CN114779832B

CN114779832B - Automatic tracking driving system for double-shaft solar panel

Info

Publication number: CN114779832B
Application number: CN202210207934.7A
Authority: CN
Inventors: 王林翔; 魏双丰; 陶镛光; 莫青; 黄楠
Original assignee: Hangzhou Nuoxiang Technology Co ltd
Current assignee: Hangzhou Nuoxiang Technology Co ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2024-04-26
Anticipated expiration: 2042-03-04
Also published as: CN114779832A

Abstract

The invention discloses an automatic tracking driving system of a double-shaft solar panel. The driving oil cylinder is respectively connected with the load, two cavities of the driving oil cylinder are respectively connected to two oil ports of the bidirectional gear pump through the hydraulic control assembly, and the bidirectional gear pump is connected with the controller through the servo motor; the hydraulic control assembly comprises a pump control balance valve, a two-position three-way electromagnetic valve, a safety valve and an oil supplementing valve, and a cavity of the driving oil cylinder is respectively communicated with a top oil port and a bottom oil port of the pump control balance valve through the two-position three-way electromagnetic valve; the left valve cavity left oil port and the right valve cavity left oil port of the pump control balance valve are respectively connected to the oil port of the bidirectional gear pump after passing through the safety valve and the oil supplementing valve in sequence, and the left valve cavity left oil port and the right valve cavity right oil port of the pump control balance valve are connected with the system oil tank. The invention has no throttle, small system heating value, low cost, high efficiency, convenient control, stability and reliability, insensitivity to oil temperature and cleanliness, and capability of effectively ensuring the response speed and the precision requirement of the angle adjustment drive of the double-shaft solar panel.

Description

Automatic tracking driving system for double-shaft solar panel

Technical Field

The invention belongs to a hydraulic driving system in the technical field of solar equipment driving or photovoltaic driving, and particularly relates to an automatic tracking driving system of a direct-drive pump-control double-shaft solar panel.

Background

Along with the development of society, clean energy is more and more important, especially solar energy, has a plurality of advantages such as total amount is big, easily gathers and renewable, makes it become an important method of modern new energy utilization. In order to improve the efficiency of solar power generation, a plurality of different ray tracing technologies are invented, which are mainly divided into three categories of planar axis tracing, oblique single axis tracing and double axis tracing, wherein the double axis tracing is optimal, and the power generation power of the solar panel is 40% -45% higher than that of a fixed solar panel, so that the double axis driving technology is especially favored by people. So-called biaxial tracking, namely, tracking angular changes brought about by different (relative) positions of the sun from the morning to the evening, also called polar axis tracking; secondly, tracking the change of the direct sunlight angle caused by the change of the latitude and the altitude of the sun (corresponding to the change of four seasons of the earth), also called declination axis tracking (perpendicular to the polar axis). For polar axis tracking, the driving system of the solar panel is only required to track the angle change caused by the rotation of the earth slowly, the speed is very low, and the action frequency of the driving system is relatively low; for the declination tracking, basically, the declination tracking is adjusted according to the month, the action frequency is extremely low, and the declination tracking is adjusted in the system free time.

In the current market, a solar panel double-shaft driving system mostly adopts an alternating current motor to configure rotary support driving, two sets of motors and rotary driving are correspondingly needed by double driving, and the driving of the rotary driving is dependent on a worm gear mechanism; because the aim of slow adjustment of the solar panel is realized, the reduction ratio is large, so that the efficiency of the reduction mechanism part is low, and the energy efficiency is only about 40%, and the efficiency of the whole driving system is also low; and the whole driving mechanism has large volume, large occupied area, high cost and difficult after-sale maintenance.

Disclosure of Invention

In order to solve the problems in the background art, the invention provides an automatic tracking driving system of a double-shaft solar panel, which supplies oil to two sets of execution mechanisms through a set of hydraulic driving system of a direct-drive pump control balance valve (based on the pump control balance valve) and respectively controls the angles of a polar axis and a declination axis of the solar panel so as to realize double-shaft driving of the automatic solar tracking device. The whole system is designed into a complete closed system, has small volume, light weight and low cost, improves the efficiency of a driving part in design, removes most potential leakage fault points of the hydraulic control system, and can realize long-time maintenance-free.

The technical scheme adopted by the invention is as follows:

The hydraulic control system comprises two driving oil cylinders, a load, a hydraulic control assembly, a bidirectional gear pump, a servo motor and a controller, wherein the hydraulic control assembly comprises a pump control balance valve, two-position three-way electromagnetic valves, a safety valve and an oil supplementing valve; the pump control balance valve comprises a valve body, a valve core, a left one-way cone valve, a right one-way cone valve, a left cone valve spring and a right cone valve spring; a left one-way valve cavity, a left valve cavity, a right valve cavity and a right one-way valve cavity are sequentially formed in the valve body along the axial direction, a valve core hole is formed in the valve body along the central axis, and the valve core hole is axially communicated with the left one-way valve cavity, the left valve cavity, the right valve cavity and the right one-way valve cavity; the left one-way valve cavity is internally provided with a left one-way cone valve and a left cone valve spring, one end of the left one-way cone valve is connected to a step between the left one-way valve cavity and the valve core hole, and the other end of the left one-way cone valve is connected with the inner wall of the axially outward end of the left one-way valve cavity through the left cone valve spring; the right one-way valve cavity is internally provided with a right one-way cone valve and a right cone valve spring, one end of the right one-way cone valve is connected to a step between the right one-way valve cavity and the valve core hole, and the other end of the right one-way cone valve is connected with the inner wall of the axially outward end of the right one-way valve cavity through the right cone valve spring.

The valve core is arranged in the valve core hole, and the valve core is axially and freely slid in the valve core hole of the valve body as a whole; the valve core is provided with an annular groove near the periphery of one end face of the left one-way valve cavity to form a small cylinder at the left end of the valve core, the small cylinder at the left end of the valve core is used for propping against the left one-way cone valve, and the periphery of the valve core in the left valve cavity is provided with an outer convex ring to form a large cylinder at the left end of the valve core; the valve core is provided with an annular groove near the periphery of one end face of the right one-way valve cavity to form a small cylinder at the right end of the valve core, the small cylinder at the right end of the valve core is used for propping against the right one-way cone valve, and the periphery of the valve core in the right valve cavity is provided with an outer convex ring to form a large cylinder at the right end of the valve core; an annular groove is formed in the middle of the inner wall of the left valve cavity along the axial direction and is used as a left countersink groove, and an annular groove is formed in the middle of the inner wall of the right valve cavity along the axial direction and is used as a right countersink groove.

The left unidirectional valve cavity and the right unidirectional valve cavity of the pump control balance valve are respectively connected to the P ports of two-position three-way electromagnetic valves, the A ports of the two-position three-way electromagnetic valves are respectively communicated with the two cavities of one driving oil cylinder, the B ports of the two-position three-way electromagnetic valves are respectively communicated with the two cavities of the other driving oil cylinder, and the piston rods of the two driving oil cylinders are connected with a load; in the pump control balance valve, a left valve core hole section is communicated with a right undercut groove of a right valve cavity, and a right valve core hole section is communicated with a left undercut groove of the left valve cavity; the left valve cavity and the right valve cavity are both communicated with the oil tank, meanwhile, the left valve cavity and the right valve cavity are both communicated with the oil tank through respective safety valves, two oil ports of the bidirectional gear pump are communicated with the oil tank through oil supplementing valves, the left valve cavity and the right valve cavity are respectively connected with two oil ports of the bidirectional gear pump, and a control shaft of the bidirectional gear pump is synchronously connected with an output shaft of the servo motor.

The left large cylinder slides freely in the left valve cavity along the axial direction, but prevents oil flow between the left valve cavity and the right valve cavity, and the right large cylinder slides freely in the right valve cavity along the axial direction, but prevents oil flow between the left valve cavity and the right valve cavity.

In specific implementation, the outer diameters of the left cylinder, the middle cylinder and the right cylinder of the valve core are the same, and the outer diameters of the left cylinder, the middle cylinder and the right cylinder of the valve core and the inner diameter of the valve core hole form matched grinding sizes, so that the left cylinder of the valve core is ensured, and the middle cylinder and the right cylinder of the valve core can freely slide in the valve core hole, but simultaneously form sealing.

