from the rod chamber 202 of the actuator, and high pressure oil is discharged to the rodless chamber 201 of the first actuator 9. In order to adapt to the situation that the high-pressure port and the low-pressure port of other working conditions are mutually switched, an electromagnetic reversing valve 5 is needed to be arranged, the pressure values of the rodless cavity 201 and the rod cavity 202 are transmitted to an electric control system through a pressure sensor, and a cavity with higher pressure is selected to be connected with an oil inlet of the electric control reversing valve through electromagnetic control. The variable mechanism of the pump still works: when the load to the left increases, the pressure of the rodless cavity 201 increases, when the pressure exceeds the spring set pressure of the hydraulic control reversing valve 4, the valve core reverses, high-pressure oil enters the spring cavity of the second meshing gear 16, the fourth sealing piston 22 is pushed to move to the left, the meshing width increases, and the displacement of the variable gear pump increases; when the load to the left is reduced, the pressure of the rodless cavity 201 is reduced, the spring is reset, the fourth sealing piston 22 moves to the right, the meshing width is reduced, the displacement of the variable gear pump is reduced, and the load self-adaption variable function is realized.
As shown in fig. 7, condition 2: the load is rightward, and the piston is driven to move rightward. The variable gear pump is changed into a variable motor under the condition of negative load, the rodless cavity 201 of the first actuator cylinder 9 is at low pressure, the rod cavity 202 of the second actuator cylinder 10 is at high pressure, and high-pressure oil liquid coming out of the rod cavity 202 of the second actuator cylinder 10 drives the motor to rotate, so that the motor is driven to rotate for energy recovery. In order to adapt to the situation that the high-pressure port and the low-pressure port of other working conditions are mutually switched, an electromagnetic reversing valve 5 is needed to be arranged, the pressure values of the rodless cavity 201 and the rod cavity 202 are transmitted to an electric control system through a pressure sensor, and a cavity with higher pressure is selected to be connected with an oil inlet of the electric control reversing valve through electromagnetic control. The variable mechanism of the motor still works: when the load to the right increases, the pressure of the rod cavity 202 rises, when the pressure exceeds the spring set pressure of the hydraulic control reversing valve 4, the valve core reverses, high-pressure oil enters the spring cavity of the second meshing gear 16, the fourth sealing piston 22 is pushed to move left, the meshing width increases, and the displacement of the variable motor increases; when the load to the right decreases, the pressure in the rod chamber 202 decreases, the spring returns, the fourth sealing piston 22 moves to the right, the engagement width decreases, and the displacement of the variable displacement motor decreases. The variable mechanism of the motor is matched with the variable frequency motor, so that the energy transmitted by the motor is recovered to the maximum extent, and the energy recovery efficiency is improved.
As shown in fig. 8, condition 3: the load is left to drive the piston to move leftwards. The variable gear pump is changed into a variable motor under the condition of negative load, the rodless cavity 201 of the first actuator cylinder 9 is at high pressure, the rod cavity 202 of the second actuator cylinder 10 is at low pressure, and high-pressure oil liquid coming out of the rodless cavity 201 of the first actuator cylinder 9 drives the motor to rotate, so that the motor is driven to rotate for energy recovery. In order to adapt to the situation that the high-pressure port and the low-pressure port of other working conditions are mutually switched, an electromagnetic reversing valve 5 is needed to be arranged, the pressure values of the rodless cavity 201 and the rod cavity 202 are transmitted to an electric control system through a pressure sensor, and a cavity with higher pressure is selected to be connected with an oil inlet of the electric control reversing valve through electromagnetic control. The variable mechanism of the motor still works: when the load to the left increases, the pressure of the rodless cavity 201 increases, when the pressure exceeds the spring set pressure of the hydraulic control reversing valve 4, the valve core reverses, high-pressure oil enters the spring cavity of the second meshing gear 16, the fourth sealing piston 22 is pushed to move to the left, the meshing width increases, and the displacement of the variable motor increases; when the load decreases to the left, the rodless chamber 201 pressure decreases, the spring returns, the fourth seal piston 22 moves to the right, the engagement width decreases, and the displacement of the variable displacement motor decreases. The variable mechanism of the motor is matched with the variable frequency motor, so that the energy transmitted by the motor is recovered to the maximum extent, and the energy recovery efficiency is improved.
