CN114263643A - Servo rotary column reversing valve for realizing stepless speed regulation and start-stop control and control method thereof - Google Patents
Servo rotary column reversing valve for realizing stepless speed regulation and start-stop control and control method thereof Download PDFInfo
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- CN114263643A CN114263643A CN202111525565.8A CN202111525565A CN114263643A CN 114263643 A CN114263643 A CN 114263643A CN 202111525565 A CN202111525565 A CN 202111525565A CN 114263643 A CN114263643 A CN 114263643A
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Abstract
The invention provides a servo rotary column reversing valve for realizing stepless speed regulation and start-stop control, which comprises: the angle sensor and the servo motor are arranged on the rotary column valve core, and the rotary column valve core is arranged in the reversing valve shell; the reversing valve shell is provided with an air inlet, an air cylinder port and an air outlet, the rotary column valve core is provided with an annular splitter box, an airflow groove, an exhaust groove and an annular confluence groove from top to bottom, the airflow groove comprises a first arc-shaped inclined plane airflow groove and a second arc-shaped inclined plane airflow groove which are adjacent, the exhaust groove comprises a first arc-shaped inclined plane exhaust groove and a second arc-shaped inclined plane exhaust groove which are adjacent, and the position of a converter zone between the airflow groove and the exhaust groove corresponds to the position of the air cylinder port. The invention well realizes the linear increasing or decreasing of the reversing flow control, can realize the reversing running speed of the stepless adjusting cylinder, and can realize the bidirectional locking of the cylinder piston to stop or start at any position in the effective stroke.
Description
Technical Field
The invention relates to a pneumatic device, in particular to a servo rotary column reversing valve for realizing stepless speed regulation and start-stop control, and a control method for controlling the servo rotary column reversing valve for realizing the stepless speed regulation and the start-stop control.
Background
The working medium of the pneumatic device is inexhaustible air which is difficult to burn compared with a hydraulic medium, the exhaust treatment is simple, the environment is not polluted, and the cost is low; the air has compressibility and can store energy to realize centralized air supply; the device has the advantages of simple structure, light weight, small volume, quick reaction and the like; the pneumatic transmission can output larger thrust and torque, and the transmission stability is good.
Therefore, the pneumatic devices used in industrial production machinery are more and more, and are widely applied to various fixtures, jigs, reciprocating thrust devices, pneumatic punching machines, pneumatic lifting arms and other devices on a production line. The electric reversing valve of the pneumatic switch gear is an important control component. At present, the conventional electric pneumatic reversing valves on the market mainly comprise: 1. the electromagnetic directional valve is a directional control valve which utilizes electromagnetic attraction to control the position of a valve core. 2. The electro-hydraulic reversing valve is a composite valve consisting of an electromagnetic reversing valve and a hydraulic reversing valve.
In the electromagnetic directional valve, an electromagnetic valve is an automatic basic element for controlling fluid and belongs to an actuator; and is not limited to hydraulic or pneumatic means. The solenoid valve is used for controlling the hydraulic flow direction, and the mechanical device of a factory is generally controlled by hydraulic steel, so the solenoid valve is used. The theory of operation of solenoid valve, there is inclosed chamber in the solenoid valve, different positions at open and to have the through-hole, every hole all accesss to different oil pipe, be the valve in the middle of the chamber, the two sides are two electro-magnets, which side's magnet coil circular telegram valve body will be attracted which side, come the shelves through the removal of control valve body or spill the hole of different oil extraction, and the inlet port is normally open, hydraulic oil will get into different oil extraction pipes, then the piston that promotes the oil through the pressure of oil, the piston drives the piston rod again, the piston rod drives mechanical device and moves. Therefore, in the prior art, a single reversing valve can only control the cylinder to keep in one of a forward state and a backward state, and the cylinder piston cannot be bidirectionally locked to stop or start at any position in an effective stroke. Only the state of fixed airflow is opened and closed purely, so the linear air flow control valve has poor linearity and large exhaust noise and cannot be used in continuous linear working environments such as multi-degree-of-freedom mechanical arms or stepless bidirectional speed regulation movement.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a servo rotary column reversing valve which can realize bidirectional locking and stop or start control at any position in an effective stroke besides realizing forward and reverse motion control, and a control method for controlling the servo rotary column reversing valve.
To this end, the present invention provides a servo rotary column reversing valve for realizing stepless speed regulation and start-stop control, comprising: the angle sensor is arranged on the servo motor, and the rotary column valve core is arranged in a cavity in the middle of the reversing valve shell; the servo motor is arranged right above the rotary column valve core and is connected with the rotary column valve core; the sealing assembly is arranged above and below the rotary column valve core; the reversing valve is characterized in that an air inlet, an air cylinder port and an air outlet are arranged on the reversing valve shell, the air cylinder port comprises a first air cylinder port and a second air cylinder port which are adjacent, the rotary column valve core is a cylindrical valve core, an annular shunting groove, an air flow groove, an air exhaust groove and an annular converging groove are arranged on the rotary column valve core from top to bottom, the position of the annular shunting groove corresponds to the position of the air inlet, the position of the annular converging groove corresponds to the position of the air outlet, the air flow groove comprises a first arc-shaped inclined surface air flow groove and a second arc-shaped inclined surface air flow groove which are adjacent, the air exhaust groove comprises a first arc-shaped inclined surface air exhaust groove and a second arc-shaped inclined surface air exhaust groove which are adjacent, and the position of a converter zone between the air flow groove and the air exhaust groove corresponds to the position of the air cylinder port.
