CN116398501A - Compact hydraulic servo actuator with range-increasing function - Google Patents

Abstract

The invention provides a compact hydraulic servo actuator with a range-increasing function, which comprises a tail end connecting plate, a single-axis force sensor, a displacement sensor, a hydraulic cylinder and a range-increasing Cheng Jiaolian group, wherein the tail end connecting plate is fixedly connected with the rear end part of the hydraulic cylinder through the single-axis force sensor, an oil inlet and outlet valve block and an electrohydraulic servo valve are fixedly arranged on the top surface of the hydraulic cylinder, the displacement sensor is arranged on the left side surface of the hydraulic cylinder, and the front end surface of the hydraulic cylinder is connected with the range-increasing hinge group. According to the invention, the hinge group with the telescopic function is combined with the hydraulic cylinder, so that the overall length of the piston rod is effectively reduced on the basis of not changing the total acting stroke of the actuator, the deformation risk of the piston rod under the action of impact force is reduced, and meanwhile, the driving flow requirement of the actuator is reduced by the speed-doubling telescopic characteristic of the range-increasing hinge group, and the energy supply of a system in which the actuator is positioned is further reduced.

Description

Compact hydraulic servo actuator with range-increasing function

Technical Field

The invention relates to a hydraulic action device, in particular to a compact hydraulic servo actuator with a range-extending function.

Background

The hydraulic actuator is a servo drive device integrating various sensors such as a hydraulic cylinder, a servo valve, displacement, force and the like. The device has high structural integration level and good position and force servo precision, is mainly suitable for mobile robots and corresponding mechanical equipment with higher requirements on precision, installation space and power ratio, and is an important core element for providing power for the equipment.

The realization of the piston movement and the work of the hydraulic servo actuator benefits from the injection of high-pressure oil, and the high-pressure oil pushes the piston to keep low damping and low friction sliding in the hydraulic cylinder barrel. However, on the one hand, the piston and the hydraulic cylinder are not kept in an absolute concentric relation, while the hydraulic cylinder and the two ends of the piston are hinged with the driven component through universal bearings, the piston rod still needs to bear partial radial force under the influence of friction, gravity and the like at the hinged position, so that the piston rod is easy to generate bending deformation under the impact of higher external force, the sliding abrasion between the piston rod and the guide sleeve is further aggravated, the end face seal of the hydraulic cylinder is broken, the longer the extending length of the piston rod is, the higher the risk of bending deformation is, and most of hydraulic servo actuators with longer actuating distances are usually relieved by adding a device which is integrated with the cylinder or externally matched with the guide property at the tail end of the piston, but the measure lacks versatility; on the other hand, for some complicated and smart mobile devices driven by constant-pressure variable servo systems, such as legged robots, each limb segment requires a higher output response, but there is a larger difference in the output force requirements, which results in a larger throttling energy loss for actuators with smaller output force requirements under high-pressure oil supply. Although the operational energy efficiency of the actuator can be better improved by reducing the diameter of the piston, the reduction of the diameter of the piston also leads to the reduction of the diameter of the piston rod, which further aggravates the stability of the force exerted by the piston rod under long-distance actuation. In view of the foregoing, there is a need for a compact hydraulic servo actuator that meets the stroke requirements and that reduces the cost while effectively improving the energy efficiency of the system.

Disclosure of Invention

The invention aims to solve the technical problems of the prior art, and provides a compact hydraulic servo actuator with a range-increasing function.

In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a compact hydraulic servo actuator with increase journey function, its characterized in that includes the pneumatic cylinder, the terminal connecting plate of trailing end face through single axis force transducer fixed connection of pneumatic cylinder, the top face fixed mounting of pneumatic cylinder has business turn over oil valve piece and electrohydraulic servo valve, a side fixed mounting displacement sensor of pneumatic cylinder, the front end cover of pneumatic cylinder is connected and is increased Cheng Jiaolian group, increase journey hinge group includes one-level pendulum rod, second grade pendulum rod and tertiary pendulum rod, one-level pendulum rod is connected on the front end cover of pneumatic cylinder, second grade pendulum rod is connected on one-level pendulum rod, tertiary pendulum rod is connected on the second grade pendulum rod, tertiary pendulum rod is connected the end connecting plate, still symmetry is provided with guider on the increase journey hinge group. The main function of the electrohydraulic servo valve is to control the flow direction of high-pressure oil liquid input into the hydraulic cylinder through the oil inlet and outlet valve block.

