CN113858258A - Continuous rotation hydraulic joint for axially distributing oil - Google Patents
Continuous rotation hydraulic joint for axially distributing oil Download PDFInfo
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- CN113858258A CN113858258A CN202111170591.3A CN202111170591A CN113858258A CN 113858258 A CN113858258 A CN 113858258A CN 202111170591 A CN202111170591 A CN 202111170591A CN 113858258 A CN113858258 A CN 113858258A
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- cylinder body
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- 239000003921 oil Substances 0.000 claims description 270
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 239000010705 motor oil Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 239000010720 hydraulic oil Substances 0.000 description 23
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000010349 pulsation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Hydraulic Motors (AREA)
Abstract
The utility model provides a continuous rotation hydraulic joint of axial distribution of oil which characterized in that: including steering wheel (1), commentaries on classics valve and the plunger motor system who connects gradually, change the valve and include left end lid (4), right-hand member lid (18) and shell body (21), install valve body (22), valve barrel (6) and case (24) with the axle center in the inside cavity of shell body, steering wheel (1) is fixed on the left end lid (4) of changeing the valve through two bases, and the overhanging axle head in case (24) left side passes through shaft coupling (3) and links to each other with the output shaft of steering wheel (1), the plunger motor system includes plunger motor cylinder body (11), plunger motor shaft (12), and a plurality of plunger holes and plunger (15) in the plunger motor cylinder body are laid to the level, and plunger motor cylinder body right side is provided with sloping cam plate (13). The invention has the advantages of stable joint transmission, large torque/inertia ratio, simple structure, small size and high efficiency, and can efficiently realize the function of continuous rotation.
Description
Technical Field
The invention belongs to the technical field of hydraulic joints, and particularly relates to a continuous rotating hydraulic joint for axial oil distribution.
Background
The hydraulic joint is an important component in the hydraulic robot and is a factor restricting the wide application of the hydraulic robot, and the working capacity of the hydraulic joint directly determines the function of the whole robot. The robot joints greatly affect the performance of the robot.
The main defects of hydraulic joints at home and abroad are that the hydraulic joints are overlarge in size and too slow in response speed, and in terms of the whole function, some hydraulic joints cannot realize a continuous rotation function, a servo motor is used as a power transmission element, power transmission is insufficient, and output torque is small. In view of the above problems, the invention aims to design a continuous rotation hydraulic joint mechanism with axial oil distribution, which ensures that the output torque is large and the joint volume is small.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the continuous rotary hydraulic joint for axially distributing oil, which has the advantages of small volume, light weight, simple processing process, large output torque and light transmission. The technical scheme adopted by the invention is as follows:
the utility model provides a continuous rotation hydraulic joint of axial distribution of oil which characterized in that: the steering engine comprises a steering engine 1, a rotary valve and a plunger motor system which are connected in sequence, wherein the rotary valve comprises a left end cover 4, a right end cover 18 and an outer shell 21, a valve body 22, a valve sleeve 6 and a valve core 24 are coaxially arranged in a cavity in the outer shell, the cavity in the outer shell is divided into a left cylinder body 23 and a right cylinder body 8, an oil delivery disc A7 and an oil delivery disc B20 are respectively arranged in the left cylinder body 23 and the right cylinder body 8, two tapered roller bearings 19 are arranged on the outer sides of the left cylinder body and the right cylinder body in a forward mounting mode, the valve sleeve 6 is sleeved outside the valve core 24, the valve body 22 is sleeved outside the valve sleeve 6, and the valve sleeve 6 is connected with the valve body 22 in a matched mode through a cylindrical pin;
the steering engine 1 is fixed on a left end cover 4 of the rotary valve through two bases, an outward extending shaft end on the left side of the valve core 24 is connected with an output shaft of the steering engine 1 through a coupler 3, torque transmitted by the steering engine 1 is transmitted to the valve core 24, and the bases and the left end cover are fixedly connected through a plurality of screws 26;
plunger motor system includes plunger motor cylinder 11, set up plunger motor shaft 12 at plunger motor cylinder horizontal center, and set up at left defeated food tray C10 and the valve plate 16 of plunger motor cylinder 11, and level lays a plurality of plunger holes in the plunger motor cylinder, the downthehole equal activity of every plunger is provided with plunger 15, plunger 15 end is worn out plunger motor cylinder 11 back and is connected with piston shoe 14, plunger motor cylinder right side is provided with sloping cam plate 13, sloping cam plate 13 is fixed motionless, the sloping cam plate is close to plunger motor cylinder side and is the inclined plane, the laminating of piston shoe 14 end is on the inclined plane, can slide on the inclined plane, plunger motor shaft 12 left end is worn out the plunger motor cylinder, is connected with the connection cylinder, is connected plunger motor shaft 12 to connection cylinder one end, and one end passes through the key-type connection with valve body 22, plunger motor shaft and plunger motor cylinder interference fit.
The plunger motor oil delivery disc C10 is provided with a high pressure oil hole and a low pressure oil hole which are respectively connected with a high pressure oil pipe and a low pressure oil pipe on the right end cover 18 of the left rotary valve, the outer diameter of the oil delivery disc C10 is the same as that of the plunger motor valve plate 16, and the inner diameter of the oil delivery disc C10 is the same as that of the plunger motor shaft 12. The outer diameter of the valve plate 16 is the same as that of the plunger cylinder 11, crescent oil inlets and outlets are symmetrically formed in the valve plate 16, one end of each of high-pressure oil hole and low-pressure oil hole in the oil delivery plate C10 is connected with a high-pressure oil pipe joint and a low-pressure oil pipe joint on the right end cover 18, the other end of each of the high-pressure oil hole and the low-pressure oil hole is communicated with the two crescent oil inlets and outlets on the valve plate 16, and the two crescent oil inlets and outlets on the valve plate 16 are communicated with part of the plunger holes.