The invention is further improved in that the first arc-shaped inclined surface air flow groove and the second arc-shaped inclined surface air flow groove are respectively provided with a diversion contact surface with gradually changed area, the rotating angle of the first arc-shaped inclined surface air flow groove and the second arc-shaped inclined surface air flow groove in contact with the cylinder port is controlled, and the diversion air flow which is in direct proportion to the effective area of the diversion contact surface is obtained.
The invention is further improved in that the first arc-shaped inclined plane exhaust groove and the second arc-shaped inclined plane exhaust groove are respectively provided with an exhaust contact surface with gradually changed area, the rotating angle of the first arc-shaped inclined plane exhaust groove and the second arc-shaped inclined plane exhaust groove in contact with the cylinder port is controlled, and the exhaust gas flow proportional to the effective area of the exhaust contact surface is obtained.
The invention is further improved in that the first arc-shaped inclined surface air flow groove and the second arc-shaped inclined surface air flow groove are respectively vertical to the annular diversion groove, and the first arc-shaped inclined surface exhaust groove and the second arc-shaped inclined surface exhaust groove are respectively vertical to the annular diversion groove.
The invention is further improved in that the first arc-shaped inclined plane airflow groove and the first arc-shaped inclined plane exhaust groove are symmetrically distributed at 180 degrees, and a commutation zone between the first arc-shaped inclined plane airflow groove and the first arc-shaped inclined plane exhaust groove has a 50% common intersection zone; the second arc-shaped inclined plane airflow groove and the second arc-shaped inclined plane exhaust groove are symmetrically distributed at 180 degrees, and 50% of a common intersection area is arranged in a current conversion area between the second arc-shaped inclined plane airflow groove and the second arc-shaped inclined plane exhaust groove.
The further improvement of the invention is that the servo rotary column reversing valve changes the effective area of the contact surface generated between the air flow groove and the exhaust groove of the arc inclined surface and the cylinder port by rotating the angle of the rotary column valve core, and further controls the air inlet and exhaust reversing of the inlet and the outlet at the two ends to achieve the forward and backward movement of the cylinder, and the process is as follows: the servo motor is linked with the rotary column valve core to rotate so that the first arc-shaped inclined surface airflow groove is contacted with the first cylinder port, compressed air flows into the first cylinder port through the first arc-shaped inclined surface airflow groove, and the first arc-shaped inclined surface exhaust groove is connected with the exhaust port through the confluence groove to push the cylinder to move forwards; the servo motor is linked with the rotary column valve core to rotate so that the second arc-shaped inclined surface airflow groove is contacted with the second cylinder port, compressed air flows into the second cylinder port through the second arc-shaped inclined surface airflow groove, and the second arc-shaped inclined surface exhaust groove is connected with the exhaust port through the confluence groove to push the cylinder to move forwards.
The invention also provides a control method of the servo rotary column reversing valve, which is used for controlling the servo rotary column reversing valve for realizing stepless speed regulation and start-stop control, and the angle of the rotary column valve core is controlled to determine the size of gas flow so as to realize linear increasing or decreasing of reversing flow control and further realize stepless regulation of the reversing running speed of the air cylinder; when the cylinder is in a fast motion state, the servo motor rotates to link the rotary column valve core to rotate to positive 45 degrees, the first arc-shaped inclined surface airflow groove is in overall contact with the first cylinder port, meanwhile, the second cylinder port is in overall contact with the first arc-shaped inclined surface exhaust groove, and the air flow reaches the maximum; compressed air flows to the first cylinder port through the first arc-shaped inclined surface airflow groove through the air inlet, at the moment, the second cylinder port is directly connected with the atmosphere through the confluence groove and the exhaust port, the pressure of the compressed air flowing into the first cylinder port is larger than a standard atmospheric pressure, a cylinder piston is pushed to rapidly retreat towards the bottom, and air at the bottom end of the cylinder is exhausted to the atmosphere through the exhaust groove and the exhaust port through the second cylinder port.
The invention is further improved in that when the cylinder is in a slow motion state, the servo motor rotates and links the rotation angle of the rotary column valve core to be less than minus 45 degrees, the second arc-shaped inclined surface airflow groove is in small-area contact with the second cylinder port, meanwhile, the first cylinder port is in small-area contact with the second arc-shaped inclined surface exhaust groove, compressed air flows to the second cylinder port through the second arc-shaped inclined surface airflow groove through the air inlet, the first cylinder port is directly connected with the atmosphere through the confluence groove and the exhaust port, the pressure of the compressed air flowing into the second cylinder port is greater than a standard atmospheric pressure, the cylinder piston is driven to slowly advance to the top under the condition of small inflow air flow, and the gas at the top end of the cylinder is exhausted to the atmosphere through the exhaust groove and the exhaust port by the first cylinder port.