Preferably, the hydraulic cylinder comprises a cylinder barrel, a piston and a piston shaft rod, a first guide ring and a first combined sealing piece are sequentially nested and installed on the outer peripheral side of the piston, a working space in the cylinder barrel is subdivided into two working cavities through the first combined sealing piece, the piston is slidably connected in the cylinder barrel, the piston is connected with the piston shaft rod through a screw thread pair, and one end of the piston shaft rod extends out of the cylinder barrel and is connected with the range-extending hinge group.

Preferably, one end of the cylinder barrel is fixedly connected with the rear end cover through a fifth fastening bolt, a first sealing ring is arranged between the cylinder barrel and the rear end cover, the other end of the cylinder barrel is fixedly connected with the front end cover through a sixth fastening bolt, a plurality of second sealing rings are arranged between the front end cover and the cylinder barrel, and a second guide ring, a second combined sealing piece and a dust sealing ring are sequentially nested and installed between the front end cover and the cylinder barrel.

Preferably, the first-stage swing rod comprises a first-stage upper swing rod and a first-stage lower swing rod, the second-stage swing rod comprises an inner second-stage right swing rod, an inner second-stage left swing rod, an outer second-stage left swing rod and an outer second-stage right swing rod, the third-stage swing rod comprises a third-stage upper swing rod and a third-stage lower swing rod, the first-stage upper swing rod and the first-stage lower swing rod are connected to a front end cover of the hydraulic cylinder through a first shaft pin and a second shaft pin respectively, the first-stage upper swing rod is connected with the inner second-stage right swing rod and the inner second-stage left swing rod through a third shaft pin, the first-stage lower swing rod is connected with the outer second-stage left swing rod and the outer second-stage right swing rod through a fourth shaft pin, the outer second-stage left swing rod and the outer second-stage right swing rod are connected with the third-stage upper swing rod through a fifth shaft pin, and the inner second-stage left swing rod and the inner second-stage right swing rod are connected with the third-stage lower swing rod through a sixth shaft pin.

Preferably, the third-stage lower swing rod is connected with the end connecting plate through a seventh shaft pin, the third-stage lower swing rod is connected with the end connecting plate through an eighth shaft pin, and the inner side second-stage right swing rod, the inner side second-stage left swing rod, the outer side second-stage left swing rod and the outer side second-stage right swing rod are connected in series through a ninth shaft pin.

Preferably, the two sides of the end connecting plate are symmetrically connected with a first guide shaft and a second guide shaft respectively, the first guide shaft and the second guide shaft are provided with a first guide sleeve and a second guide sleeve respectively, the two ends of the ninth shaft pin are fixedly connected with the first guide sleeve and the second guide sleeve, the first guide rod is connected with the displacement sensor, and the ninth shaft pin is connected with the piston shaft lever.

Preferably, the tail end connecting plate is fixedly arranged on the single-shaft force sensor through a first fastening bolt, the oil inlet and outlet valve block is fixedly arranged on one side of the top surface of the hydraulic cylinder through a second fastening bolt, the electrohydraulic servo valve is fixedly arranged on the top surface of the hydraulic cylinder through a third fastening bolt, and the side surface of the hydraulic cylinder is fixedly connected with a plurality of sensor compression rings for installing the displacement sensor through a fourth fastening bolt.

Compared with the prior art, the invention has the following advantages:

1. according to the invention, on the premise of not changing the working stroke of the hydraulic actuator, the supply energy of the hydraulic system where the actuator is positioned is further reduced on the basis of reducing the deformation failure risk caused by impact of the piston rod, so that the overall operation energy efficiency of the system is improved.