The outer diameters of the left large cylinder of the valve core and the right large cylinder of the valve core are the same, and the outer diameters of the left valve cavity and the right valve cavity are matched with each other to form grinding sizes, so that the left large cylinder of the valve core and the right large cylinder of the valve core can freely slide in the left valve cavity and the right valve cavity, and sealing is formed at the same time.

The left one-way cone valve and the right one-way cone valve are respectively arranged in the left one-way valve cavity and the right one-way valve cavity, so that one-way connection and conduction are respectively formed between the left one-way valve cavity and the right one-way valve cavity and the valve core hole, specifically: the diameter of the one-way cone valve is larger than the minimum diameter of the step between the one-way valve cavity and the valve core hole, so that the one-way cone valve body is pressed and connected at the step by the pressure of the cone valve spring to form sealing fit.

Taking the section of the valve core hole between the left one-way valve cavity and the left valve cavity as a left valve core hole section, and taking the section of the valve core hole between the right one-way valve cavity and the right valve cavity as a right valve core hole section; the left valve cavity is divided into a left valve cavity left cavity close to the left one-way valve cavity and a left valve cavity right cavity close to the right one-way valve cavity by the valve core left big cylinder, and the right valve cavity is divided into a right valve cavity left cavity close to the left one-way valve cavity and a right valve cavity right cavity close to the right one-way valve cavity by the valve core right big cylinder.

The valve body is provided with a left top oil port communicated with the left one-way valve cavity at the end face, which is axially close to the left one-way valve cavity, and a right top oil port communicated with the right one-way valve cavity at the end face, which is axially close to the right one-way valve cavity; the valve body is provided with a left small oil port on the side wall corresponding to the periphery of the left valve core hole section, and a right small oil port on the side wall corresponding to the periphery of the right valve core hole section.

The valve body is provided with a left valve cavity left oil port communicated with a left valve cavity left cavity at the corresponding side wall of the left valve cavity left periphery, a left valve cavity right oil port communicated with the left valve cavity right cavity at the corresponding position of the left valve cavity right cavity, a right valve cavity left oil port communicated with the right valve cavity left cavity at the corresponding side wall of the right valve cavity left periphery, a right valve cavity right oil port communicated with the right valve cavity right cavity at the corresponding position of the right valve cavity right cavity, a left countersink tank oil port communicated with a left countersink tank at the corresponding side wall of the left countersink tank periphery, and a right countersink tank oil port communicated with a right countersink tank at the corresponding side wall of the right countersink tank periphery.

The left small oil port is communicated with the right heavy cutting groove oil port through a pipeline, and the right small oil port is communicated with the left heavy cutting groove oil port through a pipeline; the left unidirectional valve cavity is communicated with the P port of one two-position three-way electromagnetic valve after passing through the left top oil port and the pipeline, the right unidirectional valve cavity is communicated with the P port of the other two-position three-way electromagnetic valve after passing through the right top oil port and the pipeline, the left valve cavity left oil port and the right valve cavity right oil port are both communicated with a system oil tank, and the left valve cavity right oil port and the right valve cavity left oil port are respectively communicated with two oil ports of a bidirectional gear pump.

The outer diameters of the valve core left section small cylinder and the valve core right end small cylinder are smaller than the inner diameter of the valve core hole, so that annular gaps are reserved between the valve core left section small cylinder and the valve core right end small cylinder and the valve core hole respectively.

The valve core left large cylinder is provided with a notch groove as a left upper throttle opening at the outer edge of the left end face close to the left one-way valve cavity, and is provided with a notch groove as a left lower throttle opening at the outer edge of the right end face close to the right one-way valve cavity;

The outer edge of the right large cylinder of the valve core, which is close to the left end face of the left one-way valve cavity, is provided with a notch groove as a right upper throttle orifice, and the outer edge of the right end face, which is close to the right one-way valve cavity, is provided with a notch groove as a right lower throttle orifice;

And the ratio between the flow area of the left upper throttle orifice and the flow area of the right upper throttle orifice is the same as the ratio between the rodless cavity cross section area and the rod cavity cross section area of the driving oil cylinder, and the ratio between the flow area of the left lower throttle orifice and the flow area of the right lower throttle orifice is the same as the ratio between the rodless cavity cross section area and the rod cavity cross section area of the driving oil cylinder.

The axial sectional areas of the valve core left large cylinder and the valve core right large cylinder are set to be twice of the axial sectional areas of the valve core left cylinder, the valve core right cylinder and the valve core middle cylinder.

The distance from the left edge of the left undercut groove, which is close to the left unidirectional valve cavity, to the left edge of the right undercut groove, which is close to the left unidirectional valve cavity, is completely equal to the distance from the left end face of the valve core left large cylinder, which is close to the left unidirectional valve cavity, to the left end face of the valve core right large cylinder, which is close to the left unidirectional valve cavity; the distance from the right edge of the left undercut groove close to the right one-way valve cavity to the right edge of the right undercut groove close to the right one-way valve cavity is completely equal to the distance from the right end face of the left large cylinder of the valve core close to the right one-way valve cavity to the right end face of the right large cylinder of the valve core close to the right one-way valve cavity.

As an embodiment, the hydraulic cylinder is provided with a position sensor and transmits a position signal to the controller.

As an implementation mode, the bidirectional gear pump comprises a combination of a one-way hydraulic pump and a reversing valve, wherein the displacement of the bidirectional gear pump is selected according to the size of the flow control of the system, and the combination of the one-way hydraulic pump and the reversing valve can also be selected, so that the rated working pressure is determined by the working requirement of the system.

As an implementation mode, the system controls the oil quantity entering the pump control balance valve by adjusting the rotating speed of the servo motor so as to control the running speed of the hydraulic cylinder, and the flow of the oil inlet and the oil outlet is always in a fixed proportion.

As an implementation mode, in the descending or ascending process of the hydraulic cylinder, whether an overrunning load occurs or not, the motor and the bidirectional gear pump of the system can accurately control the running speed of the oil cylinder through rotating speed adjustment.

In particular embodiments, the load is, but not limited to, a dual axis solar panel drive mechanism.

In the invention, a bidirectional gear pump is connected to an oil inlet and an oil outlet of a driving oil cylinder through the pump control balance valve to form a complete closed direct-drive electrohydraulic servo control system.

And the running speed and the running position of the driving oil cylinder are controlled by the controller to realize closed-loop control by controlling the rotating speed of the servo motor.

The invention has no external connecting oil pipe, and the whole double-shaft driving system shell is integrated into a whole, and can be installed and fixed on a solar panel bracket to act together with the solar panel in specific implementation. The pump control balance valve integrates a bidirectional hydraulic lock function, and when no action instruction exists, the hydraulic cylinder is locked in a bidirectional manner, and the double-shaft driving mechanism is fixed at the current angle.

In the invention, a driving oil cylinder is respectively connected with a load, two cavities of the driving oil cylinder are respectively connected to two oil ports of a bidirectional gear pump through a hydraulic control assembly, and the bidirectional gear pump is connected with a controller through a servo motor; the hydraulic control assembly comprises a pump control balance valve, a two-position three-way electromagnetic valve, a safety valve and an oil supplementing valve, and a cavity of the driving oil cylinder is respectively communicated with a top oil port and a bottom oil port of the pump control balance valve through the two-position three-way electromagnetic valve; the left valve cavity left oil port and the right valve cavity left oil port of the pump control balance valve are respectively connected to the oil port of the bidirectional gear pump after passing through the safety valve and the oil supplementing valve in sequence, and the left valve cavity left oil port and the right valve cavity right oil port of the pump control balance valve are connected with the system oil tank.

After the pump control balance structure is connected with a motor for tracking and driving the double-shaft solar panel, the problems of high cost and low energy efficiency of the existing double-shaft solar panel tracking and driving based on the rotation driving mechanism can be solved. Usually, the double-shaft solar panel tracking drive is implemented by a double-motor double-rotation driving mechanism, the overall efficiency is only about 40 percent, and after one motor and one set of pump control are adopted to connect two driving shafts (mechanisms) of the double-shaft solar panel, the overall efficiency can reach 60 percent or more.