The oil conveying disc A7 is installed on the right side of the left cylinder body 23, the oil conveying disc B20 is installed on the left side of the right cylinder body 8, the oil conveying disc A7 is axially positioned through a first rectangular valve port 22-1 on the valve body 22 and circumferentially positioned coaxially with the valve body 22, and the oil conveying disc B20 is axially positioned through a second rectangular valve port 22-2 on the valve body 22 and circumferentially positioned coaxially with the valve body 22.
The plunger holes and the plungers in the plunger motor cylinder 11 are seven, the seven plunger holes are uniformly distributed in the plunger motor cylinder around the plunger motor shaft in the circumferential direction, and the plunger holes are seven in odd number, so that the pulsation of parts is small.
The inclined angle between the left inclined plane of the swash plate and the right end plane of the plunger motor cylinder body 11 is 20 degrees, the piston shoe 14 at the tail end of the plunger 1 is pressed on the inclined plane of the swash plate 13, and due to the inclined plane design of the swash plate 13, the plunger 11 reciprocates back and forth in a plunger hole in the rotating process of the plunger motor cylinder body, so that the oil absorption and pressing process of the plunger motor cylinder body is realized.
The valve core 24 is provided with five annular bosses and a shaft shoulder from left to right, namely a first annular boss 24-1 of the valve core, a second annular boss 24-2 of the valve core, a third annular boss 24-3 of the valve core, a fourth annular boss 24-4 of the valve core, a fifth annular boss 24-5 of the valve core and a shaft shoulder 24-6 of the valve core, wherein the first four annular bosses are provided with two rectangular grooves which are symmetrically distributed, the rectangular grooves on the two adjacent annular bosses are vertically distributed at 90 degrees, the valve sleeve 6 is provided with four pairs of symmetrically distributed rectangular ports, namely a left T port 6-1 of the valve sleeve, a left A port 6-2 of the valve sleeve, a right A port 6-3 of the valve sleeve, a left P port 6-4 of the valve sleeve, a right P port 6-5 of the valve sleeve, a left B port 6-6 of the valve sleeve, a right B port 6-7 of the valve sleeve and a right T port 6-8 of the valve sleeve, the rightmost end of the valve sleeve is aligned with the right end of the fifth annular boss 24-5 of the valve core, the right end of the first annular boss 24-1 of the valve core is aligned with the right end of the left T-port 6-1 of the valve sleeve, the rectangular groove on the first annular boss 24-1 of the valve core is communicated with the left T-port of the valve sleeve, the right end of the second annular boss 24-2 of the valve core is aligned with the right end of the right A-port 6-3 of the valve sleeve, the rectangular groove on the second annular boss 24-2 of the valve core is communicated with the right A-port 6-3 of the valve sleeve, the right end of the third annular boss 24-3 of the valve core is aligned with the right end of the right P-port 6-5 of the valve sleeve, the rectangular groove on the third annular boss 24-3 of the valve core is communicated with the right P-port 6-5 of the valve sleeve, the right end of the fourth annular boss 24-4 of the valve core is aligned with the right end of the right B-port of the valve sleeve, the rectangular groove on the fourth annular boss 24-4 of the valve core is communicated with the right B-port of the valve sleeve, and the valve core and the valve sleeve are coaxially arranged in the valve body, the right end of the valve sleeve is aligned with a boss inside the valve body, a first rectangular valve port 22-1 and a second rectangular valve port 22-2 are arranged on the valve 22, the first rectangular valve port 22-1 is communicated with a valve sleeve left A port 6-2 and a valve sleeve right A port 6-3, and the second rectangular valve port 22-2 is communicated with a valve sleeve left B port 6-6 and a valve sleeve right B port 6-7.
The inner ring of the oil delivery disc A7 is provided with a continuous oil delivery disc annular rectangular groove 7-2, the oil delivery disc annular rectangular groove 7-2 is communicated with a first rectangular valve port 22-1 of the valve body 22, an oil delivery disc oil duct 7-1 is arranged above the oil delivery disc A7, one end of the oil delivery disc oil duct 7-1 is communicated with the oil delivery disc annular rectangular groove 7-2, the other end of the oil delivery disc oil duct is communicated with a second high-pressure oil duct 34 on the outer shell 21, and the second high-pressure oil duct 34 is connected with a high-pressure oil delivery pipe joint on the right end cover 18. The oil conveying disc B20 and the oil conveying disc A7 are identical in internal structure, an oil passage on the oil conveying disc B20 is communicated with a second low-pressure oil passage 33 on the outer shell, the second low-pressure oil passage 33 is communicated with a low-pressure pipe joint on the right end cover 18, and an annular rectangular groove in the oil conveying disc B20 is communicated with a second rectangular valve port 22-2 of the valve body.