The invention is further improved in that when the cylinder is in a midway stop state, the cylinder moves forwards or backwards to any position in an effective stroke, the rotation angle of the servo motor in rotation linkage with the rotary column valve core is 0 degree, no gas flows from the gas inlet, the first cylinder port, the second cylinder port and the gas outlet, and the gas pressures at two ends of a piston in the cylinder are high and equal, so that the interlocking stop state of the cylinder is realized.
The invention has the further improvement that the rotary column valve core adopts a built-in control circuit, and a control signal is output to the control end of the servo rotary column reversing valve by an external control computer device; enabling a motor driving circuit to drive a servo motor to rotate to a corresponding angle through an MCU (microprogrammed control unit) with a built-in control circuit according to the duty ratio of an input pulse width, and realizing that the rotation angle of the rotary column valve core is 0 degree by taking 1500us as a neutral point, wherein the rotation angle of the servo motor is linearly increased when the rotation angle is 1500us-1000us, and the rotation angle of the servo motor is linearly decreased when the rotation angle is 1500us-2000 us; the rotation angle of the servo motor is detected by the angle sensor and fed back to the MCU, the rotation angle is compared with a preset angle through feedback, and the rotation of the servo motor is stopped until the preset angle is reached.
Compared with the prior art, the invention has the beneficial effects that: the air flow groove comprises a first arc-shaped inclined surface air flow groove and a second arc-shaped inclined surface air flow groove which are adjacent, and the exhaust groove comprises a first arc-shaped inclined surface exhaust groove and a second arc-shaped inclined surface exhaust groove which are adjacent, and the position of a converter zone between the air flow groove and the exhaust groove corresponds to the position of the cylinder port, so that when air flows respectively contact with the air inlet and the exhaust port through the air flow groove and the exhaust groove, the effective contact area of the air flows can be changed according to different rotation angles, the effect of determining the size of the air flow by the angle of the rotary column valve core is achieved, the linear increasing or decreasing of the reversing control flow is well realized, the reversing operation speed of the stepless regulation cylinder can be realized, and the bidirectional locking of the cylinder piston at any position in an effective stroke can be realized. The invention has the advantages of high precision, good linearity, low exhaust noise and the like, and can well meet the requirements of high-precision use equipment such as a crawling robot, a multi-degree-of-freedom mechanical arm, stepless two-way speed regulation motion and the like.
Drawings
FIG. 1 is a schematic illustration of an explosive structure according to one embodiment of the present invention;
FIG. 2 is an enlarged schematic view of a spin-on spool according to an embodiment of the present invention;
FIG. 3 is a schematic top cross-sectional view of an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional front view of an embodiment of the present invention;
FIG. 5 is a schematic diagram of a backside cross-sectional structure of an embodiment of the present invention;
FIG. 6 is a schematic view of a commutation profile configuration according to one embodiment of the invention;
FIG. 7 is a schematic flow diagram of an embodiment of the present invention;
FIG. 8 is a schematic view of an embodiment of the present invention in a cylinder rapid-reverse state;
FIG. 9 is a schematic view of an embodiment of the present invention during a cylinder creep condition;
FIG. 10 is a schematic view of an embodiment of the present invention in a cylinder mid-stop condition;
fig. 11 is a schematic diagram of the control principle of an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 11, this embodiment provides a servo rotary column reversing valve for realizing stepless speed regulation and start-stop control, including: the angle sensor comprises an angle sensor 1, a servo motor 2, a rotary column valve core 3, a reversing valve shell 4 and a sealing assembly, wherein the angle sensor 1 is arranged on the servo motor 2, and the rotary column valve core 3 is arranged in a cavity in the middle of the reversing valve shell 4; the servo motor 2 is arranged right above the rotary column valve core 3 and is connected with the rotary column valve core 3; the sealing assembly is arranged above and below the rotary column valve core 3; the reversing valve shell 4 is provided with an air inlet 401, an air cylinder port and an air outlet 402, the air cylinder port comprises a first adjacent air cylinder port 403 and a second adjacent air cylinder port 404, the rotary column valve core 3 is a cylindrical valve core, the rotary column valve core 3 is provided with an annular diversion groove 301, an air flow groove, an air exhaust groove and an annular confluence groove 302 from top to bottom, the position of the annular diversion groove 301 corresponds to the position of the air inlet 401, the position of the annular confluence groove 302 corresponds to the position of the air outlet 402, the air flow groove comprises a first adjacent arc-shaped inclined surface air flow groove 303 and a second adjacent arc-shaped inclined surface air flow groove 304, the air exhaust groove comprises a first adjacent arc-shaped inclined surface air exhaust groove 305 and a second adjacent arc-shaped inclined surface air exhaust groove 306, the position of a converter zone between the air flow groove and the air exhaust groove corresponds to the position of the air cylinder port, that is, the position of the air cylinder port is in the vertical direction, and the current conversion zone is positioned between the airflow groove and the exhaust groove.