Therefore, compared with the prior art, the invention has the following beneficial effects:

1. The double-shaft driving system based on the pump control balance valve has the advantages of simple structure, low cost, reliability and low requirements on the cleanliness and temperature change of oil.

2. Based on the double-shaft driving hydraulic system of the pump control balance valve, the output flow of the system is actively controlled directly by controlling the input flow, and high-precision position control can be realized

3. Compared with a structure of configuring rotary driving by a motor, the direct-driving double-shaft driving hydraulic system based on the pump control balance valve has higher energy utilization efficiency, and can realize smaller volume and weight of the whole equipment under the same power output

4. Compared with the traditional overflow-based proportional valve, the throttle loss is small, the heating value is small, and therefore the energy utilization efficiency is very high.

Drawings

Fig. 1 is a schematic structural diagram of an automatic tracking driving system for a dual-axis solar panel according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a pump-controlled balance valve according to the present invention.

FIG. 3 is a schematic diagram of a pump balancing valve according to an embodiment of the present invention in a working state under one working condition.

FIG. 4 is a schematic diagram of the structure of the pump balancing valve according to the second embodiment of the present invention in the second working condition.

In fig. 1: a servo motor 1, a bidirectional gear pump 2, a pump control balance valve 3, a two-position three-way battery valve 4, actuating cylinders 5a and 5b, an oil supplementing valve 6, a safety valve 7 and a controller 8.

In fig. 2: the valve comprises a valve body 301, a valve core 302, a left one-way cone valve 303, a right one-way cone valve 304, a left cone valve spring 303a and a right cone valve spring 304a; valve core hole 312, left check valve cavity 309a, left valve cavity 310, right valve cavity 311, right check valve cavity 309b; a small cylinder 313a at the left end of the valve core, a left cylinder 314a of the valve core, a left large cylinder 315a of the valve core, a middle cylinder 316 of the valve core, a right large cylinder 315b of the valve core, a right cylinder 314b of the valve core, and a small cylinder 313b at the right end of the valve core; left valve cavity left cavity 310a, left valve cavity right cavity 310b; a right valve cavity left cavity 311a, a right valve cavity right cavity 311b; left undercut groove 319a, right undercut groove 319b; an upper left choke 317a, an upper right choke 317b; a lower left restriction 318a, a lower right restriction 318b.

A left top port 320a, a right top port 320b; a left small oil port 307a, a right small oil port 307b; a left countersunk slot port 308a, a right countersunk slot port 308b; left valve cavity left oil port 322a, left valve cavity right oil port 323a; left valve cavity port 323b, right valve cavity port 322b.

Detailed Description

The foregoing and other features and advantages of the invention will be apparent from the following, more particular, description of the invention, as illustrated in the accompanying drawings, in which embodiments described are merely some, but not all embodiments of the invention.

As shown in fig. 1, the system comprises a servo motor 1, a bidirectional gear pump 2, a pump control balance valve 3, two-position three-way battery valves 4, execution cylinders 5a,5b, an oil supplementing valve 6, a safety valve 7, a controller 8 and a load; one end of each driving oil cylinder 5a,5b is connected with a load, and two cavities of each driving oil cylinder 5a,5b are connected to a top oil port 320a and a bottom oil port 320b of the pump control balance valve 3 through a two-position three-way electromagnetic valve 4 in the same working position; the left valve cavity right oil port 323a and the right valve cavity left oil port 323b of the pump control balance valve 3 are respectively connected to two oil ports of the bidirectional gear pump 2 through a safety valve 7 and an oil supplementing valve 6. The control shaft of the bidirectional gear pump 2 is connected with the motor 1, and the motor 1 is electrically connected with the controller 8; the controller 8 sends out a command to control the rotating speed of the servo motor 1, so as to drive the bidirectional gear pump 2 to control the flow rate of the system, namely the running speed of the execution oil cylinder 5a or 5 b.

The left small oil port 307a of the pump control balance valve 3 is used as an oil port inside the valve body 301 to be communicated with the right heavy cut groove oil port 308b, and the right small oil port 307b is used as an oil port inside the valve body 301 to be communicated with the left heavy cut groove oil port 308a; the left valve cavity left oil port 322a and the right valve cavity right oil port 322b of the pump control balance valve 3 are communicated with a system oil tank.

The servo motor 1 is a power element of the automatic tracking driving system of the double-shaft solar panel, is connected with the bidirectional gear pump 2, and the controller 8 sends out instructions to control the rotation speed steering of the motor and the bidirectional gear pump 2 and the on-off of the electromagnetic valve 4 so as to achieve the purpose of adjusting the whole automatic tracking system of the solar panel.

The safety valve is used for overflowing the excessive system pressure generated by the gear pump back to the oil tank under certain specific conditions; the oil supplementing valve is a one-way valve with a certain opening pressure and is used for supplementing hydraulic oil to the system and preventing air suction when needed.

The two-position three-way electromagnetic valve 4 is used for switching different working cylinders 5a or 5b to realize biaxial driving, for example, the actuating cylinder 5a is used for driving and adjusting the polar axis angle of the solar panel, and the actuating cylinder 5b is used for driving and adjusting the declination axis angle of the solar panel.

In specific implementation, the two-position three-way electromagnetic valve 4 can be electrically connected to the controller 8, and the controller 8 controls the on-off operation of the two-position three-way electromagnetic valve 4.

The pump control balance valve of the invention is characterized in that: the opening degree of the throttle channels on the left side and the right side of the valve core is always synchronous through the size of mechanical processing, and the area of the throttle opening is always in a certain proportion, so that whether the system exceeds a load or not is ensured, and the flow of hydraulic oil entering and exiting the execution cylinder is completely controllable, namely: the oil inlet and outlet quantity of the execution cylinder is controlled by controlling the quantity of hydraulic oil entering the pump control balance valve (namely the rotating speed of the servo motor), and the hydraulic oil inlet and outlet quantity is hardly influenced by the outside.

As shown in fig. 2, the pump control balance valve 3 is a schematic structural diagram of the pump control balance valve 3 in a normal state, and the pump control balance valve 3 includes a valve body 301, a valve core 302, a left one-way cone valve 303, a right one-way cone valve 304, a left cone valve spring 303a and a right cone valve spring 304a; the valve body 301 is internally and sequentially provided with a left unidirectional valve cavity 309a, a left valve cavity 310, a right valve cavity 311 and a right unidirectional valve cavity 309b along the axial direction, the left unidirectional valve cavity 309a and the right unidirectional valve cavity 309b are symmetrically arranged at two sides in the valve body 301, the left valve cavity 310 and the right valve cavity 311 are symmetrically arranged at two sides in the valve body 301, a valve core hole 312 is arranged in the valve body 301 along a central axis, the valve core hole 312 is axially communicated with the left unidirectional valve cavity 309a, the left valve cavity 310, the right valve cavity 311 and the right unidirectional valve cavity 309b, and the valve core hole 312 penetrates from the left unidirectional cone valve cavity 9a to the right unidirectional valve cavity 309b.

The left one-way valve cavity 309a is internally provided with a left one-way cone valve 303 and a left cone valve spring 303a, one end of the left one-way cone valve 303 is used for being connected to a step between the left one-way valve cavity 309a and the valve core hole 312, and the other end is connected with the inner wall of the axially outward end of the left one-way valve cavity 309a through the left cone valve spring 303 a; the right one-way valve cavity 309b is internally provided with a right one-way cone valve 304 and a right cone valve spring 304a, one end of the right one-way cone valve 304 is used for being connected to a step between the right one-way valve cavity 309b and the valve core hole 312, and the other end is connected with the inner wall of the axially outward end of the right one-way valve cavity 309b through the right cone valve spring 304 a; the left and right one-way cone valves are respectively pressed on steps in the one-way valve cavity of the valve body by the left and right cone valve springs to form a seal.