High-pressure oil is conveyed to an oil inlet on the left end cover 4 through an external oil supply system, an oil duct communicated with an oil inlet on the left end cover is formed in the outer shell 21, the oil duct in the outer shell 21 is communicated with the right cylinder body 8, the high-pressure oil is transmitted to the oil duct in the outer shell 21 through the oil hole in the left end cover 4 and then enters the right cylinder body 8, the left end cover 4 and the outer shell 21 are connected through a bolt 29, the high-pressure oil flows to the valve body 22 in the right cylinder body 8 and enters the valve body 22 from the oil hole in the valve body 22, and further enters the left P port 6-4 of the valve sleeve 6 and the right P port 6-5 of the valve sleeve. Meanwhile, due to the rotation of the valve core 24, hydraulic oil flows from the left valve sleeve P port 6-4 on the valve sleeve 6 to the rectangular groove of the second annular valve core boss 24-2 on the valve core 24 and then flows to the right valve sleeve A port 6-3 on the valve sleeve 6, and then flows from the right valve sleeve A port 6-3 on the valve sleeve 6 to the first rectangular valve port 22-1 on the surface of the valve body 22.
When the hydraulic oil is at the first rectangular valve port 22-1 of the valve body 22, because the oil conveying disc A7 is provided with the annular rectangular groove 7-2 of the oil conveying disc with the same size continuously and completely, the oil conveying disc A7 is provided with the oil conveying disc oil duct 7-1 above the oil conveying disc A7, the hydraulic oil can flow from the annular rectangular groove 7-2 of the oil conveying disc A7 to the oil conveying disc oil duct 7-1 on the oil conveying disc A7, the oil duct on the oil conveying disc A7 is communicated with the oil duct on the outer shell 21, under the matching of the oil conveying disc A7 and the outer shell 21, the cylinder body second high-pressure oil duct 34 is arranged in the outer shell 21, and the high-pressure hydraulic oil flows to the high-pressure oil conveying pipe joint on the right end cover 18 on the right side of the outer shell through the cylinder body second high-pressure oil duct 34 of the outer shell 21. Hydraulic oil flows to an oil delivery disc C10 of the plunger motor through a pipe joint, the oil delivery disc C10 is connected with an oil distribution disc 16 of the plunger motor, the hydraulic oil flows into an oil inlet of the oil distribution disc 16 from a high-pressure oil passage of the oil delivery disc C10 and further flows into a plunger hole in a plunger motor cylinder body 11, the high-pressure oil pushes a plunger 15 to move, a swash plate 13 and the oil distribution disc 16 are fixed, the plunger 15 moves back and forth in the plunger hole, the plunger 15 in a high-pressure cavity is ejected, a piston shoe 14 at the tail end of the plunger 15 is pressed on the swash plate 13, the force of the piston shoe 14 and the plunger 15 on the swash plate is the same as the inclination angle between the swash plate due to the fact that the center line of the swash plate 13 and the plunger motor cylinder body 11 intersects with each other, the reaction force of the swash plate 13 on the plunger 15 is decomposed in the horizontal direction and the vertical direction, the component force in the horizontal direction is balanced with the hydraulic force acting on the plunger 15, the plunger motor cylinder body 11 generates torque, and the plunger motor shaft is in interference fit with the plunger motor cylinder body, the plunger motor cylinder rotates to drive the plunger motor shaft 12 to rotate. Because the connecting cylinder 9 is connected with the plunger motor shaft 12 and the valve body 22 through flat keys, the connecting cylinder 9 drives the valve body 22 to synchronously rotate in the same direction under the driving of the plunger motor shaft 12.
Because the swash plate 13 is fixed, under the rotation action of the plunger 15, a part of the plunger 15 can push hydraulic oil from the plunger hole into an oil return port of the oil distribution disc 16 under the pressure of the swash plate 13, and then the hydraulic oil flows into a low-pressure oil channel of the oil input disc 10, flows into the second low-pressure oil passage 33 of the cylinder block of the outer housing 21 through the low-pressure pipe joint, flows from the oil passage of the oil feed pan B20 into the annular rectangular groove of the oil feed pan B20, and the hydraulic oil flows from the annular rectangular groove of the oil feed pan B20 to the surface of the valve body 22, then enters the second rectangular valve port 22-2 on the valve body from the surface of the valve body 22 and further flows into the left valve sleeve B port 6-6 on the valve sleeve 6, and the hydraulic oil flows into the rectangular oil groove on the fourth annular boss 24-4 on the valve core 24 from the left valve sleeve B port 6-6 on the valve sleeve 6 and then flows into the right valve sleeve T port 6-8 on the valve sleeve 6 from the rectangular oil groove. Hydraulic oil flows through the valve sleeve right T-shaped port 6-8 on the right side of the valve sleeve, flows through the second rectangular valve port 22-2 of the valve body 22, enters the low-pressure oil duct of the right cylinder body 8, sequentially passes through the cylinder body first low-pressure oil channel 31 of the outer shell 21 and the low-pressure oil duct of the left end cover 4, and flows out of the left end cover 4 low-pressure oil joint in a backflow process through the low-pressure oil duct.
The invention has the following advantages:
1) according to the hydraulic joint self-servo feedback device, the plunger motor system is additionally arranged on the joint, the plunger motor is used as a secondary structure, a power source is transmitted to the rotary valve through the steering engine, then power is transmitted to the plunger motor through hydraulic pressure of hydraulic oil, the plunger motor converts hydraulic energy into mechanical energy, a plunger motor shaft is connected with the connecting cylinder through a key, and torque of the plunger motor shaft is transmitted onto the connecting cylinder through the key.
2) The connecting cylinder of the valve body is innovatively connected with the plunger motor shaft so as to drive the valve body to rotate, and the rotation of the valve body has a certain feedback performance effect, so that the function of continuous rotation is realized more efficiently.
Therefore, the invention has the advantages of stable joint transmission, large torque/inertia ratio, simple structure, small size, high efficiency and capability of efficiently realizing the function of continuous rotation.