2. According to the invention, the hinge group with the telescopic function is combined with the hydraulic cylinder, so that the overall length of the piston rod is effectively reduced on the basis of not changing the total acting stroke of the actuator, the deformation risk of the piston rod under the action of impact force is reduced, and meanwhile, the driving flow requirement of the actuator is reduced by the speed-doubling telescopic characteristic of the range-increasing hinge group, and the energy supply of a system in which the actuator is positioned is further reduced.

3. According to the range-extending hinge group, the primary swing rod is connected with the hydraulic cylinder in series through the shaft pin, and the secondary swing rod is connected with the rod end bearing of the piston rod in series through the shaft pin, so that part of radial force acting on the end part of the piston rod can be distributed on the hydraulic cylinder, the stress of the piston rod is more reasonable, and the bending deformation risk is further reduced.

4. The invention is provided with the motion guiding device consisting of the guiding shaft and the guiding shaft sleeve in the range-extending hinge group, ensures that the connecting point between the tail end of the actuator and the driving part can only do telescopic motion along the axis of the center of gravity of the piston rod while ensuring the compactness of the structure, and ensures the certainty of the output motion of the actuator. All levels of swing rods at the bilateral symmetry positions in the range-extending hinge group are firmly connected in series by the axis, so that the motion consistency of all levels of swing rods is ensured, and each motion part of the device is in a more ideal comprehensive stress state.

The invention is described in further detail below with reference to the drawings and examples.

Drawings

Fig. 1 is a schematic view of a first state structure of the present invention.

Fig. 2 is a schematic cross-sectional view of a hydraulic cylinder according to the present invention.

Fig. 3 is a schematic structural view of the extended-range hinge set in the present invention.

Fig. 4 is a second state structure diagram of the present invention.

Reference numerals illustrate:

1-end connection plates; 2-a first fastening bolt; 3-a single axis force sensor; 4-an oil inlet and outlet valve block; 5-a second fastening bolt; 6-electrohydraulic servo valve; 7-a third fastening bolt; 8-a displacement sensor; 9-a sensor pressure ring; 10-fourth fastening bolts; 11-a hydraulic cylinder; group 12-increase Cheng Jiaolian; 1101-rear end cap; 1102-a fifth fastening bolt; 1103—a first seal ring; 1104-cylinder; 1105-piston; 1106-a first guide ring; 1107—a first combined seal; 1108—piston shaft; 1109-front end cap;

1110—a second seal ring; 1111-a dust seal ring; 1112-a second combined seal;

1113-sixth fastening bolts; 1114-a second guide ring; 1201—a first pin; 1202-a second pin; 1203-first-level upper swing rod; 1204-first-level lower swing rod; 1205-third pin; 1206-fourth pin; 1207-an inner secondary right swing rod;

1208-inside two-stage left swing rod; 1209—a second guide sleeve; 1210—a first guide sleeve;

1211-an outer secondary right swing rod; 1212-outboard secondary left pendulum bar; 1213-fifth pin;

1214-sixth pin; 1215-seventh pin; 1216-eighth pin; 1217-three-stage upper swing rod; 1218-three-stage lower swing rod; 1219-end connection plates; 1220—second guide shaft; 1221-a first guide shaft.