The valve core 302 is arranged in the valve core hole 312, and the valve core 302 as a whole freely slides in the valve core hole 312 of the valve body 301 along the axial direction, namely along the left-right direction in the figure; the periphery of one end surface of the valve core 302, which is close to the left unidirectional valve cavity 309a, is provided with an annular groove to form a valve core left end small cylinder 313a, the valve core left end small cylinder 313a is used for propping against the left unidirectional cone valve 303, and the periphery of the valve core 302 in the left valve cavity 310 is provided with an outer convex ring to form a valve core left large cylinder 315a; the valve core 302 is provided with an annular groove near the periphery of one end face of the right unidirectional valve cavity 309b to form a valve core right end small cylinder 313b, the valve core right end small cylinder 313b is used for propping against the right unidirectional cone valve 304, and the periphery of the valve core 302 in the right valve cavity 311 is provided with an outer convex ring to form a valve core right large cylinder 315b; an annular groove is formed in the middle of the inner wall of the left valve cavity 310 along the axial direction and is used as a left countersink groove 319a, a left large cylinder 315a of the valve core is positioned at the left countersink groove 319a and can cover the left countersink groove 319a in the axial moving process, an annular groove is formed in the middle of the inner wall of the right valve cavity 311 along the axial direction and is used as a right countersink groove 319b, and a right large cylinder 315b of the valve core is positioned at the right countersink groove 319b and can cover the right countersink groove 319b in the axial moving process.

The valve core 302 between the valve core left end small cylinder 313a and the valve core left large cylinder 315a forms a valve core left cylinder 314a, the diameters of the valve core left end small cylinder 313a, the valve core left cylinder 314a and the valve core left large cylinder 315a are sequentially increased, the valve core 302 between the valve core right end small cylinder 313b and the valve core right large cylinder 315b forms a valve core right cylinder 314b, the diameters of the valve core right end small cylinder 313b, the valve core right cylinder 314b and the valve core right large cylinder 315b are sequentially increased, and the valve core 302 between the valve core left large cylinder 315a and the valve core right large cylinder 315b forms a valve core middle cylinder 316; the left cylinder 314a, right cylinder 314b and middle cylinder 316 have the same diameter and are matched with the hole 312.

So far, the valve core 302 is sequentially processed into seven sections of cylinders from left to right, which are respectively: the valve core left end small cylinder 313a, the valve core left cylinder 314a, the valve core left large cylinder 315a, the valve core middle cylinder 316, the valve core right large cylinder 315b, the valve core right cylinder 314b, the valve core right end small cylinder 313b, the left end small cylinder 313a and the right end small cylinder 313b are symmetrically equal, the left cylinder 314a and the right cylinder 314b are symmetrically equal and are also equal to the outer diameter of the valve core middle cylinder 316, and the left large cylinder 315a and the right large cylinder 315b are also symmetrically equal; and the valve element 302 slides as a unit in the valve body (left-right direction).

The left unidirectional valve cavity 309a and the right unidirectional valve cavity 309B of the pump control balance valve 3 are respectively connected to the P ports of two-position three-way electromagnetic valves 4, the A ports of the two-position three-way electromagnetic valves 4 are respectively communicated with two cavities of one driving oil cylinder 5a, the B ports of the two-position three-way electromagnetic valves 4 are respectively communicated with two cavities of the other driving oil cylinder 5a, the piston rods of the two driving oil cylinders 5a and 5B are connected with a load, and the two cavities of the driving oil cylinders are respectively a rod cavity and a rodless cavity; in the pump control balance valve 3, a left valve core hole section is communicated with a right undercut groove 319b of a right valve cavity 311, and a right valve core hole section is communicated with a left undercut groove 319a of a left valve cavity 310; the left valve cavity left cavity 310a and the right valve cavity right cavity 311b are both communicated with the oil tank, meanwhile, the left valve cavity right cavity 310b and the right valve cavity left cavity 311a are communicated with the oil tank through respective safety valves 7, two working oil ports of the bidirectional gear pump 2 are communicated with the oil tank through oil supplementing valves 6, the left valve cavity right cavity 310b and the right valve cavity left cavity 311a are respectively connected with two working oil ports of the bidirectional gear pump 2, and a control shaft of the bidirectional gear pump 2 is synchronously connected with an output shaft of the servo motor 1. The servomotor 1 is also electrically connected to a controller 8.

The left large cylinder 315a is free to slide axially in the left valve chamber 310 but prevents oil flow between the left valve chamber left chamber 310a and the left valve chamber right chamber 310b, and the right large cylinder 315b is free to slide axially in the right valve chamber 311 but prevents oil flow between the right valve chamber left chamber 311a and the right valve chamber right chamber 311 b. In specific implementation, the inner diameter of the left valve cavity 310 is equal to the outer diameter of the valve core left large cylinder 315a, or is a small clearance fit seal, and the inner diameter of the right valve cavity 311 is equal to the outer diameter of the valve core right large cylinder 315b, or is a small clearance fit seal.

The left unidirectional cone valve 303 and the right unidirectional cone valve 304 are respectively connected with the left unidirectional valve cavity 309a and the right unidirectional valve cavity 309b, so that unidirectional connection and conduction are formed between the left unidirectional valve cavity 309a and the right unidirectional valve cavity 309b and the valve core hole 312 respectively, specifically: the inner diameter of the unidirectional valve cavity is larger than the inner diameter of the valve core hole to form a step, and the diameter of the unidirectional cone valve is larger than the minimum diameter of the step between the unidirectional valve cavity and the valve core hole 312, namely the aperture of the valve core hole 312, so that the unidirectional cone valve body is pressed by the pressure of the cone valve spring to form sealing fit at the step.

The left and right one-way cone valves 3 and 4 are respectively pressed on steps in the one-way valve cavity of the valve body by the left and right cone valve springs 3a and 4a by means of spring force to form a conical surface which seals the contact surface between the one-way cone valve and the steps, and hydraulic oil in the one-way valve cavity is prevented from flowing to the valve core cavity direction when being pressed; the one-way cone valves 3,4 move away from the valve core 302 under the pressure of overcoming the cone valve springs 3a,4a, so that a gap is formed between the one-way cone valves and the steps, and then the one-way cone valves are conducted.

Taking the section of the valve core hole 312 between the left unidirectional valve cavity 309a and the left valve cavity 310 as a left valve core hole section, taking the section of the valve core hole 312 between the right unidirectional valve cavity 309b and the right valve cavity 311 as a right valve core hole section, and taking the section of the valve core hole 312 between the left valve cavity 310 and the right valve cavity 311 as a middle valve core hole section; the left valve cavity 310 is divided by a spool left large cylinder 315a into a left valve cavity left cavity 310a near the left one-way valve cavity 309a and a left valve cavity right cavity 310b near the right one-way valve cavity 309b, and the right valve cavity 311 is divided by a spool right large cylinder 315b into a right valve cavity left cavity 311a near the left one-way valve cavity 309a and a right valve cavity right cavity 311b near the right one-way valve cavity 309 b.

The valve body 301 is provided with a left top oil port 320a communicated with the left one-way valve cavity 309a at one end surface which is axially close to the left one-way valve cavity 309a, and a right top oil port 320b communicated with the right one-way valve cavity 309b at one end surface which is axially close to the right one-way valve cavity 309 b; the valve body 301 has a left small oil port 307a on the side wall corresponding to the outer periphery of the left valve core hole section, and the valve body 301 has a right small oil port 307b on the side wall corresponding to the outer periphery of the right valve core hole section.

The valve body 301 is provided with a left valve cavity left oil port 322a which is communicated with the left valve cavity left cavity 310a at the side wall corresponding to the periphery of the left valve cavity left cavity 310a, the valve body 301 is provided with a left valve cavity right oil port 323a which is communicated with the left valve cavity right cavity 310b at the corresponding position of the left valve cavity right cavity 310b, the valve body 301 is provided with a right valve cavity left oil port 323b which is communicated with the right valve cavity left cavity 311a at the side wall corresponding to the periphery of the right valve cavity left cavity 311a, the valve body 301 is provided with a right valve cavity right oil port 322b which is communicated with the right valve cavity right cavity 311b at the corresponding position of the right valve cavity right cavity 311b, the valve body 301 is provided with a left undercut groove oil port 308a which is communicated with the left undercut groove 319a at the side wall corresponding to the periphery of the left undercut groove 319a, and the valve body 301 is provided with a right undercut groove oil port 308b which is communicated with the right undercut groove 319b at the side wall corresponding to the periphery of the right undercut groove 319 b.