Drawings
FIG. 1 is a schematic cross-sectional view of a hydraulic joint of the present invention;
FIG. 2 is a schematic cross-sectional view A-A of FIG. 1;
FIG. 3 is a schematic cross-sectional view B-B of FIG. 1;
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 view of the overall external structure of the hydraulic joint of the present invention;
FIG. 7 is a left side view of the cylinder block;
FIG. 8 is a schematic cross-sectional view E-E of FIG. 7;
FIG. 9 is a right side view of the cylinder block;
FIG. 10 is a schematic cross-sectional view F-F of FIG. 9;
FIG. 11 is a schematic view of the internal valve body of the joint;
FIG. 12 is a schematic sectional view G-G of FIG. 11;
FIG. 13 is a schematic view of the structure of the left oil delivery disk inside the joint;
FIG. 14 is a schematic sectional view H-H of FIG. 13;
fig. 15 is a schematic view of a valve sleeve structure inside the joint;
FIG. 16 is a schematic cross-sectional view I-I of FIG. 15;
FIG. 17 is a schematic view of an internal joint valve cartridge configuration;
FIG. 18 is a schematic sectional view J-J of FIG. 17;
wherein: 1-steering engine, 2-steering engine base, 3-coupler, 4-left end cover, 5-tapered roller bearing, 6-valve sleeve, 7-oil delivery tray A, 8-right cylinder body, 9-connecting cylinder, 10-oil delivery tray C, 11-plunger motor cylinder body, 12-plunger motor shaft, 13-swash plate, 14-sliding shoe, 15-plunger, 16-flow distribution tray, 17-cylinder, 18-right end cover, 19-tapered roller bearing, 20-oil delivery tray B, 21-outer shell, 22-valve body, 23-left cylinder body, 24-valve core, 25-screw, 26-steering engine tray, 27-oil inlet joint, 28-key, 29-bolt, 30-oil return joint and 31-cylinder body first low-pressure oil channel, 32-cylinder first high-pressure oil channel, 33-cylinder second low-pressure oil channel, 34-cylinder second high-pressure oil channel, 22-1-first rectangular valve port, 22-2-second rectangular valve port, 7-1-oil delivery tray oil channel, 7-2-oil delivery tray annular rectangular groove, 6-1-valve sleeve left T port, 6-2 valve sleeve left A port, 6-3-valve sleeve right A port, 6-4-valve sleeve left P port, 6-5-valve sleeve right P port, 6-6-valve sleeve left B port, 6-7 valve sleeve right B port, 6-8 valve sleeve right T port, 24-1-valve core first annular boss, 24-2-valve core second annular boss, 24-3-valve core third annular boss, 24-4-fourth annular boss of valve core, 24-5-fifth annular boss of valve core, 24-6-shaft shoulder of valve core, 24-7-radial oil channel of valve core and 24-8-axial oil channel of valve core.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings, as shown in fig. 1-18, the continuous rotary hydraulic joint for axially distributing oil comprises a steering engine 1, a rotary valve and a plunger motor system which are sequentially connected, wherein the rotary valve comprises a left end cover 4, a right end cover 18 and an outer shell 21, a valve body 22, a valve sleeve 6 and a valve core 24 are coaxially arranged in a cavity inside the outer shell, the cavity inside the outer shell is split into a left cylinder body 23 and a right cylinder body 8, an oil delivery disc A7 and an oil delivery disc B20 are respectively arranged in the left cylinder body 23 and the right cylinder body, two conical roller bearings 19 are arranged outside the left cylinder body and the right cylinder body in a forward mounting manner, the valve sleeve 6 is sleeved outside the valve core 24, the valve body 22 is sleeved outside the valve sleeve 6, and the valve sleeve 6 is connected with the valve body 22 in a matching manner through a cylindrical pin;
the steering engine 1 is fixed on a left end cover 4 of the rotary valve through two bases, an outward extending shaft end on the left side of the valve core 24 is connected with an output shaft of the steering engine 1 through a coupler 3, torque transmitted by the steering engine 1 is transmitted to the valve core 24, and the bases and the left end cover are fixedly connected through a plurality of screws 26;
plunger motor system includes plunger motor cylinder 11, set up plunger motor shaft 12 at plunger motor cylinder horizontal center, and set up at left defeated food tray C10 and the valve plate 16 of plunger motor cylinder 11, and level lays a plurality of plunger holes in the plunger motor cylinder, the downthehole equal activity of every plunger is provided with plunger 15, plunger 15 end is worn out plunger motor cylinder 11 back and is connected with piston shoe 14, plunger motor cylinder right side is provided with sloping cam plate 13, sloping cam plate 13 is fixed motionless, the sloping cam plate is close to plunger motor cylinder side and is the inclined plane, the laminating of piston shoe 14 end is on the inclined plane, can slide on the inclined plane, plunger motor shaft 12 left end is worn out the plunger motor cylinder, is connected with the connection cylinder, is connected plunger motor shaft 12 to connection cylinder one end, and one end passes through the key-type connection with valve body 22, plunger motor shaft and plunger motor cylinder interference fit.
The plunger motor oil delivery disc C10 is provided with a high pressure oil hole and a low pressure oil hole which are respectively connected with a high pressure oil pipe and a low pressure oil pipe on the right end cover 18 of the left rotary valve, the outer diameter of the oil delivery disc C10 is the same as that of the plunger motor valve plate 16, and the inner diameter of the oil delivery disc C10 is the same as that of the plunger motor shaft 12. The outer diameter of the valve plate 16 is the same as that of the plunger cylinder 11, crescent oil inlets and outlets are symmetrically formed in the valve plate 16, one end of each of high-pressure oil hole and low-pressure oil hole in the oil delivery plate C10 is connected with a high-pressure oil pipe joint and a low-pressure oil pipe joint on the right end cover 18, the other end of each of the high-pressure oil hole and the low-pressure oil hole is communicated with the two crescent oil inlets and outlets on the valve plate 16, and the two crescent oil inlets and outlets on the valve plate 16 are communicated with part of the plunger holes.