As shown in fig. 1 and 4, the sealing assembly of this embodiment preferably includes a plug 5, a sealing ring 7 and a sealing gasket 8, the sealing ring 7 is disposed above the spin column valve core 3, the plug 5 is disposed below the spin column valve core 3 through the sealing gasket 8, and the plug 5 may be a screw plug or the like, so as to achieve the sealing effect of the spin column valve core 3. The air flow groove is used for realizing air inlet shunting, and the exhaust groove is used for realizing exhaust; the first cylinder port 403 is also referred to as cylinder A port, the second cylinder port 404 is also referred to as cylinder B port, the first arc ramp gas flow channel 303 is also referred to as A arc ramp gas flow channel, the second arc ramp gas flow channel 304 is also referred to as B arc ramp gas flow channel, the first arc ramp gas discharge channel 305 is also referred to as A arc ramp gas discharge channel, and the second arc ramp gas discharge channel 306 is also referred to as B arc ramp gas discharge channel.
The spool 3 of the present embodiment mainly includes a first arc-shaped inclined surface air flow groove 303, a second arc-shaped inclined surface air flow groove 304, a first arc-shaped inclined surface air discharge groove 305, and a second arc-shaped inclined surface air discharge groove 306, which are designed to be arc-shaped inclined surfaces, and are used for controlling the reversing air supply and air discharge of the pneumatic member. The servo rotary column reversing valve can change air inlet and air outlet at two ends of the air cylinder to control the forward and reverse movement of the air cylinder according to the use requirement, can realize bidirectional locking of the piston of the air cylinder by closing all the air inlet and air outlet, and can stop or start at any position in the effective stroke, thereby effectively realizing linear stepless control. Therefore, the present embodiment effectively avoids the disadvantage that the cylinder piston cannot be locked in two directions and stopped or started at any position in the effective stroke in the prior art. Because the air flow groove designed by the arc inclined surface is adopted by the rotary column valve core 3 of the present embodiment to change the size of the contact area of the air flow inlet and the air flow outlet through the size of the rotation angle of the servo motor 2 to control the size of the air flow, the linear control of the present embodiment is better, and the stepless speed regulation can be effectively realized.
It should be noted that the first arc-shaped inclined surface airflow groove 303, the second arc-shaped inclined surface airflow groove 304, the first arc-shaped inclined surface exhaust groove 305, and the second arc-shaped inclined surface exhaust groove 306 in this embodiment are all implemented by using arc-shaped inclined surfaces, rather than simple slope inclined surfaces, and are designed based on a special use environment of cylindrical airflow exchange in the spin column valve core 3, and through the arc-shaped inclined surface airflow groove and the exhaust groove, the gradual change requirement of the airflow exchange in the special use environment can be met, and the characteristics of the arc-shaped inclined surfaces and the vortex airflow can be well utilized to reduce resistance, so that the reversing, stopping, starting, and controlling of the servo spin column reversing valve are smoother, and the stepless speed regulation effect is very good.
The arc inclined planes of the airflow groove and the exhaust groove are preferably one of arc inclined planes, elliptic arc inclined planes, parabola arc inclined planes or hyperbola arc inclined planes, the linear effect of transition by adopting the arc inclined planes is better, but the resistance is slightly larger, if one of the elliptic arc inclined planes, the parabola arc inclined planes or the hyperbola arc inclined planes is adopted, the linear control effect and the resistance reducing effect can be better considered, the regular gradual change effect of the contact surface is realized, and the controllability is high. In the same rotary column valve core 3, the arc-shaped inclined planes selected by the airflow groove and the exhaust groove are the same, namely, the arc-shaped inclined planes, the elliptical arc-shaped inclined planes, the parabolic arc-shaped inclined planes or the hyperbolic arc-shaped inclined planes are preferably adopted at the same time, and the slopes of the airflow groove and the exhaust groove and the lengths of the arc-shaped inclined planes are the same.
As shown in fig. 3, in this embodiment, the thicker end of the arc surface of the first arc-shaped inclined surface airflow groove 303 is adjacent to the thicker end of the arc surface of the second arc-shaped inclined surface airflow groove 304, that is, the end of the first arc-shaped inclined surface airflow groove 303 close to the cylindrical core of the spin spool 3 is adjacent to the end of the second arc-shaped inclined surface airflow groove 304 close to the cylindrical core of the spin spool 3; in addition, the thinner end of the arc surface of the first arc-shaped inclined surface exhaust groove 305 is adjacent to the thinner end of the arc surface of the second arc-shaped inclined surface exhaust groove 306, that is, the end of the first arc-shaped inclined surface exhaust groove 305 away from the center of the rotary column valve element 3 is adjacent to the end of the second arc-shaped inclined surface exhaust groove 306 away from the center of the rotary column valve element 3, so that the design has the advantages that the design can be well matched with the air inlet 401, the air cylinder port and the exhaust port 402, the first air cylinder port 403 and the second air cylinder port 404, the gradual change of the contact surface is realized through the distance between the arc-shaped inclined surface and the center of the rotary column valve element 3, the requirement of stepless speed regulation is well met, the working stability of the servo rotary column reversing valve can be ensured, and the quick and effective switching between different states can be realized.