As shown in fig. 9, condition 4: the piston moves to the left and the load to the right. In the case of positive load, the variable gear pump becomes the variable gear pump, the rodless chamber 201 of the first actuator 9 is at low pressure, the rod chamber 202 of the second actuator 10 is at high pressure, the variable gear pump absorbs oil from the rodless chamber 201 of the first actuator 9, and discharges high pressure oil to the rod chamber 202 of the second actuator 10. In order to adapt to the situation that the high-pressure port and the low-pressure port of other working conditions are mutually switched, an electromagnetic reversing valve 5 is needed to be arranged, the pressure values of the rodless cavity 201 and the rod cavity 202 are transmitted to an electric control system through a pressure sensor, and a cavity with higher pressure is selected to be connected with an oil inlet of the electric control reversing valve through electromagnetic control. The variable mechanism of the pump still works: when the load to the right increases, the pressure of the rod cavity 202 rises, when the pressure exceeds the spring set pressure of the hydraulic control reversing valve 4, the valve core reverses, high-pressure oil enters the spring cavity of the second meshing gear 16, the fourth sealing piston 22 is pushed to move left, the meshing width is increased, and the displacement of the variable gear pump is increased; when the load to the right is reduced, the pressure of the rod cavity 202 is reduced, the spring is reset, the fourth sealing piston 22 moves to the right, the meshing width is reduced, the displacement of the variable gear pump is reduced, and the load self-adaption variable function is realized.
To sum up: the self-adaptive electro-hydraulic actuator with the energy recovery function has the characteristics of simple structure and good self-priming performance, meanwhile, the gear pump has the characteristics of forward rotation and reverse rotation, so that a single piston rod is driven to extend or retract, the designed gear pump for the electro-hydraulic actuator has a variable displacement function and is used in combination with a variable frequency motor, the self-adaptive adjustment of flow is realized, the energy consumption can be greatly reduced, on the other hand, the gear pump performs the motor function when in a negative load, the energy is recovered, the cost of oil cooling and element heat dissipation is reduced, the complexity of a system is reduced, and the problems and the defects in the prior device are effectively solved.
The principles and embodiments of the present invention have been described with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In summary, the present description should not be construed as limiting the invention.
Claims (9)
1. An adaptive electro-hydraulic actuator with energy recovery function, which is characterized in that: the variable-displacement gear pump comprises a variable-displacement gear pump, a cylinder assembly, an energy accumulator, a hydraulic control reversing valve, an electromagnetic reversing valve and a variable-frequency power generation/electric integrated machine;
the variable-displacement gear pump and the actuator cylinder assembly form a closed circuit;
the actuator cylinder assembly comprises a single-rod piston, an actuator cylinder blank cap, a first actuator cylinder, a second actuator cylinder, a first adjusting spring, a first limiting block and a second limiting block; the inner hole of the first actuator cylinder is set as a rodless cavity, and the inner hole of the second actuator cylinder is set as a rod cavity; the rodless cavity and the rod cavity are respectively communicated with a liquid discharge port and a liquid inlet port of the variable-displacement gear pump; the first actuator cylinder is sleeved outside the second actuator cylinder, and the second actuator cylinder is in sliding fit with the first actuator cylinder; the left end of the first actuating cylinder is a cylinder bottom, the right end of the first actuating cylinder is provided with the actuating cylinder blank cap, and the single-rod piston is in sliding fit inside the second actuating cylinder; the first limiting block is arranged at the barrel bottom of the left end of the first actuating barrel, the second limiting block is in a circular ring shape, the second limiting block is arranged on the inner hole wall of the second actuating barrel, the right end of the single-rod piston penetrates through the actuating barrel blank cap, the limiting part arranged on the rod body of the left end of the single-rod piston is limited between the first limiting block and the second limiting block, the left end of the single-rod piston is sleeved with the right end of the first adjusting spring, and the left end of the first adjusting spring is sleeved with the first limiting block;