The left small oil port 307a is used as an oil port in the valve body and is communicated with the right undercut groove oil port 308b through an oil path, so that the left valve core hole section is communicated with the right undercut groove 319b of the right valve cavity 311, and the right small oil port 307b is used as an oil port in the valve body and is communicated with the left undercut groove oil port 308a through an oil path, so that the right valve core hole section is communicated with the left undercut groove 319a of the left valve cavity 310.

The left unidirectional valve cavity 309a is communicated with the P port of one two-position three-way electromagnetic valve 4 after passing through the left top oil port 320a and a pipeline, the right unidirectional valve cavity 309b is communicated with the P port of the other two-position three-way electromagnetic valve 4 after passing through the right top oil port 320b and a pipeline, the left valve cavity left oil port 322a and the right valve cavity right oil port 322b are both communicated with a system oil tank, and the left valve cavity right oil port 323a and the right valve cavity left oil port 323b are respectively communicated with two high-pressure oil outlets of the bidirectional gear pump 2.

The outer diameters of the valve core left section small cylinder 313a and the valve core right end small cylinder 313b are smaller than the inner diameter of the valve core hole 312, so that annular gaps are reserved between the valve core left section small cylinder 313a and the valve core right end small cylinder 313b and the valve core hole 312 respectively.

The left small cylinder 313a and the right small cylinder 313b are symmetrically arranged at two ends of the valve core 302 and have the same cross-sectional diameter, the left cylinder 314a and the right cylinder 314b are symmetrically arranged at two ends of the valve core 302 and have the same cross-sectional diameter as the middle cylinder 316 of the valve core, and the left large cylinder 315a and the right large cylinder 315b are symmetrically arranged at two ends of the valve core 302 and have the same cross-sectional diameter.

The valve core left large cylinder 315a is provided with a notch groove as a left upper throttle orifice 317a at the outer edge of the left end face close to the left unidirectional valve cavity 309a, the left upper throttle orifice 317a is used for communicating the left valve cavity left cavity 310a with the left undercut groove 319a, the notch groove as a left lower throttle orifice 318a is provided at the outer edge of the right end face close to the right unidirectional valve cavity 309b, and the left lower throttle orifice 318a is used for communicating the left valve cavity right cavity 310b with the left undercut groove 319 a; the outer edge of the valve core right large cylinder 315b, which is close to the left end face of the left unidirectional valve cavity 309a, is provided with a notch groove as a right upper throttle orifice 317b, the right upper throttle orifice 317b is used for communicating the right valve cavity left cavity 311a with the right undercut groove 319b, the outer edge of the valve core right large cylinder 315b, which is close to the right end face of the right unidirectional valve cavity 309b, is provided with a notch groove as a right lower throttle orifice 318b, and the right lower throttle orifice 318b is used for communicating the right valve cavity right cavity 311b with the right undercut groove 319 b.

In particular implementations, the notch grooves may be circumferentially spaced apart at the outer edge.

The left upper orifice 317a and the left lower orifice 318a are identical in shape, and the right upper orifice 317b and the right lower orifice 318b are identical in shape. The shape of the notch groove can be regular shapes such as triangle, trapezoid or rectangle so as to ensure the same moving distance, and the throttling area of the throttling opening is always in a fixed proportion.

When the valve core moves right, the left upper throttle orifice and the right upper throttle orifice are in a flow matching working mode (equal or in a fixed proportion); when the valve core moves leftwards, the left lower throttle orifice and the right lower throttle orifice are in a flow matching working mode.

And the ratio between the flow area of the left upper orifice 317a and the flow area of the right upper orifice 317b is the same as the ratio between the rodless chamber cross-sectional area and the rod chamber cross-sectional area of the drive cylinders 5a, 5b, and the ratio between the flow area of the left lower orifice 318a and the flow area of the right lower orifice 318b is the same as the ratio between the rodless chamber cross-sectional area and the rod chamber cross-sectional area of the implement cylinder 21.

As an embodiment, when the actuating cylinder 21 is a symmetrical cylinder, that is, when the acting piston areas of the two chambers of the cylinder are equal, the flow-through area of the upper left orifice 317a and the flow-through area of the upper right orifice 317b are set to be identical, and the flow-through area of the lower left orifice 318a and the flow-through area of the lower right orifice 318b are set to be identical.

As an embodiment, when the actuating cylinder 21 is an asymmetric cylinder, the areas of the pistons acting in the two chambers of the cylinder are not equal, and as shown in fig. 1, the ratio between the area of the overflow of the upper left orifice 317a and the area of the overflow of the upper right orifice 317b is the same as the ratio between the area of the rodless chamber and the area of the rod chamber of the actuating cylinders 5a,5b, and the ratio between the area of the overflow of the lower left orifice 318a and the area of the overflow of the lower right orifice 318b and the area of the rodless chamber and the area of the rod chamber of the actuating cylinders 5a,5b are the same, and are set to be fixed ratios. Specifically, for example, when the ratio of the cylinder rodless cavity area to the cylinder rod cavity area is 2:1, the ratio of the area of the flow passing through the upper left orifice 317a (i.e., 318 a) to the area of the flow passing through the upper right orifice 317b (i.e., 318 b) is also set to 2:1. 317a and 317b operate as a combination and likewise 318a and 318b operate as a combination.

The axial sectional areas of the valve core left big cylinder 315a and the valve core right big cylinder 315b are set to be twice of the axial sectional areas of the valve core left cylinder 314a, the valve core right cylinder 314b and the valve core middle cylinder 316, and the axial sectional areas are ensured by means of machining; that is, the annular area of the spool left and right large cylinders 315a, 315b minus the area of the spool left and right cylinders 314a, 314b or the spool middle cylinder 316 is just equal to the area of the spool left and right cylinders 314a, 314b or the spool middle cylinder 316.

The distance from the left edge of the left undercut 319a near the left check valve cavity 309a to the left edge of the right undercut 319b near the left check valve cavity 309a is exactly equal to the distance from the left end face of the spool left large cylinder 315a near the left check valve cavity 309a to the left end face of the spool right large cylinder 315b near the left check valve cavity 309 a; similarly, the distance from the right edge of the left undercut 319a near the right check valve cavity 309b to the right edge of the right undercut 319b near the right check valve cavity 309b is exactly the same as the distance from the right end face of the spool left large cylinder 315a near the right check valve cavity 309b to the right end face of the spool right large cylinder 315b near the right check valve cavity 309 b. Thus, the synchronous opening of the throttle is ensured, the throttle area synchronously changes along with the displacement of the valve core, but the ratio of the throttle area is kept unchanged.

In a normal state, as shown in fig. 1, two ends (top end and tail end) of the valve core 302 just contact with bottoms of the left and right one-way cone valves; and in a normal state, the end of the left upper choke 317a is just flush with the left edge of the left undercut 319a, so that the end of the right upper choke 317b is also just aligned with the left edge of the right undercut 319 b; the top end of the left lower orifice 318a is just flush with the right edge of the left undercut 319a and thus the top end of the right lower orifice 318b is also just aligned with the right edge of the right undercut 319 b. The valve has the advantages that when the valve core moves to push the one-way cone valve to open, the throttle port is opened simultaneously.

The flow rate of the flow passing through the pump control balance valve is determined by the pressure difference and the opening degree of the throttle opening channels on the left and right large cylinders of the valve core. The throttle flow of throttle openings on left and right large cylinders of the valve core of the pump control balance valve is determined by digital signals for controlling the rotating speed and the rotating direction of a servo motor, and the displacement and the load pressure of a miniature bidirectional gear pump.

When no control signal is input, the automatic tracking system of the double-shaft solar panel can lock angles in two directions at the current position.

When the controller receives an action instruction, the system simultaneously opens (in a power-on state) or simultaneously closes (in a power-off state) two-position three-way electromagnetic valves, and simultaneously the servo motor drives the bidirectional gear pump at a given rotating speed, so that hydraulic oil is pressurized by the bidirectional gear pump and is input into the pump control balance valve, and the hydraulic oil enters into two cavities (5 a or 5 b) of one of the execution cylinders respectively through the two-position three-way electromagnetic valves, so that the cylinder is pushed to act to adjust the angle of a certain direction shaft of the solar panel.