Therefore, in this embodiment, the first arc-shaped inclined surface air flow groove 303 and the second arc-shaped inclined surface air flow groove 304 both have a diversion contact surface with a gradually changing area, and the diversion air flow quantity proportional to the effective area of the diversion contact surface can be obtained by controlling the rotation angle of the first arc-shaped inclined surface air flow groove 303 and the second arc-shaped inclined surface air flow groove 304 in contact with the cylinder port. The diverging contact surface with gradually changing area means that the first arc-shaped inclined surface air flow groove 303 and the second arc-shaped inclined surface air flow groove 304 are continuous gradually changing arc-shaped inclined surfaces, so that the change of the effective area of the contact surface is gradually changed in the stepless speed regulation process, and the linear effect of the contact surface is improved.
Similarly, in this embodiment, the first arc-shaped inclined surface exhaust groove 305 and the second arc-shaped inclined surface exhaust groove 306 both have exhaust contact surfaces with gradually changing areas, and the exhaust flow rate proportional to the effective area of the exhaust contact surfaces can be obtained by controlling the rotation angle of the first arc-shaped inclined surface exhaust groove 305 and the second arc-shaped inclined surface exhaust groove 306 in contact with the cylinder port. The exhaust contact surface with gradually changed area means that the first arc-shaped inclined surface exhaust groove 305 and the second arc-shaped inclined surface exhaust groove 306 are continuous gradually changed arc-shaped inclined surfaces, so that the change of the effective area of the contact surface is gradually changed in the stepless speed regulation process, and the linear effect of the contact surface is improved.
As shown in fig. 1 to 6, in this embodiment, the first arc-shaped inclined airflow groove 303 and the second arc-shaped inclined airflow groove 304 are perpendicular to the annular diversion groove 301, so as to facilitate diversion and guidance of intake air; the first arc-shaped inclined plane exhaust groove 305 and the second arc-shaped inclined plane exhaust groove 306 are respectively perpendicular to the annular diversion channel 301, so that exhaust guiding and convergence are facilitated, meanwhile, the column structure of the rotary column valve core 3 per se can be reasonably utilized, the size of a product is reduced, and the miniaturization design of the product is facilitated.
As shown in fig. 6, the first arc-shaped inclined airflow slot 303 and the first arc-shaped inclined plane exhaust slot 305 are symmetrically distributed at 180 °, the flow change area between the first arc-shaped inclined plane airflow slot 303 and the first arc-shaped inclined plane exhaust slot 305 has 50% of common intersection area 307, so as to achieve air intake and exhaust in a fast movement state, the common intersection area 307 included in the flow change area between the first arc-shaped inclined plane airflow slot 303 and the first arc-shaped inclined plane exhaust slot 305 determines intersection of air intake and air exhaust, because the arc-shaped inclined planes selected by the airflow slot and the exhaust slot are the same, the slopes of the airflow slot and the exhaust slot and the lengths of the arc-shaped inclined planes are the same, and the first arc-shaped inclined plane airflow slot 303 and the first arc-shaped inclined plane exhaust slot 305 are symmetrically distributed at 180 °, the common intersection area 307 at this time is the flow change area between the first arc-shaped inclined plane airflow slot 303 and the first arc-shaped inclined plane exhaust slot 305 50%, the flow conversion effect of air intake and air exhaust is the most smooth, the requirement of the servo rotary column reversing valve is well met, the processing difficulty of products is effectively reduced, the same processing procedure can be adopted for the first arc-shaped inclined surface airflow groove 303, the second arc-shaped inclined surface airflow groove 304, the first arc-shaped inclined surface air exhaust groove 305 and the second arc-shaped inclined surface air exhaust groove 306, and the subsequent control difficulty is also reduced. Similarly, in this embodiment, the second arc-shaped inclined-surface airflow slot 304 and the second arc-shaped inclined-surface exhaust slot 306 are symmetrically distributed at 180 °, and a commutation zone between the second arc-shaped inclined-surface airflow slot 304 and the second arc-shaped inclined-surface exhaust slot 306 has 50% of a common intersection zone 307, so that air intake and exhaust in a slow motion state can be well achieved.
As shown in fig. 4 to 7, the servo rotary column reversing valve of this embodiment changes the effective area of the contact surface generated between the air flow groove and the exhaust groove of the arc-shaped inclined surface and the cylinder port by rotating the angle of the rotary column valve core 3, and further controls the intake and exhaust reversing of the inlet and outlet at the two ends to achieve the forward and backward movement of the cylinder, and the process is as follows: the servo motor 2 is linked with the rotary column valve core 3 to rotate, so that the first arc-shaped inclined surface airflow groove 303 is contacted with the first cylinder port 403, compressed air flows into the first cylinder port 403 through the first arc-shaped inclined surface airflow groove 303, and the first arc-shaped inclined surface exhaust groove 305 is connected with the exhaust port 402 through the confluence groove to push a cylinder to move forwards; the servo motor 2 is linked with the rotary column valve core 3 to rotate, so that the second arc-shaped inclined surface airflow groove 304 is contacted with the second cylinder port 404, compressed air flows into the second cylinder port 404 through the second arc-shaped inclined surface airflow groove 304, and the second arc-shaped inclined surface exhaust groove 306 is connected with the exhaust port 402 through the confluence groove to push a cylinder to move forwards.