The oil conveying disc A7 is installed on the right side of the left cylinder body 23, the oil conveying disc B20 is installed on the left side of the right cylinder body 8, the oil conveying disc A7 is axially positioned through a first rectangular valve port 22-1 on the valve body 22 and circumferentially positioned coaxially with the valve body 22, and the oil conveying disc B20 is axially positioned through a second rectangular valve port 22-2 on the valve body 22 and circumferentially positioned coaxially with the valve body 22.
The plunger holes and the plungers in the plunger motor cylinder 11 are seven, the seven plunger holes are uniformly distributed in the plunger motor cylinder around the plunger motor shaft in the circumferential direction, and the plunger holes are seven in odd number, so that the pulsation of parts is small.
The inclined angle between the left inclined plane of the swash plate and the right end plane of the plunger motor cylinder body 11 is 20 degrees, the piston shoe 14 at the tail end of the plunger 1 is pressed on the inclined plane of the swash plate 13, and due to the inclined plane design of the swash plate 13, the plunger 11 reciprocates back and forth in a plunger hole in the rotating process of the plunger motor cylinder body, so that the oil absorption and pressing process of the plunger motor cylinder body is realized.
The valve core 24 is provided with five annular bosses and a shaft shoulder from left to right, namely a first annular boss 24-1 of the valve core, a second annular boss 24-2 of the valve core, a third annular boss 24-3 of the valve core, a fourth annular boss 24-4 of the valve core, a fifth annular boss 24-5 of the valve core and a shaft shoulder 24-6 of the valve core, wherein the first four annular bosses are provided with two rectangular grooves which are symmetrically distributed, the rectangular grooves on the two adjacent annular bosses are vertically distributed at 90 degrees, the valve sleeve 6 is provided with four pairs of symmetrically distributed rectangular ports, namely a left T port 6-1 of the valve sleeve, a left A port 6-2 of the valve sleeve, a right A port 6-3 of the valve sleeve, a left P port 6-4 of the valve sleeve, a right P port 6-5 of the valve sleeve, a left B port 6-6 of the valve sleeve, a right B port 6-7 of the valve sleeve and a right T port 6-8 of the valve sleeve, the rightmost end of the valve sleeve is aligned with the right end of the fifth annular boss 24-5 of the valve core, the right end of the first annular boss 24-1 of the valve core is aligned with the right end of the left T-port 6-1 of the valve sleeve, the rectangular groove on the first annular boss 24-1 of the valve core is communicated with the left T-port of the valve sleeve, the right end of the second annular boss 24-2 of the valve core is aligned with the right end of the right A-port 6-3 of the valve sleeve, the rectangular groove on the second annular boss 24-2 of the valve core is communicated with the right A-port 6-3 of the valve sleeve, the right end of the third annular boss 24-3 of the valve core is aligned with the right end of the right P-port 6-5 of the valve sleeve, the rectangular groove on the third annular boss 24-3 of the valve core is communicated with the right P-port 6-5 of the valve sleeve, the right end of the fourth annular boss 24-4 of the valve core is aligned with the right end of the right B-port of the valve sleeve, the rectangular groove on the fourth annular boss 24-4 of the valve core is communicated with the right B-port of the valve sleeve, and the valve core and the valve sleeve are coaxially arranged in the valve body, the right end of the valve sleeve is aligned with a boss inside the valve body, a first rectangular valve port 22-1 and a second rectangular valve port 22-2 are arranged on the valve 22, the first rectangular valve port 22-1 is communicated with a valve sleeve left A port 6-2 and a valve sleeve right A port 6-3, and the second rectangular valve port 22-2 is communicated with a valve sleeve left B port 6-6 and a valve sleeve right B port 6-7.
The inner ring of the oil delivery disc A7 is provided with a continuous oil delivery disc annular rectangular groove 7-2, the oil delivery disc annular rectangular groove 7-2 is communicated with a first rectangular valve port 22-1 of the valve body 22, an oil delivery disc oil duct 7-1 is arranged above the oil delivery disc A7, one end of the oil delivery disc oil duct 7-1 is communicated with the oil delivery disc annular rectangular groove 7-2, the other end of the oil delivery disc oil duct is communicated with a second high-pressure oil duct 34 on the outer shell 21, and the second high-pressure oil duct 34 is connected with a high-pressure oil delivery pipe joint on the right end cover 18. The oil conveying disc B20 and the oil conveying disc A7 are identical in internal structure, an oil passage on the oil conveying disc B20 is communicated with a second low-pressure oil passage 33 on the outer shell, the second low-pressure oil passage 33 is communicated with a low-pressure pipe joint on the right end cover 18, and an annular rectangular groove in the oil conveying disc B20 is communicated with a second rectangular valve port 22-2 of the valve body.