The accurate control of the flow of the oil cylinder is performed by accurately controlling the rotation speed of the motor to realize the pump control balancing valve, so that the light incidence angle of the automatic tracking system of the double-shaft solar panel is accurately controlled.

The double-shaft driving system is started only when the double-shaft driving system needs to act, a proportional valve or a servo valve is not needed, and continuous high-pressure overflow and valve port throttling are avoided, so that the double-shaft driving system has high energy utilization efficiency, small temperature rise, insensitivity to oil cleanliness and convenience and reliability in control; and because the motion of the double-shaft driving adjustment is slow, the motor power and the pump displacement are smaller.

In particular, a mechanical drive mechanism driven by a double shaft is connected as a load to one ends (on the piston rods) of the drive cylinders 5a and 5b, respectively.

Referring to fig. 1, when the system is in a standby state, the controller 8 does not give any instruction, both the motor 1 and the bi-directional gear pump 2 are in a standby state, and both oil inlets (connected with the pump) of the pump-controlled balance valve 3 are not supplied with pressure oil. At this time, the left and right one-way cone valves 303 and 304 in the pump control balance valve 3 are pressed on the steps in the one-way valve cavity by the pressure generated by the load or the elasticity of the cone valve springs 303a and 304a, so as to form reliable seal, thereby stopping the flow of hydraulic oil in the driving oil cylinder 5a or 5b and locking the driving oil cylinders 5a and 5b at the current position in a two-way manner.

Working condition 1, when the driving oil cylinder 5a (corresponding to polar axis adjustment of the solar panel) moves rightwards to adjust the angle of the solar panel (whether the load direction on the driving oil cylinder 5a is leftwards or rightwards), the controller 8 sends a control instruction to close the two-position three-way electromagnetic valves 4, so that the two-position three-way electromagnetic valves work at spring positions (as shown in figure 1), and therefore, the left cavity and the right cavity of the driving oil cylinder 5a are both positioned on the communication working ports of the two-position three-way electromagnetic valves, and meanwhile, the two cavities of the execution oil cylinder 5b are connected to the cut-off working ports of the two-position three-way electromagnetic valves; meanwhile, the motor 1 works at a specified speed and in a forward direction (forward rotation), and high-pressure oil P1 discharged by the bidirectional gear pump 2 enters the pump control balance valve from a left oil port 323b of a right valve cavity of the pump control balance valve 3 after passing through the oil supplementing valve 6 and the safety valve 7, as shown in fig. 3.

In the pump-controlled balancing valve:

The high-pressure oil P1 enters the right valve cavity left cavity 311a from the right valve cavity left oil port 323b, and the right valve cavity right cavity 311b is communicated with a system oil tank (the pressure is 0) through the right valve cavity right oil port 322 b; at this time, no matter whether the load pressure of the oil cylinder 5a acts on the left one-way cone valve 303 or the right one-way cone valve 304, the high-pressure oil P1 discharged by the pump gradually increases until the valve core 302 is pushed to slide rightward, and the right one-way cone valve 304 is pushed open, so that the right small cavity 324b is communicated with the right one-way valve cavity 309b, that is, the right top oil port 320b is communicated with the right cavity of the execution oil cylinder 5a through the two-position three-way electromagnetic valve 4; meanwhile, because the end of the upper left choke 317a is just flush with the left edge of the left undercut 319a, the end of the upper right choke 317b is also just aligned with the left edge of the right undercut 319b, and the upper left choke 317a, the upper right choke 317b are also gradually and synchronously opened. The distance between the left edge of the left undercut groove 319a and the left edge of the right undercut groove 319b is exactly the same as the distance between the left end surface of the spool left large cylinder 315a and the left end surface of the spool right large cylinder 315 b.

In the process, the high-pressure oil P1 discharged by the gear pump is reduced to the pressure PA after passing through the left oil port 323b of the right valve cavity, the left cavity 311a of the right valve cavity and the right upper throttle 317 b; then the oil enters the left small oil port 307a through the right undercut groove 319b and the right undercut groove oil port 308b, so that the pressure of the pressure oil in the left small cavity 324a rises to PA, the left check valve cavity is connected with the left cavity (the pressure is PL) of the actuating cylinder 5a, the pressure difference (the pressure difference is PA-PL) on two sides of the left check valve makes the left check valve 303 also be jacked up, so that the left small cavity 324a is communicated with the left check valve cavity 309a, and the oil flows to the left cavity of the actuating cylinder 5a through the left top oil 320 a; meanwhile, the hydraulic oil in the right cavity of the execution cylinder 5a returns to the system oil tank through the two-position three-way electromagnetic valve 4, the bottom oil port 320b, the right one-way valve cavity 309b, the right small cavity 324b, the right small oil port 307b, the left undercut groove oil port 308a and the left undercut groove 319a, and then through the left upper throttle orifice 317a, the left valve cavity left cavity 310a and the left valve cavity left oil port 322 a.

In the above variation, since the annular area of the spool acted by PA and the area acted by the load on the one-way cone valve are equal, after the system reaches equilibrium, PA will be approximately equal to the pressure PL of the left chamber of the actuating cylinder 5a, or approximately equal to the oil chamber pressure PR of the actuating cylinder 5a (the excess pressure comes from the elastic force of the cone valve spring); in the above working process, the oil is fed into the left cavity of the cylinder 5a, and is discharged from the gear pump through 323b, passes through the upper right throttle 317b, and finally reaches the left cavity of the cylinder 5a through the left unidirectional valve cavity 309 a; the oil return of the right cavity of the oil cylinder 5a is performed, and the oil is discharged from the right cavity of the oil cylinder 5a, passes through the right one-way valve cavity 309b, passes through the left upper throttle 317a, and returns to the oil tank through the left oil port 322a of the left valve cavity; because the openings of the upper right orifice 317b and the upper left orifice 317a are always synchronized and the size of the orifice is set to be in a fixed ratio to the left and right chamber areas of the cylinder; therefore, under the condition that the differential pressure is equal (the differential pressure is P1-PA), the oil inlet quantity through the upper right throttle 317b and the oil return quantity through the upper left throttle 317a are always in a fixed proportion (are completely equal or are in a fixed proportion relation with the two cavity areas of the oil cylinder), the flow rate is only related to the opening degree of the throttle, namely the flow rate of the bidirectional gear pump, and the bidirectional gear pump is a constant delivery pump, so that the system can control the flow rate of the system, namely the running speed of the execution oil cylinder 5a by controlling the rotating speed of the bidirectional gear pump, namely the rotating speed of the motor; when the actuating cylinder reaches the designated position, the controller 8 only needs to send a stop command, the motor 1 stops rotating, the bidirectional gear pump 2 stops rotating, the left and right one-way cone valves 303 and 304 in the pump control balance valve 3 are pressed on the steps in the one-way valve cavity by the pressure generated by the load or the elasticity of the cone valve springs 303a and 304a, so that reliable sealing is formed, the hydraulic oil flow in the actuating cylinder 5a is stopped, and the actuating cylinder 5a is locked at the current position in a bidirectional manner, namely, the position of the actuating cylinder 5a is controlled.

Similarly, under the working condition 2, when the driving oil cylinder 5a is required to move leftwards to adjust the angle of the solar panel (whether the load direction on the driving oil cylinder 5a is leftwards or rightwards), the controller 8 sends a control instruction, or closes the two-position three-way electromagnetic valves 4, so that the two-position three-way electromagnetic valves work on spring positions (as shown in fig. 1), and therefore, the left cavity and the right cavity of the driving oil cylinder 5a are both positioned on the communication working ports of the two-position three-way electromagnetic valves, and meanwhile, the two cavities of the execution oil cylinder 5b are connected to the cut-off working ports of the two-position three-way electromagnetic valves; meanwhile, the motor 1 works at a specified speed and in the opposite direction (reverse direction), and high-pressure oil P2 discharged by the bidirectional gear pump 2 enters the pump control balance valve from a left valve cavity right oil port 323a of the pump control balance valve 3 after passing through the oil supplementing valve 6 and the safety valve 7, as shown in fig. 4.