The present embodiment further provides a control method of a servo rotary column reversing valve, which is used for controlling the servo rotary column reversing valve for realizing stepless speed regulation and start-stop control, and the angle of the rotary column valve core 3 is controlled to determine the magnitude of gas flow so as to realize linear increasing or decreasing of reversing flow control, thereby realizing stepless regulation of the reversing operation speed of the air cylinder; as shown in fig. 3 and 8, when the cylinder is in a fast moving state (e.g., a fast retreating state), the servo motor 2 rotates and links the rotary column valve core 3 to rotate to positive 45 °, the first arc-shaped inclined surface air flow groove 303 is in full-face contact with the first cylinder port 403, and simultaneously the second cylinder port 404 is in full-face contact with the first arc-shaped inclined surface air discharge groove 305, so that the air flow reaches the maximum; compressed air flows to the first cylinder port 403 through the first arc-shaped inclined plane airflow groove 303 via the air inlet 401, at this time, the second cylinder port 404 is directly connected with the atmosphere via the confluence groove and the air outlet 402, the pressure of the compressed air flowing into the first cylinder port 403 is greater than a standard atmosphere, a cylinder piston is pushed to rapidly retreat towards the bottom, and the air at the bottom end of the cylinder is exhausted to the atmosphere via the air outlet groove (comprising the first arc-shaped inclined plane air outlet groove 305 and the second arc-shaped inclined plane air outlet groove 306) and the air outlet 402 via the second cylinder port 404. The fast movement state refers to a state when the effective contact area is the largest, and corresponds to a later slow movement state, and the effective base area is the smallest in the slow movement state; in the change process of the rotation angle, the switching between the fast movement state and the slow movement state can be realized by stepless speed regulation.
Because the rotation angle of the rotary column valve core 3 is in direct proportion to the contact area, the larger the effective contact area is, the larger the gas flow is, the contact area between the air flow groove of the arc-shaped inclined plane and the cylinder port can be changed by controlling the rotation angle of the rotary column valve core 3 in the moving process of the cylinder, and further, the moving speed of the cylinder can be changed by changing the gas flow.
In this example, as shown in fig. 3 and 9, when the cylinder is in a slow motion state (e.g., a slow forward state), the servo motor 2 rotates to link the rotary spool 3 to rotate by an angle smaller than minus 45 °, the second arc-shaped inclined surface air flow groove 304 is in small-area contact with the second cylinder port 404, at the same time, the first cylinder port 403 is in small-area contact with the second arc-shaped inclined surface air discharge groove 306, compressed air flows to the second cylinder port 404 through the second arc-shaped inclined surface air flow groove 304 via the air inlet 401, the first cylinder port 403 is directly connected to the atmosphere via the confluence groove and the air outlet 402, the pressure of the compressed air flowing to the second cylinder port 404 is larger than a standard atmospheric pressure, the cylinder piston is slowly moved to the top in a case of small inflow, and the gas at the top of the cylinder passes through the air discharge groove (including the first arc-shaped inclined surface air discharge groove 305 and the second arc-shaped inclined surface air discharge groove 306) and the first cylinder port 403 via the air discharge groove 306 The exhaust port 402 vents to atmosphere.
As shown in fig. 3 and 10, in this embodiment, when the cylinder is in a midway stop state, the cylinder moves forward or backward to any position in the effective stroke, the rotation angle of the servo motor 2 which rotates and links the rotary column valve core 3 is 0 °, no gas flows through the gas inlet 401, the first cylinder port 403, the second cylinder port 404 and the gas outlet 402, and the gas pressure at the two ends of the piston in the cylinder is high and equal, so that the interlocking stop state of the cylinder is realized. When the cylinder needs to move rapidly or slowly, the air flow direction can be changed by changing the position corresponding to the air flow groove through the rotation angle of the rotary column valve core 3, so that the cylinder can be reversed. Meanwhile, the size of the rotation angle in the embodiment is in direct proportion to the contact area, the size of the contact area is equal to the size of the air flow, and the air flow can be linearly changed well by changing the rotation angle of the rotary column valve core 3 so as to achieve the purpose of stepless speed regulation.
As shown in fig. 11, the spin column valve core 3 of this embodiment employs a built-in control circuit 308, and a control signal is outputted from an external control computer device to a control end of the servo spin column reversing valve; the motor driving circuit drives the servo motor 2 to rotate to a corresponding angle through the MCU of the built-in control circuit 308 according to the duty ratio of the input pulse width, preferably, the default setting is that the rotation angle of the 50Hz pulse width duty ratio 1000us is +45 degrees, the rotation angle of the duty ratio 2000us is-45 degrees, and the rotation angle of the duty ratio 1500us is a neutral point (namely, the rotation angle of the rotary column valve core 3 is 0 degree); in this embodiment, the rotation angle of the rotary column valve core 3 is preferably 0 ° by using 1500us as a neutral point, the rotation angle of the servo motor 2 is linearly increased when 1500us-1000us is used, and the rotation angle of the servo motor 2 is linearly decreased when 1500us-2000us is used; the rotation angle of the servo motor 2 is detected by the angle sensor 1 and fed back to the MCU, the rotation angle is compared with a preset angle through feedback, when the preset angle is not reached, the rotation angle is returned to continuously adjust, and the rotation of the servo motor 2 is stopped until the preset angle is reached. The preset angle can be preset and adjusted in a user-defined mode according to actual conditions, in the embodiment, the relation among the rotation angle, the effective area and the air flow is preferably stored in advance as a relation corresponding table, and the relation corresponding table can be burnt into the built-in control circuit 308, so that a user can quickly control the servo rotary column reversing valve according to the relation corresponding table in actual application.