High-pressure oil is conveyed to an oil inlet on the left end cover 4 through an external oil supply system, an oil duct communicated with an oil inlet on the left end cover is formed in the outer shell 21, the oil duct in the outer shell 21 is communicated with the right cylinder body 8, the high-pressure oil is transmitted to the oil duct in the outer shell 21 through the oil hole in the left end cover 4 and then enters the right cylinder body 8, the left end cover 4 and the outer shell 21 are connected through a bolt 29, the high-pressure oil flows to the valve body 22 in the right cylinder body 8 and enters the valve body 22 from the oil hole in the valve body 22, and further enters the left P port 6-4 of the valve sleeve 6 and the right P port 6-5 of the valve sleeve. Meanwhile, due to the rotation of the valve core 24, hydraulic oil flows from the left valve sleeve P port 6-4 on the valve sleeve 6 to the rectangular groove of the second annular valve core boss 24-2 on the valve core 24 and then flows to the right valve sleeve A port 6-3 on the valve sleeve 6, and then flows from the right valve sleeve A port 6-3 on the valve sleeve 6 to the first rectangular valve port 22-1 on the surface of the valve body 22.
When the hydraulic oil is at the first rectangular valve port 22-1 of the valve body 22, because the oil conveying disc A7 is provided with the annular rectangular groove 7-2 of the oil conveying disc with the same size continuously and completely, the oil conveying disc A7 is provided with the oil conveying disc oil duct 7-1 above the oil conveying disc A7, the hydraulic oil can flow from the annular rectangular groove 7-2 of the oil conveying disc A7 to the oil conveying disc oil duct 7-1 on the oil conveying disc A7, the oil duct on the oil conveying disc A7 is communicated with the oil duct on the outer shell 21, under the matching of the oil conveying disc A7 and the outer shell 21, the cylinder body second high-pressure oil duct 34 is arranged in the outer shell 21, and the high-pressure hydraulic oil flows to the high-pressure oil conveying pipe joint on the right end cover 18 on the right side of the outer shell through the cylinder body second high-pressure oil duct 34 of the outer shell 21. Hydraulic oil flows to an oil delivery disc C10 of the plunger motor through a pipe joint, the oil delivery disc C10 is connected with an oil distribution disc 16 of the plunger motor, the hydraulic oil flows into an oil inlet of the oil distribution disc 16 from a high-pressure oil passage of the oil delivery disc C10 and further flows into a plunger hole in a plunger motor cylinder body 11, the high-pressure oil pushes a plunger 15 to move, a swash plate 13 and the oil distribution disc 16 are fixed, the plunger 15 moves back and forth in the plunger hole, the plunger 15 in a high-pressure cavity is ejected, a piston shoe 14 at the tail end of the plunger 15 is pressed on the swash plate 13, the force of the piston shoe 14 and the plunger 15 on the swash plate is the same as the inclination angle between the swash plate due to the fact that the center line of the swash plate 13 and the plunger motor cylinder body 11 intersects with each other, the reaction force of the swash plate 13 on the plunger 15 is decomposed in the horizontal direction and the vertical direction, the component force in the horizontal direction is balanced with the hydraulic force acting on the plunger 15, the plunger motor cylinder body 11 generates torque, and the plunger motor shaft is in interference fit with the plunger motor cylinder body, the plunger motor cylinder rotates to drive the plunger motor shaft 12 to rotate. Because the connecting cylinder 9 is connected with the plunger motor shaft 12 and the valve body 22 through flat keys, the connecting cylinder 9 drives the valve body 22 to synchronously rotate in the same direction under the driving of the plunger motor shaft 12.
Because the swash plate 13 is fixed, under the rotation action of the plunger 15, a part of the plunger 15 can push hydraulic oil from the plunger hole into an oil return port of the oil distribution disc 16 under the pressure of the swash plate 13, and then the hydraulic oil flows into a low-pressure oil channel of the oil input disc 10, flows into the second low-pressure oil passage 33 of the cylinder block of the outer housing 21 through the low-pressure pipe joint, flows from the oil passage of the oil feed pan B20 into the annular rectangular groove of the oil feed pan B20, and the hydraulic oil flows from the annular rectangular groove of the oil feed pan B20 to the surface of the valve body 22, then enters the second rectangular valve port 22-2 on the valve body from the surface of the valve body 22 and further flows into the left valve sleeve B port 6-6 on the valve sleeve 6, and the hydraulic oil flows into the rectangular oil groove on the fourth annular boss 24-4 on the valve core 24 from the left valve sleeve B port 6-6 on the valve sleeve 6 and then flows into the right valve sleeve T port 6-8 on the valve sleeve 6 from the rectangular oil groove. Hydraulic oil flows through the valve sleeve right T-shaped port 6-8 on the right side of the valve sleeve, flows through the second rectangular valve port 22-2 of the valve body 22, enters the low-pressure oil duct of the right cylinder body 8, sequentially passes through the cylinder body first low-pressure oil channel 31 of the outer shell 21 and the low-pressure oil duct of the left end cover 4, and flows out of the left end cover 4 low-pressure oil joint in a backflow process through the low-pressure oil duct.