In the pump-controlled balancing valve:

the oil P2 enters the left valve cavity right cavity 310b from the left valve cavity right oil port 323a, and the left valve cavity left cavity 310a is communicated with a system oil tank (the pressure is 0) through the left valve cavity left oil port 322 a; at this time, no matter whether the load pressure of the oil cylinder 5a acts on the left one-way cone valve 303 or the right one-way cone valve 304, the high-pressure oil P2 discharged by the pump gradually increases until the valve core 302 is pushed to slide leftwards, and the left one-way cone valve 303 is pushed open, so that the left small cavity 324a is communicated with the left one-way valve cavity 309a, that is, the left top oil port 320a is communicated with the left cavity of the execution oil cylinder 5a through the two-position three-way electromagnetic valve 4; meanwhile, because the end of the left lower orifice 318a is just flush with the right edge of the left undercut 319a, the end of the right lower orifice 318b is also just aligned with the right edge of the right undercut 319b, and the left and right lower orifices 318a, 318b are also gradually and synchronously opened. The distance between the right edge of the left undercut groove 319a and the right edge of the right undercut groove 319b is exactly the same as the distance between the right end surface of the spool left large cylinder 315a and the right end surface of the spool right large cylinder 315 b.

In the process, the high-pressure oil P2 discharged by the gear pump is reduced to pressure PB through the left valve cavity right oil port 323a, the left valve cavity right cavity 310b and the left upper throttle 318 a; then the oil enters the right small oil port 307b through the left undercut groove 319a and the left undercut groove oil port 308a, so that the pressure of the pressure oil in the right small cavity 324b rises to PB, the right one-way valve cavity is connected with the right cavity (the pressure is PR) of the execution cylinder 5a, the pressure difference (the pressure difference is PB-PR, PB is slightly larger than PR, and the spring force of the cone valve due to excessive force) on the two sides of the right one-way valve causes the right one-way valve 304 to be jacked up, so that the right small cavity 324b is communicated with the right one-way valve cavity 309b, and the oil flows to the right cavity of the execution cylinder 5a through the right top oil 320 b; meanwhile, hydraulic oil in the left cavity of the execution cylinder 5a returns to the system oil tank through the two-position three-way electromagnetic valve 4, the top oil port 320a, the left one-way valve cavity 309a, the left small oil port 307a, the right undercut groove oil port 308b and the right undercut groove 319b, and then through the right lower throttle orifice 318b, the right valve cavity right cavity 311b and the right valve cavity right oil port 322 b.

In the above variation, since the spool annular area acted by PB and the area acted by the load on the one-way cone valve are equal, PB will be approximately equal to the pressure PR of the right chamber of the actuator cylinder 5a or approximately equal to the pressure PL of the left chamber of the actuator cylinder 5a (the cone valve spring force from the excessive force) after the system is balanced; in the above working process, the oil is fed into the right cavity of the cylinder 5a, and is discharged from the gear pump through 323a, and finally reaches the right cavity of the cylinder 5a through the left lower throttle 318a and the right one-way valve cavity 309 b; the oil return of the left cavity of the oil cylinder 5a is performed, and the oil is discharged from the left cavity of the oil cylinder 5a, passes through the left one-way valve cavity 309a, passes through the right lower throttle orifice 318b, and returns to the oil tank through the right valve cavity right oil port 322 b; because the openings of the left lower orifice 318a and the right lower orifice 318b are always synchronized, and the size of the orifice is set to be in a fixed proportion to the left and right cavity areas of the cylinder; therefore, under the condition that the differential pressure is equal (the differential pressure is P2-PB), the oil inlet quantity through the left lower throttle orifice 318a and the oil return quantity through the right lower throttle orifice 318b are always in a fixed proportion (are completely equal or are in a fixed proportion relation with the two cavity areas of the oil cylinder), the flow rate is only related to the opening degree of the throttle orifice, namely the flow rate of the bidirectional gear pump, and the bidirectional gear pump is a constant displacement pump, so that the system can control the flow rate of the system, namely the running speed of the execution oil cylinder 5a by controlling the rotating speed of the bidirectional gear pump, namely the rotating speed of the motor; when the actuating cylinder reaches the designated position, the controller 8 only needs to send a stop command, the motor 1 stops rotating, the bidirectional gear pump 2 stops rotating, the left and right one-way cone valves 303 and 304 in the pump control balance valve 3 are pressed on the steps in the one-way valve cavity by the pressure generated by the load or the elasticity of the cone valve springs 303a and 304a, so that reliable sealing is formed, the hydraulic oil flow in the actuating cylinder 5a is stopped, and the actuating cylinder 5a is locked at the current position in a bidirectional manner, namely, the position of the actuating cylinder 5a is controlled.

In the same way, when the system needs to execute the cylinder 5b (correspondingly adjusting the declination axis angle of the solar panel) to complete the leftward or rightward action, only the two-position three-way electromagnetic valve 4 is required to be electrified, namely, the two cavities of the execution cylinder 5b are respectively connected to the communication point positions of the two-position three-way electromagnetic valve, and the two cavities of the execution cylinder 5a are switched to the cut-off point positions of the two-position three-way electromagnetic valve. The rest of the action mechanisms are identical to the working conditions 1 and 2.

Therefore, the invention has no throttling in the working process, small system heating value, simple structure, low cost, convenient control, stability and high reliability, is insensitive to oil temperature and cleanliness, can effectively ensure equal control or proportional control of input oil and output oil, and can effectively ensure the response speed and the precision requirement of the angle adjustment drive of the double-shaft solar panel.

The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.

Claims

1. An automatic tracking driving system of a double-shaft solar panel is characterized in that: the hydraulic control system comprises two driving oil cylinders (5 a) and (5 b), a load, a hydraulic control assembly, a bidirectional gear pump (2), a servo motor (1) and a controller (8), wherein the hydraulic control assembly comprises a pump control balance valve (3), two-position three-way electromagnetic valves (4), a safety valve (7) and an oil supplementing valve (6);

The pump control balance valve (3) comprises a valve body (301), a valve core (302), a left one-way cone valve (303), a right one-way cone valve (304), a left cone valve spring (303 a) and a right cone valve spring (304 a); a left one-way valve cavity (309 a), a left valve cavity (310), a right valve cavity (311) and a right one-way valve cavity (309 b) are sequentially formed in the valve body (301) along the axial direction, a valve core hole (312) is formed in the valve body (301) along the central axis, and the valve core hole (312) is axially communicated with the left one-way valve cavity (309 a), the left valve cavity (310), the right valve cavity (311) and the right one-way valve cavity (309 b);

A left one-way cone valve (303) and a left cone valve spring (303 a) are arranged in the left one-way valve cavity (309 a), one end of the left one-way cone valve (303) is used for being connected to a step between the left one-way valve cavity (309 a) and a valve core hole (312), and the other end of the left one-way cone valve is connected with the inner wall of the axially outward end of the left one-way valve cavity (309 a) through the left cone valve spring (303 a); a right one-way cone valve (304) and a right cone valve spring (304 a) are arranged in the right one-way valve cavity (309 b), one end of the right one-way cone valve (304) is connected to a step between the right one-way valve cavity (309 b) and the valve core hole (312), and the other end is connected with the inner wall of the axially outward end of the right one-way valve cavity (309 b) through the right cone valve spring (304 a);

A valve core (302) is arranged in the valve core hole (312), and the valve core (302) is axially and freely slid in the valve core hole (312) of the valve body (301) as a whole; the valve core (302) is provided with an annular groove near the periphery of one end surface of the left unidirectional valve cavity (309 a) to form a valve core left end small cylinder (313 a), the valve core left end small cylinder (313 a) is used for propping against the left unidirectional cone valve (303), and the periphery of the valve core (302) in the left valve cavity (310) is provided with an outer convex ring to form a valve core left large cylinder (315 a); the periphery of one end face, close to the right one-way valve cavity (309 b), of the valve core (302) is provided with an annular groove to form a valve core right small cylinder (313 b), the valve core right small cylinder (313 b) is used for propping against the right one-way cone valve (304), and the periphery of the valve core (302) in the right valve cavity (311) is provided with an outer convex ring to form a valve core right large cylinder (315 b); an annular groove is formed in the middle of the inner wall of the left valve cavity (310) along the axial direction and is used as a left undercut groove (319 a), and an annular groove is formed in the middle of the inner wall of the right valve cavity (311) along the axial direction and is used as a right undercut groove (319 b);