In summary, the present embodiment contemplates a flow channel comprising adjacent first 303 and second 304 arcuate angled flow channels, and includes an exhaust slot comprising adjacent first and second arcuate ramped exhaust slots 305 and 306, and the position of the commutation zone between the airflow slot and the exhaust slot corresponds to the position of the cylinder port, so that when the air flows through the air flow grooves and the exhaust grooves are in contact with the air inlet 401 and the exhaust 402, the effective contact area can be changed according to the difference of the rotation angle, the effect of determining the air flow by the angle of the rotary column valve core 3 is achieved, the linear increasing or decreasing of the reversing flow control is well realized, the reversing operation speed of the stepless adjusting cylinder can be realized, and the bidirectional locking of the cylinder piston at any position in the effective stroke can be realized. The air exhaust device has the advantages of high precision, good linearity, low air exhaust noise and the like, and can well meet the requirements of high-precision use equipment such as a crawling robot, a multi-degree-of-freedom mechanical arm, stepless two-way speed regulation movement and the like.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. The utility model provides a realize stepless speed regulation and open servo rotary column switching-over valve who stops control which characterized in that includes: the angle sensor is arranged on the servo motor, and the rotary column valve core is arranged in a cavity in the middle of the reversing valve shell; the servo motor is arranged right above the rotary column valve core and is connected with the rotary column valve core; the sealing assembly is arranged above and below the rotary column valve core; the reversing valve is characterized in that an air inlet, an air cylinder port and an air outlet are arranged on the reversing valve shell, the air cylinder port comprises a first air cylinder port and a second air cylinder port which are adjacent, the rotary column valve core is a cylindrical valve core, an annular shunting groove, an air flow groove, an air exhaust groove and an annular converging groove are arranged on the rotary column valve core from top to bottom, the position of the annular shunting groove corresponds to the position of the air inlet, the position of the annular converging groove corresponds to the position of the air outlet, the air flow groove comprises a first arc-shaped inclined surface air flow groove and a second arc-shaped inclined surface air flow groove which are adjacent, the air exhaust groove comprises a first arc-shaped inclined surface air exhaust groove and a second arc-shaped inclined surface air exhaust groove which are adjacent, and the position of a converter zone between the air flow groove and the air exhaust groove corresponds to the position of the air cylinder port.
2. The servo rotary cylinder reversing valve for achieving stepless speed regulation and start-stop control according to claim 1, wherein the first arc-shaped inclined surface air flow groove and the second arc-shaped inclined surface air flow groove are provided with flow dividing contact surfaces with gradually changed areas, and the rotary rotation angles of the first arc-shaped inclined surface air flow groove and the second arc-shaped inclined surface air flow groove in contact with the cylinder port are controlled to obtain flow dividing flow in proportion to the effective areas of the flow dividing contact surfaces.
3. The servo rotary column reversing valve for realizing stepless speed regulation and start-stop control according to claim 1, wherein the first arc-shaped inclined surface exhaust groove and the second arc-shaped inclined surface exhaust groove are provided with exhaust contact surfaces with gradually changed areas, and the rotary rotation angles of the first arc-shaped inclined surface exhaust groove and the second arc-shaped inclined surface exhaust groove in contact with the cylinder port are controlled to obtain the exhaust flow in proportion to the effective area of the exhaust contact surfaces.
4. The servo rotary cylinder reversing valve for realizing stepless speed regulation and start-stop control according to any one of claims 1 to 3, wherein the first arc-shaped inclined surface air flow groove and the second arc-shaped inclined surface air flow groove are respectively perpendicular to the annular diversion groove, and the first arc-shaped inclined surface air exhaust groove and the second arc-shaped inclined surface air exhaust groove are respectively perpendicular to the annular diversion groove.
5. The servo rotary column reversing valve for realizing stepless speed regulation and start-stop control according to any one of claims 1 to 3, wherein the first arc-shaped inclined surface airflow groove and the first arc-shaped inclined surface exhaust groove are symmetrically distributed for 180 degrees, and a commutation zone between the first arc-shaped inclined surface airflow groove and the first arc-shaped inclined surface exhaust groove has a common intersection area of 50 percent; the second arc-shaped inclined plane airflow groove and the second arc-shaped inclined plane exhaust groove are symmetrically distributed at 180 degrees, and 50% of a common intersection area is arranged in a current conversion area between the second arc-shaped inclined plane airflow groove and the second arc-shaped inclined plane exhaust groove.