The protective scope of the present invention is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present invention by those skilled in the art without departing from the scope and spirit of the present invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (8)
1. The utility model provides a continuous rotation hydraulic joint of axial distribution of oil which characterized in that: the steering engine comprises a steering engine (1), a rotary valve and a plunger motor system which are connected in sequence, wherein the rotary valve comprises a left end cover (4), a right end cover (18) and an outer shell (21), a valve body (22), a valve sleeve (6) and a valve core (24) are coaxially arranged in a cavity inside the outer shell, the cavity inside the outer shell is split into a left cylinder body (23) and a right cylinder body (8), an oil conveying disc A (7) and an oil conveying disc B (20) are respectively arranged in the left cylinder body (23) and the right cylinder body (8), two tapered roller bearings (19) are arranged on the outer sides of the left cylinder body and the right cylinder body in a forward mounting mode, the valve sleeve (6) is sleeved outside the valve core (24), the valve body (22) is sleeved outside the valve sleeve (6), and the valve sleeve (6) and the valve body (22) are connected in a matched mode through a cylindrical pin;
the steering engine (1) is fixed on a left end cover (4) of the rotary valve through two bases, an outward extending shaft end on the left side of the valve core (24) is connected with an output shaft of the steering engine (1) through a coupler (3) to transmit torque transmitted by the steering engine (1) to the valve core (24), and the bases and the left end cover are fixedly connected through a plurality of screws (26);
the plunger motor system comprises a plunger motor cylinder body (11), a plunger motor shaft (12) arranged at the horizontal center of the plunger motor cylinder body, an oil conveying disc C (10) and a valve plate (16) which are arranged on the left side of the plunger motor cylinder body (11), and a plurality of plunger holes horizontally arranged in the plunger motor cylinder body, wherein a plunger (15) is movably arranged in each plunger hole, the tail end of the plunger (15) penetrates out of the plunger motor cylinder body (11) and then is connected with a sliding shoe (14), a swash plate (13) is arranged on the right side of the plunger motor cylinder body, the swash plate (13) is fixed and fixed, the side of the swash plate close to the plunger motor cylinder body is an inclined surface, the tail end of the sliding shoe (14) is attached to the inclined surface, the left end of the plunger motor shaft (12) penetrates out of the plunger motor cylinder body and is connected with a connecting cylinder (9), one end of the connecting cylinder is connected with the plunger motor shaft (12), and one end of the plunger motor shaft is connected with a valve body (22) through a key, the plunger motor shaft is in interference fit with the plunger motor cylinder body.
2. The continuously rotating hydraulic joint with axial oil distribution of claim 1, wherein: the plunger motor oil conveying disc C (10) is provided with a high-pressure oil hole and a low-pressure oil hole which are respectively connected with high-pressure oil pipes and low-pressure oil pipes on a right end cover (18) of the left rotary valve, the outer diameter of the oil conveying disc C (10) is the same as that of the plunger motor valve plate (16), and the inner diameter of the oil conveying disc C is the same as that of the plunger motor shaft (12).
3. The continuously rotating hydraulic joint with axial oil distribution of claim 2, wherein: the outer diameter of the flow distribution disc (16) is the same as that of the plunger cylinder body (11), crescent oil inlets and outlets are symmetrically formed in the flow distribution disc (16), one ends of high-pressure oil holes and low-pressure oil holes in the oil delivery disc C (10) are connected with high-pressure oil pipe joints and low-pressure oil pipe joints on a right end cover (18), the other ends of the high-pressure oil holes and the low-pressure oil holes are respectively communicated with the two crescent oil inlets and outlets in the flow distribution disc (16), and the two crescent oil inlets and outlets in the flow distribution disc (16) are respectively communicated with part of the plunger holes.
4. The continuously rotating hydraulic joint with axial oil distribution of claim 1, wherein: the oil conveying disc A (7) is installed on the right side of the left cylinder body (23), the oil conveying disc B (20) is installed on the left side of the right cylinder body (8), the oil conveying disc A (7) is axially positioned through a first rectangular valve port (22-1) in the valve body (22), circumferential positioning is achieved through the coaxiality of the oil conveying disc A and the valve body (22), the oil conveying disc B (20) is axially positioned through a second rectangular valve port (22-2) in the valve body (22), and circumferential positioning is achieved through the coaxiality of the oil conveying disc B and the valve body (22).
5. The continuously rotating hydraulic joint with axial oil distribution of claim 1, wherein: the plunger holes and the plungers in the plunger motor cylinder body (11) are seven, and the seven plunger holes are uniformly distributed in the plunger motor cylinder body around the axial direction of the plunger motor.
6. The continuously rotating hydraulic joint with axial oil distribution of claim 1, wherein: the inclined angle between the left inclined plane of the swash plate and the right end plane of the plunger motor cylinder body (11) is 20 degrees, the piston tail end sliding shoe (14) is pressed on the inclined plane of the swash plate (13), due to the inclined plane design of the swash plate (13), in the rotating process of the plunger motor cylinder body, the plunger (11) performs reciprocating motion in a plunger hole, and the oil absorption and pressing process of the plunger motor cylinder body is realized.
7. The continuously rotating hydraulic joint with axial oil distribution of claim 1, wherein: the valve core (24) is provided with five annular bosses and a shaft shoulder from left to right, namely a first annular boss (24-1) of the valve core, a second annular boss (24-2) of the valve core, a third annular boss (24-3) of the valve core, a fourth annular boss (24-4) of the valve core, a fifth annular boss (24-5) of the valve core and a shaft shoulder (24-6) of the valve core, wherein the first four annular bosses are respectively provided with two rectangular grooves which are symmetrically distributed, the rectangular grooves on the two adjacent annular bosses are vertically distributed at 90 degrees, the valve sleeve (6) is provided with four pairs of symmetrically distributed rectangular ports which are respectively a left T port (6-1) of the valve sleeve, a left A port (6-2) of the valve sleeve, a right A port (6-3) of the valve sleeve, a left P port (6-4) of the valve sleeve, a right P port (6-5) of the valve sleeve and a left B port (6-6), a valve sleeve right B port (6-7), a valve sleeve right T port (6-8), the rightmost end of the valve sleeve is aligned with the right end of a valve core fifth annular boss (24-5), the right end of a valve core first annular boss (24-1) is aligned with the right end of a valve sleeve left T port (6-1), a rectangular groove on the valve core first annular boss (24-1) is communicated with the valve sleeve left T port, the right end of a valve core second annular boss (24-2) is aligned with the right end of a valve sleeve right A port (6-3), a rectangular groove on the valve core second annular boss (24-2) is communicated with the valve sleeve right A port (6-3), the right end of a valve core third annular boss (24-3) is aligned with the right end of a valve sleeve right P port (6-5), a rectangular groove on the valve core third annular boss (24-3) is communicated with the valve sleeve right P port (6-5), the right end of a fourth annular boss (24-4) of the valve core is aligned with the right end of a right B port of the valve sleeve, a rectangular groove on the fourth annular boss (24-4) of the valve core is communicated with the right B port of the valve sleeve, the valve core and the valve sleeve are coaxially arranged in the valve body, the right end of the valve sleeve is aligned with a boss in the valve body, a first rectangular valve port (22-1) and a second rectangular valve port (22-2) are arranged on the valve body (22), the first rectangular valve port (22-1) is communicated with a left A port (6-2) of the valve sleeve and a right A port (6-3) of the valve sleeve, and the second rectangular valve port (22-2) is communicated with the left B port (6-6) of the valve sleeve and the right B port (6-7) of the valve sleeve.