Detailed Description

As shown in fig. 1 to 4, the hydraulic cylinder comprises a hydraulic cylinder 11, the rear end surface of the hydraulic cylinder 11 is fixedly connected with a tail end connecting plate 1 through a single-shaft force sensor 3, the top end surface of the hydraulic cylinder 11 is fixedly provided with an oil inlet and outlet valve block 4 and an electrohydraulic servo valve 6, one side surface of the hydraulic cylinder 11 is fixedly provided with a displacement sensor 8, the front end cover of the hydraulic cylinder 11 is connected with a Cheng Jiaolian group 12, the Cheng Jiaolian group 12 comprises a first-stage swing rod, a second-stage swing rod and a third-stage swing rod, the first-stage swing rod is connected with the front end cover of the hydraulic cylinder 11, the second-stage swing rod is connected with the first-stage swing rod, the third-stage swing rod is connected with the second-stage swing rod, the third-stage swing rod is connected with a tail end connecting plate 1219, and the Cheng Jiaolian group 12 is symmetrically provided with guide devices. The oil inlet and outlet valve block 4 is externally connected with high-pressure and low-pressure oil ports of a hydraulic system, and the main function of the electrohydraulic servo valve 6 is to control the flow direction of high-pressure oil which is input into the hydraulic cylinder 11 through the oil inlet and outlet valve block 4.

In this embodiment, the hydraulic cylinder 11 includes a cylinder 1104, a piston 1105 and a piston shaft 1108, where a first guide ring 1106 and a first combined seal 1107 are nested and installed on the outer periphery of the piston in sequence, the working space in the cylinder 1104 is subdivided into two working chambers by the first combined seal 1107, the piston 1105 is slidably connected in the cylinder 1104, the piston 1105 is connected to the piston shaft 1108 through a screw pair, and one end of the piston shaft 1108 extends out of the cylinder 1104 and is connected to the set Cheng Jiaolian of the increment Cheng Jiaolian.

In this embodiment, one end of the cylinder 1104 is fixedly connected with the rear end cover 1101 through a fifth fastening bolt 1102, a first sealing ring 1103 is disposed between the cylinder 1104 and the rear end cover 1101, the other end of the cylinder 1104 is fixedly connected with a front end cover 1109 through a sixth fastening bolt 1113, a plurality of second sealing rings 1110 are disposed between the front end cover 1109 and the cylinder 1104, and a second guide ring 1114, a second combined sealing member 1112 and a dust sealing ring 1111 are sequentially nested between the front end cover 1109 and the cylinder 1104.

In this embodiment, the first-stage swing link includes a first-stage upper swing link 1203 and a first-stage lower swing link 1204, the second-stage swing link includes an inner second-stage right swing link 1207, an inner second-stage left swing link 1208, an outer second-stage left swing link 1212 and an outer second-stage right swing link 1211, the third-stage swing link includes a third-stage upper swing link 1217 and a third-stage lower swing link 1218, the first-stage upper swing link 1203 and the first-stage lower swing link 1204 are connected to a front end cover 1109 of the hydraulic cylinder 11 through a first shaft pin 1201 and a second shaft pin 1202, the first-stage upper swing link 1203 is connected to the inner second-stage right swing link 1207 and the inner second-stage left swing link 1208 through a third shaft pin 1205, the first-stage lower swing link 1204 is connected to an outer second-stage left swing link 1212 and an outer second-stage right swing link 1211 through a fourth shaft pin 1206, the outer second-stage left swing link 1212 and the outer second-stage right swing link 1211 is connected to the third-stage upper swing link 1217 through a fifth shaft pin 1213, and the inner second-stage right swing link 1207 is connected to the lower swing link 1218 through a sixth shaft pin 1214.

In this embodiment, the third-stage lower swing rod 1217 is connected to the end connecting plate 1219 through a seventh shaft pin 1215, the third-stage lower swing rod 1218 is connected to the end connecting plate 1219 through an eighth shaft pin 1216, and the inner second-stage right swing rod 1207, the inner second-stage left swing rod 1208, the outer second-stage left swing rod 1212 and the outer second-stage right swing rod 1211 are connected in series through a ninth shaft pin.

In this embodiment, two sides of the end connecting plate 1219 are symmetrically connected with the first guide shaft 1221 and the second guide shaft 1220, the first guide shaft 1221 and the second guide shaft 1220 are respectively provided with a first guide sleeve 1210 and a second guide sleeve 1209, two ends of the ninth shaft pin are fixedly connected with the first guide sleeve 1210 and the second guide sleeve 1209, the first guide rod 1210 is connected with the displacement sensor 8, and the ninth shaft pin is connected with the piston shaft 1108.