6. The servo rotary column reversing valve for realizing stepless speed regulation and start-stop control according to any one of claims 1 to 3, wherein the servo rotary column reversing valve changes the effective area of the contact surface generated between the air flow groove and the exhaust groove of the arc inclined surface and the cylinder port by rotating the angle of the rotary column valve core, and further controls the air intake and exhaust reversing of the inlet and the outlet at the two ends to achieve the forward and backward movement of the cylinder, and the process is as follows: the servo motor is linked with the rotary column valve core to rotate so that the first arc-shaped inclined surface airflow groove is contacted with the first cylinder port, compressed air flows into the first cylinder port through the first arc-shaped inclined surface airflow groove, and the first arc-shaped inclined surface exhaust groove is connected with the exhaust port through the confluence groove to push the cylinder to move forwards; the servo motor is linked with the rotary column valve core to rotate so that the second arc-shaped inclined surface airflow groove is contacted with the second cylinder port, compressed air flows into the second cylinder port through the second arc-shaped inclined surface airflow groove, and the second arc-shaped inclined surface exhaust groove is connected with the exhaust port through the confluence groove to push the cylinder to move forwards.
7. A control method of a servo rotary column reversing valve is characterized in that the control method is used for controlling the servo rotary column reversing valve which realizes stepless speed regulation and start-stop control according to any one of claims 1 to 6, and the air flow is determined by controlling the angle of a rotary column valve core to realize linear increasing or decreasing of reversing flow control, so that the reversing running speed of a stepless regulation air cylinder is further realized; when the cylinder is in a fast motion state, the servo motor rotates to link the rotary column valve core to rotate to positive 45 degrees, the first arc-shaped inclined surface airflow groove is in overall contact with the first cylinder port, meanwhile, the second cylinder port is in overall contact with the first arc-shaped inclined surface exhaust groove, and the air flow reaches the maximum; compressed air flows to the first cylinder port through the first arc-shaped inclined surface airflow groove through the air inlet, at the moment, the second cylinder port is directly connected with the atmosphere through the confluence groove and the exhaust port, the pressure of the compressed air flowing into the first cylinder port is larger than a standard atmospheric pressure, a cylinder piston is pushed to rapidly retreat towards the bottom, and air at the bottom end of the cylinder is exhausted to the atmosphere through the exhaust groove and the exhaust port through the second cylinder port.
8. The control method of a servo spin column selector valve of claim 7, when the cylinder is in a slow motion state, the servo motor rotates and links the rotation angle of the rotary column valve core to be less than minus 45 degrees, the second arc-shaped inclined plane airflow groove is in small-area contact with the second cylinder port, meanwhile, the first cylinder port is in small-area contact with the second arc-shaped inclined plane exhaust groove, compressed air flows to the second cylinder port through the air inlet and the second arc-shaped inclined plane airflow groove, at the moment, the first cylinder port is directly connected with the atmosphere through the confluence groove and the exhaust port, and the pressure of the compressed air flowing into the second cylinder port is higher than a standard atmosphere, and under the condition of small inflow air flow, the cylinder piston is pushed to advance towards the top part slowly, and the air at the top end of the cylinder is exhausted to the atmosphere from the first cylinder port through the exhaust groove and the exhaust port.
9. The control method of the servo rotary column reversing valve according to claim 7, wherein when the cylinder is in a midway stop state, the cylinder moves forward or backward to any position in an effective stroke, the servo motor rotates and links the rotary column valve core to rotate by an angle of 0 degree, no gas flows from the gas inlet, the first cylinder port, the second cylinder port and the gas outlet, and the gas pressure at two ends of a piston in the cylinder is high and equal, so that the interlocking stop state of the cylinder is realized.
10. The control method of a servo rotary spool reversing valve according to claim 7, wherein the rotary spool valve core employs a built-in control circuit, and a control signal is outputted from an external control computer device to a control end of the servo rotary spool reversing valve as a PWM signal; enabling a motor driving circuit to drive a servo motor to rotate to a corresponding angle through an MCU (microprogrammed control unit) with a built-in control circuit according to the duty ratio of an input pulse width, and realizing that the rotation angle of the rotary column valve core is 0 degree by taking 1500us as a neutral point, wherein the rotation angle of the servo motor is linearly increased when the rotation angle is 1500us-1000us, and the rotation angle of the servo motor is linearly decreased when the rotation angle is 1500us-2000 us; the rotation angle of the servo motor is detected by the angle sensor and fed back to the MCU, the rotation angle is compared with a preset angle through feedback, and the rotation of the servo motor is stopped until the preset angle is reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525565.8A CN114263643A (en) | 2021-12-14 | 2021-12-14 | Servo rotary column reversing valve for realizing stepless speed regulation and start-stop control and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525565.8A CN114263643A (en) | 2021-12-14 | 2021-12-14 | Servo rotary column reversing valve for realizing stepless speed regulation and start-stop control and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114263643A true CN114263643A (en) | 2022-04-01 |
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ID=80826945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111525565.8A Withdrawn CN114263643A (en) | 2021-12-14 | 2021-12-14 | Servo rotary column reversing valve for realizing stepless speed regulation and start-stop control and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114263643A (en) |
-
2021
- 2021-12-14 CN CN202111525565.8A patent/CN114263643A/en not_active Withdrawn
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Application publication date: 20220401 |