8. The continuously rotating hydraulic joint with axial oil distribution of claim 1, wherein: the inner ring of the oil conveying disc A (7) is provided with a continuous oil conveying disc annular rectangular groove (7-2), the oil conveying disc annular rectangular groove (7-2) is communicated with a first rectangular valve port (22-1) of the valve body (22), an oil conveying disc oil duct (7-1) is arranged above the oil conveying disc A (7), one end of the oil conveying disc oil duct (7-1) is communicated with the oil conveying disc annular rectangular groove (7-2), the other end of the oil conveying disc oil duct is communicated with a second high-pressure oil duct (34) on the outer shell (21), the second high-pressure oil duct (34) is connected with a high-pressure oil pipe joint on the right end cover (18), the oil conveying disc B (20) is identical to the oil conveying disc A (7) in internal structure, the oil duct on the oil conveying disc B (20) is communicated with a second low-pressure oil passage (33) on the outer shell, and the second low-pressure oil passage (33) is communicated with a low-pressure pipe joint on the right end cover (18), an annular rectangular groove in the oil conveying disc B (20) is communicated with a second rectangular valve port (22-2) of the valve body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111170591.3A CN113858258B (en) | 2021-10-08 | 2021-10-08 | Continuous rotary hydraulic joint for axially distributing oil |
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| CN202111170591.3A CN113858258B (en) | 2021-10-08 | 2021-10-08 | Continuous rotary hydraulic joint for axially distributing oil |
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| CN113858258A true CN113858258A (en) | 2021-12-31 |
| CN113858258B CN113858258B (en) | 2024-06-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0499961A2 (en) * | 1991-02-14 | 1992-08-26 | Honda Giken Kogyo Kabushiki Kaisha | Swash-plate plunger-type hydraulic device |
| DE19912906A1 (en) * | 1999-03-22 | 2000-12-14 | Guenter W Klemm | Hydraulic actuator, especially for selection shaft of three-step planetary gear; has first piston moving in guide formed inside second cylindrical piston, formed as hydraulic cylinder |
| CN203978981U (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | A kind of corner self-servo valve horse-controlling reaches |
| CN104179746A (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | Self-servo hydraulic robot joint capable of continuously rotating |
| CN106737827A (en) * | 2017-01-17 | 2017-05-31 | 武汉科技大学 | A kind of corner is from servo passive compliance hydraulic machine person joint |
| CN107630847A (en) * | 2017-09-15 | 2018-01-26 | 太原理工大学 | Electric ratio pressure continuously regulates and controls hydraulic motor/pump |
| CN108591152A (en) * | 2018-04-13 | 2018-09-28 | 浙江大学 | A kind of hydraulic motor rotary valve all-in-one machine independently coupled |
| CN113263520A (en) * | 2021-06-24 | 2021-08-17 | 武汉科技大学 | Continuously-rotatable passive follow-up hydraulic robot rotary joint |
-
2021
- 2021-10-08 CN CN202111170591.3A patent/CN113858258B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0499961A2 (en) * | 1991-02-14 | 1992-08-26 | Honda Giken Kogyo Kabushiki Kaisha | Swash-plate plunger-type hydraulic device |
| DE19912906A1 (en) * | 1999-03-22 | 2000-12-14 | Guenter W Klemm | Hydraulic actuator, especially for selection shaft of three-step planetary gear; has first piston moving in guide formed inside second cylindrical piston, formed as hydraulic cylinder |
| CN203978981U (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | A kind of corner self-servo valve horse-controlling reaches |
| CN104179746A (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | Self-servo hydraulic robot joint capable of continuously rotating |
| CN106737827A (en) * | 2017-01-17 | 2017-05-31 | 武汉科技大学 | A kind of corner is from servo passive compliance hydraulic machine person joint |
| CN107630847A (en) * | 2017-09-15 | 2018-01-26 | 太原理工大学 | Electric ratio pressure continuously regulates and controls hydraulic motor/pump |
| CN108591152A (en) * | 2018-04-13 | 2018-09-28 | 浙江大学 | A kind of hydraulic motor rotary valve all-in-one machine independently coupled |
| CN113263520A (en) * | 2021-06-24 | 2021-08-17 | 武汉科技大学 | Continuously-rotatable passive follow-up hydraulic robot rotary joint |
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| CN113858258B (en) | 2024-06-21 |
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