In this embodiment, the terminal connecting plate 1 is fixedly mounted on the single-axis force sensor 3 through the first fastening bolt 2, the oil inlet and outlet valve block 4 is fixedly mounted on one side of the top surface of the hydraulic cylinder 11 through the second fastening bolt 5, the electrohydraulic servo valve 6 is fixedly mounted on the top surface of the hydraulic cylinder 11 through the third fastening bolt 7, and a plurality of sensor pressing rings 9 for mounting the displacement sensor 8 are fixedly connected to the side surface of the hydraulic cylinder 11 through the fourth fastening bolt 10.

In use, oil from the hydraulic system enters the hydraulic cylinder 11 through the oil inlet and outlet valve block 4 and further pushes the plunger 1105 and plunger shaft 1108 to extend or retract simultaneously via modulation of the electro-hydraulic servo valve 6. When the piston 1105 and the piston shaft 1108 extend synchronously, the piston shaft 1108 further pushes the first guide sleeve 1210 and the second guide sleeve 1209 to keep synchronous and same-speed movement, and the first guide sleeve 1210 and the second guide sleeve 1209 further drive the central shaft holes of the outer left-hand secondary swing rod 1212, the inner left-hand secondary swing rod 1208 and the outer secondary left-hand swing rod 1212, and the inner secondary right-hand swing rod 1207 to synchronously and synchronously extend outwards, and induce the inner secondary right-hand swing rod 1207 and the inner secondary left-hand swing rod 1208 to rotate anticlockwise around the central shaft axis thereof, and the outer secondary left-hand swing rod 1212 and the outer secondary right-hand swing rod 1211 to rotate clockwise around the central shaft axis thereof, respectively. The counterclockwise rotation of the inner second-stage right swing link 1207 and the inner second-stage left swing link 1208 drives the first-stage upper swing link 1203 and the third-stage lower swing link 1218 to rotate counterclockwise and clockwise around the first shaft pin 1201 and the eighth shaft pin 1216 respectively, and the clockwise pointer rotation of the outer second-stage left swing link 1212 and the outer second-stage right swing link 1211 drives the first-stage lower swing link 1204 and the third-stage upper swing link 1217 to rotate clockwise and counterclockwise around the second shaft pin 1202 and the seventh shaft pin 1215 respectively. Rotation of the above stages about their pins causes the head end connection plate 1219 to move outwardly. At this stage, the overhanging movement of the head end connection plate 1219 is only allowed along the axial direction of the piston shaft 1108 due to the guiding action of the first guide sleeve 1210 and the second guide sleeve 1209.

When plunger 1105 and plunger shaft 1108 retract in unison, the various parts move in reverse to the process described above.

The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention. Any simple modification, variation and equivalent variation of the above embodiments according to the technical substance of the invention still fall within the scope of the technical solution of the invention.

Claims (7)

1. The utility model provides a compact hydraulic servo actuator with increase journey function, its characterized in that includes pneumatic cylinder (11), the terminal connecting plate (1) of rear end face through single axis force transducer (3) fixed connection of pneumatic cylinder (11), the top face fixed mounting of pneumatic cylinder (11) has business turn over oil valve piece (4) and electrohydraulic servo valve (6), a side fixed mounting displacement sensor (8) of pneumatic cylinder (11), the front end cover of pneumatic cylinder (11) is connected and is increased Cheng Jiaolian group (12), increase Cheng Jiaolian group (12) include one-level pendulum rod, second grade pendulum rod and tertiary pendulum rod, one-level pendulum rod is connected on the front end cover of pneumatic cylinder (11), second grade pendulum rod is connected on one-level pendulum rod, tertiary pendulum rod is connected on second grade pendulum rod, tertiary pendulum rod is connected end connecting plate (1219), increase Cheng Jiaolian group (12) on still symmetry be provided with guider.