The left unidirectional valve cavity (309 a) and the right unidirectional valve cavity (309B) of the pump control balance valve (3) are respectively connected to the P ports of two-position three-way electromagnetic valves (4), the A ports of the two-position three-way electromagnetic valves (4) are respectively communicated with the two cavities of one driving oil cylinder (5 a), the B ports of the two-position three-way electromagnetic valves (4) are respectively communicated with the two cavities of the other driving oil cylinder (5 a), and the piston rods of the two driving oil cylinders (5 a, 5B) are connected with a load; in the pump control balance valve (3), a left valve core hole section is communicated with a right undercut groove (319 b) of a right valve cavity (311), and a right valve core hole section is communicated with a left undercut groove (319 a) of a left valve cavity (310); the left valve cavity left cavity (310 a) and the right valve cavity right cavity (311 b) are both communicated with the oil tank, meanwhile, the left valve cavity right cavity (310 b) and the right valve cavity left cavity (311 a) are communicated with the oil tank through respective safety valves (7), two oil ports of the bidirectional gear pump (2) are communicated with the oil tank through oil supplementing valves (6), the left valve cavity right cavity (310 b) and the right valve cavity left cavity (311 a) are respectively connected with two oil ports of the bidirectional gear pump (2), and a control shaft of the bidirectional gear pump (2) is synchronously connected with an output shaft of the servo motor (1);

The left large cylinder (315 a) of the valve core is provided with a notch groove as a left upper throttle orifice (317 a) near the outer edge of the left end face of the left unidirectional valve cavity (309 a), and a notch groove as a left lower throttle orifice (318 a) near the outer edge of the right end face of the right unidirectional valve cavity (309 b); the outer edge of the valve core right large cylinder (315 b) close to the left end face of the left unidirectional valve cavity (309 a) is provided with a notch groove as a right upper throttle orifice (317 b), and the outer edge of the valve core right large cylinder close to the right end face of the right unidirectional valve cavity (309 b) is provided with a notch groove as a right lower throttle orifice (318 b); the ratio between the overflow area of the left upper throttle orifice (317 a) and the overflow area of the right upper throttle orifice (317 b) is the same as the ratio between the rodless cavity cross-sectional area and the rod cavity cross-sectional area of the driving oil cylinders (5 a, 5 b), and the ratio between the overflow area of the left lower throttle orifice (318 a) and the overflow area of the right lower throttle orifice (318 b) is the same as the ratio between the rodless cavity cross-sectional area and the rod cavity cross-sectional area of the driving oil cylinders (5 a, 5 b);

the axial sectional areas of the valve core left large cylinder (315 a) and the valve core right large cylinder (315 b) are set to be twice the axial sectional areas of the valve core left cylinder (314 a), the valve core right cylinder (314 b) and the valve core middle cylinder (316);

the distance from the left edge of the left undercut groove (319 a) close to the left one-way valve cavity (309 a) to the left edge of the right undercut groove (319 b) close to the left one-way valve cavity (309 a) is completely equal to the distance from the left end surface of the valve core left big cylinder (315 a) close to the left one-way valve cavity (309 a) to the left end surface of the valve core right big cylinder (315 b) close to the left one-way valve cavity (309 a); the distance from the right edge of the left undercut groove (319 a) close to the right one-way valve cavity (309 b) to the right edge of the right undercut groove (319 b) close to the right one-way valve cavity (309 b) is completely equal to the distance from the right end surface of the valve core left large cylinder (315 a) close to the right one-way valve cavity (309 b) to the right end surface of the valve core right large cylinder (315 b) close to the right one-way valve cavity (309 b).

2. The dual-axis solar panel auto-tracking drive system of claim 1, wherein: the left large cylinder (315 a) slides freely in the left valve cavity (310) along the axial direction, but prevents oil flow between the left valve cavity left cavity (310 a) and the left valve cavity right cavity (310 b), and the right large cylinder (315 b) slides freely in the right valve cavity (311) along the axial direction, but prevents oil flow between the right valve cavity left cavity (311 a) and the right valve cavity right cavity (311 b).

3. The automatic tracking driving system for the double-shaft solar panel according to claim 1, wherein the left one-way cone valve (303) and the right one-way cone valve (30) are respectively arranged in the left one-way valve cavity (309 a) and the right one-way valve cavity (309 b), so that one-way connection and conduction are formed between the left one-way valve cavity (309 a) and the right one-way valve cavity (309 b) and the valve core hole (312), specifically, the diameter of the one-way cone valve is larger than the minimum diameter of a step between the one-way valve cavity and the valve core hole (312), and the one-way cone valve body is pressed by the pressure of the cone valve spring to form sealing fit at the step.

4. The dual-axis solar panel auto-tracking drive system of claim 1, wherein: taking the section of a valve core hole (312) between a left one-way valve cavity (309 a) and a left valve cavity (310) as a left valve core hole section, and taking the section of the valve core hole (312) between a right one-way valve cavity (309 b) and a right valve cavity (311) as a right valve core hole section; the left valve cavity (310) is divided into a left valve cavity left cavity (310 a) close to the left one-way valve cavity (309 a) and a left valve cavity right cavity (310 b) close to the right one-way valve cavity (309 b) by a valve core left large cylinder (315 a), and the right valve cavity (311) is divided into a right valve cavity left cavity (311 a) close to the left one-way valve cavity (309 a) and a right valve cavity right cavity (311 b) close to the right one-way valve cavity (309 b) by a valve core right large cylinder (315 b).

5. A dual-axis solar panel auto-tracking drive system as defined in claim 1 or 4 wherein: a left top oil port (320 a) communicated with the left one-way valve cavity (309 a) is formed in the end face, close to the left one-way valve cavity (309 a) along the axial direction, of the valve body (301), and a right top oil port (320 b) communicated with the right one-way valve cavity (309 b) is formed in the end face, close to the right one-way valve cavity (309 b) along the axial direction; a left small oil port (307 a) is formed in the side wall of the valve body (301) corresponding to the outer periphery of the left valve core hole section, and a right small oil port (307 b) is formed in the side wall of the valve body (301) corresponding to the outer periphery of the right valve core hole section;

The valve body (301) is provided with a left valve cavity left oil port (322 a) which is communicated with the left valve cavity left cavity (310 a) at the side wall corresponding to the periphery of the left valve cavity left cavity (310 a), the valve body (301) is provided with a left valve cavity right oil port (323 a) which is communicated with the left valve cavity right cavity (310 b) at the corresponding position of the left valve cavity right cavity (310 b), the valve body (301) is provided with a right valve cavity left oil port (323 b) which is communicated with the right valve cavity left cavity (311 a) at the corresponding position of the right valve cavity right cavity (311 b), the valve body (301) is provided with a left countersink port (308 a) which is communicated with the left countersink (319 a) at the corresponding position of the left countersink (319 a), and the valve body (301) is provided with a right countersink port (308 b) which is communicated with the right countersink (319 b) at the corresponding side wall of the periphery of the right countersink (319 b);

The left small oil port (307 a) is communicated with the right undercut groove oil port (308 b) through a pipeline, and the right small oil port (307 b) is communicated with the left undercut groove oil port (308 a) through a pipeline; the left unidirectional valve cavity (309 a) is communicated with the P port of one two-position three-way electromagnetic valve (4) after passing through a left top oil port (320 a) and a pipeline, the right unidirectional valve cavity (309 b) is communicated with the P port of the other two-position three-way electromagnetic valve (4) after passing through a right top oil port (320 b) and a pipeline, the left valve cavity left oil port (322 a) and the right valve cavity right oil port (322 b) are both communicated with a system oil tank, and the left valve cavity right oil port (323 a) and the right valve cavity left oil port (323 b) are respectively communicated with two oil ports of the bidirectional gear pump (2).

6. The dual-axis solar panel auto-tracking drive system of claim 1, wherein: the outer diameters of the valve core left section small cylinder (313 a) and the valve core right end small cylinder (313 b) are smaller than the inner diameter of the valve core hole (312), so that annular gaps are formed between the valve core left section small cylinder (313 a) and the valve core right end small cylinder (313 b) and the valve core hole (312).