the variable displacement gear pump comprises a pump body; the pump body is internally provided with a first meshing gear, a second meshing gear, a transmission shaft, a connecting plate, a first sealing piston, a second sealing piston, a third sealing piston and a fourth sealing piston; the first meshing gear is embedded on the transmission shaft; the connecting plate is arranged on the left end face of the pump body; the first sealing piston and the second sealing piston are respectively arranged at the left side and the right side of the first meshing gear; the third sealing piston and the fourth sealing piston are respectively arranged at the left side and the right side of the second meshing gear; the second meshing gear is arranged below the first meshing gear; the pump body is provided with an oil inlet and an oil outlet, and the oil inlet and the oil outlet are respectively connected with the rod cavity and the rodless cavity through oil pipes;
the left end of the variable-displacement gear pump is provided with a variable-frequency power generation/electric integrated machine which is fixedly connected with a transmission shaft of the variable-displacement gear pump in a shaft way; the energy accumulator is arranged at the left end of the actuating cylinder assembly and is connected to the inlet of the rodless cavity, and the interior of the energy accumulator is communicated with the rodless cavity of the actuating cylinder assembly;
the two ends of a control cavity of the variable-displacement gear pump are respectively connected with the load port of the hydraulic control reversing valve; the electromagnetic reversing valve transmits the pressure values of the rodless cavity and the rod cavity to the electric control system through the pressure sensor, and a cavity with higher pressure is selected through electromagnetic control to be connected with an oil inlet of the electromagnetic reversing valve.
2. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: the first actuator cylinder and the second actuator cylinder are both in a barrel shape.
3. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: the connecting plate is fixed on the left end face of the pump body through bolts.
4. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: the transmission shaft is in key connection with the first meshing gear.
5. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: the outer wall of the second actuating cylinder is provided with a convex sliding ring, the second actuating cylinder is in sliding connection with the first actuating cylinder through the sliding ring, a sealing ring is arranged between the periphery of the sliding ring and the inner hole wall of the first actuating cylinder, and the sealing ring is sleeved on the sliding ring.
6. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: the cylinder walls of the first actuator cylinder and the second actuator cylinder are surrounded with a plurality of oil holes, and the first actuator cylinder is communicated with the oil holes on the second actuator cylinder.
7. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: the third sealing piston and the fourth sealing piston are arranged to move left and right, and the third sealing piston and the fourth sealing piston drive the second meshing gear to move left and right.
8. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: the transmission shaft penetrates through the connecting plate, and a rotary sealing piece is arranged on the matching surface of the connecting plate and the transmission shaft.
9. The adaptive electro-hydraulic actuator with energy recovery function of claim 1, wherein: and a sealing gasket is arranged on the connecting surface of the connecting plate and the pump body.
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| CN108591193A (en) * | 2018-05-25 | 2018-09-28 | 北京航空航天大学 | Electric hydrostatic actuator system with energy-recuperation system |
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| CN213419526U (en) * | 2020-10-21 | 2021-06-11 | 浙江大学 | Adjusting device for controlling bivariate electro-hydrostatic actuator |
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|---|---|---|---|---|
| US20010024618A1 (en) * | 1999-12-01 | 2001-09-27 | Winmill Len F. | Adjustable-displacement gear pump |
| US20050091972A1 (en) * | 2003-10-31 | 2005-05-05 | Redman Kenneth K. | Electrohydraulic actuator |
| JP4365870B2 (en) * | 2007-03-30 | 2009-11-18 | 三菱重工業株式会社 | Fluid pressure actuator |
| EP3896314B1 (en) * | 2014-10-06 | 2024-03-27 | Project Phoenix, LLC | Linear actuator assembly and system |
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| CN108591193A (en) * | 2018-05-25 | 2018-09-28 | 北京航空航天大学 | Electric hydrostatic actuator system with energy-recuperation system |
| CN211009396U (en) * | 2019-12-10 | 2020-07-14 | 兰州理工大学 | Energy recovery type electro-hydraulic actuator |
| CN213419526U (en) * | 2020-10-21 | 2021-06-11 | 浙江大学 | Adjusting device for controlling bivariate electro-hydrostatic actuator |
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