2. The compact hydraulic servo actuator with range extending function according to claim 1, wherein the hydraulic cylinder (11) comprises a cylinder barrel (1104), a piston (1105) and a piston shaft rod (1108), a first guide ring (1106) and a first combined sealing member (1107) are nested and installed on the outer periphery side of the piston in sequence, the piston (1105) is slidably connected in the cylinder barrel (1104), the piston (1105) is connected with the piston shaft rod (1108) through a screw pair, and one end of the piston shaft rod (1108) extends out of the cylinder barrel (1104) and is connected with the range extending Cheng Jiaolian group (12).

3. The compact hydraulic servo actuator with the range extending function according to claim 2, wherein one end of the cylinder (1104) is fixedly connected with the rear end cover (1101) through a fifth fastening bolt (1102), a first sealing ring (1103) is arranged between the cylinder (1104) and the rear end cover (1101), the other end of the cylinder (1104) is fixedly connected with the front end cover (1109) through a sixth fastening bolt (1113), a plurality of second sealing rings (1110) are arranged between the front end cover (1109) and the cylinder (1104), and a second guide ring (1114), a second combined sealing piece (1112) and a dust sealing ring (1111) are sequentially nested and installed between the front end cover (1109) and the cylinder (1104).

4. The compact hydraulic servo actuator with range extending function according to claim 1, wherein the primary swing link comprises a primary upper swing link (1203) and a primary lower swing link (1204), the secondary swing link comprises an inner secondary right swing link (1207), an inner secondary left swing link (1208), an outer secondary left swing link (1212) and an outer secondary right swing link (1211), the tertiary swing link comprises a tertiary upper swing link (1217) and a tertiary lower swing link (1218), the primary upper swing link (1203) and the primary lower swing link (1204) are connected to the hydraulic cylinder (11) through a first shaft pin (1201) and a second shaft pin (1202), the primary upper swing link (1203) is connected with an inner secondary right swing link (1207) and an inner secondary left swing link (1204) through a third shaft pin (1205), the primary lower swing link (1204) is connected with an outer secondary left swing link (1212) and an outer secondary right swing link (1211) through a fourth shaft pin (1213), and the inner secondary left swing link (1218) is connected with an inner secondary right swing link (1217) through a fifth shaft pin (1213).

5. The compact hydraulic servo actuator with range extending function according to claim 4, wherein the three-stage lower swing rod (1217) is connected to the end connecting plate (1219) through a seventh shaft pin (1215), the three-stage lower swing rod (1218) is connected to the end connecting plate (1219) through an eighth shaft pin (1216), and the inner second-stage right swing rod (1207), the inner second-stage left swing rod (1208), the outer second-stage left swing rod (1212) and the outer second-stage right swing rod (1211) are connected in series through a ninth shaft pin.

6. The compact hydraulic servo actuator with range extending function according to claim 5, wherein two sides of the end connecting plate (1219) are symmetrically connected with a first guide shaft (1221) and a second guide shaft (1220), the first guide shaft (1221) and the second guide shaft (1220) are respectively provided with a first guide sleeve (1210) and a second guide sleeve (1209), two ends of the ninth shaft pin are connected with the first guide sleeve (1210) and the second guide sleeve (1209), the first guide rod (1210) is connected with the displacement sensor (8), and the ninth shaft pin is connected with the piston shaft lever (1108).

7. The compact hydraulic servo actuator with the range extending function according to claim 1, wherein the tail end connecting plate (1) is fixedly installed on the single-shaft force sensor (3) through a first fastening bolt (2), the oil inlet and outlet valve block (4) is fixedly installed on one side of the top surface of the hydraulic cylinder (11) through a second fastening bolt (5), the electrohydraulic servo valve (6) is fixedly installed on the top surface of the hydraulic cylinder (11) through a third fastening bolt (7), and a plurality of sensor pressing rings (9) for installing the displacement sensor (8) are fixedly connected to the side surface of the hydraulic cylinder (11) through a fourth fastening bolt (10).

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